Adjustments based on feedback from @ledvinap

src/main/config/config.c

@@ -284,7 +284,7 @@ static void validateAndFixConfig(void)
         }
     }
 
-    if ((motorConfig()->dev.motorProtocol == MOTOR_PROTOCOL_STANDARD) && (motorConfig()->dev.motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) {
+    if ((motorConfig()->dev.motorProtocol == MOTOR_PROTOCOL_PWM50HZ ) && (motorConfig()->dev.motorPwmRate > BRUSHLESS_MOTORS_PWM_RATE)) {
         motorConfigMutable()->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
     }
 
@@ -598,7 +598,7 @@ void validateAndFixGyroConfig(void)
         }
 #endif // USE_DSHOT && USE_PID_DENOM_CHECK
         switch (motorConfig()->dev.motorProtocol) {
-        case MOTOR_PROTOCOL_STANDARD:
+        case MOTOR_PROTOCOL_PWM50HZ :
                 motorUpdateRestriction = 1.0f / BRUSHLESS_MOTORS_PWM_RATE;
                 break;
         case MOTOR_PROTOCOL_ONESHOT125:
@@ -624,7 +624,7 @@ void validateAndFixGyroConfig(void)
             bool configuredMotorProtocolDshot = false;
             checkMotorProtocolEnabled(&motorConfig()->dev, &configuredMotorProtocolDshot);
             // Prevent overriding the max rate of motors
-            if (!configuredMotorProtocolDshot && motorConfig()->dev.motorProtocol != MOTOR_PROTOCOL_STANDARD) {
+            if (!configuredMotorProtocolDshot && motorConfig()->dev.motorProtocol != MOTOR_PROTOCOL_PWM50HZ ) {
                 const uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
                 motorConfigMutable()->dev.motorPwmRate = MIN(motorConfig()->dev.motorPwmRate, maxEscRate);
             }

src/main/drivers/dshot_command.c

@@ -139,7 +139,7 @@ static dshotCommandControl_t* addCommand(void)
 static bool allMotorsAreIdle(void)
 {
     for (unsigned i = 0; i < motorDeviceCount(); i++) {
-        if (motorIsMotorIdle(i)) {
+        if (!motorIsMotorIdle(i)) {
             return false;
         }
     }

src/main/drivers/motor.c

@@ -58,7 +58,7 @@ void motorShutdown(void)
     motorDevice->initialized = false;
 
     switch (motorConfig()->dev.motorProtocol) {
-    case MOTOR_PROTOCOL_STANDARD:
+    case MOTOR_PROTOCOL_PWM50HZ :
     case MOTOR_PROTOCOL_ONESHOT125:
     case MOTOR_PROTOCOL_ONESHOT42:
     case MOTOR_PROTOCOL_MULTISHOT:
@@ -125,9 +125,9 @@ void motorWriteAll(float *values)
 #endif
 }
 
-void motorRequestTelemetry(uint8_t index)
+void motorRequestTelemetry(unsigned index)
 {
-    if (index > motorDevice->count - 1) {
+    if (index >= motorDevice->count) {
         return;
     }
 
@@ -170,7 +170,7 @@ bool checkMotorProtocolEnabled(const motorDevConfig_t *motorDevConfig, bool *isP
     bool isDshot = false;
 
     switch (motorDevConfig->motorProtocol) {
-    case MOTOR_PROTOCOL_STANDARD:
+    case MOTOR_PROTOCOL_PWM50HZ :
     case MOTOR_PROTOCOL_ONESHOT125:
     case MOTOR_PROTOCOL_ONESHOT42:
     case MOTOR_PROTOCOL_MULTISHOT:
@@ -248,13 +248,7 @@ static void motorDisableNull(void)
 {
 }
 
-static bool motorIsEnabledNull(uint8_t index)
+static bool motorIsEnabledNull(unsigned index)
-{
-    UNUSED(index);
-    return false;
-}
-
-static bool motorIsIdleNull(uint8_t index)
 {
     UNUSED(index);
     return false;
@@ -309,7 +303,8 @@ static const motorVTable_t motorNullVTable = {
     .convertExternalToMotor = motorConvertFromExternalNull,
     .convertMotorToExternal = motorConvertToExternalNull,
     .shutdown = motorShutdownNull,
-    .isMotorIdle = motorIsIdleNull,
+    .requestTelemetry = NULL,
+    .isMotorIdle = NULL,
 };
 
 static motorDevice_t motorNullDevice = {
@@ -407,7 +402,7 @@ bool motorIsMotorEnabled(uint8_t index)
     return motorDevice->vTable.isMotorEnabled(index);
 }
 
