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cleaned up

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This commit is contained in:
Jacob Dahl
2025-11-21 16:25:07 -09:00
parent 316c0c187a
commit bc89140345
4 changed files with 56 additions and 56 deletions
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platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
+3 -1
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@@ -150,7 +150,7 @@ static int _consecutive_successes[MAX_TIMER_IO_CHANNELS] = {};
// Adaptive base interval per channel (ticks per bit)
// Initialized to nominal 21 ticks/bit, then adapted based on measured timing
static float _base_interval[MAX_TIMER_IO_CHANNELS] = {
[0 ... (MAX_TIMER_IO_CHANNELS - 1)] = 21.0f
[0 ...(MAX_TIMER_IO_CHANNELS - 1)] = 21.0f
};
// ePRM data
@@ -813,6 +813,7 @@ uint32_t convert_edge_intervals_to_bitstream(uint8_t channel_index)
// Clamp to valid range (1-4 bits typical in GCR encoding)
if (bits < 1) {
bits = 1;
} else if (bits > 4) {
bits = 4;
}
@@ -836,6 +837,7 @@ uint32_t convert_edge_intervals_to_bitstream(uint8_t channel_index)
// Pad to 21 bits for GCR decoder (which expects exactly 21 bits)
if (shifted < 21) {
value <<= (21 - shifted);
} else if (shifted > 21) {
// Trim excess bits (shouldn't happen often with proper decoding)
value >>= (shifted - 21);