Merge remote-tracking branch 'betaflight/master' into bfdev-smartaudio

Merge master (with CMS auto repeat enhancement).

src/main/cms/cms.c

@@ -160,23 +160,6 @@ static CMS_Menu menuErr = {
 };
 #endif
 
-// Stick/key detection
-
-#define IS_HI(X)  (rcData[X] > 1750)
-#define IS_LO(X)  (rcData[X] < 1250)
-#define IS_MID(X) (rcData[X] > 1250 && rcData[X] < 1750)
-
-//key definiotion because API provide menu navigation over MSP/GUI app - not used NOW
-#define KEY_ENTER   0
-#define KEY_UP      1
-#define KEY_DOWN    2
-#define KEY_LEFT    3
-#define KEY_RIGHT   4
-#define KEY_ESC     5
-
-#define BUTTON_TIME   250 // msec
-#define BUTTON_PAUSE  500 // msec
-
 static void cmsUpdateMaxRow(displayPort_t *instance)
 {
     maxRow = 0;
@@ -185,7 +168,7 @@ static void cmsUpdateMaxRow(displayPort_t *instance)
         maxRow++;
     }
 
-    if (maxRow > MAX_MENU_ITEMS(instance)) {
+    if (maxRow >  MAX_MENU_ITEMS(instance)) {
         maxRow = MAX_MENU_ITEMS(instance);
     }
 
@@ -547,8 +530,6 @@ STATIC_UNIT_TESTED void cmsMenuOpen(void)
 
 static void cmsTraverseGlobalExit(const CMS_Menu *pMenu)
 {
-    debug[0]++;
-
     for (const OSD_Entry *p = pMenu->entries; p->type != OME_END ; p++) {
         if (p->type == OME_Submenu) {
             cmsTraverseGlobalExit(p->data);
@@ -556,7 +537,6 @@ static void cmsTraverseGlobalExit(const CMS_Menu *pMenu)
     }
 
     if (pMenu->onGlobalExit) {
-        debug[1]++;
         pMenu->onGlobalExit();
     }
 }
@@ -594,6 +574,24 @@ long cmsMenuExit(displayPort_t *pDisplay, const void *ptr)
     return 0;
 }
 
+
+// Stick/key detection and key codes
+
+#define IS_HI(X)  (rcData[X] > 1750)
+#define IS_LO(X)  (rcData[X] < 1250)
+#define IS_MID(X) (rcData[X] > 1250 && rcData[X] < 1750)
+
+#define KEY_NONE    0
+#define KEY_UP      1
+#define KEY_DOWN    2
+#define KEY_LEFT    3
+#define KEY_RIGHT   4
+#define KEY_ESC     5
+#define KEY_MENU    6
+
+#define BUTTON_TIME   250 // msec
+#define BUTTON_PAUSE  500 // msec
+
 STATIC_UNIT_TESTED uint16_t cmsHandleKey(displayPort_t *pDisplay, uint8_t key)
 {
     uint16_t res = BUTTON_TIME;
@@ -782,9 +780,24 @@ STATIC_UNIT_TESTED uint16_t cmsHandleKey(displayPort_t *pDisplay, uint8_t key)
     return res;
 }
 
+uint16_t cmsHandleKeyWithRepeat(displayPort_t *pDisplay, uint8_t key, int repeatCount)
+{
+    uint16_t ret;
+
+    for (int i = 0 ; i < repeatCount ; i++) {
+        ret = cmsHandleKey(pDisplay, key);
+    }
+
+    return ret;
+}
+
 static void cmsUpdate(uint32_t currentTimeUs)
 {
     static int16_t rcDelayMs = BUTTON_TIME;
+    static int holdCount = 1;
+    static int repeatCount = 1;
+    static int repeatBase = 0;
+
     static uint32_t lastCalledMs = 0;
     static uint32_t lastCmsHeartBeatMs = 0;
 
