Merge pull request #1774 from AlienWiiBF/Brushed_ESC_detect

Generalize brushed ESC auto detection

src/main/drivers/pwm_output.c

@@ -24,6 +24,7 @@
 #include "io.h"
 #include "timer.h"
 #include "pwm_output.h"
+#include "system.h"
 
 #define MULTISHOT_5US_PW    (MULTISHOT_TIMER_MHZ * 5)
 #define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
@@ -280,3 +281,28 @@ void servoInit(const servoConfig_t *servoConfig)
 }
 
 #endif
+
+#ifdef BRUSHED_ESC_AUTODETECT
+uint8_t hardwareMotorType = MOTOR_UNKNOWN;
+
+void detectBrushedESC(void)
+{
+    int i = 0;
+    while (!(timerHardware[i].usageFlags & TIM_USE_MOTOR) && (i < USABLE_TIMER_CHANNEL_COUNT)) {
+        i++;
+    }
+
+    IO_t MotorDetectPin = IOGetByTag(timerHardware[i].tag);
+    IOInit(MotorDetectPin, OWNER_SYSTEM, 0);
+    IOConfigGPIO(MotorDetectPin, IOCFG_IPU);
+
+    delayMicroseconds(10);  // allow configuration to settle
+
+    // Check presence of brushed ESC's
+    if (IORead(MotorDetectPin)) {
+        hardwareMotorType = MOTOR_BRUSHLESS;
+    } else {
+        hardwareMotorType = MOTOR_BRUSHED;
+    }
+}
+#endif

src/main/drivers/pwm_output.h

@@ -114,3 +114,15 @@ pwmOutputPort_t *pwmGetMotors(void);
 bool pwmIsSynced(void);
 void pwmDisableMotors(void);
 void pwmEnableMotors(void);
+
+#ifdef BRUSHED_ESC_AUTODETECT
+typedef enum {
+    MOTOR_UNKNOWN = 0,
+    MOTOR_BRUSHED,
+    MOTOR_BRUSHLESS
+} HardwareMotorTypes_e;
+
+extern uint8_t hardwareMotorType;
+
+void detectBrushedESC(void);
+#endif

src/main/fc/config.c

@@ -274,9 +274,19 @@ void resetMotorConfig(motorConfig_t *motorConfig)
     motorConfig->motorPwmProtocol = PWM_TYPE_BRUSHED;
     motorConfig->useUnsyncedPwm = true;
 #else
-    motorConfig->minthrottle = 1070;
-    motorConfig->motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
-    motorConfig->motorPwmProtocol = PWM_TYPE_ONESHOT125;
+#ifdef BRUSHED_ESC_AUTODETECT
+    if (hardwareMotorType == MOTOR_BRUSHED) {
+        motorConfig->minthrottle = 1000;
+        motorConfig->motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
+        motorConfig->motorPwmProtocol = PWM_TYPE_BRUSHED;
+        motorConfig->useUnsyncedPwm = true;
+    } else
+#endif
+    {
+        motorConfig->minthrottle = 1070;
+        motorConfig->motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
+        motorConfig->motorPwmProtocol = PWM_TYPE_ONESHOT125;
+    }
 #endif
     motorConfig->maxthrottle = 2000;
     motorConfig->mincommand = 1000;

src/main/main.c

@@ -35,7 +35,6 @@
 #include "drivers/sensor.h"
 #include "drivers/system.h"
 #include "drivers/dma.h"
-#include "drivers/gpio.h"
 #include "drivers/io.h"
 #include "drivers/light_led.h"
 #include "drivers/sound_beeper.h"
@@ -162,6 +161,10 @@ void init(void)
     detectHardwareRevision();
 #endif
 
+#ifdef BRUSHED_ESC_AUTODETECT
+    detectBrushedESC();
+#endif
+
     initEEPROM();
 
     ensureEEPROMContainsValidData();
@@ -184,28 +187,22 @@ void init(void)
 #endif
 
 #if defined(BUTTONS)
-    gpio_config_t buttonAGpioConfig = {
-        BUTTON_A_PIN,
-        Mode_IPU,
-        Speed_2MHz
-    };
-    gpioInit(BUTTON_A_PORT, &buttonAGpioConfig);
+    IO_t buttonAPin = IOGetByTag(IO_TAG(BUTTON_A_PIN));
+    IOInit(buttonAPin, OWNER_SYSTEM, 0);
+    IOConfigGPIO(buttonAPin, IOCFG_IPU);
 
