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Code Issues Wiki Activity

Fix Dshot range

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This commit is contained in:
Mark Haslinghuis 2020-09-30 14:24:22 +02:00
parent 575460ac52
commit 5c2931e9ec
1 changed files with 8 additions and 8 deletions
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16
src/main/drivers/dshot.c
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@ -65,7 +65,7 @@ void dshotInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, flo
float dshotConvertFromExternal(uint16_t externalValue) float dshotConvertFromExternal(uint16_t externalValue)
{ {
uint16_t motorValue; float motorValue;
externalValue = constrain(externalValue, PWM_RANGE_MIN, PWM_RANGE_MAX); externalValue = constrain(externalValue, PWM_RANGE_MIN, PWM_RANGE_MAX);
@ -73,15 +73,15 @@ float dshotConvertFromExternal(uint16_t externalValue)
if (externalValue == PWM_RANGE_MIDDLE) { if (externalValue == PWM_RANGE_MIDDLE) {
motorValue = DSHOT_CMD_MOTOR_STOP; motorValue = DSHOT_CMD_MOTOR_STOP;
} else if (externalValue < PWM_RANGE_MIDDLE) { } else if (externalValue < PWM_RANGE_MIDDLE) {
motorValue = scaleRange(externalValue, PWM_RANGE_MIN, PWM_RANGE_MIDDLE - 1, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, DSHOT_MIN_THROTTLE); motorValue = scaleRangef(externalValue, PWM_RANGE_MIN, PWM_RANGE_MIDDLE - 1, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, DSHOT_MIN_THROTTLE);
} else { } else {
motorValue = scaleRange(externalValue, PWM_RANGE_MIDDLE + 1, PWM_RANGE_MAX, DSHOT_3D_FORWARD_MIN_THROTTLE, DSHOT_MAX_THROTTLE); motorValue = scaleRangef(externalValue, PWM_RANGE_MIDDLE + 1, PWM_RANGE_MAX, DSHOT_3D_FORWARD_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
} }
} else { } else {
motorValue = (externalValue == PWM_RANGE_MIN) ? DSHOT_CMD_MOTOR_STOP : scaleRange(externalValue, PWM_RANGE_MIN + 1, PWM_RANGE_MAX, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE); motorValue = (externalValue == PWM_RANGE_MIN) ? DSHOT_CMD_MOTOR_STOP : scaleRangef(externalValue, PWM_RANGE_MIN + 1, PWM_RANGE_MAX, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
} }
return (float)motorValue; return motorValue;
} }
uint16_t dshotConvertToExternal(float motorValue) uint16_t dshotConvertToExternal(float motorValue)
@ -92,12 +92,12 @@ uint16_t dshotConvertToExternal(float motorValue)
if (motorValue == DSHOT_CMD_MOTOR_STOP || motorValue < DSHOT_MIN_THROTTLE) { if (motorValue == DSHOT_CMD_MOTOR_STOP || motorValue < DSHOT_MIN_THROTTLE) {
externalValue = PWM_RANGE_MIDDLE; externalValue = PWM_RANGE_MIDDLE;
} else if (motorValue <= DSHOT_3D_FORWARD_MIN_THROTTLE - 1) { } else if (motorValue <= DSHOT_3D_FORWARD_MIN_THROTTLE - 1) {
externalValue = scaleRange(motorValue, DSHOT_MIN_THROTTLE, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, PWM_RANGE_MIDDLE - 1, PWM_RANGE_MIN); externalValue = scaleRangef(motorValue, DSHOT_MIN_THROTTLE, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, PWM_RANGE_MIDDLE - 1, PWM_RANGE_MIN);
} else { } else {
externalValue = scaleRange(motorValue, DSHOT_3D_FORWARD_MIN_THROTTLE, DSHOT_MAX_THROTTLE, PWM_RANGE_MIDDLE + 1, PWM_RANGE_MAX); externalValue = scaleRangef(motorValue, DSHOT_3D_FORWARD_MIN_THROTTLE, DSHOT_MAX_THROTTLE, PWM_RANGE_MIDDLE + 1, PWM_RANGE_MAX);
} }
} else { } else {
externalValue = (motorValue < DSHOT_MIN_THROTTLE) ? PWM_RANGE_MIN : scaleRange(motorValue, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE, PWM_RANGE_MIN + 1, PWM_RANGE_MAX); externalValue = (motorValue < DSHOT_MIN_THROTTLE) ? PWM_RANGE_MIN : scaleRangef(motorValue, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE, PWM_RANGE_MIN + 1, PWM_RANGE_MAX);
} }
return externalValue; return externalValue;