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Code Issues Wiki Activity

Removing Brushed ESC auto detect (#12479)

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- minimise pin "activation" on init.
This commit is contained in:
J Blackman 2023-03-09 06:46:04 +11:00 • committed by GitHub
parent e957f0dfa6
commit 80e9cfb998
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GPG key ID: 4AEE18F83AFDEB23
7 changed files with 3 additions and 134 deletions
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1
make/source.mk
View file

@ -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 \

60
src/main/drivers/pwm_esc_detect.c
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@ -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

32
src/main/drivers/pwm_esc_detect.h
View file

@ -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);

24
src/main/fc/init.c
View file

@ -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

17
src/main/pg/motor.c
View file

@ -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;
}
motorConfig->minthrottle = 1070;
motorConfig->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
motorConfig->dev.motorPwmProtocol = PWM_TYPE_DISABLED;
#endif // BRUSHED_MOTORS
motorConfig->maxthrottle = 2000;

1
src/main/target/SITL/target.h
View file

@ -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

2
src/main/target/common_pre.h
View file

@ -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)