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fix: Adjust telemetry timing and ensure port is ready

main
Mathias Rasmussen 4 years ago
parent
commit
5ad0a925aa
  1. 13
      Bluejay.asm

13
Bluejay.asm

@ -381,12 +381,12 @@ STARTUP_POWER_TABLE: DB 1, 2, 3, 4, 6, 9, 12, 18, 25, 37, 50, 62, 75
DSHOT_TLM_CLOCK EQU 24500000 ; 24.5MHz
DSHOT_TLM_START_DELAY EQU -1 ; Start telemetry after 1 tick (~30us after receiving DShot cmd)
DSHOT_TLM_START_DELAY EQU -(5 * 25 / 4) ; Start telemetry after 5 us (~30 us after receiving DShot cmd)
DSHOT_TLM_PREDELAY EQU 6 ; 6 timer 0 ticks inherent delay
IF MCU_48MHZ == 1
DSHOT_TLM_CLOCK_48 EQU 49000000 ; 49MHz
DSHOT_TLM_START_DELAY_48 EQU -(14 * 49 / 4) ; Start telemetry after 14us (~30us after receiving DShot cmd)
DSHOT_TLM_START_DELAY_48 EQU -(16 * 49 / 4) ; Start telemetry after 15 us (~30 us after receiving DShot cmd)
DSHOT_TLM_PREDELAY_48 EQU 8 ; 8 timer 0 ticks inherent delay
ENDIF
@ -955,16 +955,17 @@ ENDIF
mov CKCON0, #01h ; Timer 0 is system clock divided by 4
mov TMOD, #0A2h ; Timer 0 runs free not gated by INT0
mov TL0, DShot_GCR_Start_Delay ; Telemetry will begin after this delay
clr TCON_TF0 ; Clear timer 0 overflow flag
setb IE_ET0 ; Enable timer 0 interrupts
; Configure RTX_PIN for digital output
setb RTX_PORT.RTX_PIN ; Default to high level
orl RTX_MDOUT, #(1 SHL RTX_PIN) ; Set output mode to push-pull
mov Temp1, #0 ; Set pointer to start
; Note: Delay must be large enough to ensure port is ready for output
mov TL0, DShot_GCR_Start_Delay ; Telemetry will begin after this delay
clr TCON_TF0 ; Clear timer 0 overflow flag
setb IE_ET0 ; Enable timer 0 interrupts
sjmp t1_int_exit_no_int
t1_int_exit_no_tlm:

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