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Added PWM inversion to motor config

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This commit is contained in:
DieHertz 2016-12-27 13:25:37 +03:00 • committed by borisbstyle
parent 8c4914b330
commit 0e75b4131e
8 changed files with 34 additions and 21 deletions
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7
src/main/fc/fc_msp.c
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@ -1145,6 +1145,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, gyroConfig()->gyro_use_32khz);
//!!TODO gyro_isr_update to be added pending decision
//sbufWriteU8(dst, gyroConfig()->gyro_isr_update);
sbufWriteU8(dst, motorConfig()->motorPwmInversion);
break;
case MSP_FILTER_CONFIG :
@ -1510,7 +1511,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
motorConfig()->motorPwmProtocol = constrain(sbufReadU8(src), 0, PWM_TYPE_BRUSHED);
#endif
motorConfig()->motorPwmRate = sbufReadU16(src);
if (dataSize > 7) {
if (sbufBytesRemaining(src) >= 2) {
motorConfig()->digitalIdleOffsetPercent = sbufReadU16(src) / 100.0f;
}
if (sbufBytesRemaining(src)) {
@ -1521,6 +1522,10 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
gyroConfig()->gyro_isr_update = sbufReadU8(src);
}*/
validateAndFixGyroConfig();
if (sbufBytesRemaining(src)) {
motorConfig()->motorPwmInversion = sbufReadU8(src);
}
break;
case MSP_SET_FILTER_CONFIG: