Fix compilation when USE_DSHOT and USE_PWM_OUTPUT are not defined.

Fix compilation when USE_DMA and USE_DMA_SPEC are not defined.

Cleanup calling code of `isMotorProtocolDshot`.

Fix 'unused' warning when USE_PWM_OUTPUT is not defined.

Undo isMotoroProtocolDshot change.

Disable USE_SERIAL_4WAY_BLHELI_INTERFACE when USE_PWM_OUTPUT is not
enabled.

Style cleanup.

src/main/cli/cli.c

@@ -4868,6 +4868,7 @@ static bool strToPin(char *pch, ioTag_t *tag)
     return false;
 }
 
+#ifdef USE_DMA
 static void printDma(void)
 {
     cliPrintLinefeed();
@@ -4891,6 +4892,7 @@ static void printDma(void)
         }
     }
 }
+#endif
 
 #ifdef USE_DMA_SPEC
 
@@ -5274,6 +5276,7 @@ static void cliDmaopt(char *cmdline)
 }
 #endif // USE_DMA_SPEC
 
+#ifdef USE_DMA
 static void cliDma(char* cmdline)
 {
     int len = strlen(cmdline);
@@ -5289,6 +5292,8 @@ static void cliDma(char* cmdline)
     cliShowParseError();
 #endif
 }
+#endif
+
 
 static void cliResource(char *cmdline)
 {
@@ -5318,10 +5323,12 @@ static void cliResource(char *cmdline)
             cliPrintLinefeed();
         }
 
+#if defined(USE_DMA)
         pch = strtok_r(NULL, " ", &saveptr);
         if (strcasecmp(pch, "all") == 0) {
             cliDma("show");
         }
+#endif
 
         return;
     }
@@ -5972,11 +5979,15 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("defaults", "reset to defaults and reboot", "[nosave]", cliDefaults),
     CLI_COMMAND_DEF("diff", "list configuration changes from default", "[master|profile|rates|hardware|all] {defaults|bare}", cliDiff),
 #ifdef USE_RESOURCE_MGMT
+
+#ifdef USE_DMA
 #ifdef USE_DMA_SPEC
     CLI_COMMAND_DEF("dma", "show/set DMA assignments", "<> | <device> <index> list | <device> <index> [<option>|none] | list | show", cliDma),
 #else
     CLI_COMMAND_DEF("dma", "show DMA assignments", "show", cliDma),
 #endif
+#endif
+
 #endif
 #ifdef USE_DSHOT_TELEMETRY
     CLI_COMMAND_DEF("dshot_telemetry_info", "disply dshot telemetry info and stats", NULL, cliDshotTelemetryInfo),

src/main/drivers/pwm_output.c

@@ -26,7 +26,6 @@
 #include "platform.h"
 
 #ifdef USE_PWM_OUTPUT
-
 #include "drivers/time.h"
 
 #include "drivers/io.h"
@@ -781,4 +780,5 @@ void beeperPwmInit(const ioTag_t tag, uint16_t frequency)
     }
 }
 #endif // USE_BEEPER
-#endif
+#endif //USE_PWM_OUTPUT
+

src/main/drivers/rx/rx_pwm.c

@@ -407,6 +407,7 @@ void pwmRxInit(const pwmConfig_t *pwmConfig)
 
 #define FIRST_PWM_PORT 0
 
+#ifdef USE_PWM_OUTPUT
 void ppmAvoidPWMTimerClash(TIM_TypeDef *pwmTimer)
 {
     pwmOutputPort_t *motors = pwmGetMotors();
@@ -419,6 +420,7 @@ void ppmAvoidPWMTimerClash(TIM_TypeDef *pwmTimer)
         return;
     }
 }
+#endif
 
 void ppmRxInit(const ppmConfig_t *ppmConfig)
 {
@@ -432,7 +434,9 @@ void ppmRxInit(const ppmConfig_t *ppmConfig)
         return;
     }
 
+#ifdef USE_PWM_OUTPUT
     ppmAvoidPWMTimerClash(timer->tim);
+#endif
 
     port->mode = INPUT_MODE_PPM;
     port->timerHardware = timer;

