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Merge pull request #10408 from mikeller/cleanup_debug_code 

Cleaned up debug code in Dshot.
This commit is contained in:
Michael Keller 2020-12-30 16:14:33 +01:00 committed by GitHub
parent 74297459f0 834ce7c5eb
commit b5477cd500
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 6 additions and 20 deletions
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13
src/main/drivers/pwm_output_dshot_hal.c
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@ -32,26 +32,19 @@
#include "drivers/dma.h"
#include "drivers/dma_reqmap.h"
#include "drivers/motor.h"
#include "drivers/dshot.h"
#include "drivers/dshot_dpwm.h"
#include "drivers/dshot_command.h"
#include "drivers/io.h"
#include "drivers/nvic.h"
#include "drivers/motor.h"
#include "drivers/pwm_output.h"
#include "drivers/pwm_output_dshot_shared.h"
#include "drivers/rcc.h"
#include "drivers/time.h"
#include "drivers/timer.h"
#include "drivers/system.h"
#include "pwm_output.h"
// TODO remove once debugging no longer needed
#ifdef USE_DSHOT_TELEMETRY
#include <string.h>
#endif
#include "pwm_output_dshot_shared.h"
#ifdef USE_DSHOT_TELEMETRY
void dshotEnableChannels(uint8_t motorCount)

7
src/main/drivers/pwm_output_dshot_shared.c
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@ -19,9 +19,10 @@
*/
#include <math.h>
#include <stdbool.h>
#include <stdint.h>
#include <math.h>
#include <string.h>
#include "platform.h"
@ -60,8 +61,6 @@ motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
#endif
#ifdef USE_DSHOT_TELEMETRY
// TODO remove once debugging no longer needed
FAST_DATA_ZERO_INIT uint32_t inputStampUs;
FAST_DATA_ZERO_INIT dshotDMAHandlerCycleCounters_t dshotDMAHandlerCycleCounters;
@ -236,7 +235,7 @@ FAST_CODE_NOINLINE bool pwmStartDshotMotorUpdate(void)
} else {
dshotTelemetryState.invalidPacketCount++;
if (i == 0) {
memcpy(dshotTelemetryState.inputBuffer,dmaMotors[i].dmaBuffer,sizeof(dshotTelemetryState.inputBuffer));
memcpy(dshotTelemetryState.inputBuffer, dmaMotors[i].dmaBuffer, sizeof(dshotTelemetryState.inputBuffer));
}
}
#ifdef USE_DSHOT_TELEMETRY_STATS

6
src/main/drivers/pwm_output_dshot_shared.h
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@ -20,11 +20,6 @@
#ifdef USE_DSHOT
// TODO remove once debugging no longer needed
#ifdef USE_DSHOT_TELEMETRY
#include <string.h>
#endif
extern FAST_DATA_ZERO_INIT uint8_t dmaMotorTimerCount;
#if defined(STM32F7) || defined(STM32H7)
extern FAST_DATA_ZERO_INIT motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
@ -37,7 +32,6 @@ extern motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
#ifdef USE_DSHOT_TELEMETRY
extern uint32_t readDoneCount;
// TODO remove once debugging no longer needed
FAST_DATA_ZERO_INIT extern uint32_t inputStampUs;
typedef struct dshotDMAHandlerCycleCounters_s {