@@ -797,42 +810,79 @@ static void cmsUpdate(uint32_t currentTimeUs)
             rcDelayMs = BUTTON_PAUSE;    // Tends to overshoot if BUTTON_TIME
         }
     } else {
-        uint8_t key = 0;
+        //
-        if (rcDelayMs > 0) {
+        // Scan 'key' first
-            rcDelayMs -= (currentTimeMs - lastCalledMs);
+        //
-        }
+
-        else if (IS_MID(THROTTLE) && IS_LO(YAW) && IS_HI(PITCH) && !ARMING_FLAG(ARMED)) {
+        uint8_t key = KEY_NONE;
-            // Double enter = display switching
+
-            cmsMenuOpen();
+        if (IS_MID(THROTTLE) && IS_LO(YAW) && IS_HI(PITCH) && !ARMING_FLAG(ARMED)) {
-            rcDelayMs = BUTTON_PAUSE;
+            key = KEY_MENU;
         }
         else if (IS_HI(PITCH)) {
             key = KEY_UP;
-            rcDelayMs = BUTTON_TIME;
         }
         else if (IS_LO(PITCH)) {
             key = KEY_DOWN;
-            rcDelayMs = BUTTON_TIME;
         }
         else if (IS_LO(ROLL)) {
             key = KEY_LEFT;
-            rcDelayMs = BUTTON_TIME;
         }
         else if (IS_HI(ROLL)) {
             key = KEY_RIGHT;
-            rcDelayMs = BUTTON_TIME;
         }
         else if (IS_HI(YAW) || IS_LO(YAW))
         {
             key = KEY_ESC;
-            rcDelayMs = BUTTON_TIME;
         }
 
-        //lastCalled = currentTime;
+        if (key == KEY_NONE) {
+            // No 'key' pressed, reset repeat control
+            holdCount = 1;
+            repeatCount = 1;
+            repeatBase = 0;
+        } else {
+            // The 'key' is being pressed; keep counting
+            ++holdCount;
+        }
 
-        if (key) {
+        if (rcDelayMs > 0) {
-            rcDelayMs = cmsHandleKey(pCurrentDisplay, key);
+            rcDelayMs -= (currentTimeMs - lastCalledMs);
-            return;
+        } else if (key) {
+            rcDelayMs = cmsHandleKeyWithRepeat(pCurrentDisplay, key, repeatCount);
+
+            // Key repeat effect is implemented in two phases.
+            // First phldase is to decrease rcDelayMs reciprocal to hold time.
+            // When rcDelayMs reached a certain limit (scheduling interval),
+            // repeat rate will not raise anymore, so we call key handler
+            // multiple times (repeatCount).
+            //
+            // XXX Caveat: Most constants are adjusted pragmatically.
+            // XXX Rewrite this someday, so it uses actual hold time instead
+            // of holdCount, which depends on the scheduling interval.
+
+            if (((key == KEY_LEFT) || (key == KEY_RIGHT)) && (holdCount > 20)) {
+
+                // Decrease rcDelayMs reciprocally
+
+                rcDelayMs /= (holdCount - 20);
+
+                // When we reach the scheduling limit,
+
+                if (rcDelayMs <= 50) {
+
+                    // start calling handler multiple times.
+
+                    if (repeatBase == 0)
+                        repeatBase = holdCount;
+
+                    repeatCount = repeatCount + (holdCount - repeatBase) / 5;
+
+                    if (repeatCount > 5) {
+                        repeatCount= 5;
+                    }
+                }
+            }
         }
 
         cmsDrawMenu(pCurrentDisplay, currentTimeUs);

src/main/drivers/pwm_output_stm32f3xx.c

@@ -125,7 +125,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     const uint8_t timerIndex = getTimerIndex(timer);
     const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
 
-    IOInit(motorIO, OWNER_MOTOR, 0);
+    IOInit(motorIO, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
     IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerHardware->alternateFunction);
 
     if (configureTimer) {

src/main/drivers/pwm_output_stm32f4xx.c

@@ -123,7 +123,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     const uint8_t timerIndex = getTimerIndex(timer);
     const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
 
-    IOInit(motorIO, OWNER_MOTOR, 0);
+    IOInit(motorIO, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
     IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerHardware->alternateFunction);
 
     if (configureTimer) {

src/main/drivers/pwm_output_stm32f7xx.c

@@ -130,7 +130,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     const uint8_t timerIndex = getTimerIndex(timer);
     const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
 
-    IOInit(motorIO, OWNER_MOTOR, 0);
+    IOInit(motorIO, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
     IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_MODE_AF_PP, GPIO_SPEED_FREQ_VERY_HIGH, GPIO_PULLUP), timerHardware->alternateFunction);
 