-bool motorIsMotorIdle(uint8_t index)
+bool motorIsMotorIdle(unsigned index)
 {
     return motorDevice->vTable.isMotorIdle ? motorDevice->vTable.isMotorIdle(index) : false;
 }

src/main/drivers/motor.h

@@ -35,7 +35,7 @@ void motorUpdateCompleteNull(void);
 
 void motorPostInit();
 void motorWriteAll(float *values);
-void motorRequestTelemetry(uint8_t index);
+void motorRequestTelemetry(unsigned index);
 
 void motorInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3DHigh, float *deadbandMotor3DLow);
 
@@ -56,7 +56,7 @@ void motorEnable(void);
 float motorEstimateMaxRpm(void);
 bool motorIsEnabled(void);
 bool motorIsMotorEnabled(uint8_t index);
-bool motorIsMotorIdle(uint8_t index);
+bool motorIsMotorIdle(unsigned index);
 timeMs_t motorGetMotorEnableTimeMs(void);
 void motorShutdown(void); // Replaces stopPwmAllMotors
 

src/main/drivers/motor_types.h

@@ -28,7 +28,7 @@
 #define MOTOR_OUTPUT_LIMIT_PERCENT_MAX 100
 
 typedef enum {
-    MOTOR_PROTOCOL_STANDARD = 0,
+    MOTOR_PROTOCOL_PWM50HZ = 0,
     MOTOR_PROTOCOL_ONESHOT125,
     MOTOR_PROTOCOL_ONESHOT42,
     MOTOR_PROTOCOL_MULTISHOT,
@@ -49,7 +49,7 @@ typedef struct motorVTable_s {
     uint16_t (*convertMotorToExternal)(float motorValue);
     bool (*enable)(void);
     void (*disable)(void);
-    bool (*isMotorEnabled)(uint8_t index);
+    bool (*isMotorEnabled)(unsigned index);
     bool (*telemetryWait)(void);
     bool (*decodeTelemetry)(void);
     void (*updateInit)(void);
@@ -57,10 +57,10 @@ typedef struct motorVTable_s {
     void (*writeInt)(uint8_t index, uint16_t value);
     void (*updateComplete)(void);
     void (*shutdown)(void);
-    bool (*isMotorIdle)(uint8_t index);
+    bool (*isMotorIdle)(unsigned index);
 
     // Digital commands
-    void (*requestTelemetry)(uint8_t index);
+    void (*requestTelemetry)(unsigned index);
 } motorVTable_t;
 
 typedef struct motorDevice_s {

src/main/pg/motor.c

@@ -51,14 +51,14 @@ PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 3);
 
 void pgResetFn_motorConfig(motorConfig_t *motorConfig)
 {
-#ifdef BRUSHED_MOTORS
+#ifdef USE_BRUSHED_MOTORS
     motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
     motorConfig->dev.motorProtocol = MOTOR_PROTOCOL_BRUSHED;
     motorConfig->dev.useUnsyncedUpdate = true;
 #else
     motorConfig->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
 #ifndef USE_DSHOT
-    if (motorConfig->dev.motorProtocol == MOTOR_PROTOCOL_STANDARD) {
+    if (motorConfig->dev.motorProtocol == MOTOR_PROTOCOL_PWM50HZ ) {
         motorConfig->dev.useUnsyncedUpdate = true;
     }
     motorConfig->dev.motorProtocol = MOTOR_PROTOCOL_DISABLED;

src/main/pg/motor.h

@@ -33,12 +33,14 @@
 #define BRUSHLESS_MOTORS_PWM_RATE 480
 #endif
 
+//TODO: Timers are platform specific. This should be moved to platform specific code.
 typedef enum {
     DSHOT_BITBANGED_TIMER_AUTO = 0,
     DSHOT_BITBANGED_TIMER_TIM1,
     DSHOT_BITBANGED_TIMER_TIM8,
 } dshotBitbangedTimer_e;
 
