Use the cached value of useDshotTelemetry to ensure consistent runtim…

…e use if dshot_bidir is changed (betaflight#13589)

src/main/blackbox/blackbox.c

@@ -469,7 +469,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
     case CONDITION(MOTOR_6_HAS_RPM):
     case CONDITION(MOTOR_7_HAS_RPM):
     case CONDITION(MOTOR_8_HAS_RPM):
-        return (getMotorCount() >= condition - CONDITION(MOTOR_1_HAS_RPM) + 1) && (motorConfig()->dev.useDshotTelemetry) && isFieldEnabled(FIELD_SELECT(RPM));
+        return (getMotorCount() >= condition - CONDITION(MOTOR_1_HAS_RPM) + 1) && useDshotTelemetry && isFieldEnabled(FIELD_SELECT(RPM));
 #endif
 
     case CONDITION(TRICOPTER):
@@ -1524,7 +1524,7 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_NOTCH_MIN_HZ, "%d",       dynNotchConfig()->dyn_notch_min_hz);
 #endif
 #ifdef USE_DSHOT_TELEMETRY
-        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DSHOT_BIDIR, "%d",            motorConfig()->dev.useDshotTelemetry);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DSHOT_BIDIR, "%d",            useDshotTelemetry);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_MOTOR_POLES, "%d",            motorConfig()->motorPoleCount);
 #endif
 #ifdef USE_RPM_FILTER

src/main/drivers/dshot.c

@@ -291,7 +291,7 @@ static void dshotUpdateTelemetryData(uint8_t motorIndex, dshotTelemetryType_t ty
 
 FAST_CODE_NOINLINE void updateDshotTelemetry(void)
 {
-    if (!motorConfig()->dev.useDshotTelemetry) {
+    if (!useDshotTelemetry) {
         return;
     }
 

src/main/drivers/dshot.h

@@ -89,9 +89,9 @@ float dshotConvertFromExternal(uint16_t externalValue);
 uint16_t dshotConvertToExternal(float motorValue);
 
 uint16_t prepareDshotPacket(dshotProtocolControl_t *pcb);
+extern bool useDshotTelemetry;
 
 #ifdef USE_DSHOT_TELEMETRY
-extern bool useDshotTelemetry;
 
 typedef struct dshotTelemetryMotorState_s {
     uint16_t rawValue;

src/main/drivers/motor.c

@@ -63,7 +63,7 @@ void motorWriteAll(float *values)
 #ifdef USE_PWM_OUTPUT
     if (motorDevice->enabled) {
 #ifdef USE_DSHOT_BITBANG
-        if (isDshotBitbangActive(&motorConfig()->dev)) {
+        if (useDshotTelemetry && isDshotBitbangActive(&motorConfig()->dev)) {
             // Initialise the output buffers
             if (motorDevice->vTable.updateInit) {
                 motorDevice->vTable.updateInit();
@@ -297,7 +297,7 @@ bool isMotorProtocolDshot(void)
 
 bool isMotorProtocolBidirDshot(void)
 {
-    return isMotorProtocolDshot() && motorConfig()->dev.useDshotTelemetry;
+    return isMotorProtocolDshot() && useDshotTelemetry;
 }
 
 void motorDevInit(const motorDevConfig_t *motorDevConfig, uint16_t idlePulse, uint8_t motorCount)

src/main/fc/core.c

@@ -363,15 +363,15 @@ void updateArmingStatus(void)
 
 #ifdef USE_DSHOT_TELEMETRY
         // If Dshot Telemetry is enabled and any motor isn't providing telemetry, then disable arming
-        if (motorConfig()->dev.useDshotTelemetry && !isDshotTelemetryActive()) {
+        if (useDshotTelemetry && !isDshotTelemetryActive()) {
             setArmingDisabled(ARMING_DISABLED_DSHOT_TELEM);
         } else {
             unsetArmingDisabled(ARMING_DISABLED_DSHOT_TELEM);
         }
 #endif
 
 #ifdef USE_DSHOT_BITBANG
-        if (isDshotBitbangActive(&motorConfig()->dev) && dshotBitbangGetStatus() != DSHOT_BITBANG_STATUS_OK) {
+        if (useDshotTelemetry && isDshotBitbangActive(&motorConfig()->dev) && dshotBitbangGetStatus() != DSHOT_BITBANG_STATUS_OK) {
             setArmingDisabled(ARMING_DISABLED_DSHOT_BITBANG);
         } else {
             unsetArmingDisabled(ARMING_DISABLED_DSHOT_BITBANG);
@@ -514,7 +514,7 @@ void tryArm(void)
         if (isMotorProtocolDshot()) {
 #if defined(USE_ESC_SENSOR) && defined(USE_DSHOT_TELEMETRY)
             // Try to activate extended DSHOT telemetry only if no esc sensor exists and dshot telemetry is active
-            if (!featureIsEnabled(FEATURE_ESC_SENSOR) && motorConfig()->dev.useDshotTelemetry) {
+            if (!featureIsEnabled(FEATURE_ESC_SENSOR) && useDshotTelemetry) {
                 dshotCleanTelemetryData();
                 if (motorConfig()->dev.useDshotEdt) {
                     dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE, DSHOT_CMD_TYPE_INLINE);

