From 7c14c49701305c19c59a94bd8638730dccdbf9f1 Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Fri, 16 Jun 2017 01:43:08 +1200
Subject: [PATCH] Changed 'pwmWriteDshotCommand' to use switch for better
 readability.

---
 src/main/drivers/pwm_output.c | 14 ++++++++++++--
 src/main/drivers/pwm_output.h |  8 ++++----
 src/main/fc/fc_core.c         |  5 +++--
 src/main/fc/fc_msp.c          |  1 +
 4 files changed, 20 insertions(+), 8 deletions(-)

diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 7a889af5f7..9a7c75611b 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -338,11 +338,21 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t command)
         motorDmaOutput_t *const motor = getMotorDmaOutput(index);
 
         unsigned repeats;
-        if ((command >= DSHOT_CMD_SPIN_ONE_WAY && command <= DSHOT_CMD_3D_MODE_ON ) || command == DSHOT_CMD_SAVE_SETTINGS || (command >= DSHOT_CMD_ROTATE_NORMAL && command <= DSHOT_CMD_ROTATE_REVERSE) ) {
+        switch (command) {
+        case DSHOT_CMD_SPIN_DIRECTION_1:
+        case DSHOT_CMD_SPIN_DIRECTION_2:
+        case DSHOT_CMD_3D_MODE_OFF:
+        case DSHOT_CMD_3D_MODE_ON:
+        case DSHOT_CMD_SAVE_SETTINGS:
+        case DSHOT_CMD_SPIN_DIRECTION_NORMAL:
+        case DSHOT_CMD_SPIN_DIRECTION_REVERSED:
             repeats = 10;
-        } else {
+            break;
+        default:
             repeats = 1;
+            break;
         }
+
         for (; repeats; repeats--) {
             motor->requestTelemetry = true;
             pwmWritePtr(index, command);
diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
index 1a23e493ff..336671579e 100644
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@@ -36,14 +36,14 @@ typedef enum {
     DSHOT_CMD_BEEP4,
     DSHOT_CMD_BEEP5,
     DSHOT_CMD_ESC_INFO,
-    DSHOT_CMD_SPIN_ONE_WAY, 
-    DSHOT_CMD_SPIN_OTHER_WAY, 
+    DSHOT_CMD_SPIN_DIRECTION_1,
+    DSHOT_CMD_SPIN_DIRECTION_2,
     DSHOT_CMD_3D_MODE_OFF,
     DSHOT_CMD_3D_MODE_ON, 
     DSHOT_CMD_SETTINGS_REQUEST,
     DSHOT_CMD_SAVE_SETTINGS, 
-    DSHOT_CMD_ROTATE_NORMAL = 20, //Blheli_S only command
-    DSHOT_CMD_ROTATE_REVERSE = 21,  //Blheli_S only command
+    DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20, //Blheli_S only command
+    DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21,  //Blheli_S only command
     DSHOT_CMD_MAX = 47
 } dshotCommands_e;
 
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 5685bf7bb7..4c7b2a6120 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -207,16 +207,17 @@ void mwArm(void)
         }
         if (!ARMING_FLAG(PREVENT_ARMING)) {
             #ifdef USE_DSHOT
+            //TODO: Use BOXDSHOTREVERSE here
             if (!feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
                 reverseMotors = false;
                 for (unsigned index = 0; index < getMotorCount(); index++) {
-                    pwmWriteDshotCommand(index, DSHOT_CMD_ROTATE_NORMAL);
+                    pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL);
                 }
             }
             if (!feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
                 reverseMotors = true;
                 for (unsigned index = 0; index < getMotorCount(); index++) {
-                    pwmWriteDshotCommand(index, DSHOT_CMD_ROTATE_REVERSE);
+                    pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
                 }
             }
             #endif
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 9998228362..dbcbfbd089 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -370,6 +370,7 @@ void initActiveBoxIds(void)
 
     BME(BOXFPVANGLEMIX);
 
+    //TODO: Split this into BOX3DDISABLESWITCH and BOXDSHOTREVERSE
     BME(BOX3DDISABLESWITCH);
 
     if (feature(FEATURE_SERVO_TILT)) {