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Added check to disable bidirectional Dshot when N-channel timers are used.

This commit is contained in:
Michael Keller 2021-07-28 00:23:30 +12:00
parent 864cf3f3b4
commit 1d555a6297
2 changed files with 15 additions and 4 deletions
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3
src/main/cli/cli.c
View File

@ -1585,8 +1585,7 @@ static void cliSerialPassthrough(const char *cmdName, char *cmdline)
// pwmDisableMotors();
motorDisable();
delay(5);
unsigned motorsCount = getMotorCount();
for (unsigned i = 0; i < motorsCount; i++) {
for (unsigned i = 0; i < getMotorCount(); i++) {
const ioTag_t tag = motorConfig()->dev.ioTags[i];
if (tag) {
const timerHardware_t *timerHardware = timerGetByTag(tag);

16
src/main/config/config.c
View File

@ -506,8 +506,20 @@ static void validateAndFixConfig(void)
}
#if defined(USE_DSHOT_TELEMETRY)
if ((!configuredMotorProtocolDshot || (motorConfig()->dev.useDshotBitbang == DSHOT_BITBANG_OFF && motorConfig()->dev.useBurstDshot == DSHOT_DMAR_ON) || systemConfig()->schedulerOptimizeRate == SCHEDULER_OPTIMIZE_RATE_OFF)
&& motorConfig()->dev.useDshotTelemetry) {
bool nChannelTimerUsed = false;
for (unsigned i = 0; i < getMotorCount(); i++) {
const ioTag_t tag = motorConfig()->dev.ioTags[i];
if (tag) {
const timerHardware_t *timer = timerGetByTag(tag);
if (timer && timer->output & TIMER_OUTPUT_N_CHANNEL) {
nChannelTimerUsed = true;
break;
}
}
}
if ((!configuredMotorProtocolDshot || (motorConfig()->dev.useDshotBitbang == DSHOT_BITBANG_OFF && (motorConfig()->dev.useBurstDshot == DSHOT_DMAR_ON || nChannelTimerUsed)) || systemConfig()->schedulerOptimizeRate == SCHEDULER_OPTIMIZE_RATE_OFF) && motorConfig()->dev.useDshotTelemetry) {
motorConfigMutable()->dev.useDshotTelemetry = false;
}