     __DMA1_CLK_ENABLE();

src/main/drivers/serial_escserial.c

@@ -23,14 +23,16 @@
 
 typedef enum {
     BAUDRATE_NORMAL = 19200,
-    BAUDRATE_KISS   = 38400
+    BAUDRATE_KISS   = 38400,
+    BAUDRATE_CASTLE = 18880,
 } escBaudRate_e;
 
 typedef enum {
     PROTOCOL_SIMONK = 0,
     PROTOCOL_BLHELI = 1,
     PROTOCOL_KISS = 2,
-    PROTOCOL_KISSALL = 3
+    PROTOCOL_KISSALL = 3,
+    PROTOCOL_CASTLE = 4,
 } escProtocol_e;
 
 #if defined(USE_ESCSERIAL)
@@ -117,7 +119,7 @@ static void escSerialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polari
 
 void setTxSignalEsc(escSerial_t *escSerial, uint8_t state)
 {
-    if((escSerial->mode = PROTOCOL_KISSALL))
+    if((escSerial->mode == PROTOCOL_KISSALL))
     {
         for (volatile uint8_t i = 0; i < escSerial->outputCount; i++) {
             uint8_t state_temp = state;
@@ -334,6 +336,11 @@ serialPort_t *openEscSerial(escSerialPortIndex_e portIndex, serialReceiveCallbac
         setTxSignalEsc(escSerial, ENABLE);
         serialTimerTxConfigBL(escSerial->txTimerHardware, portIndex, baud);
     }
+    else if(mode == PROTOCOL_CASTLE){
+        escSerialOutputPortConfig(escSerial->rxTimerHardware);
+        serialTimerTxConfigBL(escSerial->txTimerHardware, portIndex, baud);
+        serialTimerRxConfigBL(escSerial->rxTimerHardware, portIndex, options);
+    }
     return &escSerial->port;
 }
 
@@ -485,7 +492,7 @@ void processTxStateBL(escSerial_t *escSerial)
 
 
         //set output
-        if(escSerial->mode==PROTOCOL_BLHELI) {
+        if(escSerial->mode==PROTOCOL_BLHELI || escSerial->mode==PROTOCOL_CASTLE) {
             escSerialOutputPortConfig(escSerial->rxTimerHardware);
         }
         return;
@@ -502,7 +509,7 @@ void processTxStateBL(escSerial_t *escSerial)
 
     escSerial->isTransmittingData = false;
     if (isEscSerialTransmitBufferEmpty((serialPort_t *)escSerial)) {
-        if(escSerial->mode==PROTOCOL_BLHELI)
+        if(escSerial->mode==PROTOCOL_BLHELI || escSerial->mode==PROTOCOL_CASTLE)
         {
             escSerialInputPortConfig(escSerial->rxTimerHardware);
         }
@@ -921,7 +928,18 @@ void escEnablePassthrough(serialPort_t *escPassthroughPort, uint16_t output, uin
     pwmDisableMotors();
     passPort = escPassthroughPort;
 
-    uint32_t escBaudrate = (mode == PROTOCOL_KISS) ? BAUDRATE_KISS : BAUDRATE_NORMAL;
+    uint32_t escBaudrate;
+    switch (mode) {
+        case PROTOCOL_KISS:
+            escBaudrate = BAUDRATE_KISS;
+            break;
+        case PROTOCOL_CASTLE:
+            escBaudrate = BAUDRATE_CASTLE;
+            break;
+        default:
+            escBaudrate = BAUDRATE_NORMAL;
+            break;
+    }
 
     if((mode == PROTOCOL_KISS) && (output == 255)){
         motor_output = 255;
@@ -982,7 +1000,9 @@ void escEnablePassthrough(serialPort_t *escPassthroughPort, uint16_t output, uin
             }
             LED1_OFF;
         }
-        delay(5);
+        if(mode != PROTOCOL_CASTLE){
+            delay(5);
+        }
     }
 }
 

src/main/io/serial_cli.c

@@ -3000,6 +3000,10 @@ static void cliEscPassthrough(char *cmdline)
                 {
                     mode = 2;
                 }
+                else if(strncasecmp(pch, "cc", strlen(pch)) == 0)
+                {
+                    mode = 4;
+                }
                 else
                 {
                     cliShowParseError();

