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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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86
src/main/drivers/pwm_output_dshot_shared.c
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@ -203,48 +203,54 @@ FAST_CODE void pwmDshotSetDirectionOutput(
#ifdef USE_DSHOT_TELEMETRY
void pwmStartDshotMotorUpdate(uint8_t motorCount)
bool pwmStartDshotMotorUpdate(uint8_t motorCount)
{
if (useDshotTelemetry) {
for (int i = 0; i < motorCount; i++) {
if (dmaMotors[i].hasTelemetry) {
#ifdef STM32F7
uint32_t edges = LL_EX_DMA_GetDataLength(dmaMotors[i].dmaRef);
#else
uint32_t edges = DMA_GetCurrDataCounter(dmaMotors[i].dmaRef);
#endif
uint16_t value = 0xffff;
if (edges == 0) {
if (dmaMotors[i].useProshot) {
value = decodeProshotPacket(dmaMotors[i].dmaBuffer);
} else {
value = decodeDshotPacket(dmaMotors[i].dmaBuffer);
}
}
if (value != 0xffff) {
dmaMotors[i].dshotTelemetryValue = value;
dmaMotors[i].dshotTelemetryActive = true;
if (i < 4) {
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, i, value);
}
} else {
dshotInvalidPacketCount++;
if (i == 0) {
memcpy(inputBuffer,dmaMotors[i].dmaBuffer,sizeof(inputBuffer));
}
}
dmaMotors[i].hasTelemetry = false;
} else {
#ifdef STM32F7
LL_EX_TIM_DisableIT(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource);
#else
TIM_DMACmd(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource, DISABLE);
#endif
}
pwmDshotSetDirectionOutput(&dmaMotors[i], true);
}
dshotEnableChannels(motorCount);
if (!useDshotTelemetry) {
return true;
}
for (int i = 0; i < motorCount; i++) {
if (dmaMotors[i].hasTelemetry) {
#ifdef STM32F7
uint32_t edges = LL_EX_DMA_GetDataLength(dmaMotors[i].dmaRef);
#else
uint32_t edges = DMA_GetCurrDataCounter(dmaMotors[i].dmaRef);
#endif
uint16_t value = 0xffff;
if (edges == 0) {
if (dmaMotors[i].useProshot) {
value = decodeProshotPacket(dmaMotors[i].dmaBuffer);
} else {
value = decodeDshotPacket(dmaMotors[i].dmaBuffer);
}
}
if (value != 0xffff) {
dmaMotors[i].dshotTelemetryValue = value;
dmaMotors[i].dshotTelemetryActive = true;
if (i < 4) {
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, i, value);
}
} else {
dshotInvalidPacketCount++;
if (i == 0) {
memcpy(inputBuffer,dmaMotors[i].dmaBuffer,sizeof(inputBuffer));
}
}
dmaMotors[i].hasTelemetry = false;
} else {
timeDelta_t usSinceInput = cmpTimeUs(micros(), dmaMotors[i].timer->inputDirectionStampUs);
if (usSinceInput >= 0 && usSinceInput < dmaMotors[i].dshotTelemetryDeadtimeUs) {
return false;
}
#ifdef STM32F7
LL_EX_TIM_DisableIT(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource);
#else
TIM_DMACmd(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource, DISABLE);
#endif
}
pwmDshotSetDirectionOutput(&dmaMotors[i], true);
}
dshotEnableChannels(motorCount);
return true;
}
bool isDshotMotorTelemetryActive(uint8_t motorIndex)