From 87ae1616d602839033923dca24459c9d4c33ba05 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Wed, 5 Jul 2017 06:21:36 +0100
Subject: [PATCH] Further better use of pwmAreMotorsEnabled

---
 src/main/drivers/pwm_output.c       | 8 +++++---
 src/main/drivers/pwm_output.h       | 2 --
 src/main/drivers/pwm_output_dshot.c | 4 ----
 src/main/flight/mixer.c             | 3 +--
 src/main/target/SITL/target.c       | 2 +-
 5 files changed, 7 insertions(+), 12 deletions(-)

diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index cf86734c6..27fb8fc07 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -45,8 +45,8 @@ static pwmOutputPort_t beeperPwm;
 static uint16_t freqBeep = 0;
 #endif
 
-bool pwmMotorsEnabled = false;
-bool isDshot = false;
+static bool pwmMotorsEnabled = false;
+static bool isDshot = false;
 
 static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
 {
@@ -395,7 +395,9 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t command)
         for (; repeats; repeats--) {
             motor->requestTelemetry = true;
             pwmWriteDshotInt(index, command);
-            pwmCompleteMotorUpdate(0);
+            if (pwmMotorsEnabled) {
+                pwmCompleteDshotMotorUpdate(0);
+            }
 
             delay(1);
         }
diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
index 601161fe8..5c2b3cf7c 100644
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@@ -125,8 +125,6 @@ typedef struct {
 
 motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
 
-extern bool pwmMotorsEnabled;
-
 struct timerHardware_s;
 typedef void pwmWriteFunc(uint8_t index, float value);  // function pointer used to write motors
 typedef void pwmCompleteWriteFunc(uint8_t motorCount);   // function pointer used after motors are written
diff --git a/src/main/drivers/pwm_output_dshot.c b/src/main/drivers/pwm_output_dshot.c
index 3236c9cfd..ff3843093 100644
--- a/src/main/drivers/pwm_output_dshot.c
+++ b/src/main/drivers/pwm_output_dshot.c
@@ -74,10 +74,6 @@ void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
 {
     UNUSED(motorCount);
 
-    if (!pwmMotorsEnabled) {
-        return;
-    }
-
     for (int i = 0; i < dmaMotorTimerCount; i++) {
         TIM_SetCounter(dmaMotorTimers[i].timer, 0);
         TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE);
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 41dafd5ec..fc5f5531f 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -469,9 +469,8 @@ void writeMotors(void)
         for (int i = 0; i < motorCount; i++) {
             pwmWriteMotor(i, motor[i]);
         }
+        pwmCompleteMotorUpdate(motorCount);
     }
-
-    pwmCompleteMotorUpdate(motorCount);
 }
 
 static void writeAllMotors(int16_t mc)
diff --git a/src/main/target/SITL/target.c b/src/main/target/SITL/target.c
index 0ec676edd..f7802a1f6 100644
--- a/src/main/target/SITL/target.c
+++ b/src/main/target/SITL/target.c
@@ -374,7 +374,7 @@ int timeval_sub(struct timespec *result, struct timespec *x, struct timespec *y)
 
 
 // PWM part
-bool pwmMotorsEnabled = false;
+static bool pwmMotorsEnabled = false;
 static pwmOutputPort_t motors[MAX_SUPPORTED_MOTORS];
 static pwmOutputPort_t servos[MAX_SUPPORTED_SERVOS];