From 92ef809e3b357c626d8e7fde8990d0279f1b3c71 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 16 Nov 2023 17:44:55 +0000
Subject: [PATCH] AP_IOMCU: allow bdshot iomcu on non-bdshot fmu

---
 libraries/AP_IOMCU/AP_IOMCU.cpp | 9 ++++++---
 libraries/AP_IOMCU/AP_IOMCU.h   | 3 ++-
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp
index b996aefbe4..6be77ef637 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.cpp
+++ b/libraries/AP_IOMCU/AP_IOMCU.cpp
@@ -117,12 +117,13 @@ void AP_IOMCU::thread_main(void)
     uart.begin(1500*1000, 128, 128);
     uart.set_unbuffered_writes(true);
 
+#if HAL_WITH_IO_MCU_BIDIR_DSHOT
     AP_BLHeli* blh = AP_BLHeli::get_singleton();
     uint16_t erpm_period_ms = 10; // default 100Hz
     if (blh && blh->get_telemetry_rate() > 0) {
         erpm_period_ms = constrain_int16(1000 / blh->get_telemetry_rate(), 1, 1000);
     }
-
+#endif
     trigger_event(IOEVENT_INIT);
 
     while (!do_shutdown) {
@@ -317,7 +318,7 @@ void AP_IOMCU::thread_main(void)
             read_servo();
             last_servo_read_ms = AP_HAL::millis();
         }
-
+#if HAL_WITH_IO_MCU_BIDIR_DSHOT
         if (AP_BoardConfig::io_dshot() && now - last_erpm_read_ms > erpm_period_ms) {
             // read erpm at configured rate. A more efficient scheme might be to 
             // send erpm info back with the response from a PWM send, but that would
@@ -333,7 +334,7 @@ void AP_IOMCU::thread_main(void)
             read_telem();
             last_telem_read_ms = AP_HAL::millis();
         }
-
+#endif
         if (now - last_safety_option_check_ms > 1000) {
             update_safety_options();
             last_safety_option_check_ms = now;
@@ -397,6 +398,7 @@ void AP_IOMCU::read_rc_input()
     }
 }
 
+#if HAL_WITH_IO_MCU_BIDIR_DSHOT
 /*
   read dshot erpm
  */
@@ -452,6 +454,7 @@ void AP_IOMCU::read_telem()
     }
     esc_group = (esc_group + 1) % (IOMCU_MAX_TELEM_CHANNELS / 4);
 }
+#endif
 
 /*
   read status registers
diff --git a/libraries/AP_IOMCU/AP_IOMCU.h b/libraries/AP_IOMCU/AP_IOMCU.h
index 1c976d2d73..24d19c32c3 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.h
+++ b/libraries/AP_IOMCU/AP_IOMCU.h
@@ -271,11 +271,12 @@ private:
         uint16_t rate;
     } dshot_rate;
 
+#if HAL_WITH_IO_MCU_BIDIR_DSHOT
     // bi-directional dshot erpm values
     struct page_dshot_erpm dshot_erpm;
     struct page_dshot_telem dshot_telem[IOMCU_MAX_TELEM_CHANNELS/4];
     uint8_t esc_group;
-
+#endif
     // queue of dshot commands that need sending
     ObjectBuffer<page_dshot> dshot_command_queue{8};