From f1e9c9f19a280804d106f336b8a375d71212e18f Mon Sep 17 00:00:00 2001
From: Thorsten Laux <thorsten.laux@gmx.net>
Date: Thu, 2 May 2019 14:05:38 +0200
Subject: [PATCH] invert csum in telemetry

---
 src/main/drivers/pwm_output_dshot_shared.c |  4 ++--
 src/main/fc/core.c                         |  8 --------
 src/main/fc/init.c                         | 21 ---------------------
 3 files changed, 2 insertions(+), 31 deletions(-)

diff --git a/src/main/drivers/pwm_output_dshot_shared.c b/src/main/drivers/pwm_output_dshot_shared.c
index 4510767bb4..56fd092b34 100644
--- a/src/main/drivers/pwm_output_dshot_shared.c
+++ b/src/main/drivers/pwm_output_dshot_shared.c
@@ -150,7 +150,7 @@ static uint16_t decodeDshotPacket(uint32_t buffer[])
     csum = csum ^ (csum >> 8); // xor bytes
     csum = csum ^ (csum >> 4); // xor nibbles
 
-    if ((csum & 0xf) != 0) {
+    if ((csum & 0xf) != 0xf) {
         return 0xffff;
     }
     return value >> 4;
@@ -176,7 +176,7 @@ static uint16_t decodeProshotPacket(uint32_t buffer[])
     csum = csum ^ (csum >> 8); // xor bytes
     csum = csum ^ (csum >> 4); // xor nibbles
 
-    if ((csum & 0xf) != 0) {
+    if ((csum & 0xf) != 0xf) {
         return 0xffff;
     }
     return value >> 4;
diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index 3ffb428e45..728c77cf84 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -414,14 +414,6 @@ void tryArm(void)
             return;
         }
 
-#ifdef USE_DSHOT_TELEMETRY
-        if (isMotorProtocolDshot()) {
-            pwmWriteDshotCommand(
-                255, getMotorCount(), motorConfig()->dev.useDshotTelemetry ?
-                DSHOT_CMD_SIGNAL_LINE_CONTINUOUS_ERPM_TELEMETRY : DSHOT_CMD_SIGNAL_LINE_TELEMETRY_DISABLE, false);
-        }
-#endif
-
         if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
             if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
                 flipOverAfterCrashActive = false;
diff --git a/src/main/fc/init.c b/src/main/fc/init.c
index 8ecd6014fa..f5936e92c7 100644
--- a/src/main/fc/init.c
+++ b/src/main/fc/init.c
@@ -209,20 +209,6 @@ static IO_t busSwitchResetPin        = IO_NONE;
 }
 #endif
 
-#ifdef USE_DSHOT_TELEMETRY
-void activateDshotTelemetry(struct dispatchEntry_s* self)
-{
-    if (!ARMING_FLAG(ARMED) && !isDshotTelemetryActive()) {
-        pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SIGNAL_LINE_CONTINUOUS_ERPM_TELEMETRY, false);
-        dispatchAdd(self, 1e6); // check again in 1 second
-    }
-}
-
-dispatchEntry_t activateDshotTelemetryEntry =
-{
-    activateDshotTelemetry, 0, NULL, false
-};
-#endif
 
 void init(void)
 {
@@ -794,13 +780,6 @@ void init(void)
 
     setArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
 
-#ifdef USE_DSHOT_TELEMETRY
-    if (motorConfig()->dev.useDshotTelemetry) {
-        dispatchEnable();
-        dispatchAdd(&activateDshotTelemetryEntry, 5000000);
-    }
-#endif
-
     fcTasksInit();
 
     systemState |= SYSTEM_STATE_READY;