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Code Issues Wiki Activity

Improved the naming of the digital idle offset getter.

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This commit is contained in:
Michael Keller 2020-10-30 16:12:04 +01:00
parent 9aae36b5e5
commit 3d7ac0dc6b
7 changed files with 16 additions and 13 deletions
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2
src/main/blackbox/blackbox.c
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@ -1475,7 +1475,7 @@ static bool blackboxWriteSysinfo(void)
#endif
#if defined(USE_DYN_IDLE)
BLACKBOX_PRINT_HEADER_LINE("dynamic_idle_offset", "%d", currentPidProfile->idle_min_rpm ? lrintf(getDynamicIdleOffset()) : 0);
BLACKBOX_PRINT_HEADER_LINE("dynamic_idle_min_rpm", "%d", currentPidProfile->idle_min_rpm);
#endif
default:

8
src/main/drivers/dshot.c
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@ -50,15 +50,15 @@
#include "dshot.h"
void dshotInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow) {
float outputLimitOffset = (DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) * (1 - outputLimit);
float outputLimitOffset = DSHOT_RANGE * (1 - outputLimit);
*disarm = DSHOT_CMD_MOTOR_STOP;
if (featureIsEnabled(FEATURE_3D)) {
*outputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig->digitalIdleOffsetValue);
*outputLow = DSHOT_MIN_THROTTLE + getDigitalIdleOffset(motorConfig) * (DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE);
*outputHigh = DSHOT_MAX_THROTTLE - outputLimitOffset / 2;
*deadbandMotor3dHigh = DSHOT_3D_FORWARD_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_3D_FORWARD_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig->digitalIdleOffsetValue);
*deadbandMotor3dHigh = DSHOT_3D_FORWARD_MIN_THROTTLE + getDigitalIdleOffset(motorConfig) * (DSHOT_MAX_THROTTLE - DSHOT_3D_FORWARD_MIN_THROTTLE);
*deadbandMotor3dLow = DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - outputLimitOffset / 2;
} else {
*outputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig->digitalIdleOffsetValue);
*outputLow = DSHOT_MIN_THROTTLE + getDigitalIdleOffset(motorConfig) * DSHOT_RANGE;
*outputHigh = DSHOT_MAX_THROTTLE - outputLimitOffset;
}
}

1
src/main/drivers/dshot.h
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@ -27,6 +27,7 @@
#define DSHOT_MIN_THROTTLE 48
#define DSHOT_MAX_THROTTLE 2047
#define DSHOT_3D_FORWARD_MIN_THROTTLE 1048
#define DSHOT_RANGE (DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE)
#define MIN_GCR_EDGES 7
#define MAX_GCR_EDGES 22

8
src/main/drivers/motor.c
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@ -321,9 +321,15 @@ timeMs_t motorGetMotorEnableTimeMs(void)
#endif
#ifdef USE_DSHOT_BITBANG
bool isDshotBitbangActive(const motorDevConfig_t *motorDevConfig) {
bool isDshotBitbangActive(const motorDevConfig_t *motorDevConfig)
{
return motorDevConfig->useDshotBitbang == DSHOT_BITBANG_ON ||
(motorDevConfig->useDshotBitbang == DSHOT_BITBANG_AUTO && motorDevConfig->useDshotTelemetry && motorDevConfig->motorPwmProtocol != PWM_TYPE_PROSHOT1000);
}
#endif
float getDigitalIdleOffset(const motorConfig_t *motorConfig)
{
return CONVERT_PARAMETER_TO_PERCENT(motorConfig->digitalIdleOffsetValue * 0.01f);
}
#endif // USE_MOTOR

2
src/main/drivers/motor.h
View file

@ -100,3 +100,5 @@ struct motorDevConfig_s;
typedef struct motorDevConfig_s motorDevConfig_t;
bool isDshotBitbangActive(const motorDevConfig_t *motorConfig);
#endif
float getDigitalIdleOffset(const motorConfig_t *motorConfig);

1
src/main/flight/mixer.h
View file

@ -117,4 +117,3 @@ bool isFixedWing(void);
float getMotorOutputLow(void);
float getMotorOutputHigh(void);
float getDynamicIdleOffset(void);

7
src/main/flight/mixer_init.c
View file

@ -396,11 +396,6 @@ static void mixerConfigureOutput(void)
}
#endif // USE_QUAD_MIXER_ONLY
float getDynamicIdleOffset(void)
{
return motorConfig()->digitalIdleOffsetValue * 0.0001f * PWM_RANGE;
}
void mixerInit(mixerMode_e mixerMode)
{
currentMixerMode = mixerMode;
@ -415,7 +410,7 @@ void mixerInit(mixerMode_e mixerMode)
#endif
#ifdef USE_DYN_IDLE
mixerRuntime.idleThrottleOffset = getDynamicIdleOffset();
mixerRuntime.idleThrottleOffset = getDigitalIdleOffset(motorConfig()) * PWM_RANGE;
#endif
mixerConfigureOutput();