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DSHOT/Bitbang - Hold the line at idle for 1 extra bit period.

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This commit is contained in:
Dominic Clifton 2022-03-12 12:04:38 +01:00
parent e88df3bb68
commit 25023bb3a2
2 changed files with 22 additions and 6 deletions
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4
src/main/drivers/dshot_bitbang_impl.h
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@ -51,9 +51,11 @@
#define MOTOR_DSHOT_BIT_PER_SYMBOL 1
#define MOTOR_DSHOT_STATE_PER_SYMBOL 3 // Initial high, 0/1, low
#define MOTOR_DSHOT_BIT_HOLD_STATES 3 // 3 extra states at the end of transmission required to allow ESC to sample the last bit correctly.
#define MOTOR_DSHOT_FRAME_BITS 16
#define MOTOR_DSHOT_FRAME_TIME_NS(rate) ((MOTOR_DSHOT_FRAME_BITS / MOTOR_DSHOT_BIT_PER_SYMBOL) * MOTOR_DSHOT_SYMBOL_TIME_NS(rate))
#define MOTOR_DSHOT_TELEMETRY_WINDOW_US (30000 + MOTOR_DSHOT_FRAME_TIME_NS(rate) * (1.1)) / 1000
@ -62,7 +64,7 @@
#define MOTOR_DSHOT_GCR_CHANGE_INTERVAL_NS(rate) (MOTOR_DSHOT_CHANGE_INTERVAL_NS(rate) * 5 / 4)
#define MOTOR_DSHOT_BUF_LENGTH ((MOTOR_DSHOT_FRAME_BITS / MOTOR_DSHOT_BIT_PER_SYMBOL) * MOTOR_DSHOT_STATE_PER_SYMBOL)
#define MOTOR_DSHOT_BUF_LENGTH (((MOTOR_DSHOT_FRAME_BITS / MOTOR_DSHOT_BIT_PER_SYMBOL) * MOTOR_DSHOT_STATE_PER_SYMBOL) + MOTOR_DSHOT_BIT_HOLD_STATES)
#ifdef USE_DSHOT_CACHE_MGMT
// MOTOR_DSHOT_BUF_LENGTH is multiples of uint32_t
// Number of bytes required for buffer