+//TODO: DMAR is platform specific. This should be moved to platform specific code.
 typedef enum {
     DSHOT_DMAR_OFF,
     DSHOT_DMAR_ON,
@@ -51,7 +53,7 @@ typedef enum {
 } dshotTelemetry_e;
 
 typedef struct motorDevConfig_s {
-    uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
+    uint16_t motorPwmRate;               // The update rate of motor outputs (50-498Hz)
     uint8_t  motorProtocol;              // Pwm Protocol
     uint8_t  motorInversion;             // Active-High vs Active-Low. Useful for brushed FCs converted for brushless operation
     uint8_t  useUnsyncedUpdate;

src/platform/APM32/dshot_bitbang.c

@@ -665,7 +665,7 @@ static void bbShutdown(void)
     return;
 }
 
-static bool bbIsMotorEnabled(uint8_t index)
+static bool bbIsMotorEnabled(unsigned index)
 {
     return bbMotors[index].enabled;
 }

src/platform/APM32/pwm_output_apm32.c

@@ -116,7 +116,7 @@ bool pwmEnableMotors(void)
     return (motorPwmVTable.write != &pwmWriteUnused);
 }
 
-bool pwmIsMotorEnabled(uint8_t index)
+bool pwmIsMotorEnabled(unsigned index)
 {
     return motors[index].enabled;
 }
@@ -151,6 +151,8 @@ static motorVTable_t motorPwmVTable = {
     .shutdown = pwmShutdownPulsesForAllMotors,
     .convertExternalToMotor = pwmConvertFromExternal,
     .convertMotorToExternal = pwmConvertToExternal,
+    .requestTelemetry = NULL,
+    .isMotorIdle = NULL,
 };
 
 motorDevice_t *motorPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount, bool useUnsyncedUpdate)
@@ -180,7 +182,7 @@ motorDevice_t *motorPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t idl
         useUnsyncedUpdate = true;
         idlePulse = 0;
         break;
-    case MOTOR_PROTOCOL_STANDARD:
+    case MOTOR_PROTOCOL_PWM50HZ :
         sMin = 1e-3f;
         sLen = 1e-3f;
         useUnsyncedUpdate = true;

src/platform/APM32/pwm_output_dshot_apm32.c

@@ -47,9 +47,9 @@
 
 #ifdef USE_DSHOT_TELEMETRY
 
-void dshotEnableChannels(uint8_t motorCount)
+void dshotEnableChannels(unsigned motorCount)
 {
-    for (int i = 0; i < motorCount; i++) {
+    for (unsigned i = 0; i < motorCount; i++) {
         if (dmaMotors[i].output & TIMER_OUTPUT_N_CHANNEL) {
             DDL_TMR_CC_EnableChannel(dmaMotors[i].timerHardware->tim, dmaMotors[i].llChannel << 4);
         } else {

src/platform/AT32/dshot_bitbang.c

@@ -657,7 +657,7 @@ static void bbShutdown(void)
     return;
 }
 
-static bool bbIsMotorEnabled(uint8_t index)
+static bool bbIsMotorEnabled(unsigned index)
 {
     return bbMotors[index].enabled;
 }

src/platform/AT32/pwm_output_at32bsp.c

@@ -112,7 +112,7 @@ bool pwmEnableMotors(void)
     return (motorPwmVTable.write != &pwmWriteUnused);
 }
 
-bool pwmIsMotorEnabled(uint8_t index)
+bool pwmIsMotorEnabled(unsigned index)
 {
     return motors[index].enabled;
 }
@@ -147,6 +147,8 @@ static motorVTable_t motorPwmVTable = {
     .shutdown = pwmShutdownPulsesForAllMotors,
     .convertExternalToMotor = pwmConvertFromExternal,
     .convertMotorToExternal = pwmConvertToExternal,
+    .requestTelemetry = NULL,
+    .isMotorIdle = NULL,
 };
 
 motorDevice_t *motorPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount, bool useUnsyncedUpdate)
@@ -176,7 +178,7 @@ motorDevice_t *motorPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t idl
         useUnsyncedUpdate = true;
         idlePulse = 0;
         break;
-    case MOTOR_PROTOCOL_STANDARD:
+    case MOTOR_PROTOCOL_PWM50HZ :
         sMin = 1e-3f;
         sLen = 1e-3f;
         useUnsyncedUpdate = true;

src/platform/AT32/pwm_output_dshot.c

@@ -114,9 +114,9 @@ tmr_channel_select_type toCHSelectType(const uint8_t bfChannel, const bool useNC
  *   Called once for every dshot update if telemetry is being used (not just enabled by #def)
  *   Called from pwm_output_dshot_shared.c pwmTelemetryDecode
 */
-void dshotEnableChannels(uint8_t motorCount)
+void dshotEnableChannels(unsigned motorCount)
 {
-    for (int i = 0; i < motorCount; i++) {
+    for (unsigned i = 0; i < motorCount; i++) {
         tmr_primary_mode_select(dmaMotors[i].timerHardware->tim, TMR_PRIMARY_SEL_COMPARE);
 
         tmr_channel_select_type atCh = toCHSelectType(dmaMotors[i].timerHardware->channel, dmaMotors[i].output & TIMER_OUTPUT_N_CHANNEL);

src/platform/SIMULATOR/sitl.c

@@ -575,7 +575,7 @@ static void pwmShutdownPulsesForAllMotors(void)
     motorPwmDevice.enabled = false;
 }
 
