Removing Brushed ESC auto detect (#12479)

- minimise pin "activation" on init.

make/source.mk

@@ -75,7 +75,6 @@ COMMON_SRC = \
             fc/controlrate_profile.c \
             drivers/camera_control.c \
             drivers/accgyro/gyro_sync.c \
-            drivers/pwm_esc_detect.c \
             drivers/rx/rx_spi.c \
             drivers/rx/rx_xn297.c \
             drivers/rx/rx_pwm.c \

src/main/drivers/pwm_esc_detect.c

@@ -1,60 +0,0 @@
-/*
- * This file is part of Cleanflight and Betaflight.
- *
- * Cleanflight and Betaflight are free software. You can redistribute
- * this software and/or modify this software under the terms of the
- * GNU General Public License as published by the Free Software
- * Foundation, either version 3 of the License, or (at your option)
- * any later version.
- *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this software.
- *
- * If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <stdlib.h>
-
-#include "platform.h"
-
-#ifdef USE_BRUSHED_ESC_AUTODETECT
-
-#include "build/build_config.h"
-
-#include "drivers/io.h"
-#include "drivers/time.h"
-#include "drivers/timer.h"
-
-#include "pwm_esc_detect.h"
-
-static uint8_t hardwareMotorType = MOTOR_UNKNOWN;
-
-void detectBrushedESC(ioTag_t motorIoTag)
-{
-    IO_t motorDetectPin = IOGetByTag(motorIoTag);
-    IOInit(motorDetectPin, OWNER_SYSTEM, 0);
-    IOConfigGPIO(motorDetectPin, IOCFG_IPU);
-
-    delayMicroseconds(10);  // allow configuration to settle
-
-    // Check presence of brushed ESC's
-    if (IORead(motorDetectPin)) {
-        hardwareMotorType = MOTOR_BRUSHLESS;
-    } else {
-        hardwareMotorType = MOTOR_BRUSHED;
-    }
-    IORelease(motorDetectPin);
-}
-
-uint8_t getDetectedMotorType(void)
-{
-    return hardwareMotorType;
-}
-#endif

src/main/drivers/pwm_esc_detect.h

@@ -1,32 +0,0 @@
-/*
- * This file is part of Cleanflight and Betaflight.
- *
- * Cleanflight and Betaflight are free software. You can redistribute
- * this software and/or modify this software under the terms of the
- * GNU General Public License as published by the Free Software
- * Foundation, either version 3 of the License, or (at your option)
- * any later version.
- *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this software.
- *
- * If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-#include "drivers/io_types.h"
-
-typedef enum {
-    MOTOR_UNKNOWN = 0,
-    MOTOR_BRUSHED,
-    MOTOR_BRUSHLESS
-} HardwareMotorTypes_e;
-
-void detectBrushedESC(ioTag_t motorIoTag);
-uint8_t getDetectedMotorType(void);

src/main/fc/init.c

@@ -63,7 +63,6 @@
 #include "drivers/nvic.h"
 #include "drivers/persistent.h"
 #include "drivers/pin_pull_up_down.h"
-#include "drivers/pwm_esc_detect.h"
 #include "drivers/pwm_output.h"
 #include "drivers/rx/rx_pwm.h"
 #include "drivers/sensor.h"
@@ -280,20 +279,6 @@ void init(void)
     targetConfiguration();
 #endif
 
-#if defined(USE_BRUSHED_ESC_AUTODETECT)
-    // Opportunistically use the first motor pin of the default configuration for detection.
-    // We are doing this as with some boards, timing seems to be important, and the later detection will fail.
-#if defined(MOTOR1_PIN)
-    ioTag_t motorIoTag = IO_TAG(MOTOR1_PIN);
-#else
-    ioTag_t motorIoTag = IO_TAG_NONE;
-#endif
-
-    if (motorIoTag) {
-        detectBrushedESC(motorIoTag);
-    }
-#endif
-
     enum {
         FLASH_INIT_ATTEMPTED                = (1 << 0),
         SD_INIT_ATTEMPTED                   = (1 << 1),
@@ -417,15 +402,6 @@ void init(void)
     dbgPinInit();
 #endif
 
-#if defined(USE_BRUSHED_ESC_AUTODETECT)
-    // Now detect again with the actually configured pin for motor 1, if it is not the default pin.
-    ioTag_t configuredMotorIoTag = motorConfig()->dev.ioTags[0];
-
-    if (configuredMotorIoTag && configuredMotorIoTag != motorIoTag) {
-        detectBrushedESC(configuredMotorIoTag);
-    }
-#endif
-
     debugMode = systemConfig()->debug_mode;
 
 #ifdef TARGET_PREINIT

src/main/pg/motor.c

@@ -26,7 +26,6 @@
 
 #ifdef USE_MOTOR
 
-#include "drivers/pwm_esc_detect.h"
 #include "drivers/pwm_output.h"
 
 #include "pg/pg.h"
@@ -55,19 +54,9 @@ void pgResetFn_motorConfig(motorConfig_t *motorConfig)
     motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
     motorConfig->dev.useUnsyncedPwm = true;
 #else
-#ifdef USE_BRUSHED_ESC_AUTODETECT
-    if (getDetectedMotorType() == MOTOR_BRUSHED) {
-        motorConfig->minthrottle = 1000;
-        motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
-        motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
-        motorConfig->dev.useUnsyncedPwm = true;
-    } else
-#endif // USE_BRUSHED_ESC_AUTODETECT
-    {
     motorConfig->minthrottle = 1070;
     motorConfig->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
     motorConfig->dev.motorPwmProtocol = PWM_TYPE_DISABLED;
-    }
 #endif // BRUSHED_MOTORS
 
     motorConfig->maxthrottle = 2000;

src/main/target/SITL/target.h

@@ -140,7 +140,6 @@
 #undef USE_VTX_TRAMP
 #undef USE_VTX_MSP
 #undef USE_CAMERA_CONTROL
-#undef USE_BRUSHED_ESC_AUTODETECT
 #undef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
 #undef USE_SERIAL_4WAY_SK_BOOTLOADER
 

src/main/target/common_pre.h

@@ -172,8 +172,6 @@
 #define USE_RX_PPM
 #define USE_RX_PWM
 
-#define USE_BRUSHED_ESC_AUTODETECT  // Detect if brushed motors are connected and set defaults appropriately to avoid motors spinning on boot
-
 #define USE_PINIO
 
 #if !defined(USE_SERIAL_RX)