rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #7281 from mikeller/cleanup_dshot_defines 

Cleaned up Dshot defines.
This commit is contained in:
Michael Keller 2018-12-28 00:28:40 +13:00 committed by GitHub
parent dc8eafa46e c684547984
commit dfc0f347ba
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 6 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/main/drivers/pwm_output.h
View File

@ -69,6 +69,8 @@ typedef enum {
DSHOT_CMD_MAX = 47
} dshotCommands_e;
#define DSHOT_MIN_THROTTLE 48
#define DSHOT_MAX_THROTTLE 2047
typedef enum {
PWM_TYPE_STANDARD = 0,

8
src/main/flight/mixer.c
View File

@ -375,7 +375,7 @@ void initEscEndpoints(void)
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
disarmMotorOutput = DSHOT_DISARM_COMMAND;
disarmMotorOutput = DSHOT_CMD_MOTOR_STOP;
if (featureIsEnabled(FEATURE_3D)) {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
} else {
@ -941,14 +941,14 @@ float convertExternalToMotor(uint16_t externalValue)
if (featureIsEnabled(FEATURE_3D)) {
if (externalValue == PWM_RANGE_MID) {
motorValue = DSHOT_DISARM_COMMAND;
motorValue = DSHOT_CMD_MOTOR_STOP;
} else if (externalValue < PWM_RANGE_MID) {
motorValue = scaleRange(externalValue, PWM_RANGE_MIN, PWM_RANGE_MID - 1, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, DSHOT_MIN_THROTTLE);
} else {
motorValue = scaleRange(externalValue, PWM_RANGE_MID + 1, PWM_RANGE_MAX, DSHOT_3D_FORWARD_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
}
} else {
motorValue = (externalValue == PWM_RANGE_MIN) ? DSHOT_DISARM_COMMAND : scaleRange(externalValue, PWM_RANGE_MIN + 1, PWM_RANGE_MAX, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
motorValue = (externalValue == PWM_RANGE_MIN) ? DSHOT_CMD_MOTOR_STOP : scaleRange(externalValue, PWM_RANGE_MIN + 1, PWM_RANGE_MAX, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
}
break;
@ -969,7 +969,7 @@ uint16_t convertMotorToExternal(float motorValue)
#ifdef USE_DSHOT
case true:
if (featureIsEnabled(FEATURE_3D)) {
if (motorValue == DSHOT_DISARM_COMMAND || motorValue < DSHOT_MIN_THROTTLE) {
if (motorValue == DSHOT_CMD_MOTOR_STOP || motorValue < DSHOT_MIN_THROTTLE) {
externalValue = PWM_RANGE_MID;
} else if (motorValue <= DSHOT_3D_FORWARD_MIN_THROTTLE - 1) {
externalValue = scaleRange(motorValue, DSHOT_MIN_THROTTLE, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, PWM_RANGE_MID - 1, PWM_RANGE_MIN);

3
src/main/flight/mixer.h
View File

@ -33,9 +33,6 @@
#define BRUSHLESS_MOTORS_PWM_RATE 480
// Digital protocol has fixed values
#define DSHOT_DISARM_COMMAND 0
#define DSHOT_MIN_THROTTLE 48
#define DSHOT_MAX_THROTTLE 2047
#define DSHOT_3D_FORWARD_MIN_THROTTLE 1048
// Note: this is called MultiType/MULTITYPE_* in baseflight.