Updating backport

betaflight · Jun 19, 2023 · 9b7d166 · 9b7d166
1 parent b1b881b
commit 9b7d166
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Showing 3 changed files with 10 additions and 10 deletions.
diff --git a/src/main/drivers/dshot_command.c b/src/main/drivers/dshot_command.c
@@ -182,7 +182,7 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshot
 
     uint8_t repeats = 1;
     timeUs_t delayAfterCommandUs = DSHOT_COMMAND_DELAY_US;
-    motorVTable_t vTable = motorGetVTable();
+    motorVTable_t *vTable = motorGetVTable();
 
     switch (command) {
     case DSHOT_CMD_SPIN_DIRECTION_1:
@@ -218,27 +218,27 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshot
             delayMicroseconds(DSHOT_COMMAND_DELAY_US);
 
             // Initialise the output buffers
-            if (vTable.updateInit) {
-                vTable.updateInit();
+            if (vTable->updateInit) {
+                vTable->updateInit();
             }
 
             for (uint8_t i = 0; i < motorDeviceCount(); i++) {
                 motorDmaOutput_t *const motor = getMotorDmaOutput(i);
                 motor->protocolControl.requestTelemetry = true;
-                vTable.writeInt(i, (i == index || index == ALL_MOTORS) ? command : DSHOT_CMD_MOTOR_STOP);
+                vTable->writeInt(i, (i == index || index == ALL_MOTORS) ? command : DSHOT_CMD_MOTOR_STOP);
             }
 
             // Don't attempt to write commands to the motors if telemetry is still being received
             if (vTable.telemetryWait) {
-                (void)vTable.telemetryWait();
+                (void)vTable->telemetryWait();
             }
 
-            vTable.updateComplete();
+            vTable->updateComplete();
 
             // Perform the decode of the last data received
             // New data will be received once the send of motor data, triggered above, completes
 #if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
-            vTable.decodeTelemetry();
+            vTable->decodeTelemetry();
 #endif
         }
         delayMicroseconds(delayAfterCommandUs);

diff --git a/src/main/drivers/motor.c b/src/main/drivers/motor.c
@@ -114,9 +114,9 @@ unsigned motorDeviceCount(void)
     return motorDevice->count;
 }
 
-motorVTable_t motorGetVTable(void)
+motorVTable_t *motorGetVTable(void)
 {
-    return motorDevice->vTable;
+    return &motorDevice->vTable;
 }
 
 // This is not motor generic anymore; should be moved to analog pwm module

diff --git a/src/main/drivers/motor.h b/src/main/drivers/motor.h
@@ -86,7 +86,7 @@ uint16_t motorConvertToExternal(float motorValue);
 struct motorDevConfig_s; // XXX Shouldn't be needed once pwm_output* is really cleaned up.
 void motorDevInit(const struct motorDevConfig_s *motorConfig, uint16_t idlePulse, uint8_t motorCount);
 unsigned motorDeviceCount(void);
-motorVTable_t motorGetVTable(void);
+motorVTable_t *motorGetVTable(void);
 bool checkMotorProtocolEnabled(const motorDevConfig_t *motorConfig, bool *protocolIsDshot);
 bool isMotorProtocolDshot(void);
 bool isMotorProtocolEnabled(void);