Fixes betaflight#13934: Fix motor(PWM protocol) spin while fc reset. (b…

…etaflight#13937) * Fix motor(PWM protocol) spin while fc reset. * move delay out to motorShutdown
KarateBrot · Oct 7, 2024 · 10d5963 · 10d5963
1 parent 909ab19
commit 10d5963
Showing 1 changed file with 15 additions and 1 deletion.
diff --git a/src/main/drivers/motor.c b/src/main/drivers/motor.c
@@ -51,11 +51,25 @@ static bool motorProtocolDshot = false;
 
 void motorShutdown(void)
 {
+    uint32_t shutdownDelayUs = 1500;
     motorDevice->vTable.shutdown();
     motorDevice->enabled = false;
     motorDevice->motorEnableTimeMs = 0;
     motorDevice->initialized = false;
-    delayMicroseconds(1500);
+
+    switch (motorConfig()->dev.motorPwmProtocol) {
+    case PWM_TYPE_STANDARD:
+    case PWM_TYPE_ONESHOT125:
+    case PWM_TYPE_ONESHOT42:
+    case PWM_TYPE_MULTISHOT:
+        // Delay 500ms will disarm esc which can prevent motor spin while reboot
+        shutdownDelayUs += 500 * 1000;
+        break;
+    default:
+        break;
+    }
+
+    delayMicroseconds(shutdownDelayUs);
 }
 
 void motorWriteAll(float *values)