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Code Issues Wiki Activity

Fix DMA for F3 // New Dshot limits (safety)

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This commit is contained in:
borisbstyle 2017-01-09 16:45:38 +01:00
parent 590defb9ad
commit fb576df846
2 changed files with 13 additions and 3 deletions
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14
src/main/fc/config.c
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@ -1051,6 +1051,13 @@ void validateAndFixGyroConfig(void)
if (gyroConfig()->gyro_use_32khz) {
#ifdef GYRO_SUPPORTS_32KHZ
samplingTime = 0.00003125;
// F1 and F3 can't handle high pid speed.
#if defined(STM32F1)
pidConfig()->pid_process_denom = constrain(pidConfig()->pid_process_denom, 16, 16);
#endif
#if defined(STM32F3)
pidConfig()->pid_process_denom = constrain(pidConfig()->pid_process_denom, 4, 16);
#endif
#else
gyroConfig()->gyro_use_32khz = false;
#endif
@ -1080,9 +1087,12 @@ void validateAndFixGyroConfig(void)
motorUpdateRestriction = 0.0001f;
break;
case (PWM_TYPE_DSHOT150):
motorUpdateRestriction = 0.000125f;
motorUpdateRestriction = 0.000250f;
break;
case (PWM_TYPE_DSHOT300):
motorUpdateRestriction = 0.0001f;
break;
case (PWM_TYPE_DSHOT600):
motorUpdateRestriction = 0.0000625f;
break;
default:
@ -1093,7 +1103,7 @@ void validateAndFixGyroConfig(void)
pidConfig()->pid_process_denom = motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom);
// Prevent overriding the max rate of motors
if(motorConfig()->useUnsyncedPwm) {
if(motorConfig()->useUnsyncedPwm && (motorConfig()->motorPwmProtocol <= PWM_TYPE_BRUSHED)) {
uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
if(motorConfig()->motorPwmRate > maxEscRate)