Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-24 16:55:36 +03:00
Code Issues Wiki Activity

Added blocked dshot commands, Added post command delay

Browse source 
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
Download patch file Download diff file Expand all files Collapse all files

14
src/main/drivers/pwm_output_dshot.c
View file

@ -37,6 +37,7 @@
#endif
#include "pwm_output.h"
#include "drivers/nvic.h"
#include "drivers/time.h"
#include "dma.h"
#include "rcc.h"
@ -57,7 +58,7 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
}
}
dmaMotorTimers[dmaMotorTimerCount++].timer = timer;
return dmaMotorTimerCount-1;
return dmaMotorTimerCount - 1;
}
void pwmWriteDshotInt(uint8_t index, uint16_t value)
@ -68,6 +69,12 @@ void pwmWriteDshotInt(uint8_t index, uint16_t value)
return;
}
/*If there is a command ready to go overwrite the value and send that instead*/
if (pwmIsProcessingDshotCommand()) {
value = pwmGetDshotCommand(index);
motor->requestTelemetry = true;
}
uint16_t packet = prepareDshotPacket(motor, value);
uint8_t bufferSize;
@ -89,6 +96,11 @@ void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
{
UNUSED(motorCount);
/* If there is a dshot command loaded up, time it correctly with motor update*/
if (pwmProcessDshotCommand(motorCount)) {
return; //Skip motor update
}
for (int i = 0; i < dmaMotorTimerCount; i++) {
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {