Merge pull request #1391 from bitcraze/tobba/bolt_m4_not_running

Fixed CF-BL and Bolt M4 PC15 conflict resulting in that Bolt M4 didn't spin.
bitcraze · Jul 3, 2024 · ec6a792 · ec6a792
2 parents 079f02e + 0237009
commit ec6a792
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Showing 3 changed files with 26 additions and 24 deletions.
diff --git a/src/drivers/interface/motors.h b/src/drivers/interface/motors.h
@@ -223,6 +223,7 @@ typedef struct
   uint32_t      gpioPowerswitchPerif;
   GPIO_TypeDef* gpioPowerswitchPort;
   uint16_t      gpioPowerswitchPin;
+  bool          hasPC15ESCReset;
   uint32_t      timPerif;
   TIM_TypeDef*  tim;
   uint16_t      timPolarity;

diff --git a/src/drivers/src/motors.c b/src/drivers/src/motors.c
@@ -224,6 +224,20 @@ void motorsInit(const MotorPerifDef** motorMapSelect)
 
   DEBUG_PRINT("Using %s motor driver\n", motorMap[0]->drvType == BRUSHED ? "brushed" : "brushless");
 
+  if (motorMap[MOTOR_M1]->hasPC15ESCReset)
+  {
+    MOTORS_RCC_GPIO_CMD(RCC_AHB1Periph_GPIOC, ENABLE);
+    // Configure the GPIO for CF-BL ESC RST
+    GPIO_StructInit(&GPIO_InitStructure);
+    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
+    GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
+    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
+    GPIO_Init(GPIOC, &GPIO_InitStructure);
+    // Hold reset for all CF-BL ESC:s by pulling low.
+    GPIO_WriteBit(GPIOC, GPIO_Pin_15, Bit_RESET);
+  }
+
   for (i = 0; i < NBR_OF_MOTORS; i++)
   {
     //Clock the gpio and the timers
@@ -243,16 +257,6 @@ void motorsInit(const MotorPerifDef** motorMapSelect)
       GPIO_WriteBit(motorMap[i]->gpioPowerswitchPort, motorMap[i]->gpioPowerswitchPin, 1);
     }
 
-    // Configure the GPIO for CF-BL ESC RST
-    GPIO_StructInit(&GPIO_InitStructure);
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
-    GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
-    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
-    GPIO_Init(GPIOC, &GPIO_InitStructure);
-    // Hold reset for all CF-BL ESC:s by pulling low.
-    GPIO_WriteBit(GPIOC, GPIO_Pin_15, Bit_RESET);
-
     // Configure the GPIO for the timer output
     GPIO_StructInit(&GPIO_InitStructure);
     GPIO_InitStructure.GPIO_Mode = MOTORS_GPIO_MODE;
@@ -283,9 +287,11 @@ void motorsInit(const MotorPerifDef** motorMapSelect)
     motorMap[i]->ocInit(motorMap[i]->tim, &TIM_OCInitStructure);
     motorMap[i]->preloadConfig(motorMap[i]->tim, TIM_OCPreload_Enable);
   }
+
 #ifdef CONFIG_MOTORS_ESC_PROTOCOL_DSHOT
   motorsDshotDMASetup();
 #endif
+
   // Start the timers
   for (i = 0; i < NBR_OF_MOTORS; i++)
   {
@@ -296,9 +302,12 @@ void motorsInit(const MotorPerifDef** motorMapSelect)
 
   // Output zero power
   motorsStop();
-  // Release reset for all CF-BL ESC:s after motor signal is activated
-  GPIO_WriteBit(GPIOC, GPIO_Pin_15, Bit_SET);
 
+  if (motorMap[MOTOR_M1]->hasPC15ESCReset)
+  {
+    // Release reset for all CF-BL ESC:s after motor signal is activated
+    GPIO_WriteBit(GPIOC, GPIO_Pin_15, Bit_SET);
+  }
 }
 
 void motorsDeInit(const MotorPerifDef** motorMapSelect)

diff --git a/src/drivers/src/motors_def.c b/src/drivers/src/motors_def.c
@@ -378,9 +378,7 @@ static const MotorPerifDef MOTORS_PA1_TIM2_CH2_BRUSHLESS_OD =
     .gpioPinSource = GPIO_PinSource1,
     .gpioOType     = GPIO_OType_OD,
     .gpioAF        = GPIO_AF_TIM2,
-    .gpioPowerswitchPerif = RCC_AHB1Periph_GPIOA,
-    .gpioPowerswitchPort  = GPIOA,
-    .gpioPowerswitchPin   = GPIO_Pin_0,
+    .hasPC15ESCReset = true,
     .timPerif      = RCC_APB1Periph_TIM2,
     .tim           = TIM2,
     .timPolarity   = TIM_OCPolarity_High,
@@ -408,9 +406,7 @@ static const MotorPerifDef MOTORS_PB11_TIM2_CH4_BRUSHLESS_OD =
     .gpioPinSource = GPIO_PinSource11,
     .gpioOType     = GPIO_OType_OD,
     .gpioAF        = GPIO_AF_TIM2,
-    .gpioPowerswitchPerif = RCC_AHB1Periph_GPIOB,
-    .gpioPowerswitchPort  = GPIOB,
-    .gpioPowerswitchPin   = GPIO_Pin_12,
+    .hasPC15ESCReset = true,
     .timPerif      = RCC_APB1Periph_TIM2,
     .tim           = TIM2,
     .timPolarity   = TIM_OCPolarity_High,
@@ -438,9 +434,7 @@ static const MotorPerifDef MOTORS_PB11_TIM2_CH4_BRUSHLESS_OD =
     .gpioPinSource = GPIO_PinSource15,
     .gpioOType     = GPIO_OType_OD,
     .gpioAF        = GPIO_AF_TIM2,
-    .gpioPowerswitchPerif = RCC_AHB1Periph_GPIOC,
-    .gpioPowerswitchPort  = GPIOC,
-    .gpioPowerswitchPin   = GPIO_Pin_8,
+    .hasPC15ESCReset = true,
     .timPerif      = RCC_APB1Periph_TIM2,
     .tim           = TIM2,
     .timPolarity   = TIM_OCPolarity_High,
@@ -469,9 +463,7 @@ static const MotorPerifDef MOTORS_PB10_TIM2_CH3_BRUSHLESS_OD =
     .gpioPinSource = GPIO_PinSource10,
     .gpioOType     = GPIO_OType_OD,
     .gpioAF        = GPIO_AF_TIM2,
-    .gpioPowerswitchPerif = RCC_AHB1Periph_GPIOC,
-    .gpioPowerswitchPort  = GPIOC,
-    .gpioPowerswitchPin   = GPIO_Pin_15,
+    .hasPC15ESCReset = true,
     .timPerif      = RCC_APB1Periph_TIM2,
     .tim           = TIM2,
     .timPolarity   = TIM_OCPolarity_High,