Re-added use_unsyncPwm

src/main/config/config_master.h

@@ -35,6 +35,7 @@ typedef struct master_t {
     uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
     uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
     uint8_t motor_pwm_protocol;             // Pwm Protocol
+    uint8_t use_unsyncedPwm;
 
 #ifdef USE_SERVOS
     servoMixer_t customServoMixer[MAX_SERVO_RULES];

src/main/flight/mixer.c

@@ -66,6 +66,7 @@ static flight3DConfig_t *flight3DConfig;
 static escAndServoConfig_t *escAndServoConfig;
 static airplaneConfig_t *airplaneConfig;
 static rxConfig_t *rxConfig;
+static bool syncPwm = false;
 
 static mixerMode_e currentMixerMode;
 static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
@@ -420,13 +421,15 @@ void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMotorMixers, se
     }
 }
 
-void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration)
+void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm)
 {
     int i;
 
     motorCount = 0;
     servoCount = pwmOutputConfiguration->servoCount;
     
+    syncPwm = use_unsyncedPwm;
+    
     if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
         // load custom mixer into currentMixer
         for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
@@ -635,13 +638,6 @@ void writeServos(void)
 }
 #endif
 
-static bool syncPwm = false;
-
-void syncMotors(bool enabled)
-{
-    syncPwm = enabled;
-}
-
 void writeMotors(void)
 {
     uint8_t i;

src/main/io/serial_cli.c

@@ -602,8 +602,9 @@ const clivalue_t valueTable[] = {
 #ifdef CC3D
     { "enable_buzzer_p6",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.use_buzzer_p6, .config.lookup = { TABLE_OFF_ON } },
 #endif
+    { "use_unsynced_pwm",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_unsyncedPwm, .config.lookup = { TABLE_OFF_ON } },
     { "motor_pwm_protocol",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motor_pwm_protocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
-    { "motor_pwm_rate",             VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, .config.minmax = { 0, 32000 } },
+    { "motor_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.motor_pwm_rate, .config.minmax = { 200, 32000 } },
     { "servo_pwm_rate",             VAR_UINT16 | MASTER_VALUE,  &masterConfig.servo_pwm_rate, .config.minmax = { 50,  498 } },
 
     { "disarm_kill_switch",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
@@ -2124,7 +2125,6 @@ static void cliDump(char *cmdline)
     if (dumpMask & DUMP_RATES) {
         cliDumpRateProfile(currentProfile->activeRateProfile);
     }
-    
 }
 
 void cliDumpProfile(uint8_t profileIndex) {

src/main/io/serial_msp.c

@@ -1261,7 +1261,7 @@ static bool processOutCommand(uint8_t cmdMSP)
         headSerialReply(6);
         serialize8(masterConfig.gyro_sync_denom);
         serialize8(masterConfig.pid_process_denom);
-        serialize8(0);
+	    serialize8(masterConfig.use_unsyncedPwm);
         serialize8(masterConfig.motor_pwm_protocol);
         serialize16(masterConfig.motor_pwm_rate);
         break;
@@ -1837,7 +1837,7 @@ static bool processInCommand(void)
     case MSP_SET_PID_ADVANCED_CONFIG :
         masterConfig.gyro_sync_denom = read8();
         masterConfig.pid_process_denom = read8();
-        read8();
+	    masterConfig.use_unsyncedPwm = read8();
         masterConfig.motor_pwm_protocol = read8();
         masterConfig.motor_pwm_rate = read16();
         break;

src/main/main.c

@@ -129,7 +129,7 @@ void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers, servoMixe
 #else
 void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
 #endif
-void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration);
+void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm);
 void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationConditions);
 void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
 void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
@@ -319,6 +319,8 @@ void init(void)
         featureClear(FEATURE_ONESHOT125);
     }
     
+    bool use_unsyncedPwm = masterConfig.use_unsyncedPwm;
+    
     // Configurator feature abused for enabling Fast PWM
     pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED);  
     pwm_params.pwmProtocolType = masterConfig.motor_pwm_protocol;
@@ -326,8 +328,10 @@ void init(void)
     pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
     if (feature(FEATURE_3D))
         pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
-    if (masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED)
+    if (masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED) {
         pwm_params.idlePulse = 0; // brushed motors
+        use_unsyncedPwm = false;
+    }
 #ifdef CC3D
     pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
 #endif
@@ -335,8 +339,7 @@ void init(void)
 
     pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
 
-    syncMotors(pwm_params.motorPwmRate == 0 && pwm_params.motorPwmRate != PWM_TYPE_BRUSHED);
+    mixerUsePWMOutputConfiguration(pwmOutputConfiguration, use_unsyncedPwm);
-    mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
 
     if (!feature(FEATURE_ONESHOT125))
         motorControlEnable = true;