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Code Issues Wiki Activity

refactor motor idle, rename dshot_idle_value to motor_idle (#13936)

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* use idleOffset, simplify idle : check PWM idle

* remove get for dshot idle and calculate it once only

* fixes from reviews, thanks

* use motor_idle for CLI name

* use motorConfig->motorIdle not idleOffset

* rename dshotmotorIdle variable to motorIdlePercent

* small comment improvement
This commit is contained in:
ctzsnooze 2024-10-09 03:31:08 +11:00 • committed by GitHub
parent 10d5963d24
commit 5ffeea6ab1
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17 changed files with 29 additions and 66 deletions
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8
src/main/msp/msp.c
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@ -1445,7 +1445,7 @@ case MSP_NAME:
break;
case MSP_MOTOR_CONFIG:
sbufWriteU16(dst, motorConfig()->minthrottle);
sbufWriteU16(dst, 0); // was minthrottle until after 4.5
sbufWriteU16(dst, motorConfig()->maxthrottle);
sbufWriteU16(dst, motorConfig()->mincommand);
@ -1857,7 +1857,7 @@ case MSP_NAME:
sbufWriteU8(dst, motorConfig()->dev.useUnsyncedPwm);
sbufWriteU8(dst, motorConfig()->dev.motorPwmProtocol);
sbufWriteU16(dst, motorConfig()->dev.motorPwmRate);
sbufWriteU16(dst, motorConfig()->digitalIdleOffsetValue);
sbufWriteU16(dst, motorConfig()->motorIdle);
sbufWriteU8(dst, 0); // DEPRECATED: gyro_use_32kHz
sbufWriteU8(dst, motorConfig()->dev.motorPwmInversion);
sbufWriteU8(dst, gyroConfig()->gyro_to_use);
@ -2837,7 +2837,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
break;
case MSP_SET_MOTOR_CONFIG:
motorConfigMutable()->minthrottle = sbufReadU16(src);
sbufReadU16(src); // minthrottle deprecated in 4.6
motorConfigMutable()->maxthrottle = sbufReadU16(src);
motorConfigMutable()->mincommand = sbufReadU16(src);
@ -3023,7 +3023,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
motorConfigMutable()->dev.motorPwmProtocol = sbufReadU8(src);
motorConfigMutable()->dev.motorPwmRate = sbufReadU16(src);
if (sbufBytesRemaining(src) >= 2) {
motorConfigMutable()->digitalIdleOffsetValue = sbufReadU16(src);
motorConfigMutable()->motorIdle = sbufReadU16(src);
}
if (sbufBytesRemaining(src)) {
sbufReadU8(src); // DEPRECATED: gyro_use_32khz