mirror of
https://github.com/betaflight/betaflight.git
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83 lines
2.5 KiB
C
83 lines
2.5 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the 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 this software.
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*
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* 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 "platform.h"
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#ifdef USE_MOTOR
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#include "drivers/pwm_esc_detect.h"
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#include "drivers/pwm_output.h"
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#include "pg/pg.h"
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#include "pg/pg_ids.h"
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#include "pg/motor.h"
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PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 1);
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void pgResetFn_motorConfig(motorConfig_t *motorConfig)
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{
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#ifdef BRUSHED_MOTORS
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motorConfig->minthrottle = 1000;
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motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
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motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
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motorConfig->dev.useUnsyncedPwm = true;
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#else
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#ifdef USE_BRUSHED_ESC_AUTODETECT
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if (getDetectedMotorType() == MOTOR_BRUSHED) {
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motorConfig->minthrottle = 1000;
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motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
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motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
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motorConfig->dev.useUnsyncedPwm = true;
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} else
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#endif // USE_BRUSHED_ESC_AUTODETECT
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{
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motorConfig->minthrottle = 1070;
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motorConfig->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
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motorConfig->dev.motorPwmProtocol = PWM_TYPE_ONESHOT125;
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}
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#endif // BRUSHED_MOTORS
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motorConfig->maxthrottle = 2000;
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motorConfig->mincommand = 1000;
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motorConfig->digitalIdleOffsetValue = 550;
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#ifdef USE_DSHOT_DMAR
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motorConfig->dev.useBurstDshot = ENABLE_DSHOT_DMAR;
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#endif
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#ifdef USE_TIMER
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for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS; motorIndex++) {
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motorConfig->dev.ioTags[motorIndex] = timerioTagGetByUsage(TIM_USE_MOTOR, motorIndex);
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}
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#endif
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motorConfig->motorPoleCount = 14; // Most brushes motors that we use are 14 poles
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#ifdef USE_DSHOT_BITBANG
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motorConfig->dev.useDshotBitbang = DSHOT_BITBANG_DEFAULT;
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motorConfig->dev.useDshotBitbangedTimer = DSHOT_BITBANGED_TIMER_DEFAULT;
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#endif
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}
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#endif // USE_MOTOR
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