From c2812eca8cfc21e5ff97b960c7ee7895f4816a17 Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Mon, 22 Jun 2020 01:31:51 +1200
Subject: [PATCH] Refactored Dshot enabled checks.

---
 src/main/drivers/dshot_command.c | 24 ++++++++++++++++++------
 src/main/drivers/dshot_command.h |  2 +-
 src/main/fc/core.c               |  2 +-
 3 files changed, 20 insertions(+), 8 deletions(-)

diff --git a/src/main/drivers/dshot_command.c b/src/main/drivers/dshot_command.c
index 47790a7e3..ff997206e 100644
--- a/src/main/drivers/dshot_command.c
+++ b/src/main/drivers/dshot_command.c
@@ -151,17 +151,29 @@ static bool allMotorsAreIdle(void)
     return true;
 }
 
-bool dshotCommandsAreEnabled(dshotCommandType_e commandType)
+bool dshotStreamingCommandsAreEnabled(void)
+{
+    return motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS;
+}
+
+static bool dshotCommandsAreEnabled(dshotCommandType_e commandType)
 {
     bool ret = false;
 
-    if (commandType == DSHOT_CMD_TYPE_BLOCKING) {
+    switch (commandType) {
+    case DSHOT_CMD_TYPE_BLOCKING:
         ret = !motorIsEnabled();
-    } else if (commandType == DSHOT_CMD_TYPE_INLINE) {
-        if (motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS) {
-            ret = true;
-        }
+
+        break;
+    case DSHOT_CMD_TYPE_INLINE:
+        ret = dshotStreamingCommandsAreEnabled();
+
+        break;
+    default:
+
+        break;
     }
+
     return ret;
 }
 
diff --git a/src/main/drivers/dshot_command.h b/src/main/drivers/dshot_command.h
index 9351ab49f..b5b55235b 100644
--- a/src/main/drivers/dshot_command.h
+++ b/src/main/drivers/dshot_command.h
@@ -73,4 +73,4 @@ bool dshotCommandQueueEmpty(void);
 bool dshotCommandIsProcessing(void);
 uint8_t dshotCommandGetCurrent(uint8_t index);
 bool dshotCommandOutputIsEnabled(uint8_t motorCount);
-bool dshotCommandsAreEnabled(dshotCommandType_e commandType);
+bool dshotStreamingCommandsAreEnabled(void);
diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index cb8e2e581..2debca939 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -277,7 +277,7 @@ void updateArmingStatus(void)
             // We also need to prevent arming until it's possible to send DSHOT commands.
             // Otherwise if the initial arming is in crash-flip the motor direction commands
             // might not be sent.
-            && (!isMotorProtocolDshot() || dshotCommandsAreEnabled(DSHOT_CMD_TYPE_INLINE))
+            && (!isMotorProtocolDshot() || dshotStreamingCommandsAreEnabled())
 #endif
         ) {
             // If so, unset the grace time arming disable flag