src/main/drivers/pwm_esc_detect.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <stdlib.h>
  24
  25 #include "platform.h"
  26
  27 #ifdef USE_BRUSHED_ESC_AUTODETECT
  28
  29 #include "build/build_config.h"
  30
  31 #include "drivers/io.h"
  32 #include "drivers/time.h"
  33 #include "drivers/timer.h"
  34
  35 #include "pwm_esc_detect.h"
  36
  37 static uint8_t hardwareMotorType = MOTOR_UNKNOWN;
  38
  39 void detectBrushedESC(ioTag_t motorIoTag)
  40 {
  41     IO_t motorDetectPin = IOGetByTag(motorIoTag);
  42     IOInit(motorDetectPin, OWNER_SYSTEM, 0);
  43     IOConfigGPIO(motorDetectPin, IOCFG_IPU);
  44
  45     delayMicroseconds(10);  // allow configuration to settle
  46
  47     // Check presence of brushed ESC's
  48     if (IORead(motorDetectPin)) {
  49         hardwareMotorType = MOTOR_BRUSHLESS;
  50     } else {
  51         hardwareMotorType = MOTOR_BRUSHED;
  52     }
  53     IORelease(motorDetectPin);
  54 }
  55
  56 uint8_t getDetectedMotorType(void)
  57 {
  58     return hardwareMotorType;
  59 }
  60 #endif