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Code Issues Wiki Activity

Scheduled motor refresh rate

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This commit is contained in:
borisbstyle 2016-02-28 20:23:30 +01:00
parent 10b629c736
commit 6e96adff0d
13 changed files with 36 additions and 55 deletions
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6
src/main/main.c
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@ -19,6 +19,7 @@
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "platform.h"
#include "scheduler.h"
@ -310,7 +311,6 @@ void init(void)
#endif
pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
pwm_params.useFixedPWM = masterConfig.force_motor_pwm_rate ? true : false;
if (masterConfig.use_oneshot42) {
pwm_params.useOneshot42 = masterConfig.use_oneshot42 ? true : false;
masterConfig.use_multiShot = false;
@ -321,7 +321,7 @@ void init(void)
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (pwm_params.motorPwmRate > 500 && !masterConfig.force_motor_pwm_rate)
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
#ifdef CC3D
pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
@ -666,6 +666,8 @@ int main(void) {
rescheduleTask(TASK_GYROPID, targetLooptime - INTERRUPT_WAIT_TIME);
setTaskEnabled(TASK_GYROPID, true);
setTaskEnabled(TASK_MOTOR, true);
rescheduleTask(TASK_MOTOR, lrintf((1.0f / masterConfig.motor_pwm_rate) * 1000000));
if(sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
switch(targetLooptime) { // Switch statement kept in place to change acc rates in the future