src/main/target/RMDO/target.c

@@ -1,45 +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 <stdint.h>
-
-#include <platform.h>
-#include "drivers/io.h"
-
-#include "drivers/timer.h"
-#include "drivers/timer_def.h"
-#include "drivers/dma.h"
-
-const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    DEF_TIM(TIM2,  CH1, PA0,  TIM_USE_PWM | TIM_USE_PPM, 0 ),  // RC_CH1 - PA0  - *TIM2_CH1
-    DEF_TIM(TIM2,  CH2, PA1,  TIM_USE_PWM,   0 ),  // RC_CH2 - PA1  - *TIM2_CH2, TIM15_CH1N
-    DEF_TIM(TIM2,  CH4, PB11, TIM_USE_PWM,   0 ),  // RC_CH3 - PB11 - *TIM2_CH4, UART3_RX (AF7)
-    DEF_TIM(TIM2,  CH3, PB10, TIM_USE_PWM,   0 ),  // RC_CH4 - PB10 - *TIM2_CH3, UART3_TX (AF7)
-    DEF_TIM(TIM3,  CH1, PB4,  TIM_USE_PWM,   0 ),  // RC_CH5 - PB4  - *TIM3_CH1
-    DEF_TIM(TIM3,  CH2, PB5,  TIM_USE_PWM,   0 ),  // RC_CH6 - PB5  - *TIM3_CH2
-    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_PWM,   0 ),  // RC_CH7 - PB0  - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
-    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_PWM,   0 ),  // RC_CH8 - PB1  - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
-    DEF_TIM(TIM16, CH1, PA6,  TIM_USE_MOTOR, 1 ),  // PWM1 - PA6  - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
-    DEF_TIM(TIM17, CH1, PA7,  TIM_USE_MOTOR, 1 ),  // PWM2 - PA7  - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
-    DEF_TIM(TIM4,  CH1, PA11, TIM_USE_MOTOR, 1 ), // PWM3 - PA11
-    DEF_TIM(TIM4,  CH2, PA12, TIM_USE_MOTOR, 1 ), // PWM4 - PA12
-    DEF_TIM(TIM4,  CH3, PB8,  TIM_USE_MOTOR, 1 ),  // PWM5 - PB8
-    DEF_TIM(TIM4,  CH4, PB9,  TIM_USE_MOTOR, 1 ),  // PWM6 - PB9
-    DEF_TIM(TIM15, CH1, PA2,  TIM_USE_MOTOR, 1 ),  // PWM7 - PA2
-    DEF_TIM(TIM15, CH2, PA3,  TIM_USE_MOTOR, 1 ),  // PWM8 - PA3
-    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_MOTOR | TIM_USE_LED, 1 ),  // GPIO_TIMER / LED_STRIP
-};

src/main/target/RMDO/target.h

@@ -1,116 +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
-
-#define TARGET_BOARD_IDENTIFIER "RMDO" // Ready Made RC DoDo
-
-#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
-
-#define LED0                    PB3
-
-#define BEEPER                  PC15
-#define BEEPER_INVERTED
-
-#define USE_EXTI
-#define MPU_INT_EXTI PC13
-#define USE_MPU_DATA_READY_SIGNAL
-#define ENSURE_MPU_DATA_READY_IS_LOW
-//#define USE_MAG_DATA_READY_SIGNAL       // XXX Do RMDO has onboard mag???
-//#define ENSURE_MAG_DATA_READY_IS_HIGH
-
-#define GYRO
-#define USE_GYRO_MPU6050
-#define GYRO_MPU6050_ALIGN      CW270_DEG
-
-#define ACC
-#define USE_ACC_MPU6050
-#define ACC_MPU6050_ALIGN       CW270_DEG
-
-#define BARO
-#define USE_BARO_BMP280
-
-#define USE_FLASHFS
-#define USE_FLASH_M25P16
-
-#define SONAR
-#define SONAR_ECHO_PIN          PB1
-#define SONAR_TRIGGER_PIN       PB0
-
-#define USE_UART1
-#define USE_UART2
-#define USE_UART3
-#define USE_SOFTSERIAL1
-#define USE_SOFTSERIAL2
-#define SERIAL_PORT_COUNT       5
-
-#define USE_ESCSERIAL
-#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
-
-#define UART1_TX_PIN            PA9
-#define UART1_RX_PIN            PA10
-
-#define UART2_TX_PIN            PA14 // PA14 / SWCLK
-#define UART2_RX_PIN            PA15 // PA15
-
-#define UART3_TX_PIN            PB10 // PB10 (AF7)
-#define UART3_RX_PIN            PB11 // PB11 (AF7)
-
-#define SOFTSERIAL_1_TIMER      TIM3
-#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
-#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
-#define SOFTSERIAL_2_TIMER      TIM3
-#define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
-#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
-
-#define USE_I2C
-#define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
-
-#define USE_SPI
-#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
-
-#define M25P16_CS_GPIO          GPIOB
-#define M25P16_CS_PIN           PB12
-#define M25P16_SPI_INSTANCE     SPI2
-
-#define BOARD_HAS_VOLTAGE_DIVIDER
-#define USE_ADC
-#define ADC_INSTANCE            ADC2
-#define VBAT_ADC_PIN            PA4
-#define CURRENT_METER_ADC_PIN   PA5
-#define RSSI_ADC_PIN            PB2
-
-#define LED_STRIP
-#define USE_DSHOT
-
-#undef GPS
-
-#define SPEKTRUM_BIND
-// USART3,
-#define BIND_PIN                PB11
-
-#define USE_SERIAL_4WAY_BLHELI_INTERFACE
-
-// IO - stm32f303cc in 48pin package
-#define TARGET_IO_PORTA         0xffff
-#define TARGET_IO_PORTB         0xffff
-#define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
-#define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
-
-#define USABLE_TIMER_CHANNEL_COUNT 17
-#define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) |TIM_N(17))
-

