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Merge pull request #3529 from blckmn/MOTOR_BLIP_FIX 

Fix motor twitch when unarmed and using synced protocols.
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borisbstyle 2017-07-15 09:00:24 +02:00 committed by GitHub
parent 6fe956dea0 f0bdc93a25
commit 45479b30fd
1 changed files with 3 additions and 2 deletions
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5
src/main/drivers/pwm_output.c
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@ -311,13 +311,14 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
#endif
/* standard PWM outputs */
const unsigned pwmRateHz = useUnsyncedPwm ? motorConfig->motorPwmRate : ceilf(1 / (sMin + sLen * 2));
// margin of safety is 4 periods when unsynced
const unsigned pwmRateHz = useUnsyncedPwm ? motorConfig->motorPwmRate : ceilf(1 / ((sMin + sLen) * 4));
const uint32_t clock = timerClock(timerHardware->tim);
/* used to find the desired timer frequency for max resolution */
const unsigned prescaler = ((clock / pwmRateHz) + 0xffff) / 0x10000; /* rounding up */
const uint32_t hz = clock / prescaler;
const unsigned period = hz / pwmRateHz;
const unsigned period = useUnsyncedPwm ? hz / pwmRateHz : 0xffff;
/*
if brushed then it is the entire length of the period.