From af9b5ea3f5dad2c0d37463d2cc2dff0c2d639822 Mon Sep 17 00:00:00 2001 From: Hydra Date: Sat, 18 Mar 2017 20:28:03 +0000 Subject: [PATCH 1/2] SPRACINGF3MQ - Initial target support. --- src/main/target/SPRACINGF3EVO/target.c | 13 +++++++++++-- src/main/target/SPRACINGF3EVO/target.h | 5 +++++ 2 files changed, 16 insertions(+), 2 deletions(-) diff --git a/src/main/target/SPRACINGF3EVO/target.c b/src/main/target/SPRACINGF3EVO/target.c index 5caeb0e5db..13aa794d87 100644 --- a/src/main/target/SPRACINGF3EVO/target.c +++ b/src/main/target/SPRACINGF3EVO/target.c @@ -27,7 +27,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { // PPM / UART2 RX DEF_TIM(TIM8, CH1, PA15, TIM_USE_PPM, 0 ), // PPM -#ifdef AIORACERF3 +#if defined(AIORACERF3) DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 1 ), // PWM1 DEF_TIM(TIM17, CH1, PA7, TIM_USE_MOTOR, 1 ), // PWM2 DEF_TIM(TIM15, CH1, PA2, TIM_USE_MOTOR, 1 ), // PWM3 @@ -36,7 +36,16 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { DEF_TIM(TIM3, CH1, PA6, TIM_USE_MOTOR, 1 ), // PWM6 DEF_TIM(TIM15, CH2, PA3, TIM_USE_MOTOR, 1 ), // PWM7 DEF_TIM(TIM2, CH1, PA0, TIM_USE_MOTOR, 1 ), // PWM8 -#else +#elif defined(SPRACINGF3MQ_REV_A) + DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 1 ), // PWM1 + DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 1 ), // PWM2 + DEF_TIM(TIM3, CH2, PA7, TIM_USE_MOTOR, 1 ), // PWM3 + DEF_TIM(TIM16, CH1, PA6, TIM_USE_MOTOR, 1 ), // PWM4 [TIM16_CH1 (D1_CH3 / D1_CH6)] [TIM3_CH1 (D1_CH6)] + DEF_TIM(TIM2, CH2, PA1, TIM_USE_MOTOR, 1 ), // PWM5 [TIM2_CH2 (D1_CH7)] [TIM15_CH1N (D1_CH5)] + DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, 1 ), // PWM6 [TIM2_CH3 (D1_CH1)] [TIM15_CH1 (D1_CH5)] + DEF_TIM(TIM2, CH1, PA0, TIM_USE_MOTOR, 1 ), // PWM7 [TIM2_CH1 (D1_CH5)] + DEF_TIM(TIM15, CH2, PA3, TIM_USE_MOTOR, 1 ), // PWM8 [TIM2_CH4 (D1_CH7)] +#else // SPRACINGF3 / SPRACINGF3MQ 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(TIM2, CH3, PA2, TIM_USE_MOTOR, 1 ), // PWM3 [TIM2_CH3 (D1_CH1)] [TIM15_CH1 (D1_CH5)] diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h index eb3f85c1c5..fa46fd4245 100755 --- a/src/main/target/SPRACINGF3EVO/target.h +++ b/src/main/target/SPRACINGF3EVO/target.h @@ -25,6 +25,11 @@ #define TARGET_CONFIG #endif +#ifdef SPRACINGF3MQ +#define BRUSHED_MOTORS +#endif + + #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT #define BRUSHED_ESC_AUTODETECT From 500a12740cdd0eb74734365d626aba2caaaa7614 Mon Sep 17 00:00:00 2001 From: Hydra Date: Sat, 22 Apr 2017 19:42:19 +0100 Subject: [PATCH 2/2] CF/BF - Change SPRACINGF3MQ into a variant. Cleanup SPRacing PCB revision handling. * Note the initial target support for the F3MQ dates back to early 2016, prior to new build system. --- src/main/target/SPRACINGF3EVO/SPRACINGF3MQ.mk | 1 + src/main/target/SPRACINGF3EVO/config.c | 26 +++++++++++++++++++ src/main/target/SPRACINGF3EVO/target.c | 4 +-- src/main/target/SPRACINGF3EVO/target.h | 12 +++++++++ src/main/target/SPRACINGF3MINI/target.c | 2 +- src/main/target/SPRACINGF3MINI/target.h | 4 +++ src/main/target/SPRACINGF4EVO/config.c | 1 - src/main/target/SPRACINGF4EVO/target.c | 2 +- 8 files changed, 47 insertions(+), 5 deletions(-) create mode 100644 src/main/target/SPRACINGF3EVO/SPRACINGF3MQ.mk diff --git a/src/main/target/SPRACINGF3EVO/SPRACINGF3MQ.mk b/src/main/target/SPRACINGF3EVO/SPRACINGF3MQ.mk new file mode 100644 index 0000000000..e471e8ad3c --- /dev/null +++ b/src/main/target/SPRACINGF3EVO/SPRACINGF3MQ.mk @@ -0,0 +1 @@ +# Brushed variant of the SPRACINGF3EVO diff --git a/src/main/target/SPRACINGF3EVO/config.c b/src/main/target/SPRACINGF3EVO/config.c index 1da3d86eec..e561643565 100644 --- a/src/main/target/SPRACINGF3EVO/config.c +++ b/src/main/target/SPRACINGF3EVO/config.c @@ -19,11 +19,37 @@ #ifdef TARGET_CONFIG +#include "common/axis.h" + #include "fc/config.h" +#include "flight/mixer.h" +#include "flight/pid.h" + + +#if defined(SPRACINGF3MQ) +#ifdef BRUSHED_MOTORS_PWM_RATE +#undef BRUSHED_MOTORS_PWM_RATE +#endif + +#define BRUSHED_MOTORS_PWM_RATE 32000 // 32kHz +#endif + void targetConfiguration(void) { // Temporary workaround: Disable SDCard DMA by default since it causes errors on this target sdcardConfigMutable()->useDma = false; + +#if defined(SPRACINGF3MQ) + + motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE; + + pidProfilesMutable(0)->P8[FD_ROLL] = 90; + pidProfilesMutable(0)->I8[FD_ROLL] = 44; + pidProfilesMutable(0)->D8[FD_ROLL] = 60; + pidProfilesMutable(0)->P8[FD_PITCH] = 90; + pidProfilesMutable(0)->I8[FD_PITCH] = 44; + pidProfilesMutable(0)->D8[FD_PITCH] = 60; +#endif } #endif diff --git a/src/main/target/SPRACINGF3EVO/target.c b/src/main/target/SPRACINGF3EVO/target.c index 13aa794d87..2d78ffd0e7 100644 --- a/src/main/target/SPRACINGF3EVO/target.c +++ b/src/main/target/SPRACINGF3EVO/target.c @@ -36,7 +36,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { DEF_TIM(TIM3, CH1, PA6, TIM_USE_MOTOR, 1 ), // PWM6 DEF_TIM(TIM15, CH2, PA3, TIM_USE_MOTOR, 1 ), // PWM7 DEF_TIM(TIM2, CH1, PA0, TIM_USE_MOTOR, 1 ), // PWM8 -#elif defined(SPRACINGF3MQ_REV_A) +#elif defined(SPRACINGF3MQ_REV) && (SPRACINGF3MQ_REV <= 1) DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 1 ), // PWM1 DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 1 ), // PWM2 DEF_TIM(TIM3, CH2, PA7, TIM_USE_MOTOR, 1 ), // PWM3 @@ -45,7 +45,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, 1 ), // PWM6 [TIM2_CH3 (D1_CH1)] [TIM15_CH1 (D1_CH5)] DEF_TIM(TIM2, CH1, PA0, TIM_USE_MOTOR, 1 ), // PWM7 [TIM2_CH1 (D1_CH5)] DEF_TIM(TIM15, CH2, PA3, TIM_USE_MOTOR, 1 ), // PWM8 [TIM2_CH4 (D1_CH7)] -#else // SPRACINGF3 / SPRACINGF3MQ +#else // SPRACINGF3EVO / SPRACINGF3MQ 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(TIM2, CH3, PA2, TIM_USE_MOTOR, 