Merge pull request #1505 from blckmn/disable_motors_dshot

Disable output of DSHOT when motors disabled

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)
 {

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

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)
 {

src/main/drivers/pwm_output_stm32f3xx.c

@@ -59,6 +59,11 @@ 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)
@@ -86,6 +91,10 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
 {
     UNUSED(motorCount);
 
+    if (!pwmMotorsEnabled) {
+        return;
+    }
+    
     for (int i = 0; i < dmaMotorTimerCount; i++) {
         TIM_SetCounter(dmaMotorTimers[i].timer, 0);
         TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE); 

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)
@@ -85,6 +89,10 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
 {
     UNUSED(motorCount);
 
+    if (!pwmMotorsEnabled) {
+        return;
+    }
+    
     for (int i = 0; i < dmaMotorTimerCount; i++) {
         TIM_SetCounter(dmaMotorTimers[i].timer, 0);
         TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE); 

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);