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HAL_ChibiOS: improve DShot timing accuracy

This commit is contained in:
Andrew Tridgell 2018-03-15 19:55:50 +11:00
parent 93111dc0b1
commit 26d279e165
2 changed files with 5 additions and 4 deletions
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8
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -414,8 +414,8 @@ void RCOutput::set_output_mode(uint16_t mask, enum output_mode mode)
const uint32_t bit_period = 19;
// configure timer driver for DMAR at requested rate
pwmStop(group.pwm_drv);
group.pwm_cfg.frequency = rate * bit_period;
group.pwm_cfg.period = bit_period;
group.pwm_cfg.frequency = rate * bit_period * dshot_clockmul;
group.pwm_cfg.period = bit_period * dshot_clockmul;
group.pwm_cfg.dier = TIM_DIER_UDE;
group.pwm_cfg.cr2 = 0;
pwmStart(group.pwm_drv, &group.pwm_cfg);
@ -623,8 +623,8 @@ uint16_t RCOutput::create_dshot_packet(const uint16_t value)
*/
void RCOutput::fill_DMA_buffer_dshot(uint32_t *buffer, uint8_t stride, uint16_t packet)
{
const uint8_t DSHOT_MOTOR_BIT_0 = 7;
const uint8_t DSHOT_MOTOR_BIT_1 = 14;
const uint8_t DSHOT_MOTOR_BIT_0 = 7 * dshot_clockmul;
const uint8_t DSHOT_MOTOR_BIT_1 = 14 * dshot_clockmul;
for (uint16_t i = 0; i < 16; i++) {
buffer[i * stride] = (packet & 0x8000) ? DSHOT_MOTOR_BIT_1 : DSHOT_MOTOR_BIT_0;
packet <<= 1;

1
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -134,6 +134,7 @@ private:
DShot handling
*/
const uint8_t dshot_post = 2;
const uint8_t dshot_clockmul = 2;
const uint16_t dshot_bit_length = 16 + dshot_post;
const uint16_t dshot_buffer_length = dshot_bit_length*4*sizeof(uint32_t);
uint32_t dshot_pulse_time_us;