From ec92be725bb33f987d5b5d2684644a1de755dcc9 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Wed, 9 Nov 2016 20:29:32 +1100
Subject: [PATCH 1/2] Disable output of DSHOT when motors disabled

---
 src/main/drivers/pwm_output.c           | 2 +-
 src/main/drivers/pwm_output.h           | 2 ++
 src/main/drivers/pwm_output_stm32f3xx.c | 9 +++++++++
 src/main/drivers/pwm_output_stm32f4xx.c | 8 ++++++++
 src/main/drivers/pwm_output_stm32f7xx.c | 9 +++++++++
 5 files changed, 29 insertions(+), 1 deletion(-)

diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index e4e04cbaa8..736b36d4cf 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -35,7 +35,7 @@ static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL;
 static pwmOutputPort_t servos[MAX_SUPPORTED_SERVOS];
 #endif
 
-static bool pwmMotorsEnabled = true;
+bool pwmMotorsEnabled = true;
 
 static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
 {
diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
index 4aa48905ae..02187844be 100644
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@@ -75,6 +75,8 @@ typedef struct {
 #endif
 } motorDmaOutput_t;
 
+extern bool pwmMotorsEnabled;
+
 struct timerHardware_s;
 typedef void(*pwmWriteFuncPtr)(uint8_t index, uint16_t value);  // function pointer used to write motors
 typedef void(*pwmCompleteWriteFuncPtr)(uint8_t motorCount);   // function pointer used after motors are written
diff --git a/src/main/drivers/pwm_output_stm32f3xx.c b/src/main/drivers/pwm_output_stm32f3xx.c
index d6e980b73e..896e551729 100644
--- a/src/main/drivers/pwm_output_stm32f3xx.c
+++ b/src/main/drivers/pwm_output_stm32f3xx.c
@@ -57,6 +57,11 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
 
 void pwmWriteDigital(uint8_t index, uint16_t value)
 {
+
+    if (!pwmMotorsEnabled) {
+        return;
+    }
+
     motorDmaOutput_t * const motor = &dmaMotors[index];
 
     uint16_t packet = (value << 1) | 0;                            // Here goes telemetry bit (false for now)
@@ -83,6 +88,10 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
 void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
 {
     UNUSED(motorCount);
+
+    if (!pwmMotorsEnabled) {
+        return;
+    }
     
     for (int i = 0; i < dmaMotorTimerCount; i++) {
         TIM_SetCounter(dmaMotorTimers[i].timer, 0);
diff --git a/src/main/drivers/pwm_output_stm32f4xx.c b/src/main/drivers/pwm_output_stm32f4xx.c
index 9f732a4907..2a0f620004 100644
--- a/src/main/drivers/pwm_output_stm32f4xx.c
+++ b/src/main/drivers/pwm_output_stm32f4xx.c
@@ -58,6 +58,10 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
 
 void pwmWriteDigital(uint8_t index, uint16_t value)
 {
+    if (!pwmMotorsEnabled) {
+        return;
+    }
+
     motorDmaOutput_t * const motor = &dmaMotors[index];
 
     uint16_t packet = (value << 1) | 0;                            // Here goes telemetry bit (false for now)
@@ -84,6 +88,10 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
 void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
 {
     UNUSED(motorCount);
+
+    if (!pwmMotorsEnabled) {
+        return;
+    }
     
     for (int i = 0; i < dmaMotorTimerCount; i++) {
         TIM_SetCounter(dmaMotorTimers[i].timer, 0);
diff --git a/src/main/drivers/pwm_output_stm32f7xx.c b/src/main/drivers/pwm_output_stm32f7xx.c
index e192557c01..74c00d2df6 100644
--- a/src/main/drivers/pwm_output_stm32f7xx.c
+++ b/src/main/drivers/pwm_output_stm32f7xx.c
@@ -57,6 +57,11 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
 
 void pwmWriteDigital(uint8_t index, uint16_t value)
 {
+
+    if (!pwmMotorsEnabled) {
+        return;
+    }
+
     motorDmaOutput_t * const motor = &dmaMotors[index];
 
     uint16_t packet = (value << 1) | 0;                            // Here goes telemetry bit (false for now)
@@ -87,6 +92,10 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
 {
     UNUSED(motorCount);
     
+    if (!pwmMotorsEnabled) {
+        return;
+    }
+
     for (uint8_t i = 0; i < dmaMotorTimerCount; i++) {
         //TIM_SetCounter(dmaMotorTimers[i].timer, 0);
         //TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE);

From 3b2aec6470d9041910049046df5414257eb1f1b8 Mon Sep 17 00:00:00 2001
From: blckmn <blackman@xtra.com.au>
Date: Thu, 10 Nov 2016 07:16:19 +1100
Subject: [PATCH 2/2] Fixed ANYFCF7 build

---
 src/main/drivers/pwm_output_hal.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/drivers/pwm_output_hal.c b/src/main/drivers/pwm_output_hal.c
index 5e3dd4a05c..d81d027422 100644
--- a/src/main/drivers/pwm_output_hal.c
+++ b/src/main/drivers/pwm_output_hal.c
@@ -35,7 +35,7 @@ static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL;
 static pwmOutputPort_t servos[MAX_SUPPORTED_SERVOS];
 #endif
 
-static bool pwmMotorsEnabled = true;
+bool pwmMotorsEnabled = true;
 
 static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
 {