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Code Issues Wiki Activity

avoid dshot telemetry collisions

Browse source 
actually use calculated deadtime

fix whitespace and return value

fix ws

Address review feedback

fix ws
This commit is contained in:
Thorsten Laux 2019-03-19 13:02:44 +01:00 • committed by mikeller
parent 8984a7195f
commit 5a759c56ef
7 changed files with 82 additions and 51 deletions
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11
src/main/drivers/pwm_output.c
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@ -224,9 +224,10 @@ bool pwmAreMotorsEnabled(void)
}
#ifdef USE_DSHOT_TELEMETRY
static void pwmStartWriteUnused(uint8_t motorCount)
static bool pwmStartWriteUnused(uint8_t motorCount)
{
UNUSED(motorCount);
return true;
}
#endif
@ -253,9 +254,9 @@ void pwmCompleteMotorUpdate(uint8_t motorCount)
}
#ifdef USE_DSHOT_TELEMETRY
void pwmStartMotorUpdate(uint8_t motorCount)
bool pwmStartMotorUpdate(uint8_t motorCount)
{
pwmStartWrite(motorCount);
return pwmStartWrite(motorCount);
}
#endif
@ -521,7 +522,9 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command, bo
delayMicroseconds(DSHOT_COMMAND_DELAY_US);
#ifdef USE_DSHOT_TELEMETRY
pwmStartDshotMotorUpdate(motorCount);
timeUs_t currentTimeUs = micros();
while (!pwmStartDshotMotorUpdate(motorCount) &&
cmpTimeUs(micros(), currentTimeUs) < 1000);
#endif
for (uint8_t i = 0; i < motorCount; i++) {
if ((i == index) || (index == ALL_MOTORS)) {