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55 lines
1.5 KiB
C
55 lines
1.5 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "build/build_config.h"
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#include "drivers/time.h"
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#include "drivers/io.h"
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#include "pwm_esc_detect.h"
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#include "timer.h"
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#ifdef BRUSHED_ESC_AUTODETECT
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uint8_t hardwareMotorType = MOTOR_UNKNOWN;
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void detectBrushedESC(void)
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{
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int i = 0;
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while (!(timerHardware[i].usageFlags & TIM_USE_MOTOR) && (i < USABLE_TIMER_CHANNEL_COUNT)) {
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i++;
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}
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IO_t MotorDetectPin = IOGetByTag(timerHardware[i].tag);
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IOInit(MotorDetectPin, OWNER_SYSTEM, 0);
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IOConfigGPIO(MotorDetectPin, IOCFG_IPU);
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delayMicroseconds(10); // allow configuration to settle
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// Check presence of brushed ESC's
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if (IORead(MotorDetectPin)) {
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hardwareMotorType = MOTOR_BRUSHLESS;
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} else {
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hardwareMotorType = MOTOR_BRUSHED;
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}
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}
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#endif
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