Merge pull request #3338 from mikeller/cleanup_dshot

Cleaned up Dshot naming, containment.

src/main/drivers/pwm_output.c

@@ -49,7 +49,7 @@ static uint16_t freqBeep=0;
 #endif
 
 bool pwmMotorsEnabled = false;
-bool isDigital = false;
+bool isDshot = false;
 
 static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
 {
@@ -160,9 +160,9 @@ static void pwmWriteMultiShot(uint8_t index, float value)
 }
 
 #ifdef USE_DSHOT
-static void pwmWriteDigital(uint8_t index, float value)
+static void pwmWriteDshot(uint8_t index, float value)
 {
-    pwmWriteDigitalInt(index, lrintf(value));
+    pwmWriteDshotInt(index, lrintf(value));
 }
 
 static uint8_t loadDmaBufferDshot(motorDmaOutput_t *const motor, uint16_t packet)
@@ -277,24 +277,24 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
         break;
 #ifdef USE_DSHOT
     case PWM_TYPE_PROSHOT1000:
-        pwmWrite = &pwmWriteDigital;
+        pwmWrite = &pwmWriteDshot;
         loadDmaBuffer = &loadDmaBufferProshot;
-        pwmCompleteWrite = &pwmCompleteDigitalMotorUpdate;
+        pwmCompleteWrite = &pwmCompleteDshotMotorUpdate;
-        isDigital = true;
+        isDshot = true;
         break;
     case PWM_TYPE_DSHOT1200:
     case PWM_TYPE_DSHOT600:
     case PWM_TYPE_DSHOT300:
     case PWM_TYPE_DSHOT150:
-        pwmWrite = &pwmWriteDigital;
+        pwmWrite = &pwmWriteDshot;
         loadDmaBuffer = &loadDmaBufferDshot;
-        pwmCompleteWrite = &pwmCompleteDigitalMotorUpdate;
+        pwmCompleteWrite = &pwmCompleteDshotMotorUpdate;
-        isDigital = true;
+        isDshot = true;
         break;
 #endif
     }
 
-    if (!isDigital) {
+    if (!isDshot) {
         pwmCompleteWrite = useUnsyncedPwm ? &pwmCompleteWriteUnused : &pwmCompleteOneshotMotorUpdate;
     }
 
@@ -313,8 +313,8 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
         motors[motorIndex].io = IOGetByTag(tag);
 
 #ifdef USE_DSHOT
-        if (isDigital) {
+        if (isDshot) {
-            pwmDigitalMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol,
+            pwmDshotMotorHardwareConfig(timerHardware, motorIndex, motorConfig->motorPwmProtocol,
                 motorConfig->motorPwmInversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output);
             motors[motorIndex].enabled = true;
             continue;
@@ -354,6 +354,11 @@ pwmOutputPort_t *pwmGetMotors(void)
     return motors;
 }
 
+bool isMotorProtocolDshot(void)
+{
+    return isDshot;
+}
+
 #ifdef USE_DSHOT
 uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
 {
@@ -374,7 +379,7 @@ uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
 
 void pwmWriteDshotCommand(uint8_t index, uint8_t command)
 {
-    if (isDigital && (command <= DSHOT_MAX_COMMAND)) {
+    if (isDshot && (command <= DSHOT_MAX_COMMAND)) {
         motorDmaOutput_t *const motor = getMotorDmaOutput(index);
 
         unsigned repeats;
@@ -395,7 +400,7 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t command)
 
         for (; repeats; repeats--) {
             motor->requestTelemetry = true;
-            pwmWriteDigitalInt(index, command);
+            pwmWriteDshotInt(index, command);
             pwmCompleteMotorUpdate(0);
 
             delay(1);

src/main/drivers/pwm_output.h

@@ -30,6 +30,15 @@
 
 #define DSHOT_MAX_COMMAND 47
 
+/*
+  DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings
+
+  3D Mode:
+  0 = stop
+  48   (low) - 1047 (high) -> negative direction
+  1048 (low) - 2047 (high) -> positive direction
+ */
+
 typedef enum {
     DSHOT_CMD_MOTOR_STOP = 0,
     DSHOT_CMD_BEEP1,
@@ -166,6 +175,8 @@ void servoDevInit(const servoDevConfig_t *servoDevConfig);
 
 void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);
 
+bool isMotorProtocolDshot(void);
+
 #ifdef USE_DSHOT
 typedef uint8_t loadDmaBufferFunc(motorDmaOutput_t *const motor, uint16_t packet);  // function pointer used to encode a digital motor value into the DMA buffer representation
 
