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dshot: check for bad pulses and handle wrap correctly #78

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dshot: check for bad pulses and handle wrap correctly #78

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Commits on Oct 23, 2024

  1. dshot: check for bad pulses and handle wrap correctly 

    this ensures we handle timer wrap correctly, fixing bad dshot frames
with ArduPilot, and also checks for much too narrow or wide pulses

by making variables static this also saves flash and ram. Using
REF_F031 as the benchmark we get:

current REF_F031:

Memory region         Used Size  Region Size  %age Used
            SRAM:          0 GB        192 B      0.00%
             RAM:        3760 B       3904 B     96.31%
    FLASH_VECTAB:         192 B        192 B    100.00%
   FLASH_VERSION:          16 B         16 B    100.00%
           FLASH:       23260 B      27408 B     84.87%
       FILE_NAME:          32 B         32 B    100.00%
          EEPROM:          0 GB         1 KB      0.00%

with this PR:

Memory region         Used Size  Region Size  %age Used
            SRAM:          0 GB        192 B      0.00%
             RAM:        3704 B       3904 B     94.88%
    FLASH_VECTAB:         192 B        192 B    100.00%
   FLASH_VERSION:          16 B         16 B    100.00%
           FLASH:       23244 B      27408 B     84.81%
       FILE_NAME:          32 B         32 B    100.00%
          EEPROM:          0 GB         1 KB      0.00%

so we save 54 bytes of ram and 16 bytes of flash, while fixing the
wrap issue and adding pulse width checks
    @tridge
    tridge committed Oct 23, 2024
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