Add DSHOT300

Bool check for dshot protocol

Add dshot300 to init

ident

src/main/drivers/pwm_output.c

@@ -189,6 +189,7 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
         break;
 #ifdef USE_DSHOT
     case PWM_TYPE_DSHOT600:
+    case PWM_TYPE_DSHOT300:
     case PWM_TYPE_DSHOT150:
         pwmCompleteWritePtr = pwmCompleteDigitalMotorUpdate;
         isDigital = true;

src/main/drivers/pwm_output.h

@@ -28,6 +28,7 @@ typedef enum {
     PWM_TYPE_MULTISHOT,
     PWM_TYPE_BRUSHED,
     PWM_TYPE_DSHOT600,
+    PWM_TYPE_DSHOT300,
     PWM_TYPE_DSHOT150,
     PWM_TYPE_MAX
 } motorPwmProtocolTypes_e;

src/main/drivers/pwm_output_stm32f3xx.c

@@ -33,6 +33,7 @@
 #define MAX_DMA_TIMERS 8
 
 #define MOTOR_DSHOT600_MHZ    24
+#define MOTOR_DSHOT300_MHZ    12
 #define MOTOR_DSHOT150_MHZ    6
 
 #define MOTOR_BIT_0     14
@@ -122,7 +123,19 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
         RCC_ClockCmd(timerRCC(timer), ENABLE);
         TIM_Cmd(timer, DISABLE);
 
-        uint32_t hz = (pwmProtocolType == PWM_TYPE_DSHOT600 ? MOTOR_DSHOT600_MHZ : MOTOR_DSHOT150_MHZ) * 1000000;
+	    uint32_t hz;
+	    switch (pwmProtocolType) {
+	        case(PWM_TYPE_DSHOT600):
+		        hz = MOTOR_DSHOT600_MHZ * 1000000;
+		        break;
+	        case(PWM_TYPE_DSHOT300):
+		        hz = MOTOR_DSHOT300_MHZ * 1000000;
+		        break;
+	        default:
+	        case(PWM_TYPE_DSHOT150):
+		        hz = MOTOR_DSHOT150_MHZ * 1000000;
+	    }
+
         TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)((SystemCoreClock / timerClockDivisor(timer) / hz) - 1);
         TIM_TimeBaseStructure.TIM_Period = MOTOR_BITLENGTH;
         TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;

src/main/drivers/pwm_output_stm32f4xx.c

@@ -34,6 +34,7 @@
 #define MAX_DMA_TIMERS 8
 
 #define MOTOR_DSHOT600_MHZ    12
+#define MOTOR_DSHOT300_MHZ    6
 #define MOTOR_DSHOT150_MHZ    3
 
 #define MOTOR_BIT_0     7
@@ -123,7 +124,19 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
         RCC_ClockCmd(timerRCC(timer), ENABLE);
         TIM_Cmd(timer, DISABLE);
         
-        uint32_t hz = (pwmProtocolType == PWM_TYPE_DSHOT600 ? MOTOR_DSHOT600_MHZ : MOTOR_DSHOT150_MHZ) * 1000000;
+	    uint32_t hz;
+	    switch (pwmProtocolType) {
+	        case(PWM_TYPE_DSHOT600):
+		        hz = MOTOR_DSHOT600_MHZ * 1000000;
+		        break;
+	        case(PWM_TYPE_DSHOT300):
+		        hz = MOTOR_DSHOT300_MHZ * 1000000;
+		        break;
+	        default:
+	        case(PWM_TYPE_DSHOT150):
+		        hz = MOTOR_DSHOT150_MHZ * 1000000;
+	    }
+
         TIM_TimeBaseStructure.TIM_Prescaler = (SystemCoreClock / timerClockDivisor(timer) / hz) - 1;
         TIM_TimeBaseStructure.TIM_Period = MOTOR_BITLENGTH;
         TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;

src/main/drivers/pwm_output_stm32f7xx.c

@@ -33,6 +33,7 @@
 #define MAX_DMA_TIMERS 8
 
 #define MOTOR_DSHOT600_MHZ    12
+#define MOTOR_DSHOT300_MHZ    6
 #define MOTOR_DSHOT150_MHZ    3
 
 #define MOTOR_BIT_0     7
@@ -128,7 +129,19 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     if (configureTimer) {
         RCC_ClockCmd(timerRCC(timer), ENABLE);
         
