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HAL_ChibiOS: produce more accurate clocks for DShot and PWM

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This commit is contained in:
Andrew Tridgell 2020-02-05 15:47:08 +11:00
parent b7672cde69
commit 53b5564466
1 changed files with 1 additions and 4 deletions
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5
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -540,11 +540,8 @@ bool RCOutput::setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_
uint32_t clock_hz = group.pwm_drv->clock; uint32_t clock_hz = group.pwm_drv->clock;
target_frequency = bitrate * bit_width; target_frequency = bitrate * bit_width;
uint32_t prescaler = clock_hz / target_frequency; uint32_t prescaler = clock_hz / target_frequency;
while ((clock_hz / prescaler) * prescaler != clock_hz && prescaler <= 0x8000) {
prescaler++;
}
freq = clock_hz / prescaler; freq = clock_hz / prescaler;
// hal.console->printf("CLOCK=%u FREQ=%u PRE=%u BR=%u\n", clock_hz, freq/bit_width, prescaler, bitrate); // hal.console->printf("CLOCK=%u BW=%u FREQ=%u PRE=%u BR=%u\n", clock_hz, bit_width, freq/bit_width, prescaler, bitrate);
if (prescaler > 0x8000) { if (prescaler > 0x8000) {
group.dma_handle->unlock(); group.dma_handle->unlock();
return false; return false;