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Added blocked dshot commands, Added post command delay

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Moved the dshotcommand to happen in pwm_output_dshot.
Simplified the timing and repeats to happen on a group basis instead works better for dshotburst
This commit is contained in:
Bryce Johnson 2018-04-17 21:48:16 -06:00 • committed by Michael Keller
parent f37a8184d5
commit 0045b36320
8 changed files with 131 additions and 42 deletions
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7
src/main/drivers/pwm_output.h
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@ -196,10 +196,15 @@ uint16_t prepareDshotPacket(motorDmaOutput_t *const motor, uint16_t value);
extern loadDmaBufferFn *loadDmaBuffer;
uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command);
void pwmWriteDshotCommandControl(uint8_t index);
void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command, bool blocking);
void pwmWriteDshotInt(uint8_t index, uint16_t value);
void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
void pwmCompleteDshotMotorUpdate(uint8_t motorCount);
bool pwmIsProcessingDshotCommand(void);
uint8_t pwmGetDshotCommand(uint8_t index);
bool pwmProcessDshotCommand(uint8_t motorCount);
#endif
#ifdef USE_BEEPER