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 #include <stdbool.h>
  22 #include <stdint.h>
  23
  24 #include "platform.h"
  25
  26 #ifdef USE_MOTOR
  27
  28 #include "drivers/pwm_output.h"
  29
  30 #include "pg/pg.h"
  31 #include "pg/pg_ids.h"
  32 #include "pg/motor.h"
  33
  34 #if !defined(DEFAULT_DSHOT_BITBANG)
  35 #define DEFAULT_DSHOT_BITBANG DSHOT_BITBANG_AUTO
  36 #endif
  37
  38 #if !defined(DSHOT_BITBANGED_TIMER_DEFAULT)
  39 #define DSHOT_BITBANGED_TIMER_DEFAULT DSHOT_BITBANGED_TIMER_AUTO
  40 #endif
  41
  42 #if !defined(DEFAULT_DSHOT_BURST)
  43 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_OFF
  44 #endif
  45
  46 #if !defined(DEFAULT_DSHOT_TELEMETRY)
  47 #define DEFAULT_DSHOT_TELEMETRY DSHOT_TELEMETRY_OFF
  48 #endif
  49
  50 PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 3);
  51
  52 void pgResetFn_motorConfig(motorConfig_t *motorConfig)
  53 {
  54 #ifdef BRUSHED_MOTORS
  55     motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
  56     motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
  57     motorConfig->dev.useUnsyncedPwm = true;
  58 #else
  59     motorConfig->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
  60 #ifndef USE_DSHOT
  61     if (motorConfig->dev.motorPwmProtocol == PWM_TYPE_STANDARD) {
  62         motorConfig->dev.useUnsyncedPwm = true;
  63     }
  64     motorConfig->dev.motorPwmProtocol = PWM_TYPE_DISABLED;
  65 #elif defined(DEFAULT_MOTOR_DSHOT_SPEED)
  66     motorConfig->dev.motorPwmProtocol = DEFAULT_MOTOR_DSHOT_SPEED;
  67 #else
  68     motorConfig->dev.motorPwmProtocol = PWM_TYPE_DSHOT600;
  69 #endif // USE_DSHOT
  70 #endif // BRUSHED_MOTORS
  71
  72     motorConfig->maxthrottle = 2000;
  73     motorConfig->mincommand = 1000;
  74 #ifdef BRUSHED_MOTORS
  75     motorConfig->motorIdle = 700; // historical default minThrottle for brushed was 1070
  76 #else
  77     motorConfig->motorIdle = 550;
  78 #endif // BRUSHED_MOTORS
  79     motorConfig->kv = 1960;
  80
  81 #ifdef USE_TIMER
  82 #ifdef MOTOR1_PIN
  83     motorConfig->dev.ioTags[0] = IO_TAG(MOTOR1_PIN);
  84 #endif
  85 #ifdef MOTOR2_PIN
  86     motorConfig->dev.ioTags[1] = IO_TAG(MOTOR2_PIN);
  87 #endif
  88 #ifdef MOTOR3_PIN
  89     motorConfig->dev.ioTags[2] = IO_TAG(MOTOR3_PIN);
  90 #endif
  91 #ifdef MOTOR4_PIN
  92     motorConfig->dev.ioTags[3] = IO_TAG(MOTOR4_PIN);
  93 #endif
  94 #ifdef MOTOR5_PIN
  95     motorConfig->dev.ioTags[4] = IO_TAG(MOTOR5_PIN);
  96 #endif
  97 #ifdef MOTOR6_PIN
  98     motorConfig->dev.ioTags[5] = IO_TAG(MOTOR6_PIN);
  99 #endif
 100 #ifdef MOTOR7_PIN
 101     motorConfig->dev.ioTags[6] = IO_TAG(MOTOR7_PIN);
 102 #endif
 103 #ifdef MOTOR8_PIN
 104     motorConfig->dev.ioTags[7] = IO_TAG(MOTOR8_PIN);
 105 #endif
 106 #endif
 107
 108     motorConfig->motorPoleCount = 14;   // Most brushless motors that we use are 14 poles
 109
 110     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
 111         motorConfig->dev.motorOutputReordering[i] = i;
 112     }
 113
 114 #ifdef USE_DSHOT_DMAR
 115     motorConfig->dev.useBurstDshot = DEFAULT_DSHOT_BURST;
 116 #endif
 117
 118 #ifdef USE_DSHOT_TELEMETRY
 119     motorConfig->dev.useDshotTelemetry = DEFAULT_DSHOT_TELEMETRY;
 120 #endif
 121
 122 #ifdef USE_DSHOT_BITBANG
 123     motorConfig->dev.useDshotBitbang = DEFAULT_DSHOT_BITBANG;
 124     motorConfig->dev.useDshotBitbangedTimer = DSHOT_BITBANGED_TIMER_DEFAULT;
 125 #endif
 126 }
 127
 128 #endif // USE_MOTOR