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Implementation of KISS ESC Telemetry protocol

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This commit is contained in:
Bas Delfos 2016-11-10 21:08:59 +01:00
parent 14370426af
commit 16178a0662
20 changed files with 428 additions and 31 deletions
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9
src/main/drivers/pwm_output_stm32f4xx.c
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@ -45,6 +45,11 @@ static uint8_t dmaMotorTimerCount = 0;
static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
motorDmaOutput_t *getMotorDmaOutput(uint8_t index)
{
return &dmaMotors[index];
}
uint8_t getTimerIndex(TIM_TypeDef *timer)
{
for (int i = 0; i < dmaMotorTimerCount; i++) {
@ -64,7 +69,9 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
motorDmaOutput_t * const motor = &dmaMotors[index];
uint16_t packet = (value << 1) | 0; // Here goes telemetry bit (false for now)
uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
motor->requestTelemetry = false; // reset telemetry request to make sure it's triggered only once in a row
// compute checksum
int csum = 0;
int csum_data = packet;