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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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9
src/main/drivers/pwm_output_dshot.c
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@ -96,8 +96,9 @@ FAST_CODE void pwmDshotSetDirectionOutput(
DMA_DeInit(dmaRef);
#ifdef USE_DSHOT_TELEMETRY
motor->isInput = !output;
if (!output) {
motor->isInput = true;
motor->timer->inputDirectionStampUs = micros();
TIM_ICInit(timer, &motor->icInitStruct);
#if defined(STM32F3)
@ -111,6 +112,9 @@ FAST_CODE void pwmDshotSetDirectionOutput(
UNUSED(output);
#endif
{
#ifdef USE_DSHOT_TELEMETRY
motor->isInput = false;
#endif
timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Disable);
timerOCInit(timer, timerHardware->channel, pOcInit);
timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Enable);
@ -388,6 +392,9 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
#ifdef USE_DSHOT_TELEMETRY
motor->dmaInputLen = motor->useProshot ? PROSHOT_TELEMETRY_INPUT_LEN : DSHOT_TELEMETRY_INPUT_LEN;
motor->dshotTelemetryDeadtimeUs = DSHOT_TELEMETRY_DEADTIME_US + 1000000 *
( 2 + (motor->useProshot ? 4 * MOTOR_NIBBLE_LENGTH_PROSHOT : 16 * MOTOR_BITLENGTH))
/ getDshotHz(pwmProtocolType);
pwmDshotSetDirectionOutput(motor, true);
#else
pwmDshotSetDirectionOutput(motor, true, &OCINIT, &DMAINIT);