-bool pwmIsMotorEnabled(uint8_t index)
+bool pwmIsMotorEnabled(unsigned index)
 {
     return motors[index].enabled;
 }
@@ -624,6 +624,8 @@ static motorDevice_t motorPwmDevice = {
         .writeInt = pwmWriteMotorInt,
         .updateComplete = pwmCompleteMotorUpdate,
         .shutdown = pwmShutdownPulsesForAllMotors,
+        .requestTelemetry = NULL,
+        .isMotorIdle = NULL,
     }
 };
 

src/platform/STM32/dshot_bitbang.c

@@ -697,7 +697,7 @@ static void bbShutdown(void)
     return;
 }
 
-static bool bbIsMotorEnabled(uint8_t index)
+static bool bbIsMotorEnabled(unsigned index)
 {
     return bbMotors[index].enabled;
 }

src/platform/STM32/pwm_output.c

@@ -144,7 +144,7 @@ bool pwmEnableMotors(void)
     return (motorPwmVTable.write != &pwmWriteUnused);
 }
 
-bool pwmIsMotorEnabled(uint8_t index)
+bool pwmIsMotorEnabled(unsigned index)
 {
     return motors[index].enabled;
 }
@@ -179,6 +179,8 @@ static motorVTable_t motorPwmVTable = {
     .shutdown = pwmShutdownPulsesForAllMotors,
     .convertExternalToMotor = pwmConvertFromExternal,
     .convertMotorToExternal = pwmConvertToExternal,
+    .requestTelemetry = NULL,
+    .isMotorIdle = NULL,
 };
 
 motorDevice_t *motorPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount, bool useUnsyncedUpdate)
@@ -208,7 +210,7 @@ motorDevice_t *motorPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t idl
         useUnsyncedUpdate = true;
         idlePulse = 0;
         break;
-    case MOTOR_PROTOCOL_STANDARD:
+    case MOTOR_PROTOCOL_PWM50HZ :
         sMin = 1e-3f;
         sLen = 1e-3f;
         useUnsyncedUpdate = true;

src/platform/STM32/pwm_output_dshot.c

@@ -48,9 +48,9 @@
 
 #ifdef USE_DSHOT_TELEMETRY
 
-void dshotEnableChannels(uint8_t motorCount)
+void dshotEnableChannels(unsigned motorCount)
 {
-    for (int i = 0; i < motorCount; i++) {
+    for (unsigned i = 0; i < motorCount; i++) {
         if (dmaMotors[i].output & TIMER_OUTPUT_N_CHANNEL) {
             TIM_CCxNCmd(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerHardware->channel, TIM_CCxN_Enable);
         } else {

src/platform/STM32/pwm_output_dshot_hal.c

@@ -47,9 +47,9 @@
 
 #ifdef USE_DSHOT_TELEMETRY
 
-void dshotEnableChannels(uint8_t motorCount)
+void dshotEnableChannels(unsigned motorCount)
 {
-    for (int i = 0; i < motorCount; i++) {
+    for (unsigned i = 0; i < motorCount; i++) {
         if (dmaMotors[i].output & TIMER_OUTPUT_N_CHANNEL) {
             LL_EX_TIM_CC_EnableNChannel(dmaMotors[i].timerHardware->tim, dmaMotors[i].llChannel);
         } else {

src/platform/common/stm32/dshot_bitbang_impl.h

@@ -277,5 +277,5 @@ void bbDMA_Cmd(bbPort_t *bbPort, FunctionalState NewState);
 #endif
 int  bbDMA_Count(bbPort_t *bbPort);
 
-void bbDshotRequestTelemetry(uint8_t motorIndex);
+void bbDshotRequestTelemetry(unsigned motorIndex);
-bool bbDshotIsMotorIdle(uint8_t motorIndex);
+bool bbDshotIsMotorIdle(unsigned motorIndex);

src/platform/common/stm32/dshot_bitbang_shared.c

@@ -21,8 +21,11 @@
 
 #include "dshot_bitbang_impl.h"
 