-    gpio_config_t buttonBGpioConfig = {
-        BUTTON_B_PIN,
-        Mode_IPU,
-        Speed_2MHz
-    };
-    gpioInit(BUTTON_B_PORT, &buttonBGpioConfig);
+    IO_t buttonBPin = IOGetByTag(IO_TAG(BUTTON_B_PIN));
+    IOInit(buttonBPin, OWNER_SYSTEM, 0);
+    IOConfigGPIO(buttonBPin, IOCFG_IPU);
 
     // Check status of bind plug and exit if not active
-    delayMicroseconds(10);  // allow GPIO configuration to settle
+    delayMicroseconds(10);  // allow configuration to settle
 
     if (!isMPUSoftReset()) {
         uint8_t secondsRemaining = 5;
         bool bothButtonsHeld;
         do {
-            bothButtonsHeld = !digitalIn(BUTTON_A_PORT, BUTTON_A_PIN) && !digitalIn(BUTTON_B_PORT, BUTTON_B_PIN);
+            bothButtonsHeld = !IORead(buttonAPin) && !IORead(buttonBPin);
             if (bothButtonsHeld) {
                 if (--secondsRemaining == 0) {
                     resetEEPROM();

src/main/target/ALIENFLIGHTF1/config.c

@@ -33,7 +33,7 @@
 #include "config/config_profile.h"
 #include "config/config_master.h"
 
-#include "hardware_revision.h"
+#define BRUSHED_MOTORS_PWM_RATE 32000           // 32kHz
 
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(master_t *config)
@@ -42,10 +42,7 @@ void targetConfiguration(master_t *config)
     config->rxConfig.spektrum_sat_bind_autoreset = 1;
 
     if (hardwareMotorType == MOTOR_BRUSHED) {
-        config->motorConfig.minthrottle = 1000;
-        config->motorConfig.motorPwmRate = 32000;
-        config->motorConfig.motorPwmProtocol = PWM_TYPE_BRUSHED;
-        config->motorConfig.useUnsyncedPwm = true;
+        config->motorConfig.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
     }
 
     config->profile[0].pidProfile.P8[ROLL] = 90;

src/main/target/ALIENFLIGHTF1/hardware_revision.c

@@ -1,59 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it 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 is distributed in the hope that it 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <stdlib.h>
-
-#include "platform.h"
-
-#include "build/build_config.h"
-
-#include "drivers/system.h"
-#include "drivers/io.h"
-#include "drivers/exti.h"
-#include "hardware_revision.h"
-
-uint8_t hardwareRevision = AFF1_REV_1;
-uint8_t hardwareMotorType = MOTOR_UNKNOWN;
-
-static IO_t MotorDetectPin = IO_NONE;
-
-void detectHardwareRevision(void)
-{
-    MotorDetectPin = IOGetByTag(IO_TAG(MOTOR_PIN));
-    IOInit(MotorDetectPin, OWNER_SYSTEM, 0);
-    IOConfigGPIO(MotorDetectPin, IOCFG_IPU);
-
-    delayMicroseconds(10);  // allow configuration to settle
-
-    // Check presence of brushed ESC's
-    if (IORead(MotorDetectPin)) {
-        hardwareMotorType = MOTOR_BRUSHLESS;
-    } else {
-        hardwareMotorType = MOTOR_BRUSHED;
-    }
-}
-
-void updateHardwareRevision(void)
-{
-}
-
-const extiConfig_t *selectMPUIntExtiConfigByHardwareRevision(void)
-{
-    return NULL;
-}

src/main/target/ALIENFLIGHTF1/hardware_revision.h

@@ -1,37 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it 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 is distributed in the hope that it 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-#pragma once
-
-typedef enum awf1HardwareRevision_t {
-    AFF1_UNKNOWN = 0,
-    AFF1_REV_1, // MPU6050 (I2C)
-} awf1HardwareRevision_e;
-
-typedef enum awf4HardwareMotorType_t {
-    MOTOR_UNKNOWN = 0,
-    MOTOR_BRUSHED,
-    MOTOR_BRUSHLESS
-} awf4HardwareMotorType_e;
-
-extern uint8_t hardwareRevision;
-extern uint8_t hardwareMotorType;
-
-void updateHardwareRevision(void);
-void detectHardwareRevision(void);
-
-struct extiConfig_s;
-const struct extiConfig_s *selectMPUIntExtiConfigByHardwareRevision(void);

src/main/target/ALIENFLIGHTF1/target.h

@@ -20,8 +20,7 @@
 #define TARGET_BOARD_IDENTIFIER "AFF1" // AlienFlight F1.
 #define TARGET_CONFIG
 
