AP_HAL: move is_dshot_protocol to AP_HAL

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;
+    }
+}

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 {