-void bbDshotRequestTelemetry(uint8_t motorIndex)
+void bbDshotRequestTelemetry(unsigned motorIndex)
 {
+    if (motorIndex >= ARRAYLEN(bbMotors)) {
+        return;
+    }
     bbMotor_t *const bbmotor = &bbMotors[motorIndex];
 
     if (!bbmotor->configured) {
@@ -31,8 +34,12 @@ void bbDshotRequestTelemetry(uint8_t motorIndex)
     bbmotor->protocolControl.requestTelemetry = true;
 }
 
-bool bbDshotIsMotorIdle(uint8_t motorIndex)
+bool bbDshotIsMotorIdle(unsigned motorIndex)
 {
+    if (motorIndex >= ARRAYLEN(bbMotors)) {
+        return false;
+    }
+
     bbMotor_t *const bbmotor = &bbMotors[motorIndex];
-    return bbmotor->protocolControl.value;
+    return bbmotor->protocolControl.value != 0;
 }

src/platform/common/stm32/dshot_dpwm.c

@@ -121,7 +121,7 @@ static bool dshotPwmEnableMotors(void)
     return true;
 }
 
-static bool dshotPwmIsMotorEnabled(uint8_t index)
+static bool dshotPwmIsMotorEnabled(unsigned index)
 {
     return motors[index].enabled;
 }

src/platform/common/stm32/dshot_dpwm.h

@@ -153,7 +153,7 @@ typedef struct motorDmaOutput_s {
     DSHOT_DMA_BUFFER_UNIT *dmaBuffer;
 } motorDmaOutput_t;
 
-motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
+motorDmaOutput_t *getMotorDmaOutput(unsigned index);
 
 void pwmWriteDshotInt(uint8_t index, uint16_t value);
 bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t reorderedMotorIndex, motorProtocolTypes_e pwmProtocolType, uint8_t output);

src/platform/common/stm32/pwm_output_dshot_shared.c

@@ -63,21 +63,26 @@ FAST_DATA_ZERO_INIT uint32_t inputStampUs;
 FAST_DATA_ZERO_INIT dshotTelemetryCycleCounters_t dshotDMAHandlerCycleCounters;
 #endif
 
-motorDmaOutput_t *getMotorDmaOutput(uint8_t index)
+motorDmaOutput_t *getMotorDmaOutput(unsigned index)
 {
+    if (index >= ARRAYLEN(dmaMotors)) {
+        return NULL;
+    }
     return &dmaMotors[index];
 }
 
-bool pwmDshotIsMotorIdle(uint8_t index)
+bool pwmDshotIsMotorIdle(unsigned index)
 {
     const motorDmaOutput_t *motor = getMotorDmaOutput(index);
-    return motor->protocolControl.value;
+    return motor && motor->protocolControl.value != 0;
 }
 
-void pwmDshotRequestTelemetry(uint8_t index)
+void pwmDshotRequestTelemetry(unsigned index)
 {
     motorDmaOutput_t * const motor = getMotorDmaOutput(index);
-    motor->protocolControl.requestTelemetry = true;
+    if (motor) {
+        motor->protocolControl.requestTelemetry = true;
+    }
 }
 
 uint8_t getTimerIndex(TIM_TypeDef *timer)
@@ -153,7 +158,7 @@ FAST_CODE void pwmWriteDshotInt(uint8_t index, uint16_t value)
 
 #ifdef USE_DSHOT_TELEMETRY
 
-void dshotEnableChannels(uint8_t motorCount);
+void dshotEnableChannels(unsigned motorCount);
 
 static uint32_t decodeTelemetryPacket(const uint32_t buffer[], uint32_t count)
 {

src/platform/common/stm32/pwm_output_dshot_shared.h

@@ -29,8 +29,8 @@ extern FAST_DATA_ZERO_INIT motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
 extern FAST_DATA_ZERO_INIT motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
 
 uint8_t getTimerIndex(TIM_TypeDef *timer);
-motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
+motorDmaOutput_t *getMotorDmaOutput(unsigned index);
-void dshotEnableChannels(uint8_t motorCount);
+void dshotEnableChannels(unsigned motorCount);
 
 #ifdef USE_DSHOT_TELEMETRY
 void pwmDshotSetDirectionOutput(
@@ -44,8 +44,8 @@ void pwmDshotSetDirectionOutput(
 #endif
 );
 
-void pwmDshotRequestTelemetry(uint8_t index);
+void pwmDshotRequestTelemetry(unsigned index);
-bool pwmDshotIsMotorIdle(uint8_t index);
+bool pwmDshotIsMotorIdle(unsigned index);
 bool pwmTelemetryDecode(void);
 
 #endif