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Added 'disabled' motor protocol and made it the default.

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This commit is contained in:
mikeller 2020-03-22 10:35:07 +13:00
parent 7f00659a88
commit d1ac12eccd
17 changed files with 193 additions and 149 deletions
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12
src/main/drivers/dshot.c
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@ -38,7 +38,6 @@
#include "drivers/motor.h"
#include "drivers/timer.h"
#include "drivers/dshot.h"
#include "drivers/dshot_dpwm.h" // for motorDmaOutput_t, should be gone
#include "drivers/dshot_command.h"
#include "drivers/nvic.h"
@ -46,21 +45,20 @@
#include "fc/rc_controls.h" // for flight3DConfig_t
#include "pg/motor.h"
#include "rx/rx.h"
#include "dshot.h"
void dshotInitEndpoints(float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow) {
void dshotInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow) {
float outputLimitOffset = (DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) * (1 - outputLimit);
*disarm = DSHOT_CMD_MOTOR_STOP;
if (featureIsEnabled(FEATURE_3D)) {
*outputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
*outputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig->digitalIdleOffsetValue);
*outputHigh = DSHOT_MAX_THROTTLE - outputLimitOffset / 2;
*deadbandMotor3dHigh = DSHOT_3D_FORWARD_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_3D_FORWARD_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
*deadbandMotor3dHigh = DSHOT_3D_FORWARD_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_3D_FORWARD_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig->digitalIdleOffsetValue);
*deadbandMotor3dLow = DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - outputLimitOffset / 2;
} else {
*outputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
*outputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig->digitalIdleOffsetValue);
*outputHigh = DSHOT_MAX_THROTTLE - outputLimitOffset;
}
}