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FIX: Missing IFDEF USE_TIMER and USE_RPM_FILTER (#14201)

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Jay Blackman 2025-01-26 04:01:17 +11:00 • committed by GitHub
parent 5fd0f2df04
commit deb691bfc8
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GPG key ID: B5690EEEBB952194
2 changed files with 5 additions and 1 deletions
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2
src/main/config/config.c
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@ -452,7 +452,7 @@ static void validateAndFixConfig(void)
motorConfigMutable()->dev.useContinuousUpdate = false; motorConfigMutable()->dev.useContinuousUpdate = false;
} }
#if defined(USE_DSHOT_TELEMETRY) #if defined(USE_DSHOT_TELEMETRY) && defined(USE_TIMER)
bool nChannelTimerUsed = false; bool nChannelTimerUsed = false;
for (unsigned i = 0; i < getMotorCount(); i++) { for (unsigned i = 0; i < getMotorCount(); i++) {
const ioTag_t tag = motorConfig()->dev.ioTags[i]; const ioTag_t tag = motorConfig()->dev.ioTags[i];

4
src/main/drivers/dshot.c
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@ -161,12 +161,16 @@ void initDshotTelemetry(const timeUs_t looptimeUs)
// erpmToHz is used by bidir dshot and ESC telemetry // erpmToHz is used by bidir dshot and ESC telemetry
erpmToHz = ERPM_PER_LSB / SECONDS_PER_MINUTE / (motorConfig()->motorPoleCount / 2.0f); erpmToHz = ERPM_PER_LSB / SECONDS_PER_MINUTE / (motorConfig()->motorPoleCount / 2.0f);
#ifdef USE_RPM_FILTER
if (motorConfig()->dev.useDshotTelemetry) { if (motorConfig()->dev.useDshotTelemetry) {
// init LPFs for RPM data // init LPFs for RPM data
for (unsigned i = 0; i < dshotMotorCount; i++) { for (unsigned i = 0; i < dshotMotorCount; i++) {
pt1FilterInit(&motorFreqLpf[i], pt1FilterGain(rpmFilterConfig()->rpm_filter_lpf_hz, looptimeUs * 1e-6f)); pt1FilterInit(&motorFreqLpf[i], pt1FilterGain(rpmFilterConfig()->rpm_filter_lpf_hz, looptimeUs * 1e-6f));
} }
} }
#else
UNUSED(looptimeUs);
#endif
} }
static uint32_t dshot_decode_eRPM_telemetry_value(uint16_t value) static uint32_t dshot_decode_eRPM_telemetry_value(uint16_t value)