1 ), // PWM3 [TIM2_CH3 (D1_CH1)] [TIM15_CH1 (D1_CH5)] diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h index fa46fd4245..1b75585f7c 100755 --- a/src/main/target/SPRACINGF3EVO/target.h +++ b/src/main/target/SPRACINGF3EVO/target.h @@ -19,14 +19,26 @@ #ifdef AIORACERF3 #define TARGET_BOARD_IDENTIFIER "ARF3" +#elif SPRACINGF3MQ +#define TARGET_BOARD_IDENTIFIER "SPMQ" #else #define TARGET_BOARD_IDENTIFIER "SPEV" +#endif #define TARGET_CONFIG + +#ifdef AIORACERF3 +#undef TARGET_CONFIG #endif #ifdef SPRACINGF3MQ #define BRUSHED_MOTORS + +#ifndef SPRACINGF3MQ_REV +#define SPRACINGF3MQ_REV 2 +#endif + +#undef USE_UNCOMMON_MIXERS #endif diff --git a/src/main/target/SPRACINGF3MINI/target.c b/src/main/target/SPRACINGF3MINI/target.c index 731856bf73..d73d5b5643 100644 --- a/src/main/target/SPRACINGF3MINI/target.c +++ b/src/main/target/SPRACINGF3MINI/target.c @@ -40,7 +40,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { DEF_TIM(TIM2, CH4, PB11, TIM_USE_MOTOR, 1 ), // RC_CH3 - PB11 - *TIM2_CH4, UART3_RX (AF7) #else // PPM Pad -#ifdef SPRACINGF3MINI_MKII_REVA +#if defined(SPRACINGF3MINI_REV) && (SPRACINGF3MINI_REV <= 1) DEF_TIM(TIM3, CH2, PB5, TIM_USE_PPM, 0), // PPM - PB5 // PB4 / TIM3 CH1 is connected to USBPresent #else diff --git a/src/main/target/SPRACINGF3MINI/target.h b/src/main/target/SPRACINGF3MINI/target.h index ea3cd18c6d..0e5fe0e43f 100644 --- a/src/main/target/SPRACINGF3MINI/target.h +++ b/src/main/target/SPRACINGF3MINI/target.h @@ -26,6 +26,10 @@ #else #define TARGET_BOARD_IDENTIFIER "SRFM" +#ifndef SPRACINGF3MINI_REV +#define SPRACINGF3MINI_REV 2 +#endif + #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE #define LED0 PB3 diff --git a/src/main/target/SPRACINGF4EVO/config.c b/src/main/target/SPRACINGF4EVO/config.c index ec3b9d74c7..f8e5e735df 100644 --- a/src/main/target/SPRACINGF4EVO/config.c +++ b/src/main/target/SPRACINGF4EVO/config.c @@ -55,6 +55,5 @@ void targetConfiguration(void) serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT; telemetryConfigMutable()->telemetry_inversion = 0; telemetryConfigMutable()->sportHalfDuplex = 0; - } #endif diff --git a/src/main/target/SPRACINGF4EVO/target.c b/src/main/target/SPRACINGF4EVO/target.c index cead1a861d..e9da7b1847 100644 --- a/src/main/target/SPRACINGF4EVO/target.c +++ b/src/main/target/SPRACINGF4EVO/target.c @@ -35,7 +35,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 1, 0), // ESC 3 DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 1, 1), // ESC 4 -#if (SPRACINGF4EVO_REV >= 2) +#if defined(SPRACINGF4EVO_REV) && (SPRACINGF4EVO_REV >= 2) DEF_TIM(TIM4, CH1, PB6, TIM_USE_MOTOR, 1, 0), // ESC 5 / Conflicts with USART5_RX / SPI3_RX - SPI3_RX can be mapped to DMA1_ST3_CH0 DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, 1, 0), // ESC 6 / Conflicts with USART3_RX #else