src/main/pg/motor.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
  22 #include <stdbool.h>
  23 #include <stdint.h>
  24
  25 #include "platform.h"
  26
  27 #ifdef USE_MOTOR
  28
  29 #include "drivers/pwm_esc_detect.h"
  30 #include "drivers/pwm_output.h"
  31
  32 #include "pg/pg.h"
  33 #include "pg/pg_ids.h"
  34 #include "pg/motor.h"
  35
  36 PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 1);
  37
  38 void pgResetFn_motorConfig(motorConfig_t *motorConfig)
  39 {
  40 #ifdef BRUSHED_MOTORS
  41     motorConfig->minthrottle = 1000;
  42     motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
  43     motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
  44     motorConfig->dev.useUnsyncedPwm = true;
  45 #else
  46 #ifdef USE_BRUSHED_ESC_AUTODETECT
  47     if (getDetectedMotorType() == MOTOR_BRUSHED) {
  48         motorConfig->minthrottle = 1000;
  49         motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
  50         motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
  51         motorConfig->dev.useUnsyncedPwm = true;
  52     } else
  53 #endif // USE_BRUSHED_ESC_AUTODETECT
  54     {
  55         motorConfig->minthrottle = 1070;
  56         motorConfig->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
  57         motorConfig->dev.motorPwmProtocol = PWM_TYPE_DISABLED;
  58     }
  59 #endif // BRUSHED_MOTORS
  60
  61     motorConfig->maxthrottle = 2000;
  62     motorConfig->mincommand = 1000;
  63     motorConfig->digitalIdleOffsetValue = 550;
  64
  65 #ifdef USE_DSHOT_DMAR
  66     motorConfig->dev.useBurstDshot = ENABLE_DSHOT_DMAR;
  67 #endif
  68
  69 #ifdef USE_TIMER
  70     for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS; motorIndex++) {
  71         motorConfig->dev.ioTags[motorIndex] = timerioTagGetByUsage(TIM_USE_MOTOR, motorIndex);
  72     }
  73 #endif
  74
  75     motorConfig->motorPoleCount = 14;   // Most brushes motors that we use are 14 poles
  76
  77     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
  78         motorConfig->dev.motorOutputReordering[i] = i;
  79     }
  80
  81 #ifdef USE_DSHOT_BITBANG
  82     motorConfig->dev.useDshotBitbang = DSHOT_BITBANG_DEFAULT;
  83     motorConfig->dev.useDshotBitbangedTimer = DSHOT_BITBANGED_TIMER_DEFAULT;
  84 #endif
  85 }
  86
  87 #endif // USE_MOTOR