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AP_HAL: add support for Extended DShot Telemetry v2

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Maxim Buzdalov 2024-05-14 09:16:22 +10:00 committed by Andrew Tridgell
parent 43937ddeed
commit 1232e810d4
1 changed files with 13 additions and 0 deletions
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13
libraries/AP_HAL/AP_HAL_Boards.h
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@ -175,6 +175,19 @@
#define HAL_WITH_IO_MCU_DSHOT HAL_WITH_IO_MCU_BIDIR_DSHOT #define HAL_WITH_IO_MCU_DSHOT HAL_WITH_IO_MCU_BIDIR_DSHOT
#endif #endif
#ifndef HAL_REQUIRES_BDSHOT_SUPPORT
#define HAL_REQUIRES_BDSHOT_SUPPORT (defined(HAL_WITH_BIDIR_DSHOT) || HAL_WITH_IO_MCU_BIDIR_DSHOT)
#endif
// support for Extended DShot Telemetry v2 is enabled only if any kind of such telemetry
// can in principle arrive, either from servo outputs or from IOMCU
// if not desired, set to 0 - and if IOMCU has bidirectional DShot enabled, recompile it too,
// otherwise the communication to IOMCU breaks!
#ifndef AP_EXTENDED_DSHOT_TELEM_V2_ENABLED
#define AP_EXTENDED_DSHOT_TELEM_V2_ENABLED HAL_REQUIRES_BDSHOT_SUPPORT
#endif
// this is used as a general mechanism to make a 'small' build by // this is used as a general mechanism to make a 'small' build by
// dropping little used features. We use this to allow us to keep // dropping little used features. We use this to allow us to keep
// FMUv2 going for as long as possible // FMUv2 going for as long as possible