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Perform DMA check before writing to motors.

This commit is contained in:
blckmn 2016-11-25 22:24:30 +11:00
parent 954d99a9d6
commit f15bdcdce9
3 changed files with 13 additions and 1 deletions
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4
src/main/drivers/pwm_output_stm32f3xx.c
View File

@ -71,6 +71,10 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
motorDmaOutput_t * const motor = &dmaMotors[index];
if (!motor->timerHardware->dmaChannel) {
return;
}
uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
motor->requestTelemetry = false; // reset telemetry request to make sure it's triggered only once in a row

4
src/main/drivers/pwm_output_stm32f4xx.c
View File

@ -69,6 +69,10 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
motorDmaOutput_t * const motor = &dmaMotors[index];
if (!motor->timerHardware->dmaStream) {
return;
}
uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
motor->requestTelemetry = false; // reset telemetry request to make sure it's triggered only once in a row

6
src/main/drivers/pwm_output_stm32f7xx.c
View File

@ -69,6 +69,10 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
motorDmaOutput_t * const motor = &dmaMotors[index];
if (!motor->timerHardware->dmaStream) {
return;
}
uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
motor->requestTelemetry = false; // reset telemetry request to make sure it's triggered only once in a row
@ -88,7 +92,7 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
packet <<= 1;
}
if( HAL_TIM_PWM_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, MOTOR_DMA_BUFFER_SIZE) != HAL_OK)
if(HAL_TIM_PWM_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, MOTOR_DMA_BUFFER_SIZE) != HAL_OK)
{
/* Starting PWM generation Error */
return;