src/main/drivers/pwm_esc_detect.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18
  19 #include <stdbool.h>
  20 #include <stdint.h>
  21 #include <stdlib.h>
  22
  23 #include "platform.h"
  24
  25 #ifdef USE_BRUSHED_ESC_AUTODETECT
  26
  27 #include "build/build_config.h"
  28
  29 #include "time.h"
  30 #include "system.h"
  31 #include "io.h"
  32 #include "pwm_esc_detect.h"
  33 #include "pwm_mapping.h"
  34 #include "timer.h"
  35
  36 uint8_t hardwareMotorType = MOTOR_UNKNOWN;
  37
  38 void detectBrushedESC(void)
  39 {
  40     for (int i = 0; i < timerHardwareCount; i++) {
  41         if (timerHardware[i].usageFlags & TIM_USE_MOTOR) {
  42             IO_t MotorDetectPin = IOGetByTag(timerHardware[i].tag);
  43             IOInit(MotorDetectPin, OWNER_SYSTEM, RESOURCE_INPUT, 0);
  44             IOConfigGPIO(MotorDetectPin, IOCFG_IPU);
  45
  46             delayMicroseconds(10);  // allow configuration to settle
  47
  48             // Check presence of brushed ESC's
  49             if (IORead(MotorDetectPin)) {
  50                 hardwareMotorType = MOTOR_BRUSHLESS;
  51             } else {
  52                 hardwareMotorType = MOTOR_BRUSHED;
  53             }
  54
  55             return;
  56         }
  57     }
  58
  59     // Not found = assume brushless
  60     hardwareMotorType = MOTOR_BRUSHLESS;
  61 }
  62 #endif