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Bugfix for when looptime is longer than timer size.

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Previously, when a looptime of 8300 uS was chosen, the output would be unpredictable.  Now the shots are fired only after every loop, not when the timer overflows.
This commit is contained in:
Ben Hitchcock 2014-11-29 22:51:41 +08:00
parent 94c5573c39
commit da35b3844c
1 changed files with 11 additions and 1 deletions
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12
src/main/drivers/pwm_output.c
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@ -148,13 +148,23 @@ void pwmFinishedWritingMotors(uint8_t numberMotors)
if(feature(FEATURE_ONESHOT125)){
for(index = 0; index < numberMotors; index++){
// Set the counter to overflow if it's the first motor to output, or if we change timers
// Force the counter to overflow if it's the first motor to output, or if we change timers
if((index == 0) || (motors[index]->cnt != lastCounterPtr)){
lastCounterPtr = motors[index]->cnt;
*motors[index]->cnt = 0xfffe;
}
}
// Wait until the timers have overflowed (should take less than 0.125 uS)
while(*motors[numberMotors - 1]->cnt >= 0xfffe){
}
// 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.
for(index = 0; index < numberMotors; index++){
*motors[index]->ccr = 0;
}
}
}