src/main/flight/mixer.c

@@ -557,17 +557,22 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
             // INVERTED
             motorRangeMin = motorOutputLow;
             motorRangeMax = deadbandMotor3dLow;
+#ifdef USE_DSHOT
             if (isMotorProtocolDshot()) {
                 motorOutputMin = motorOutputLow;
                 motorOutputRange = deadbandMotor3dLow - motorOutputLow;
-            } else {
+            } else
+#endif
+            {
                 motorOutputMin = deadbandMotor3dLow;
                 motorOutputRange = motorOutputLow - deadbandMotor3dLow;
             }
+
             if (motorOutputMixSign != -1) {
                 reversalTimeUs = currentTimeUs;
             }
             motorOutputMixSign = -1;
+
             rcThrottlePrevious = rcCommand[THROTTLE];
             throttle = rcCommand3dDeadBandLow - rcCommand[THROTTLE];
             currentThrottleInputRange = rcCommandThrottleRange3dLow;
@@ -590,17 +595,23 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
             // INVERTED_TO_DEADBAND
             motorRangeMin = motorOutputLow;
             motorRangeMax = deadbandMotor3dLow;
+
+#ifdef USE_DSHOT
             if (isMotorProtocolDshot()) {
                 motorOutputMin = motorOutputLow;
                 motorOutputRange = deadbandMotor3dLow - motorOutputLow;
-            } else {
+            } else
+#endif
+            {
                 motorOutputMin = deadbandMotor3dLow;
                 motorOutputRange = motorOutputLow - deadbandMotor3dLow;
             }
+
             if (motorOutputMixSign != -1) {
                 reversalTimeUs = currentTimeUs;
             }
             motorOutputMixSign = -1;
+
             throttle = 0;
             currentThrottleInputRange = rcCommandThrottleRange3dLow;
         } else {
@@ -720,9 +731,11 @@ static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS], motorMixer_t
         }
 #endif
         if (failsafeIsActive()) {
+#ifdef USE_DSHOT
             if (isMotorProtocolDshot()) {
                 motorOutput = (motorOutput < motorRangeMin) ? disarmMotorOutput : motorOutput; // Prevent getting into special reserved range
             }
+#endif
             motorOutput = constrain(motorOutput, disarmMotorOutput, motorRangeMax);
         } else {
             motorOutput = constrain(motorOutput, motorRangeMin, motorRangeMax);
@@ -940,9 +953,8 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
 float convertExternalToMotor(uint16_t externalValue)
 {
     uint16_t motorValue;
-    switch ((int)isMotorProtocolDshot()) {
 #ifdef USE_DSHOT
-    case true:
+    if (isMotorProtocolDshot()) {
         externalValue = constrain(externalValue, PWM_RANGE_MIN, PWM_RANGE_MAX);
 
         if (featureIsEnabled(FEATURE_3D)) {
@@ -956,13 +968,11 @@ float convertExternalToMotor(uint16_t externalValue)
         } else {
             motorValue = (externalValue == PWM_RANGE_MIN) ? DSHOT_CMD_MOTOR_STOP : scaleRange(externalValue, PWM_RANGE_MIN + 1, PWM_RANGE_MAX, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
         }
-
-        break;
-    case false:
+    }
+    else
 #endif
-    default:
+    {
         motorValue = externalValue;
-        break;
     }
 
     return (float)motorValue;
@@ -971,9 +981,8 @@ float convertExternalToMotor(uint16_t externalValue)
 uint16_t convertMotorToExternal(float motorValue)
 {
     uint16_t externalValue;
-    switch ((int)isMotorProtocolDshot()) {
 #ifdef USE_DSHOT
-    case true:
+    if (isMotorProtocolDshot()) {
         if (featureIsEnabled(FEATURE_3D)) {
             if (motorValue == DSHOT_CMD_MOTOR_STOP || motorValue < DSHOT_MIN_THROTTLE) {
                 externalValue = PWM_RANGE_MID;
@@ -985,12 +994,11 @@ uint16_t convertMotorToExternal(float motorValue)
         } else {
             externalValue = (motorValue < DSHOT_MIN_THROTTLE) ? PWM_RANGE_MIN : scaleRange(motorValue, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE, PWM_RANGE_MIN + 1, PWM_RANGE_MAX);
         }
-        break;
-    case false:
+    }
+    else
 #endif
-    default:
+    {
         externalValue = motorValue;
-        break;
     }
 
     return externalValue;

src/main/msp/msp_box.c

@@ -226,9 +226,11 @@ void initActiveBoxIds(void)
         BME(BOX3D);
     }
 
+#ifdef USE_DSHOT
     if (isMotorProtocolDshot()) {
         BME(BOXFLIPOVERAFTERCRASH);
     }
+#endif
 
     if (featureIsEnabled(FEATURE_SERVO_TILT)) {
         BME(BOXCAMSTAB);

src/main/target/SITL/target.c

@@ -424,11 +424,6 @@ bool pwmAreMotorsEnabled(void) {
     return pwmMotorsEnabled;
 }
 
-bool isMotorProtocolDshot(void)
-{
-    return false;
-}
-
 void pwmWriteMotor(uint8_t index, float value) {
     motorsPwm[index] = value - idlePulse;
 }

src/main/target/common_post.h

@@ -266,6 +266,10 @@
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 #endif
 
+#if !defined(USE_PWM_OUTPUT)
+#undef USE_SERIAL_4WAY_BLHELI_INTERFACE // implementation requires USE_PWM_OUTPUT to find motor outputs.
+#endif
+
 #if !defined(USE_LED_STRIP)
 #undef USE_LED_STRIP_STATUS_MODE
 #endif