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Code Issues Wiki Activity

Dshot bidir blhelis support (#8554)

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Dshot bidir blhelis support
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Michael Keller 2019-08-04 18:29:09 +12:00 • committed by GitHub
commit 076be798f8
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7 changed files with 173 additions and 171 deletions
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10
src/main/cli/cli.c
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@ -261,7 +261,7 @@ static const char * const *sensorHardwareNames[] = {
#if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
extern uint32_t readDoneCount;
extern uint32_t inputBuffer[DSHOT_TELEMETRY_INPUT_LEN];
extern uint32_t inputBuffer[GCR_TELEMETRY_INPUT_LEN];
extern uint32_t setDirectionMicros;
#endif
@ -5680,15 +5680,13 @@ static void cliDshotTelemetryInfo(char *cmdline)
}
cliPrintLinefeed();
const bool proshot = (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_PROSHOT1000);
const int modulo = proshot ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH;
const int len = proshot ? 8 : DSHOT_TELEMETRY_INPUT_LEN;
const int len = MAX_GCR_EDGES;
for (int i = 0; i < len; i++) {
cliPrintf("%u ", (int)inputBuffer[i]);
}
cliPrintLinefeed();
for (int i = 1; i < len; i+=2) {
cliPrintf("%u ", (int)(inputBuffer[i] + modulo - inputBuffer[i-1]) % modulo);
for (int i = 1; i < len; i++) {
cliPrintf("%u ", (int)(inputBuffer[i] - inputBuffer[i-1]));
}
cliPrintLinefeed();
} else {