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Convert motor values at the final stage // Increase resolution

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This commit is contained in:
borisbstyle 2017-03-08 01:19:40 +01:00
parent c5054f9e9d
commit b21877438e
9 changed files with 62 additions and 50 deletions
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12
src/main/drivers/pwm_output_dshot.c
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@ -54,15 +54,17 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
return dmaMotorTimerCount-1;
}
void pwmWriteDshot(uint8_t index, uint16_t value)
void pwmWriteDshot(uint8_t index, float value)
{
const uint16_t digitalValue = lrintf(value);
motorDmaOutput_t * const motor = &dmaMotors[index];
if (!motor->timerHardware || !motor->timerHardware->dmaRef) {
return;
}
uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
uint16_t packet = (digitalValue << 1) | (motor->requestTelemetry ? 1 : 0);
motor->requestTelemetry = false; // reset telemetry request to make sure it's triggered only once in a row
// compute checksum
@ -85,15 +87,17 @@ void pwmWriteDshot(uint8_t index, uint16_t value)
DMA_Cmd(motor->timerHardware->dmaRef, ENABLE);
}
void pwmWriteProShot(uint8_t index, uint16_t value)
void pwmWriteProShot(uint8_t index, float value)
{
const uint16_t digitalValue = lrintf(value);
motorDmaOutput_t * const motor = &dmaMotors[index];
if (!motor->timerHardware || !motor->timerHardware->dmaRef) {
return;
}
uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
uint16_t packet = (digitalValue << 1) | (motor->requestTelemetry ? 1 : 0);
motor->requestTelemetry = false; // reset telemetry request to make sure it's triggered only once in a row
// compute checksum