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Code Issues Wiki Activity

Fix failsafe timings and behaviour to match Failsafe.md

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This commit is contained in:
Steve Evans 2022-03-02 00:30:04 +00:00
parent a6207a100e
commit 07f6bea174
18 changed files with 214 additions and 136 deletions
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4
src/main/cli/cli.c
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@ -6162,8 +6162,8 @@ static void cliDshotTelemetryInfo(const char *cmdName, char *cmdline)
if (useDshotTelemetry) {
cliPrintLinef("Dshot reads: %u", dshotTelemetryState.readCount);
cliPrintLinef("Dshot invalid pkts: %u", dshotTelemetryState.invalidPacketCount);
uint32_t directionChangeCycles = dshotDMAHandlerCycleCounters.changeDirectionCompletedAt - dshotDMAHandlerCycleCounters.irqAt;
uint32_t directionChangeDurationUs = clockCyclesToMicros(directionChangeCycles);
int32_t directionChangeCycles = cmp32(dshotDMAHandlerCycleCounters.changeDirectionCompletedAt, dshotDMAHandlerCycleCounters.irqAt);
int32_t directionChangeDurationUs = clockCyclesToMicros(directionChangeCycles);
cliPrintLinef("Dshot directionChange cycles: %u, micros: %u", directionChangeCycles, directionChangeDurationUs);
cliPrintLinefeed();