src/main/pg/motor.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21
  22 #include <stdbool.h>
  23 #include <stdint.h>
  24
  25 #include "platform.h"
  26
  27 #ifdef USE_MOTOR
  28
  29 #include "drivers/pwm_output.h"
  30
  31 #include "pg/pg.h"
  32 #include "pg/pg_ids.h"
  33 #include "pg/motor.h"
  34
  35 #if !defined(DEFAULT_DSHOT_BITBANG)
  36 #define DEFAULT_DSHOT_BITBANG DSHOT_BITBANG_AUTO
  37 #endif
  38
  39 #if !defined(DSHOT_BITBANGED_TIMER_DEFAULT)
  40 #define DSHOT_BITBANGED_TIMER_DEFAULT DSHOT_BITBANGED_TIMER_AUTO
  41 #endif
  42
  43 #if !defined(DEFAULT_DSHOT_BURST)
  44 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_OFF
  45 #endif
  46
  47 #if !defined(DEFAULT_DSHOT_TELEMETRY)
  48 #define DEFAULT_DSHOT_TELEMETRY DSHOT_TELEMETRY_OFF
  49 #endif
  50
  51 PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 2);
  52
  53 void pgResetFn_motorConfig(motorConfig_t *motorConfig)
  54 {
  55 #ifdef BRUSHED_MOTORS
  56     motorConfig->minthrottle = 1000;
  57     motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
  58     motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
  59     motorConfig->dev.useUnsyncedPwm = true;
  60 #else
  61     motorConfig->minthrottle = 1070;
  62     motorConfig->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
  63 #ifndef USE_DSHOT
  64     motorConfig->dev.motorPwmProtocol = PWM_TYPE_DISABLED;
  65 #elif defined(DEFAULT_MOTOR_DSHOT_SPEED)
  66     motorConfig->dev.motorPwmProtocol = DEFAULT_MOTOR_DSHOT_SPEED;
  67 #else
  68     motorConfig->dev.motorPwmProtocol = PWM_TYPE_DSHOT600;
  69 #endif // USE_DSHOT
  70 #endif // BRUSHED_MOTORS
  71
  72     motorConfig->maxthrottle = 2000;
  73     motorConfig->mincommand = 1000;
  74     motorConfig->digitalIdleOffsetValue = 550;
  75     motorConfig->kv = 1960;
  76
  77 #ifdef USE_TIMER
  78 #ifdef MOTOR1_PIN
  79     motorConfig->dev.ioTags[0] = IO_TAG(MOTOR1_PIN);
  80 #endif
  81 #ifdef MOTOR2_PIN
  82     motorConfig->dev.ioTags[1] = IO_TAG(MOTOR2_PIN);
  83 #endif
  84 #ifdef MOTOR3_PIN
  85     motorConfig->dev.ioTags[2] = IO_TAG(MOTOR3_PIN);
  86 #endif
  87 #ifdef MOTOR4_PIN
  88     motorConfig->dev.ioTags[3] = IO_TAG(MOTOR4_PIN);
  89 #endif
  90 #ifdef MOTOR5_PIN
  91     motorConfig->dev.ioTags[4] = IO_TAG(MOTOR5_PIN);
  92 #endif
  93 #ifdef MOTOR6_PIN
  94     motorConfig->dev.ioTags[5] = IO_TAG(MOTOR6_PIN);
  95 #endif
  96 #ifdef MOTOR7_PIN
  97     motorConfig->dev.ioTags[6] = IO_TAG(MOTOR7_PIN);
  98 #endif
  99 #ifdef MOTOR8_PIN
 100     motorConfig->dev.ioTags[7] = IO_TAG(MOTOR8_PIN);
 101 #endif
 102 #endif
 103
 104     motorConfig->motorPoleCount = 14;   // Most brushless motors that we use are 14 poles
 105
 106     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
 107         motorConfig->dev.motorOutputReordering[i] = i;
 108     }
 109
 110 #ifdef USE_DSHOT_DMAR
 111     motorConfig->dev.useBurstDshot = DEFAULT_DSHOT_BURST;
 112 #endif
 113
 114 #ifdef USE_DSHOT_TELEMETRY
 115     motorConfig->dev.useDshotTelemetry = DEFAULT_DSHOT_TELEMETRY;
 116 #endif
 117
 118 #ifdef USE_DSHOT_BITBANG
 119     motorConfig->dev.useDshotBitbang = DEFAULT_DSHOT_BITBANG;
 120     motorConfig->dev.useDshotBitbangedTimer = DSHOT_BITBANGED_TIMER_DEFAULT;
 121 #endif
 122 }
 123
 124 #endif // USE_MOTOR