From 3b8b90d17086b56c2f3f8c3b324ed95c7dcb5ecc Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 22 Sep 2021 23:56:09 +0100
Subject: [PATCH] AP_HAL: move is_dshot_protocol to AP_HAL

---
 libraries/AP_HAL/RCOutput.cpp | 16 ++++++++++++++++
 libraries/AP_HAL/RCOutput.h   |  4 ++++
 2 files changed, 20 insertions(+)

diff --git a/libraries/AP_HAL/RCOutput.cpp b/libraries/AP_HAL/RCOutput.cpp
index 74b49795bb..a3891cffef 100644
--- a/libraries/AP_HAL/RCOutput.cpp
+++ b/libraries/AP_HAL/RCOutput.cpp
@@ -52,3 +52,19 @@ void AP_HAL::RCOutput::append_to_banner(char banner_msg[], uint8_t banner_msg_le
         hal.util->snprintf(banner_msg, banner_msg_len, "%s %s:%u-%u", banner_msg_temp, mode_str, (unsigned)low_ch, (unsigned)high_ch);
     }
 }
+
+/*
+  true when the output mode is of type dshot
+*/
+bool AP_HAL::RCOutput::is_dshot_protocol(const enum output_mode mode)
+{
+    switch (mode) {
+    case MODE_PWM_DSHOT150:
+    case MODE_PWM_DSHOT300:
+    case MODE_PWM_DSHOT600:
+    case MODE_PWM_DSHOT1200:
+        return true;
+    default:
+        return false;
+    }
+}
diff --git a/libraries/AP_HAL/RCOutput.h b/libraries/AP_HAL/RCOutput.h
index f18a9b2993..aa3110bfa6 100644
--- a/libraries/AP_HAL/RCOutput.h
+++ b/libraries/AP_HAL/RCOutput.h
@@ -202,6 +202,10 @@ public:
         MODE_NEOPIXEL,  // same as MODE_PWM_DSHOT at 800kHz but it's an LED
         MODE_PROFILED,  // same as MODE_PWM_DSHOT using separate clock and data
     };
+    // true when the output mode is of type dshot
+    // static to allow use in the ChibiOS thread stuff
+    static bool is_dshot_protocol(const enum output_mode mode);
+
 
     // https://github.com/bitdump/BLHeli/blob/master/BLHeli_32%20ARM/BLHeli_32%20Firmware%20specs/Digital_Cmd_Spec.txt
     enum BLHeliDshotCommand : uint8_t {