mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-25 09:16:07 +03:00
83 lines
2.5 KiB
C
83 lines
2.5 KiB
C
/*
|
|
* 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 "platform.h"
|
|
|
|
#ifdef USE_MOTOR
|
|
|
|
#include "drivers/pwm_esc_detect.h"
|
|
#include "drivers/pwm_output.h"
|
|
|
|
#include "pg/pg.h"
|
|
#include "pg/pg_ids.h"
|
|
#include "pg/motor.h"
|
|
|
|
PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 1);
|
|
|
|
void pgResetFn_motorConfig(motorConfig_t *motorConfig)
|
|
{
|
|
#ifdef BRUSHED_MOTORS
|
|
motorConfig->minthrottle = 1000;
|
|
motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
|
|
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_ONESHOT125;
|
|
}
|
|
#endif // BRUSHED_MOTORS
|
|
|
|
motorConfig->maxthrottle = 2000;
|
|
motorConfig->mincommand = 1000;
|
|
motorConfig->digitalIdleOffsetValue = 550;
|
|
|
|
#ifdef USE_DSHOT_DMAR
|
|
motorConfig->dev.useBurstDshot = ENABLE_DSHOT_DMAR;
|
|
#endif
|
|
|
|
#ifdef USE_TIMER
|
|
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS; motorIndex++) {
|
|
motorConfig->dev.ioTags[motorIndex] = timerioTagGetByUsage(TIM_USE_MOTOR, motorIndex);
|
|
}
|
|
#endif
|
|
|
|
motorConfig->motorPoleCount = 14; // Most brushes motors that we use are 14 poles
|
|
|
|
#ifdef USE_DSHOT_BITBANG
|
|
motorConfig->dev.useDshotBitbang = DSHOT_BITBANG_DEFAULT;
|
|
motorConfig->dev.useDshotBitbangedTimer = DSHOT_BITBANGED_TIMER_DEFAULT;
|
|
#endif
|
|
}
|
|
|
|
#endif // USE_MOTOR
|