z_archive: Testground - bird-sanctuary/bluejay GitHub Wiki

PWM	Period	Bit	Steps	Time / step	Mapping factor	rcpulse / step
24kHz	41666.67ns	10	2^10 = 1024	40.7ns	1024 / 2000 = 0.512	1.95
48kHz	20833.32ns	9	2^9 = 512	40.7ns	512 / 2000 = 0.256	3.9
96kHz	10416.67ns	8	2^8 = 256	40.7ns	256 / 2000 = 0.128	7.8

The lower the PWM frequency the more steps we have to properly map the rcpulse value. rcpulse has 2000 possible values 0-1999 after normalization (converting from actual DSHOT value). As you can see from the above table, the time / step is constant when PWM frequency is set in relation to steps.