src/main/pg/motor.h

   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 #pragma once
  22
  23 #include "pg/pg.h"
  24
  25 #include "drivers/io.h"
  26 #include "drivers/dshot_bitbang.h"
  27
  28 typedef enum {
  29     DSHOT_BITBANGED_TIMER_AUTO = 0,
  30     DSHOT_BITBANGED_TIMER_TIM1,
  31     DSHOT_BITBANGED_TIMER_TIM8,
  32 } dshotBitbangedTimer_e;
  33
  34 typedef enum {
  35     DSHOT_DMAR_OFF,
  36     DSHOT_DMAR_ON,
  37     DSHOT_DMAR_AUTO
  38 } dshotDmar_e;
  39
  40 typedef struct motorDevConfig_s {
  41     uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
  42     uint8_t  motorPwmProtocol;              // Pwm Protocol
  43     uint8_t  motorPwmInversion;             // Active-High vs Active-Low. Useful for brushed FCs converted for brushless operation
  44     uint8_t  useUnsyncedPwm;
  45     uint8_t  useBurstDshot;
  46     uint8_t  useDshotTelemetry;
  47     uint8_t  useDshotEdt;
  48     ioTag_t  ioTags[MAX_SUPPORTED_MOTORS];
  49     uint8_t  motorTransportProtocol;
  50     uint8_t  useDshotBitbang;
  51     uint8_t  useDshotBitbangedTimer;
  52     uint8_t  motorOutputReordering[MAX_SUPPORTED_MOTORS]; // Reindexing motors for "remap motors" feature in Configurator
  53 } motorDevConfig_t;
  54
  55 typedef struct motorConfig_s {
  56     motorDevConfig_t dev;
  57     uint16_t digitalIdleOffsetValue;        // Idle value for DShot protocol, full motor output = 10000
  58     uint16_t minthrottle;                   // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
  59     uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power. This value can be increased up to 2000
  60     uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
  61     uint16_t kv;                            // Motor velocity constant (Kv) to estimate RPM under no load (unloadedRpm = Kv * batteryVoltage)
  62     uint8_t motorPoleCount;                 // Number of magnetic poles in the motor bell for calculating actual RPM from eRPM provided by ESC telemetry
  63 } motorConfig_t;
  64
  65 PG_DECLARE(motorConfig_t, motorConfig);