src/main/target/RMDO/target.mk

@@ -1,9 +0,0 @@
-F3_TARGETS   += $(TARGET)
-FEATURES     = VCP ONBOARDFLASH
-TARGET_FLAGS = -DSPRACINGF3
-
-TARGET_SRC = \
-            drivers/accgyro_mpu.c \
-            drivers/accgyro_mpu6050.c \
-            drivers/barometer_bmp280.c
-

src/main/target/SIRINFPV/target.h

@@ -151,6 +151,10 @@
 
 #define USE_SERVOS
 
+#define SPEKTRUM_BIND
+// USART3, PB11
+#define BIND_PIN                PB11
+
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 #define DEFAULT_FEATURES        (FEATURE_BLACKBOX | FEATURE_RX_SERIAL | FEATURE_OSD | FEATURE_VTX)
 

src/main/target/SPRACINGF3/target.h

@@ -17,7 +17,11 @@
 
 #pragma once
 
+#ifdef RMDO 
+#define TARGET_BOARD_IDENTIFIER "RMDO"
+#else 
 #define TARGET_BOARD_IDENTIFIER "SRF3"
+#endif
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
@@ -40,9 +44,16 @@
 #define ACC_MPU6050_ALIGN       CW270_DEG
 
 #define BARO
+#define USE_BARO_BMP280
+
+#ifdef RMDO
+
+#undef USE_GPS
+
+#else
+
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
-#define USE_BARO_BMP280
 
 #define MAG
 #define USE_MAG_AK8975
@@ -53,6 +64,8 @@
 #define ENSURE_MAG_DATA_READY_IS_HIGH
 #define MAG_INT_EXTI            PC14
 
+#endif
+
 #define USE_FLASHFS
 #define USE_FLASH_M25P16
 

src/main/target/SPRACINGF3EVO/target.c

@@ -29,7 +29,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     DEF_TIM(TIM8,  CH1,  PA15, TIM_USE_PPM,   0 ),  // PPM
     DEF_TIM(TIM2,  CH1,  PA0,  TIM_USE_MOTOR, 1 ),  // PWM1 [TIM2_CH1 (D1_CH5)]
     DEF_TIM(TIM2,  CH2,  PA1,  TIM_USE_MOTOR, 1 ),  // PWM2 [TIM2_CH2 (D1_CH7)] [TIM15_CH1N (D1_CH5)]
-    DEF_TIM(TIM15, CH1,  PA2,  TIM_USE_MOTOR, 1 ),  // PWM3 [TIM2_CH3 (D1_CH1)] [TIM15_CH1  (D1_CH5)]
+    DEF_TIM(TIM2,  CH3,  PA2,  TIM_USE_MOTOR, 1 ),  // PWM3 [TIM2_CH3 (D1_CH1)] [TIM15_CH1  (D1_CH5)]
     DEF_TIM(TIM15, CH2,  PA3,  TIM_USE_MOTOR, 1 ),  // PWM4 [TIM2_CH4 (D1_CH7)]
     DEF_TIM(TIM3,  CH1,  PA6,  TIM_USE_MOTOR, 1 ),  // PWM5 [TIM3_CH1 (D1_CH6)] [TIM16_CH1  (D1_CH3 / D1_CH6)]
     DEF_TIM(TIM3,  CH2,  PA7,  TIM_USE_MOTOR, 1 ),  // PWM6