From 7b8aae1d31da802439ac096ebbed619943230b9d Mon Sep 17 00:00:00 2001
From: bkleiner <b.kleiner@str8labs.com>
Date: Wed, 5 Jul 2023 20:47:40 +0200
Subject: [PATCH] eliminate pwm_failsafe_time

---
 src/driver/at32/motor_dshot.c  |  4 ----
 src/driver/motor_dshot.c       | 16 ----------------
 src/driver/stm32/motor_dshot.c |  4 ----
 3 files changed, 24 deletions(-)

diff --git a/src/driver/at32/motor_dshot.c b/src/driver/at32/motor_dshot.c
index c19978237..a39225f68 100644
--- a/src/driver/at32/motor_dshot.c
+++ b/src/driver/at32/motor_dshot.c
@@ -36,7 +36,6 @@ typedef struct {
 } dshot_gpio_port_t;
 
 extern uint16_t dshot_packet[MOTOR_PIN_MAX];
-extern uint32_t pwm_failsafe_time;
 extern motor_direction_t motor_dir;
 
 volatile uint32_t dshot_dma_phase = 0; // 0: idle, 1 - (gpio_port_count + 1): handle port n
@@ -168,9 +167,6 @@ void motor_dshot_init() {
   }
 
   tmr_counter_enable(TMR1, TRUE);
-
-  // set failsafetime so signal is off at start
-  pwm_failsafe_time = time_micros() - 100000;
   motor_dir = MOTOR_FORWARD;
 }
 
diff --git a/src/driver/motor_dshot.c b/src/driver/motor_dshot.c
index aba232e35..f1d00358d 100644
--- a/src/driver/motor_dshot.c
+++ b/src/driver/motor_dshot.c
@@ -16,7 +16,6 @@ typedef enum {
 } dir_change_state_t;
 
 uint16_t dshot_packet[MOTOR_PIN_MAX]; // 16bits dshot data for 4 motors
-uint32_t pwm_failsafe_time = 1;
 motor_direction_t motor_dir = MOTOR_FORWARD;
 
 static bool dir_change_done = true;
@@ -46,27 +45,12 @@ void motor_dshot_write(float *values) {
   if (dir_change_done) {
     for (uint32_t i = 0; i < MOTOR_PIN_MAX; i++) {
       uint16_t value = 0;
-
       if (values[i] >= 0.0f) {
         const float pwm = constrainf(values[i], 0.0f, 1.0f);
         value = mapf(pwm, 0.0f, 1.0f, 48, 2047);
       } else {
         value = 0;
       }
-
-      if (flags.failsafe && !flags.motortest_override) {
-        if (!pwm_failsafe_time) {
-          pwm_failsafe_time = time_micros();
-        } else if (time_micros() - pwm_failsafe_time > 4000000) {
-          // 1s after failsafe we turn off the signal for safety
-          // this means the escs won't rearm correctly after 2 secs of signal lost
-          // usually the quad should be gone by then
-          value = 0;
-        }
-      } else {
-        pwm_failsafe_time = 0;
-      }
-
       dshot_make_packet(profile.motor.motor_pins[i], value, false);
     }
 
diff --git a/src/driver/stm32/motor_dshot.c b/src/driver/stm32/motor_dshot.c
index 71e864d51..9914171f7 100644
--- a/src/driver/stm32/motor_dshot.c
+++ b/src/driver/stm32/motor_dshot.c
@@ -36,7 +36,6 @@ typedef struct {
 } dshot_gpio_port_t;
 
 extern uint16_t dshot_packet[MOTOR_PIN_MAX];
-extern uint32_t pwm_failsafe_time;
 extern motor_direction_t motor_dir;
 
 volatile uint32_t dshot_dma_phase = 0; // 0: idle, 1 - (gpio_port_count + 1): handle port n
@@ -198,9 +197,6 @@ void motor_dshot_init() {
   }
 
   LL_TIM_EnableCounter(TIM1);
-
-  // set failsafetime so signal is off at start
-  pwm_failsafe_time = time_micros() - 100000;
   motor_dir = MOTOR_FORWARD;
 }