Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 12:55:19 +03:00
Code Issues Wiki Activity

trying to fix kiss again. this should pry be a constant time implementation...

Browse source
This commit is contained in:
nathan 2016-07-29 02:04:44 -07:00
parent 6c89d547de
commit b97a2b18a2
2 changed files with 14 additions and 10 deletions
Download patch file Download diff file Expand all files Collapse all files

16
src/main/drivers/pwm_output.c
View file

@ -193,13 +193,17 @@ void pwmEnableMotors(void)
void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
{
TIM_TypeDef *lastTimerPtr = NULL;
for (int index = 0; index < motorCount; index++) {
// Force the timer to overflow if it's the first motor to output, or if we change timers
if (motors[index]->tim != lastTimerPtr) {
lastTimerPtr = motors[index]->tim;
timerForceOverflow(motors[index]->tim);
bool overflowed = false;
// If we have not already overflowed this timer
for (int j = 0; j < index; j++) {
if (motors[j]->tim == motors[index]->tim) {
overflowed = true;
break;
}
}
if (!overflowed) {
timerForceOverflow(motors[index]->tim);
}
// Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
// This compare register will be set to the output value on the next main loop.