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Add DSHOT300

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Bool check for dshot protocol

Add dshot300 to init

ident
This commit is contained in:
borisbstyle 2016-10-25 01:09:06 +02:00
parent 726a8d29e2
commit f79896b1bd
10 changed files with 59 additions and 10 deletions
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13
src/main/flight/mixer.c
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@ -336,9 +336,16 @@ static motorMixer_t *customMixers;
static uint16_t disarmMotorOutput, minMotorOutputNormal, maxMotorOutputNormal, deadbandMotor3dHigh, deadbandMotor3dLow;
static float rcCommandThrottleRange;
bool isMotorProtocolDshot(void) {
if (motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT150 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT300 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT600)
return true;
else
return false;
}
// Add here scaled ESC outputs for digital protol
void initEscEndpoints(void) {
if (motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT150 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT600) {
if (isMotorProtocolDshot()) {
disarmMotorOutput = DSHOT_DISARM_COMMAND;
minMotorOutputNormal = DSHOT_MIN_THROTTLE + motorConfig->digitalIdleOffset;
maxMotorOutputNormal = DSHOT_MAX_THROTTLE;
@ -843,7 +850,7 @@ void mixTable(void *pidProfilePtr)
motor[i] = lrintf( motorOutputMin + (motorOutputRange * (motorMix[i] + (throttle * currentMixer[i].throttle))) );
if (failsafeIsActive()) {
if (motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT150 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT600)
if (isMotorProtocolDshot())
motor[i] = (motor[i] < motorOutputMin) ? disarmMotorOutput : motor[i]; // Prevent getting into special reserved range
motor[i] = constrain(motor[i], disarmMotorOutput, motorOutputMax);
@ -875,7 +882,7 @@ void mixTable(void *pidProfilePtr)
// Disarmed mode
if (!ARMING_FLAG(ARMED)) {
for (i = 0; i < motorCount; i++) {
if (motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT150 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT600) {
if (isMotorProtocolDshot()) {
motor[i] = (motor_disarmed[i] < motorOutputMin) ? disarmMotorOutput : motor_disarmed[i]; // Prevent getting into special reserved range
if (motor_disarmed[i] != disarmMotorOutput)