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Guard against too fast looptimes unsupported by motor pwm type
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commit
0d8d085cfe
2 changed files with 39 additions and 1 deletions
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@ -18,6 +18,7 @@
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include <math.h>
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#include "platform.h"
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@ -1040,9 +1041,46 @@ void validateAndFixGyroConfig(void)
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gyroConfig()->gyro_soft_notch_hz_2 = 0;
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}
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float samplingTime = 0.000125f;
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if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
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pidConfig()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
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gyroConfig()->gyro_sync_denom = 1;
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samplingTime = 0.001f;
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}
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// check for looptime restrictions based on motor protocol. Motor times have safety margin
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const float pidLooptime = samplingTime * gyroConfig()->gyro_sync_denom * pidConfig()->pid_process_denom;
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float motorUpdateRestriction;
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switch(motorConfig()->motorPwmProtocol) {
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case (PWM_TYPE_STANDARD):
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motorUpdateRestriction = 0.002f;
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break;
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case (PWM_TYPE_ONESHOT125):
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motorUpdateRestriction = 0.0005f;
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break;
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case (PWM_TYPE_ONESHOT42):
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motorUpdateRestriction = 0.0001f;
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break;
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case (PWM_TYPE_DSHOT150):
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motorUpdateRestriction = 0.000125f;
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break;
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case (PWM_TYPE_DSHOT300):
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motorUpdateRestriction = 0.0000625f;
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break;
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default:
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motorUpdateRestriction = 0.00003125f;
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}
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if(pidLooptime < motorUpdateRestriction)
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pidConfig()->pid_process_denom = motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom);
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// Prevent overriding the max rate of motors
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if(motorConfig()->useUnsyncedPwm) {
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uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
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if(motorConfig()->motorPwmRate > maxEscRate)
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motorConfig()->motorPwmRate = maxEscRate;
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}
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}
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