src/main/flight/mixer.c

@@ -680,7 +680,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
 #endif
 
 #ifdef USE_RPM_LIMIT
-    if (RPM_LIMIT_ACTIVE && motorConfig()->dev.useDshotTelemetry && ARMING_FLAG(ARMED)) {
+    if (RPM_LIMIT_ACTIVE && useDshotTelemetry && ARMING_FLAG(ARMED)) {
         applyRpmLimiter(&mixerRuntime);
     }
 #endif

src/main/flight/mixer_init.c

@@ -328,7 +328,7 @@ void initEscEndpoints(void)
 void mixerInitProfile(void)
 {
 #ifdef USE_DYN_IDLE
-    if (motorConfigMutable()->dev.useDshotTelemetry) {
+    if (useDshotTelemetry) {
         mixerRuntime.dynIdleMinRps = currentPidProfile->dyn_idle_min_rpm * 100.0f / 60.0f;
     } else {
         mixerRuntime.dynIdleMinRps = 0.0f;

src/main/flight/rpm_filter.c

@@ -68,15 +68,14 @@ FAST_DATA_ZERO_INIT static int notchUpdatesPerIteration;
 FAST_DATA_ZERO_INIT static int motorIndex;
 FAST_DATA_ZERO_INIT static int harmonicIndex;
 
-
 void rpmFilterInit(const rpmFilterConfig_t *config, const timeUs_t looptimeUs)
 {
     motorIndex = 0;
     harmonicIndex = 0;
     rpmFilter.numHarmonics = 0; // disable RPM Filtering
 
     // if bidirectional DShot is not available
-    if (!motorConfig()->dev.useDshotTelemetry) {
+    if (!useDshotTelemetry) {
         return;
     }
 
@@ -112,7 +111,7 @@ void rpmFilterInit(const rpmFilterConfig_t *config, const timeUs_t looptimeUs)
 
 FAST_CODE_NOINLINE void rpmFilterUpdate(void)
 {
-    if (!motorConfig()->dev.useDshotTelemetry) {
+    if (!useDshotTelemetry) {
         return;
     }
 

src/main/msp/msp.c

@@ -1218,7 +1218,7 @@ case MSP_NAME:
             bool rpmDataAvailable = false;
 
 #ifdef USE_DSHOT_TELEMETRY
-            if (motorConfig()->dev.useDshotTelemetry) {
+            if (useDshotTelemetry) {
                 rpm = lrintf(getDshotRpm(i));
                 rpmDataAvailable = true;
                 invalidPct = 10000; // 100.00%
@@ -1448,7 +1448,7 @@ case MSP_NAME:
         sbufWriteU8(dst, getMotorCount());
         sbufWriteU8(dst, motorConfig()->motorPoleCount);
 #ifdef USE_DSHOT_TELEMETRY
-        sbufWriteU8(dst, motorConfig()->dev.useDshotTelemetry);
+        sbufWriteU8(dst, useDshotTelemetry);
 #else
         sbufWriteU8(dst, 0);
 #endif
@@ -1479,7 +1479,7 @@ case MSP_NAME:
         } else
 #endif
 #if defined(USE_DSHOT_TELEMETRY)
-        if (motorConfig()->dev.useDshotTelemetry) {
+        if (useDshotTelemetry) {
             sbufWriteU8(dst, getMotorCount());
             for (int i = 0; i < getMotorCount(); i++) {
                 sbufWriteU8(dst, dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_TEMPERATURE]);

src/main/osd/osd.c

@@ -608,7 +608,7 @@ static int32_t getAverageEscRpm(void)
     }
 #endif
 #ifdef USE_DSHOT_TELEMETRY
-    if (motorConfig()->dev.useDshotTelemetry) {
+    if (useDshotTelemetry) {
         return lrintf(getDshotRpmAverage());
     }
 #endif

src/main/osd/osd_elements.c

@@ -267,7 +267,7 @@ typedef int (*getEscRpmOrFreqFnPtr)(int i);
 static int getEscRpm(int i)
 {
 #ifdef USE_DSHOT_TELEMETRY
-    if (motorConfig()->dev.useDshotTelemetry) {
+    if (useDshotTelemetry) {
         return lrintf(getDshotRpm(i));
     }
 #endif
@@ -2064,7 +2064,7 @@ void osdAddActiveElements(void)
 #endif // GPS
 
 #if defined(USE_DSHOT_TELEMETRY) || defined(USE_ESC_SENSOR)
-    if ((featureIsEnabled(FEATURE_ESC_SENSOR)) || (motorConfig()->dev.useDshotTelemetry)) {
+    if ((featureIsEnabled(FEATURE_ESC_SENSOR)) || useDshotTelemetry) {
         osdAddActiveElement(OSD_ESC_TMP);
         osdAddActiveElement(OSD_ESC_RPM);
         osdAddActiveElement(OSD_ESC_RPM_FREQ);