-        uint32_t hz = (pwmProtocolType == PWM_TYPE_DSHOT600 ? MOTOR_DSHOT600_MHZ : MOTOR_DSHOT150_MHZ) * 1000000;
+        uint32_t hz;
+        switch (pwmProtocolType) {
+            case(PWM_TYPE_DSHOT600):
+                hz = MOTOR_DSHOT600_MHZ * 1000000;
+                break;
+            case(PWM_TYPE_DSHOT300):
+                hz = MOTOR_DSHOT300_MHZ * 1000000;
+                break;
+            default:
+            case(PWM_TYPE_DSHOT150):
+                hz = MOTOR_DSHOT150_MHZ * 1000000;
+        }
+
         motor->TimHandle.Instance = timerHardware->tim;
         motor->TimHandle.Init.Prescaler = (SystemCoreClock / timerClockDivisor(timer) / hz) - 1;;
         motor->TimHandle.Init.Period = MOTOR_BITLENGTH;

src/main/fc/config.c

@@ -259,7 +259,7 @@ void resetMotorConfig(motorConfig_t *motorConfig)
 #endif
     motorConfig->maxthrottle = 2000;
     motorConfig->mincommand = 1000;
-    motorConfig->digitalIdleOffset = 0;
+    motorConfig->digitalIdleOffset = 40;
 
     uint8_t motorIndex = 0;
     for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && i < MAX_SUPPORTED_MOTORS; i++) {

src/main/fc/fc_msp.c

@@ -653,7 +653,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
                 sbufWriteU16(dst, 0);
                 continue;
             }
-            if (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_DSHOT150 || masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_DSHOT600)
+            if (isMotorProtocolDshot())
                 sbufWriteU16(dst, constrain((motor[i] / 2) + 1000, 1000, 2000)); // This is to get it working in the configurator
             else
                 sbufWriteU16(dst, motor[i]);

src/main/flight/mixer.c

@@ -336,9 +336,16 @@ static motorMixer_t *customMixers;
 static uint16_t disarmMotorOutput, minMotorOutputNormal, maxMotorOutputNormal, deadbandMotor3dHigh, deadbandMotor3dLow;
 static float rcCommandThrottleRange;
 
+bool isMotorProtocolDshot(void) {
+    if (motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT150 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT300 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT600)
+        return true;
+    else
+        return false;
+}
+
 // Add here scaled ESC outputs for digital protol
 void initEscEndpoints(void) {
-    if (motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT150 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT600) {
+    if (isMotorProtocolDshot()) {
         disarmMotorOutput = DSHOT_DISARM_COMMAND;
         minMotorOutputNormal = DSHOT_MIN_THROTTLE + motorConfig->digitalIdleOffset;
         maxMotorOutputNormal = DSHOT_MAX_THROTTLE;
@@ -843,7 +850,7 @@ void mixTable(void *pidProfilePtr)
         motor[i] = lrintf( motorOutputMin + (motorOutputRange * (motorMix[i] + (throttle * currentMixer[i].throttle))) );
 
         if (failsafeIsActive()) {
-            if (motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT150 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT600)
+            if (isMotorProtocolDshot())
                 motor[i] = (motor[i] < motorOutputMin) ? disarmMotorOutput : motor[i]; // Prevent getting into special reserved range
 
             motor[i] = constrain(motor[i], disarmMotorOutput, motorOutputMax);
@@ -875,7 +882,7 @@ void mixTable(void *pidProfilePtr)
     // Disarmed mode
     if (!ARMING_FLAG(ARMED)) {
         for (i = 0; i < motorCount; i++) {
-            if (motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT150 || motorConfig->motorPwmProtocol == PWM_TYPE_DSHOT600) {
+            if (isMotorProtocolDshot()) {
                 motor[i] = (motor_disarmed[i] < motorOutputMin) ? disarmMotorOutput : motor_disarmed[i]; // Prevent getting into special reserved range
 
                 if (motor_disarmed[i] != disarmMotorOutput)

src/main/flight/mixer.h

@@ -230,3 +230,4 @@ void syncMotors(bool enabled);
 void writeMotors(void);
 void stopMotors(void);
 void stopPwmAllMotors(void);
+bool isMotorProtocolDshot(void);

src/main/io/serial_cli.c

@@ -525,7 +525,7 @@ static const char * const lookupTableSuperExpoYaw[] = {
 static const char * const lookupTablePwmProtocol[] = {
     "OFF", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED", 
 #ifdef USE_DSHOT 
-    "DSHOT600", "DSHOT150"
+    "DSHOT600", "DSHOT300", "DSHOT150"
 #endif
 };