Move Brushed ESC auto detection into seperate source files
pwm_output.c and pwm_output_hal.c are used aternativly
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d93224be06
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1
Makefile
1
Makefile
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@ -503,6 +503,7 @@ COMMON_SRC = \
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drivers/rx_nrf24l01.c \
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drivers/rx_spi.c \
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drivers/rx_xn297.c \
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drivers/pwm_esc_detect.c \
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drivers/pwm_output.c \
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drivers/pwm_rx.c \
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drivers/rcc.c \
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@ -0,0 +1,55 @@
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/*
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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 "system.h"
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#include "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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@ -0,0 +1,29 @@
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/*
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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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#pragma once
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#ifdef BRUSHED_ESC_AUTODETECT
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typedef enum {
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MOTOR_UNKNOWN = 0,
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MOTOR_BRUSHED,
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MOTOR_BRUSHLESS
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} HardwareMotorTypes_e;
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extern uint8_t hardwareMotorType;
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void detectBrushedESC(void);
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#endif
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@ -24,7 +24,6 @@
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#include "io.h"
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#include "timer.h"
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#include "pwm_output.h"
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#include "system.h"
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#define MULTISHOT_5US_PW (MULTISHOT_TIMER_MHZ * 5)
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#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
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@ -281,28 +280,3 @@ void servoInit(const servoConfig_t *servoConfig)
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}
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#endif
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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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@ -114,15 +114,3 @@ pwmOutputPort_t *pwmGetMotors(void);
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bool pwmIsSynced(void);
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void pwmDisableMotors(void);
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void pwmEnableMotors(void);
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#ifdef BRUSHED_ESC_AUTODETECT
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typedef enum {
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MOTOR_UNKNOWN = 0,
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MOTOR_BRUSHED,
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MOTOR_BRUSHLESS
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} HardwareMotorTypes_e;
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extern uint8_t hardwareMotorType;
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void detectBrushedESC(void);
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#endif
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@ -41,6 +41,7 @@
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#include "drivers/pwm_rx.h"
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#include "drivers/rx_spi.h"
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#include "drivers/serial.h"
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#include "drivers/pwm_esc_detect.h"
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#include "drivers/pwm_output.h"
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#include "drivers/vcd.h"
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#include "drivers/max7456.h"
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@ -44,6 +44,7 @@
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#include "drivers/serial_uart.h"
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#include "drivers/accgyro.h"
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#include "drivers/compass.h"
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#include "drivers/pwm_esc_detect.h"
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#include "drivers/pwm_rx.h"
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#include "drivers/pwm_output.h"
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#include "drivers/adc.h"
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@ -20,6 +20,7 @@
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#include <platform.h>
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#include "drivers/pwm_esc_detect.h"
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#include "drivers/pwm_output.h"
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#include "fc/rc_controls.h"
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@ -24,6 +24,7 @@
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#include "drivers/sensor.h"
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#include "drivers/compass.h"
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#include "drivers/pwm_esc_detect.h"
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#include "drivers/pwm_output.h"
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#include "fc/rc_controls.h"
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@ -24,6 +24,7 @@
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#include "drivers/sensor.h"
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#include "drivers/compass.h"
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#include "drivers/pwm_esc_detect.h"
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#include "drivers/pwm_output.h"
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#include "drivers/serial.h"
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