From 49869fa2bbdb602f97e57f5f89c0e6689ab0309b Mon Sep 17 00:00:00 2001
From: Dominic Clifton <dominic.clifton@cleanflight.com>
Date: Wed, 18 Aug 2021 15:26:24 +0200
Subject: [PATCH] Debug - Initialise debug pins on startup, not as part of the
 dshot bitbang code.

---
 src/main/build/debug_pin.h                 |  2 ++
 src/main/drivers/dshot_bitbang.c           | 18 +++++-------------
 src/main/drivers/dshot_bitbang_stdperiph.c | 17 +++++------------
 src/main/fc/init.c                         |  5 +++++
 4 files changed, 17 insertions(+), 25 deletions(-)

diff --git a/src/main/build/debug_pin.h b/src/main/build/debug_pin.h
index ce31f50cdd..bb86131930 100644
--- a/src/main/build/debug_pin.h
+++ b/src/main/build/debug_pin.h
@@ -20,6 +20,8 @@
 
 #pragma once
 
+#include <drivers/io.h>
+
 typedef struct dbgPin_s {
     ioTag_t tag;
 } dbgPin_t;
diff --git a/src/main/drivers/dshot_bitbang.c b/src/main/drivers/dshot_bitbang.c
index c4098a2b5c..d2fad40c06 100644
--- a/src/main/drivers/dshot_bitbang.c
+++ b/src/main/drivers/dshot_bitbang.c
@@ -27,6 +27,7 @@
 #ifdef USE_DSHOT_BITBANG
 
 #include "build/debug.h"
+#include "build/debug_pin.h"
 
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
@@ -46,14 +47,6 @@
 
 #include "pg/motor.h"
 
-#if defined(USE_DEBUG_PIN)
-#include "build/debug_pin.h"
-#else
-#define dbgPinInit()
-#define dbgPinHi(x)
-#define dbgPinLo(x)
-#endif
-
 FAST_DATA_ZERO_INIT bbPacer_t bbPacers[MAX_MOTOR_PACERS];  // TIM1 or TIM8
 FAST_DATA_ZERO_INIT int usedMotorPacers = 0;
 
@@ -300,7 +293,7 @@ static void bbAllocDma(bbPort_t *bbPort)
 
 void bbDMAIrqHandler(dmaChannelDescriptor_t *descriptor)
 {
-    dbgPinHi(0);
+    DEBUG_HI(0);
 
     bbPort_t *bbPort = (bbPort_t *)descriptor->userParam;
 
@@ -333,7 +326,7 @@ void bbDMAIrqHandler(dmaChannelDescriptor_t *descriptor)
         }
     }
 #endif
-    dbgPinLo(0);
+    DEBUG_LO(0);
 }
 
 // Setup bbPorts array elements so that they each have a TIM1 or TIM8 channel
@@ -693,9 +686,8 @@ dshotBitbangStatus_e dshotBitbangGetStatus()
 
 motorDevice_t *dshotBitbangDevInit(const motorDevConfig_t *motorConfig, uint8_t count)
 {
-    dbgPinInit();
-    dbgPinLo(0);
-    dbgPinLo(1);
+    DEBUG_LO(0);
+    DEBUG_LO(1);
 
     motorPwmProtocol = motorConfig->motorPwmProtocol;
     bbDevice.vTable = bbVTable;
diff --git a/src/main/drivers/dshot_bitbang_stdperiph.c b/src/main/drivers/dshot_bitbang_stdperiph.c
index 69e3ed7b72..cf599944a6 100644
--- a/src/main/drivers/dshot_bitbang_stdperiph.c
+++ b/src/main/drivers/dshot_bitbang_stdperiph.c
@@ -28,6 +28,7 @@
 
 #include "build/atomic.h"
 #include "build/debug.h"
+#include "build/debug_pin.h"
 
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
@@ -44,14 +45,6 @@
 
 #include "pg/motor.h"
 
-#if defined(USE_DEBUG_PIN)
-#include "build/debug_pin.h"
-#else
-#define dbgPinInit()
-#define dbgPinHi(x)
-#define dbgPinLo(x)
-#endif
-
 void bbGpioSetup(bbMotor_t *bbMotor)
 {
     bbPort_t *bbPort = bbMotor->bbPort;
@@ -142,7 +135,7 @@ static void bbSaveDMARegs(dmaResource_t *dmaResource, dmaRegCache_t *dmaRegCache
 
 void bbSwitchToOutput(bbPort_t * bbPort)
 {
-    dbgPinHi(1);
+    DEBUG_HI(1);
     // Output idle level before switching to output
     // Use BSRR register for this
     // Normal: Use BR (higher half)
@@ -173,13 +166,13 @@ void bbSwitchToOutput(bbPort_t * bbPort)
 
     bbPort->direction = DSHOT_BITBANG_DIRECTION_OUTPUT;
 
-    dbgPinLo(1);
+    DEBUG_LO(1);
 }
 
 #ifdef USE_DSHOT_TELEMETRY
 void bbSwitchToInput(bbPort_t *bbPort)
 {
-    dbgPinHi(1);
+    DEBUG_HI(1);
 
     // Set GPIO to input
 
@@ -208,7 +201,7 @@ void bbSwitchToInput(bbPort_t *bbPort)
 
     bbPort->direction = DSHOT_BITBANG_DIRECTION_INPUT;
 
-    dbgPinLo(1);
+    DEBUG_LO(1);
 }
 #endif
 
diff --git a/src/main/fc/init.c b/src/main/fc/init.c
index 16d48d1b82..2f08023fd6 100644
--- a/src/main/fc/init.c
+++ b/src/main/fc/init.c
@@ -29,6 +29,7 @@
 
 #include "build/build_config.h"
 #include "build/debug.h"
+#include "build/debug_pin.h"
 
 #include "cms/cms.h"
 #include "cms/cms_types.h"
@@ -413,6 +414,10 @@ void init(void)
 
     systemState |= SYSTEM_STATE_CONFIG_LOADED;
 
+#ifdef USE_DEBUG_PIN
+    dbgPinInit();
+#endif
+
 #ifdef USE_SDCARD
     // Ensure the SD card is initialised before the USB MSC starts to avoid a race condition
 #if !defined(CONFIG_IN_SDCARD) && defined(STM32H7) && defined(USE_SDCARD_SDIO) // H7 only for now, likely should be applied to F4/F7 too