From 293557264f9f66c9521ca7f612705db4a9152017 Mon Sep 17 00:00:00 2001
From: bkleiner <benedikt.kleiner@gmail.com>
Date: Thu, 22 Aug 2024 00:34:30 +0200
Subject: [PATCH] dshot: more clearly label pin mask

---
 src/driver/motor_dshot.c | 20 +++++++++++---------
 src/driver/motor_dshot.h |  6 ++----
 2 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/src/driver/motor_dshot.c b/src/driver/motor_dshot.c
index ff49a5ed7..c30b2b5b8 100644
--- a/src/driver/motor_dshot.c
+++ b/src/driver/motor_dshot.c
@@ -69,19 +69,22 @@ void dshot_gpio_init_input(gpio_pins_t pin) {
 
 static void dshot_init_motor_pin(uint32_t index) {
   dshot_gpio_init_output(target.motor_pins[index]);
-  gpio_pin_reset(target.motor_pins[index]);
+  if (profile.motor.dshot_telemetry)
+    gpio_pin_set(target.motor_pins[index]);
+  else
+    gpio_pin_reset(target.motor_pins[index]);
 
+  const gpio_pin_def_t *def = &gpio_pin_defs[target.motor_pins[index]];
+  const uint32_t pin_mask = dshot_pins[index].pin_mask = 0x1 << def->pin_index;
   dshot_pins[index].dshot_port = 0;
-  dshot_pins[index].pin = gpio_pin_defs[target.motor_pins[index]].pin;
-  dshot_pins[index].port = gpio_pin_defs[target.motor_pins[index]].port;
-  dshot_pins[index].set_mask = profile.motor.dshot_telemetry ? (dshot_pins[index].pin << 16) : dshot_pins[index].pin;
-  dshot_pins[index].reset_mask = profile.motor.dshot_telemetry ? dshot_pins[index].pin : (dshot_pins[index].pin << 16);
+  dshot_pins[index].set_mask = profile.motor.dshot_telemetry ? (pin_mask << 16) : pin_mask;
+  dshot_pins[index].reset_mask = profile.motor.dshot_telemetry ? pin_mask : (pin_mask << 16);
 
   for (uint8_t i = 0; i < DSHOT_MAX_PORT_COUNT; i++) {
-    if (dshot_gpio_ports[i].gpio == dshot_pins[index].port || i == dshot_gpio_port_count) {
+    if (dshot_gpio_ports[i].gpio == def->port || i == dshot_gpio_port_count) {
       // we already got a matching port in our array
       // or we reached the first empty spot
-      dshot_gpio_ports[i].gpio = dshot_pins[index].port;
+      dshot_gpio_ports[i].gpio = def->port;
       dshot_gpio_ports[i].set_mask |= dshot_pins[index].set_mask;
       dshot_gpio_ports[i].reset_mask |= dshot_pins[index].reset_mask;
 
@@ -90,7 +93,6 @@ static void dshot_init_motor_pin(uint32_t index) {
       if (i + 1 > dshot_gpio_port_count) {
         dshot_gpio_port_count = i + 1;
       }
-
       break;
     }
   }
@@ -125,7 +127,7 @@ void dshot_dma_start() {
   if (profile.motor.dshot_telemetry) {
     for (uint32_t i = 0; i < MOTOR_PIN_MAX; i++) {
       const uint32_t port = dshot_pins[i].dshot_port;
-      state.dshot_rpm[i] = dshot_decode_eRPM_telemetry_value(dshot_decode_gcr((uint16_t *)dshot_input_buffer[port], dshot_pins[i].pin));
+      state.dshot_rpm[i] = dshot_decode_eRPM_telemetry_value(dshot_decode_gcr((uint16_t *)dshot_input_buffer[port], dshot_pins[i].pin_mask));
       dshot_gpio_init_output(i);
     }
   }
diff --git a/src/driver/motor_dshot.h b/src/driver/motor_dshot.h
index 1d439252c..78a0a129f 100644
--- a/src/driver/motor_dshot.h
+++ b/src/driver/motor_dshot.h
@@ -6,13 +6,11 @@
 #include "driver/motor.h"
 
 typedef struct {
-  gpio_port_t *port;
-  uint32_t pin;
+  uint32_t pin_mask;
+  uint32_t dshot_port;
 
   uint32_t set_mask;
   uint32_t reset_mask;
-
-  uint32_t dshot_port;
 } dshot_pin_t;
 
 typedef struct {