-#define USE_HARDWARE_REVISION_DETECTION
-#define MOTOR_PIN               PA8
+#define BRUSHED_ESC_AUTODETECT
 
 #define LED0                    PB3
 #define LED1                    PB4

src/main/target/ALIENFLIGHTF3/config.c

@@ -42,6 +42,8 @@
 
 #include "hardware_revision.h"
 
+#define BRUSHED_MOTORS_PWM_RATE 32000           // 32kHz
+
 // alternative defaults settings for AlienFlight targets
 void targetConfiguration(master_t *config)
 {
@@ -78,11 +80,8 @@ void targetConfiguration(master_t *config)
     config->compassConfig.mag_hardware = MAG_NONE;            // disabled by default
 
     if (hardwareMotorType == MOTOR_BRUSHED) {
-        config->motorConfig.minthrottle = 1000;
-        config->motorConfig.motorPwmRate = 32000;
-        config->motorConfig.motorPwmProtocol = PWM_TYPE_BRUSHED;
+        config->motorConfig.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
         config->pid_process_denom = 2;
-        config->motorConfig.useUnsyncedPwm = true;
     }
 
     config->profile[0].pidProfile.P8[ROLL] = 90;

src/main/target/ALIENFLIGHTF3/hardware_revision.c

@@ -29,10 +29,8 @@
 #include "hardware_revision.h"
 
 uint8_t hardwareRevision = AFF3_UNKNOWN;
-uint8_t hardwareMotorType = MOTOR_UNKNOWN;
 
 static IO_t HWDetectPin = IO_NONE;
-static IO_t MotorDetectPin = IO_NONE;
 
 void detectHardwareRevision(void)
 {
@@ -40,10 +38,6 @@ void detectHardwareRevision(void)
     IOInit(HWDetectPin, OWNER_SYSTEM, 0);
     IOConfigGPIO(HWDetectPin, IOCFG_IPU);
 
-    MotorDetectPin = IOGetByTag(IO_TAG(MOTOR_PIN));
-    IOInit(MotorDetectPin, OWNER_SYSTEM, 0);
-    IOConfigGPIO(MotorDetectPin, IOCFG_IPU);
-
     delayMicroseconds(10);  // allow configuration to settle
 
     // Check hardware revision
@@ -52,13 +46,6 @@ void detectHardwareRevision(void)
     } else {
         hardwareRevision = AFF3_REV_2;
     }
-
-    // Check presence of brushed ESC's
-    if (IORead(MotorDetectPin)) {
-        hardwareMotorType = MOTOR_BRUSHLESS;
-    } else {
-        hardwareMotorType = MOTOR_BRUSHED;
-    }
 }
 
 void updateHardwareRevision(void)

src/main/target/ALIENFLIGHTF3/hardware_revision.h

@@ -22,14 +22,7 @@ typedef enum awf3HardwareRevision_t {
     AFF3_REV_2  // MPU6500 / MPU9250 (SPI)
 } awf3HardwareRevision_e;
 
-typedef enum awf4HardwareMotorType_t {
-    MOTOR_UNKNOWN = 0,
-    MOTOR_BRUSHED,
-    MOTOR_BRUSHLESS
-} awf4HardwareMotorType_e;
-
 extern uint8_t hardwareRevision;
-extern uint8_t hardwareMotorType;
 
 void updateHardwareRevision(void);
 void detectHardwareRevision(void);

src/main/target/ALIENFLIGHTF3/target.h

@@ -25,7 +25,7 @@
 
 #define USE_HARDWARE_REVISION_DETECTION
 #define HW_PIN                  PB2
-#define MOTOR_PIN               PB15
+#define BRUSHED_ESC_AUTODETECT
 