@@ -175,9 +186,9 @@ extern loadDmaBufferFunc *loadDmaBuffer;
 
 uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
 void pwmWriteDshotCommand(uint8_t index, uint8_t command);
-void pwmWriteDigitalInt(uint8_t index, uint16_t value);
+void pwmWriteDshotInt(uint8_t index, uint16_t value);
-void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
+void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
-void pwmCompleteDigitalMotorUpdate(uint8_t motorCount);
+void pwmCompleteDshotMotorUpdate(uint8_t motorCount);
 #endif
 
 #ifdef BEEPER

src/main/drivers/pwm_output_dshot.c

@@ -54,7 +54,7 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
     return dmaMotorTimerCount-1;
 }
 
-void pwmWriteDigitalInt(uint8_t index, uint16_t value)
+void pwmWriteDshotInt(uint8_t index, uint16_t value)
 {
     motorDmaOutput_t *const motor = &dmaMotors[index];
 
@@ -70,7 +70,7 @@ void pwmWriteDigitalInt(uint8_t index, uint16_t value)
     DMA_Cmd(motor->timerHardware->dmaRef, ENABLE);
 }
 
-void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
+void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
 {
     UNUSED(motorCount);
 
@@ -94,7 +94,7 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
     }
 }
 
-void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
+void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
 {
     TIM_OCInitTypeDef TIM_OCInitStructure;
     DMA_InitTypeDef DMA_InitStructure;

src/main/drivers/pwm_output_dshot_hal.c

@@ -49,7 +49,7 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
     return dmaMotorTimerCount - 1;
 }
 
-void pwmWriteDigitalInt(uint8_t index, uint16_t value)
+void pwmWriteDshotInt(uint8_t index, uint16_t value)
 {
     motorDmaOutput_t *const motor = &dmaMotors[index];
 
@@ -74,7 +74,7 @@ void pwmWriteDigitalInt(uint8_t index, uint16_t value)
     }
 }
 
-void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
+void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
 {
     UNUSED(motorCount);
 }
@@ -85,7 +85,7 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
     HAL_DMA_IRQHandler(motor->TimHandle.hdma[motor->timerDmaSource]);
 }
 
-void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
+void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
 {
     motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
     motor->timerHardware = timerHardware;

src/main/flight/mixer.c

@@ -336,23 +336,6 @@ bool mixerIsOutputSaturated(int axis, float errorRate)
     return false;
 }
 
-bool isMotorProtocolDshot(void) {
-#ifdef USE_DSHOT
-    switch(motorConfig()->dev.motorPwmProtocol) {
-    case PWM_TYPE_PROSHOT1000:
-    case PWM_TYPE_DSHOT1200:
-    case PWM_TYPE_DSHOT600:
-    case PWM_TYPE_DSHOT300:
-    case PWM_TYPE_DSHOT150:
-        return true;
-    default:
-        return false;
-    }
-#else
-    return false;
-#endif
-}
-
 // All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
 // DSHOT scaling is done to the actual dshot range
 void initEscEndpoints(void) {

src/main/flight/mixer.h

@@ -25,24 +25,6 @@
 #define BRUSHED_MOTORS_PWM_RATE 16000
 #define BRUSHLESS_MOTORS_PWM_RATE 480
 
-/*
-  DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings
-  0 = stop
-  1-5: beep
-  6: ESC info request (FW Version and SN sent over the tlm wire)
-  7: spin direction 1
-  8: spin direction 2
-  9: 3d mode off
-  10: 3d mode on
-  11: ESC settings request (saved settings over the TLM wire)
-  12: save Settings
-
-  3D Mode:
-  0 = stop
-  48   (low) - 1047 (high) -> negative direction
-  1048 (low) - 2047 (high) -> positive direction
-*/
-
 // Digital protocol has fixed values
 #define DSHOT_DISARM_COMMAND      0
 #define DSHOT_MIN_THROTTLE       48
@@ -140,6 +122,5 @@ void writeMotors(void);
 void stopMotors(void);
 void stopPwmAllMotors(void);
 
-bool isMotorProtocolDshot(void);
 float convertExternalToMotor(uint16_t externalValue);
 uint16_t convertMotorToExternal(float motorValue);

src/main/target/SITL/target.c

@@ -392,6 +392,10 @@ pwmOutputPort_t *pwmGetMotors(void) {
 bool pwmAreMotorsEnabled(void) {
 	return pwmMotorsEnabled;
 }
+bool isMotorProtocolDshot(void)
+{
+    return false;
+}
 void pwmWriteMotor(uint8_t index, float value) {
 	motorsPwm[index] = value - idlePulse;
 }