From 014cae25dbc0a0cfde18c47419344c2bd0aee076 Mon Sep 17 00:00:00 2001
From: rusefillc <sdfsdfqsf2334234234>
Date: Mon, 16 Nov 2020 20:07:12 -0500
Subject: [PATCH] DC not ETB refactoring

---
 firmware/controllers/actuators/dc_motors.cpp    | 17 ++---------------
 firmware/controllers/actuators/dc_motors.h      |  2 +-
 .../actuators/electronic_throttle.cpp           |  2 +-
 .../controllers/actuators/idle_hardware.cpp     |  4 ++--
 4 files changed, 6 insertions(+), 19 deletions(-)

diff --git a/firmware/controllers/actuators/dc_motors.cpp b/firmware/controllers/actuators/dc_motors.cpp
index 70cea0706a..bfb8008c54 100644
--- a/firmware/controllers/actuators/dc_motors.cpp
+++ b/firmware/controllers/actuators/dc_motors.cpp
@@ -94,22 +94,9 @@ public:
 	}
 };
 
-static DcHardware dcHardware[ETB_COUNT * 2];
+static DcHardware dcHardware[ETB_COUNT + DC_PER_STEPPER];
 
-// We needed more H-bridge configs - so the IO configs are split
-// across two arrays of settings to preserve config compatibility
-const dc_io& getConfigForMotor(size_t index DECLARE_ENGINE_PARAMETER_SUFFIX) {
-	size_t firstSize = efi::size(engineConfiguration->etbIo);
-
-	if (index < firstSize) {
-		return engineConfiguration->etbIo[index];
-	}
-
-	return engineConfiguration->stepperDcIo[index - firstSize];
-}
-
-DcMotor* initDcMotor(size_t index, bool useTwoWires DECLARE_ENGINE_PARAMETER_SUFFIX) {
-	const auto& io = getConfigForMotor(index PASS_ENGINE_PARAMETER_SUFFIX);
+DcMotor* initDcMotor(const dc_io& io, size_t index, bool useTwoWires DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	auto& hw = dcHardware[index];
 
 	hw.start(
diff --git a/firmware/controllers/actuators/dc_motors.h b/firmware/controllers/actuators/dc_motors.h
index 2c8d209e6d..8210fbb212 100644
--- a/firmware/controllers/actuators/dc_motors.h
+++ b/firmware/controllers/actuators/dc_motors.h
@@ -13,7 +13,7 @@
 class DcMotor;
 class Logger;
 
-DcMotor* initDcMotor(size_t index, bool useTwoWires DECLARE_ENGINE_PARAMETER_SUFFIX);
+DcMotor* initDcMotor(const dc_io& io, size_t index, bool useTwoWires DECLARE_ENGINE_PARAMETER_SUFFIX);
 
 // Manual control of motors for use by console commands
 void setDcMotorFrequency(size_t index, int hz);
diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index 497f4b12e9..690663e1a0 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -841,7 +841,7 @@ void doInitElectronicThrottle(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	bool anyEtbConfigured = false;
 
 	for (int i = 0 ; i < ETB_COUNT; i++) {
-		auto motor = initDcMotor(i, CONFIG(etb_use_two_wires) PASS_ENGINE_PARAMETER_SUFFIX);
+		auto motor = initDcMotor(engineConfiguration->etbIo[i], i, CONFIG(etb_use_two_wires) PASS_ENGINE_PARAMETER_SUFFIX);
 
 		// If this motor is actually set up, init the etb
 		if (motor)
diff --git a/firmware/controllers/actuators/idle_hardware.cpp b/firmware/controllers/actuators/idle_hardware.cpp
index fb8136b0a7..f19f98536c 100644
--- a/firmware/controllers/actuators/idle_hardware.cpp
+++ b/firmware/controllers/actuators/idle_hardware.cpp
@@ -139,8 +139,8 @@ void initIdleHardware(Logging* sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 		StepperHw* hw;
 
 		if (CONFIG(useHbridges)) {
-			auto motorA = initDcMotor(2, /*useTwoWires*/ true PASS_ENGINE_PARAMETER_SUFFIX);
-			auto motorB = initDcMotor(3, /*useTwoWires*/ true PASS_ENGINE_PARAMETER_SUFFIX);
+			auto motorA = initDcMotor(engineConfiguration->stepperDcIo[0], 2, /*useTwoWires*/ true PASS_ENGINE_PARAMETER_SUFFIX);
+			auto motorB = initDcMotor(engineConfiguration->stepperDcIo[1], 3, /*useTwoWires*/ true PASS_ENGINE_PARAMETER_SUFFIX);
 
 			if (motorA && motorB) {
 				iacHbridgeHw.initialize(