 // LED's V1
 #define LED0                    PB4

src/main/target/ALIENFLIGHTF4/config.c

@@ -61,11 +61,8 @@ void targetConfiguration(master_t *config)
     config->compassConfig.mag_hardware = MAG_NONE;            // disabled by default
 
     if (hardwareMotorType == MOTOR_BRUSHED) {
-        config->motorConfig.minthrottle = 1000;
         config->motorConfig.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
-        config->motorConfig.motorPwmProtocol = PWM_TYPE_BRUSHED;
         config->pid_process_denom = 1;
-        config->motorConfig.useUnsyncedPwm = true;
     }
 
     if (hardwareRevision == AFF4_REV_1) {

src/main/target/ALIENFLIGHTF4/hardware_revision.c

@@ -28,10 +28,8 @@
 #include "hardware_revision.h"
 
 uint8_t hardwareRevision = AFF4_UNKNOWN;
-uint8_t hardwareMotorType = MOTOR_UNKNOWN;
 
 static IO_t HWDetectPin = IO_NONE;
-static IO_t MotorDetectPin = IO_NONE;
 
 void detectHardwareRevision(void)
 {
@@ -39,10 +37,6 @@ void detectHardwareRevision(void)
     IOInit(HWDetectPin, OWNER_SYSTEM, 0);
     IOConfigGPIO(HWDetectPin, IOCFG_IPU);
 
-    MotorDetectPin = IOGetByTag(IO_TAG(MOTOR_PIN));
-    IOInit(MotorDetectPin, OWNER_SYSTEM, 0);
-    IOConfigGPIO(MotorDetectPin, IOCFG_IPU);
-
     delayMicroseconds(10);  // allow configuration to settle
 
     // Check hardware revision
@@ -51,13 +45,6 @@ void detectHardwareRevision(void)
     } else {
         hardwareRevision = AFF4_REV_2;
     }
-
-    // Check presence of brushed ESC's
-    if (IORead(MotorDetectPin)) {
-        hardwareMotorType = MOTOR_BRUSHLESS;
-    } else {
-        hardwareMotorType = MOTOR_BRUSHED;
-    }
 }
 
 void updateHardwareRevision(void)

src/main/target/ALIENFLIGHTF4/hardware_revision.h

@@ -22,14 +22,7 @@ typedef enum awf4HardwareRevision_t {
     AFF4_REV_2  // ICM-20602 (SPI), OpenSky RX (CC2510), Current Sensor (ACS712), SDCard Reader
 } awf4HardwareRevision_e;
 
-typedef enum awf4HardwareMotorType_t {
-    MOTOR_UNKNOWN = 0,
-    MOTOR_BRUSHED,
-    MOTOR_BRUSHLESS
-} awf4HardwareMotorType_e;
-
 extern uint8_t hardwareRevision;
-extern uint8_t hardwareMotorType;
 
 void updateHardwareRevision(void);
 void detectHardwareRevision(void);

src/main/target/ALIENFLIGHTF4/target.h

@@ -21,7 +21,7 @@
 
 #define USE_HARDWARE_REVISION_DETECTION
 #define HW_PIN                  PC13
-#define MOTOR_PIN               PB8
+#define BRUSHED_ESC_AUTODETECT
 
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 

src/main/target/OMNIBUS/target.h

@@ -172,10 +172,8 @@
 #define DEFAULT_FEATURES        (FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_BLACKBOX)
 
 #define BUTTONS
-#define BUTTON_A_PORT           GPIOB
-#define BUTTON_A_PIN            Pin_1
-#define BUTTON_B_PORT           GPIOB
-#define BUTTON_B_PIN            Pin_0
+#define BUTTON_A_PIN            PB1
+#define BUTTON_B_PIN            PB0
 
 #define AVOID_UART3_FOR_PWM_PPM
 

src/main/target/SPRACINGF3EVO/target.h

@@ -21,6 +21,8 @@
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
+#define BRUSHED_ESC_AUTODETECT
+
 #define LED0                    PB8
 
 #define BEEPER                  PC15

src/main/target/SPRACINGF3MINI/target.h

@@ -141,10 +141,8 @@
 #define DEFAULT_FEATURES        FEATURE_BLACKBOX
 
 #define BUTTONS
-#define BUTTON_A_PORT           GPIOB
-#define BUTTON_A_PIN            Pin_1
-#define BUTTON_B_PORT           GPIOB
-#define BUTTON_B_PIN            Pin_0
+#define BUTTON_A_PIN            PB1
+#define BUTTON_B_PIN            PB0
 
 #define SPEKTRUM_BIND
 // USART3,