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Add dshot_telemetry_start_margin setting (#12912)

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Steve Evans 2023-07-10 06:53:18 +01:00 • committed by GitHub
parent acb52cba56
commit be9652923a
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GPG key ID: 4AEE18F83AFDEB23
4 changed files with 21 additions and 4 deletions
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1
src/main/cli/settings.c
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@ -854,6 +854,7 @@ const clivalue_t valueTable[] = {
#ifdef USE_DSHOT_BITBANG
{ "dshot_bitbang", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON_AUTO }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotBitbang) },
{ "dshot_bitbang_timer", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DSHOT_BITBANGED_TIMER }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotBitbangedTimer) },
{ "dshot_telemetry_start_margin", VAR_UINT8 | HARDWARE_VALUE , .config.minmaxUnsigned = { 0, 100 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.telemetryStartMargin) },
#endif
#endif
{ PARAM_NAME_USE_UNSYNCED_PWM, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useUnsyncedPwm) },

18
src/main/drivers/dshot_bitbang_decode.c
View file

@ -49,8 +49,6 @@ uint16_t bbBuffer[134];
#define BITBAND_SRAM_BASE 0x22000000
#define BITBAND_SRAM(a,b) ((BITBAND_SRAM_BASE + (((a)-BITBAND_SRAM_REF)<<5) + ((b)<<2))) // Convert SRAM address
#define DSHOT_TELEMETRY_START_MARGIN 10
static uint8_t preambleSkip = 0;
typedef struct bitBandWord_s {
@ -217,7 +215,13 @@ uint32_t decode_bb_bitband( uint16_t buffer[], uint32_t count, uint32_t bit)
#endif
// The anticipated edges were observed
preambleSkip = startMargin - DSHOT_TELEMETRY_START_MARGIN;
// Attempt to skip the preamble ahead of the telemetry to save CPU
if (startMargin > motorConfig()->dev.telemetryStartMargin) {
preambleSkip = startMargin - motorConfig()->dev.telemetryStartMargin;
} else {
preambleSkip = 0;
}
if (nlen > 0) {
value <<= nlen;
@ -325,7 +329,13 @@ FAST_CODE uint32_t decode_bb( uint16_t buffer[], uint32_t count, uint32_t bit)
}
// The anticipated edges were observed
preambleSkip = startMargin - DSHOT_TELEMETRY_START_MARGIN;
// Attempt to skip the preamble ahead of the telemetry to save CPU
if (startMargin > motorConfig()->dev.telemetryStartMargin) {
preambleSkip = startMargin - motorConfig()->dev.telemetryStartMargin;
} else {
preambleSkip = 0;
}
if (nlen > 0) {
value <<= nlen;

5
src/main/pg/motor.c
View file

@ -44,6 +44,10 @@
#define DEFAULT_DSHOT_BURST DSHOT_DMAR_OFF
#endif
#if !defined(DSHOT_TELEMETRY_START_MARGIN)
#define DSHOT_TELEMETRY_START_MARGIN 10
#endif
PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 2);
void pgResetFn_motorConfig(motorConfig_t *motorConfig)
@ -110,6 +114,7 @@ void pgResetFn_motorConfig(motorConfig_t *motorConfig)
#ifdef USE_DSHOT_BITBANG
motorConfig->dev.useDshotBitbang = DEFAULT_DSHOT_BITBANG;
motorConfig->dev.useDshotBitbangedTimer = DSHOT_BITBANGED_TIMER_DEFAULT;
motorConfig->dev.telemetryStartMargin = DSHOT_TELEMETRY_START_MARGIN;
#endif
}

1
src/main/pg/motor.h
View file

@ -50,6 +50,7 @@ typedef struct motorDevConfig_s {
uint8_t useDshotBitbang;
uint8_t useDshotBitbangedTimer;
uint8_t motorOutputReordering[MAX_SUPPORTED_MOTORS]; // Reindexing motors for "remap motors" feature in Configurator
uint8_t telemetryStartMargin;
} motorDevConfig_t;
typedef struct motorConfig_s {