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Merge pull request #4367 from DieHertz/dshot-prescaler-fix 

Apply rounding rules to dshot prescaler to minimize error
This commit is contained in:
Michael Keller 2017-10-15 14:06:18 +13:00 committed by GitHub
parent 88dea3c813 9321c18e0a
commit b67dcdbeb2
2 changed files with 2 additions and 2 deletions
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2
src/main/drivers/pwm_output_dshot.c
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@ -116,7 +116,7 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
RCC_ClockCmd(timerRCC(timer), ENABLE);
TIM_Cmd(timer, DISABLE);
TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)((timerClock(timer) / getDshotHz(pwmProtocolType)) - 1);
TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)(lrintf((float) timerClock(timer) / getDshotHz(pwmProtocolType) + 0.01f) - 1);
TIM_TimeBaseStructure.TIM_Period = pwmProtocolType == PWM_TYPE_PROSHOT1000 ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;

2
src/main/drivers/pwm_output_dshot_hal.c
View File

@ -108,7 +108,7 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
RCC_ClockCmd(timerRCC(timer), ENABLE);
motor->TimHandle.Instance = timerHardware->tim;
motor->TimHandle.Init.Prescaler = (timerClock(timer) / getDshotHz(pwmProtocolType)) - 1;
motor->TimHandle.Init.Prescaler = lrintf((float) timerClock(timer) / getDshotHz(pwmProtocolType) + 0.01f) - 1;
motor->TimHandle.Init.Period = pwmProtocolType == PWM_TYPE_PROSHOT1000 ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH;
motor->TimHandle.Init.RepetitionCounter = 0;
motor->TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;