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Perform DMA check before writing to motors.

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This commit is contained in:
blckmn 2016-11-25 22:24:30 +11:00
parent 954d99a9d6
commit f15bdcdce9
3 changed files with 13 additions and 1 deletions
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4
src/main/drivers/pwm_output_stm32f4xx.c
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@ -69,6 +69,10 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
motorDmaOutput_t * const motor = &dmaMotors[index];
if (!motor->timerHardware->dmaStream) {
return;
}
uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
motor->requestTelemetry = false; // reset telemetry request to make sure it's triggered only once in a row