From 9f762aa88a04542907ac3cb0412895954c7909d3 Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Wed, 30 Nov 2016 00:43:58 +0100
Subject: [PATCH] Convert digital offset to percentage

Bump EEPROM

Fix rounding
---
 src/main/config/config_eeprom.h | 2 +-
 src/main/fc/config.c            | 2 +-
 src/main/flight/mixer.c         | 6 +++---
 src/main/flight/mixer.h         | 4 ++--
 src/main/io/motors.h            | 2 +-
 src/main/io/serial_cli.c        | 2 +-
 6 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/main/config/config_eeprom.h b/src/main/config/config_eeprom.h
index f1f9facba..8124dab09 100644
--- a/src/main/config/config_eeprom.h
+++ b/src/main/config/config_eeprom.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#define EEPROM_CONF_VERSION 146
+#define EEPROM_CONF_VERSION 147
 
 void initEEPROM(void);
 void writeEEPROM();
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 445c34b63..d1d7c601a 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -287,7 +287,7 @@ void resetMotorConfig(motorConfig_t *motorConfig)
 #endif
     motorConfig->maxthrottle = 2000;
     motorConfig->mincommand = 1000;
-    motorConfig->digitalIdleOffset = 40;
+    motorConfig->digitalIdleOffsetPercent = 3.0f;
 
     int motorIndex = 0;
     for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && motorIndex < MAX_SUPPORTED_MOTORS; i++) {
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index a5e2ff358..3c852bf18 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -257,10 +257,10 @@ void initEscEndpoints(void) {
 #ifdef USE_DSHOT
     if (isMotorProtocolDshot()) {
         disarmMotorOutput = DSHOT_DISARM_COMMAND;
-        minMotorOutputNormal = DSHOT_MIN_THROTTLE + motorConfig->digitalIdleOffset;
+        minMotorOutputNormal = DSHOT_MIN_THROTTLE + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * motorConfig->digitalIdleOffsetPercent);
         maxMotorOutputNormal = DSHOT_MAX_THROTTLE;
-        deadbandMotor3dHigh = DSHOT_3D_MIN_NEGATIVE; // TODO - Not working yet !! Mixer requires some throttle rescaling changes
-        deadbandMotor3dLow = DSHOT_3D_MAX_POSITIVE;  // TODO - Not working yet !! Mixer requires some throttle rescaling changes
+        deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_3D_DEADBAND_HIGH) / 100.0f) * motorConfig->digitalIdleOffsetPercent); // TODO - Not working yet !! Mixer requires some throttle rescaling changes
+        deadbandMotor3dLow = DSHOT_3D_DEADBAND_LOW;
     } else
 #endif
     {
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 3908bfd58..77ad434c8 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -43,8 +43,8 @@
 #define DSHOT_DISARM_COMMAND      0
 #define DSHOT_MIN_THROTTLE       48
 #define DSHOT_MAX_THROTTLE     2047
-#define DSHOT_3D_MAX_POSITIVE  1047 // TODO - Not working yet!! Mixer requires some throttle rescaling changes
-#define DSHOT_3D_MIN_NEGATIVE  1048//  TODO - Not working yet!! Mixer requires some throttle rescaling changes
+#define DSHOT_3D_DEADBAND_LOW  1047 // TODO - Not working yet!! Mixer requires some throttle rescaling changes
+#define DSHOT_3D_DEADBAND_HIGH 1048//  TODO - Not working yet!! Mixer requires some throttle rescaling changes
 
 // Note: this is called MultiType/MULTITYPE_* in baseflight.
 typedef enum mixerMode
diff --git a/src/main/io/motors.h b/src/main/io/motors.h
index d90c0a9e1..ab55497da 100644
--- a/src/main/io/motors.h
+++ b/src/main/io/motors.h
@@ -28,6 +28,6 @@ typedef struct motorConfig_s {
     uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
     uint8_t  motorPwmProtocol;              // Pwm Protocol
     uint8_t  useUnsyncedPwm;
-    uint8_t  digitalIdleOffset;
+    float    digitalIdleOffsetPercent;
     ioTag_t  ioTags[MAX_SUPPORTED_MOTORS];
 } motorConfig_t;
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 300f216fb..3ff7ab56e 100755
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -703,7 +703,7 @@ const clivalue_t valueTable[] = {
     { "max_throttle",               VAR_UINT16 | MASTER_VALUE,  &masterConfig.motorConfig.maxthrottle, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "min_command",                VAR_UINT16 | MASTER_VALUE,  &masterConfig.motorConfig.mincommand, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
 #ifdef USE_DSHOT
-    { "digital_idle_offset",        VAR_UINT8  | MASTER_VALUE,  &masterConfig.motorConfig.digitalIdleOffset, .config.minmax = { 0,  255} },
+    { "digital_idle_percent",       VAR_FLOAT  | MASTER_VALUE,  &masterConfig.motorConfig.digitalIdleOffsetPercent, .config.minmax = { 0,  20} },
 #endif
     { "max_esc_throttle_jump",      VAR_UINT16 | MASTER_VALUE,  &masterConfig.motorConfig.maxEscThrottleJumpMs, .config.minmax = { 0,  1000 } },