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AP_HAL_ChibiOS: do not include NeoPixel in minimum pulse separation

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Andy Piper 2024-06-04 17:18:59 +01:00 committed by Andrew Tridgell
parent cdfd89bc1e
commit 9c588d6ae2
1 changed files with 2 additions and 3 deletions
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5
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -808,11 +808,9 @@ void RCOutput::push_local(void)
#endif // HAL_DSHOT_ENABLED
if (group.current_mode == MODE_PWM_ONESHOT ||
group.current_mode == MODE_PWM_ONESHOT125 ||
group.current_mode == MODE_NEOPIXEL ||
group.current_mode == MODE_NEOPIXELRGB ||
group.current_mode == MODE_PROFILED ||
is_dshot_protocol(group.current_mode)) {
// only control widest pulse for oneshot and dshot
// do not control for neopixel since updates to these are not pushed
if (period_us > widest_pulse) {
widest_pulse = period_us;
}
@ -1133,6 +1131,7 @@ void RCOutput::set_group_mode(pwm_group &group)
if (is_bidir_dshot_enabled(group)) {
group.dshot_pulse_send_time_us = pulse_send_time_us;
// to all intents and purposes the pulse time of send and receive are the same
// for dshot600 this is roughly 26us + 30us + 26us = 82us
group.dshot_pulse_time_us = pulse_send_time_us + pulse_send_time_us + 30;
}
#endif