Merge pull request #3435 from martinbudden/bf_motor_enable

Remove duplication in motor enable/disable

src/main/drivers/pwm_output.c

@@ -45,8 +45,8 @@ static pwmOutputPort_t beeperPwm;
 static uint16_t freqBeep = 0;
 #endif
 
-bool pwmMotorsEnabled = false;
+static bool pwmMotorsEnabled = false;
-bool isDshot = false;
+static bool isDshot = false;
 
 static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
 {
@@ -169,9 +169,7 @@ static uint8_t loadDmaBufferProshot(motorDmaOutput_t *const motor, uint16_t pack
 
 void pwmWriteMotor(uint8_t index, float value)
 {
-    if (pwmMotorsEnabled) {
+    pwmWrite(index, value);
-        pwmWrite(index, value);
-    }
 }
 
 void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
@@ -397,8 +395,7 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t command)
         for (; repeats; repeats--) {
             motor->requestTelemetry = true;
             pwmWriteDshotInt(index, command);
-            pwmCompleteMotorUpdate(0);
+            pwmCompleteDshotMotorUpdate(0);
-
             delay(1);
         }
     }

src/main/drivers/pwm_output.h

@@ -125,8 +125,6 @@ typedef struct {
 
 motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
 
-extern bool pwmMotorsEnabled;
-
 struct timerHardware_s;
 typedef void pwmWriteFunc(uint8_t index, float value);  // function pointer used to write motors
 typedef void pwmCompleteWriteFunc(uint8_t motorCount);   // function pointer used after motors are written
@@ -134,11 +132,11 @@ typedef void pwmCompleteWriteFunc(uint8_t motorCount);   // function pointer use
 typedef struct {
     volatile timCCR_t *ccr;
     TIM_TypeDef *tim;
+    float pulseScale;
+    float pulseOffset;
     bool forceOverflow;
     bool enabled;
     IO_t io;
-    float pulseScale;
-    float pulseOffset;
 } pwmOutputPort_t;
 
 typedef struct motorDevConfig_s {

src/main/drivers/pwm_output_dshot.c

@@ -74,10 +74,6 @@ void pwmCompleteDshotMotorUpdate(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/fc/cli.c

@@ -2231,7 +2231,7 @@ static void cliDshotProg(char *cmdline)
 
                 break;
             default:
-                motorControlEnable = false;
+                pwmDisableMotors();
 
                 int command = atoi(pch);
                 if (command >= 0 && command < DSHOT_MIN_THROTTLE) {
@@ -2259,7 +2259,7 @@ static void cliDshotProg(char *cmdline)
         pch = strtok_r(NULL, " ", &saveptr);
     }
 
-    motorControlEnable = true;
+    pwmEnableMotors();
 }
 #endif
 

src/main/fc/fc_core.c

@@ -108,7 +108,6 @@ int16_t magHold;
 
 int16_t headFreeModeHold;
 
-uint8_t motorControlEnable = false;
 static bool reverseMotors = false;
 static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
 
@@ -627,9 +626,8 @@ static void subTaskMotorUpdate(void)
     }
 #endif
 
-    if (motorControlEnable) {
+    writeMotors();
-        writeMotors();
+
-    }
     DEBUG_SET(DEBUG_PIDLOOP, 3, micros() - startTime);
 }
 

src/main/fc/fc_core.h

@@ -27,8 +27,6 @@ extern int16_t magHold;
 extern bool isRXDataNew;
 extern int16_t headFreeModeHold;
 
-extern uint8_t motorControlEnable;
-
 typedef struct throttleCorrectionConfig_s {
     uint16_t throttle_correction_angle;     // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
     uint8_t throttle_correction_value;      // the correction that will be applied at throttle_correction_angle.

src/main/fc/fc_init.c

@@ -137,8 +137,6 @@
 void targetPreInit(void);
 #endif
 
-extern uint8_t motorControlEnable;
-
 #ifdef SOFTSERIAL_LOOPBACK
 serialPort_t *loopbackPort;
 #endif
@@ -709,7 +707,7 @@ void init(void)
 
     // Latch active features AGAIN since some may be modified by init().
     latchActiveFeatures();
-    motorControlEnable = true;
+    pwmEnableMotors();
 
 #ifdef USE_OSD_SLAVE
     osdSlaveTasksInit();

src/main/flight/mixer.c

@@ -469,9 +469,8 @@ void writeMotors(void)
         for (int i = 0; i < motorCount; i++) {
             pwmWriteMotor(i, motor[i]);
         }
+        pwmCompleteMotorUpdate(motorCount);
     }
-
-    pwmCompleteMotorUpdate(motorCount);
 }
 
 static void writeAllMotors(int16_t mc)

src/main/target/SITL/target.c

@@ -374,7 +374,7 @@ int timeval_sub(struct timespec *result, struct timespec *x, struct timespec *y)
 
 
 // PWM part
-bool pwmMotorsEnabled = false;
+static bool pwmMotorsEnabled = false;
 static pwmOutputPort_t motors[MAX_SUPPORTED_MOTORS];
 static pwmOutputPort_t servos[MAX_SUPPORTED_SERVOS];
 
@@ -406,6 +406,10 @@ pwmOutputPort_t *pwmGetMotors(void) {
     return motors;
 }
 
+void pwmEnableMotors(void) {
+    pwmMotorsEnabled = true;
+}
+
 bool pwmAreMotorsEnabled(void) {
     return pwmMotorsEnabled;
 }