diff --git a/src/main/config/config.c b/src/main/config/config.c index 2cd127d967..9abdedecb2 100755 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -240,9 +240,9 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig) #ifdef BRUSHED_MOTORS escAndServoConfig->minthrottle = 1000; #else - escAndServoConfig->maxthrottle = 2000; escAndServoConfig->minthrottle = 1070; #endif + escAndServoConfig->maxthrottle = 2000; escAndServoConfig->mincommand = 1000; escAndServoConfig->servoCenterPulse = 1500; } diff --git a/src/main/drivers/light_ws2811strip.c b/src/main/drivers/light_ws2811strip.c index 3c1b5d4478..bd935432dc 100644 --- a/src/main/drivers/light_ws2811strip.c +++ b/src/main/drivers/light_ws2811strip.c @@ -39,7 +39,11 @@ #include "dma.h" #include "light_ws2811strip.h" +#if defined(STM32F4) +uint32_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE]; +#else uint8_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE]; +#endif volatile uint8_t ws2811LedDataTransferInProgress = 0; static hsvColor_t ledColorBuffer[WS2811_LED_STRIP_LENGTH]; diff --git a/src/main/drivers/light_ws2811strip.h b/src/main/drivers/light_ws2811strip.h index 853ac7acbc..c24712502c 100644 --- a/src/main/drivers/light_ws2811strip.h +++ b/src/main/drivers/light_ws2811strip.h @@ -51,5 +51,9 @@ void setStripColors(const hsvColor_t *colors); bool isWS2811LedStripReady(void); +#if defined(STM32F4) +extern uint32_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE]; +#else extern uint8_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE]; +#endif extern volatile uint8_t ws2811LedDataTransferInProgress; diff --git a/src/main/drivers/light_ws2811strip_stm32f4xx.c b/src/main/drivers/light_ws2811strip_stm32f4xx.c index 63bcd9cee6..d1ea43d7ae 100644 --- a/src/main/drivers/light_ws2811strip_stm32f4xx.c +++ b/src/main/drivers/light_ws2811strip_stm32f4xx.c @@ -50,7 +50,7 @@ static void WS2811_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor) if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) { ws2811LedDataTransferInProgress = 0; DMA_Cmd(descriptor->stream, DISABLE); - TIM_DMACmd(TIM5, TIM_DMA_CC1, DISABLE); + TIM_DMACmd(WS2811_TIMER, timDMASource, DISABLE); DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF); } } diff --git a/src/main/drivers/pwm_rx.c b/src/main/drivers/pwm_rx.c index cb40782c9a..36a101d2cc 100644 --- a/src/main/drivers/pwm_rx.c +++ b/src/main/drivers/pwm_rx.c @@ -180,7 +180,6 @@ static void ppmOverflowCallback(timerOvrHandlerRec_t* cbRec, captureCompare_t ca if (capture == PPM_TIMER_PERIOD - 1) { ppmDev.overflowed = true; } - } static void ppmEdgeCallback(timerCCHandlerRec_t* cbRec, captureCompare_t capture) diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index f4386f9a35..d70344c31f 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -2518,7 +2518,9 @@ static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask, master_t *def changeProfile(profileIndex); cliPrint("\r\n# profile\r\n"); cliProfile(""); + cliPrint("\r\n"); dumpValues(PROFILE_VALUE, dumpMask, defaultConfig); + cliRateProfile(""); } static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, master_t *defaultConfig) @@ -2528,6 +2530,7 @@ static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, maste changeControlRateProfile(rateProfileIndex); cliPrint("\r\n# rateprofile\r\n"); cliRateProfile(""); + cliPrint("\r\n"); dumpValues(PROFILE_RATE_VALUE, dumpMask, defaultConfig); } diff --git a/src/main/target/ALIENFLIGHTF1/config.c b/src/main/target/ALIENFLIGHTF1/config.c index 59dcf40e72..e643129ca2 100644 --- a/src/main/target/ALIENFLIGHTF1/config.c +++ b/src/main/target/ALIENFLIGHTF1/config.c @@ -78,12 +78,12 @@ void targetConfiguration(void) masterConfig.motor_pwm_rate = 32000; masterConfig.failsafeConfig.failsafe_delay = 2; masterConfig.failsafeConfig.failsafe_off_delay = 0; - currentProfile->pidProfile.P8[ROLL] = 90; - currentProfile->pidProfile.I8[ROLL] = 44; - currentProfile->pidProfile.D8[ROLL] = 60; - currentProfile->pidProfile.P8[PITCH] = 90; - currentProfile->pidProfile.I8[PITCH] = 44; - currentProfile->pidProfile.D8[PITCH] = 60; + masterConfig.profile[0].pidProfile.P8[ROLL] = 90; + masterConfig.profile[0].pidProfile.I8[ROLL] = 44; + masterConfig.profile[0].pidProfile.D8[ROLL] = 60; + masterConfig.profile[0].pidProfile.P8[PITCH] = 90; + masterConfig.profile[0].pidProfile.I8[PITCH] = 44; + masterConfig.profile[0].pidProfile.D8[PITCH] = 60; masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R diff --git a/src/main/target/ALIENFLIGHTF3/config.c b/src/main/target/ALIENFLIGHTF3/config.c index 8fdd4b7e57..fc8c714ea4 100644 --- a/src/main/target/ALIENFLIGHTF3/config.c +++ b/src/main/target/ALIENFLIGHTF3/config.c @@ -86,12 +86,12 @@ void targetConfiguration(void) { masterConfig.failsafeConfig.failsafe_off_delay = 0; masterConfig.gyro_sync_denom = 2; masterConfig.pid_process_denom = 1; - currentProfile->pidProfile.P8[ROLL] = 90; - currentProfile->pidProfile.I8[ROLL] = 44; - currentProfile->pidProfile.D8[ROLL] = 60; - currentProfile->pidProfile.P8[PITCH] = 90; - currentProfile->pidProfile.I8[PITCH] = 44; - currentProfile->pidProfile.D8[PITCH] = 60; + masterConfig.profile[0].pidProfile.P8[ROLL] = 90; + masterConfig.profile[0].pidProfile.I8[ROLL] = 44; + masterConfig.profile[0].pidProfile.D8[ROLL] = 60; + masterConfig.profile[0].pidProfile.P8[PITCH] = 90; + masterConfig.profile[0].pidProfile.I8[PITCH] = 44; + masterConfig.profile[0].pidProfile.D8[PITCH] = 60; masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R diff --git a/src/main/target/ALIENFLIGHTF4/config.c b/src/main/target/ALIENFLIGHTF4/config.c index 3b23a96c69..fa82634a93 100644 --- a/src/main/target/ALIENFLIGHTF4/config.c +++ b/src/main/target/ALIENFLIGHTF4/config.c @@ -86,12 +86,12 @@ void targetConfiguration(void) { masterConfig.failsafeConfig.failsafe_off_delay = 0; masterConfig.gyro_sync_denom = 1; masterConfig.pid_process_denom = 1; - currentProfile->pidProfile.P8[ROLL] = 90; - currentProfile->pidProfile.I8[ROLL] = 44; - currentProfile->pidProfile.D8[ROLL] = 60; - currentProfile->pidProfile.P8[PITCH] = 90; - currentProfile->pidProfile.I8[PITCH] = 44; - currentProfile->pidProfile.D8[PITCH] = 60; + masterConfig.profile[0].pidProfile.P8[ROLL] = 90; + masterConfig.profile[0].pidProfile.I8[ROLL] = 44; + masterConfig.profile[0].pidProfile.D8[ROLL] = 60; + masterConfig.profile[0].pidProfile.P8[PITCH] = 90; + masterConfig.profile[0].pidProfile.I8[PITCH] = 44; + masterConfig.profile[0].pidProfile.D8[PITCH] = 60; masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R diff --git a/src/main/target/BLUEJAYF4/target.c b/src/main/target/BLUEJAYF4/target.c index 83e0700cd5..72a5b5ba7b 100644 --- a/src/main/target/BLUEJAYF4/target.c +++ b/src/main/target/BLUEJAYF4/target.c @@ -67,12 +67,12 @@ const uint16_t airPWM[] = { }; const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { - { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // PPM IN - { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S1_OUT - { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S2_OUT - { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S3_OUT - { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S4_OUT - { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S5_OUT - { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S6_OUT + { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // PPM IN + { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S1_OUT + { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S2_OUT + { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S3_OUT + { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S4_OUT + { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S5_OUT + { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S6_OUT }; diff --git a/src/main/target/REVO/target.c b/src/main/target/REVO/target.c index a253a0b31f..756fa1dda6 100644 --- a/src/main/target/REVO/target.c +++ b/src/main/target/REVO/target.c @@ -23,7 +23,7 @@ #include "drivers/timer.h" const uint16_t multiPPM[] = { - PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), @@ -34,7 +34,7 @@ const uint16_t multiPPM[] = { PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed - PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed + PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed 0xFFFF }; @@ -55,7 +55,7 @@ const uint16_t multiPWM[] = { }; const uint16_t airPPM[] = { - PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input + PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), PWM9 | (MAP_TO_SERVO_OUTPUT << 8), @@ -66,7 +66,7 @@ const uint16_t airPPM[] = { PWM3 | (MAP_TO_SERVO_OUTPUT << 8), PWM4 | (MAP_TO_SERVO_OUTPUT << 8), PWM5 | (MAP_TO_SERVO_OUTPUT << 8), - PWM1 | (MAP_TO_SERVO_OUTPUT << 8), + PWM6 | (MAP_TO_SERVO_OUTPUT << 8), 0xFFFF }; @@ -87,16 +87,16 @@ const uint16_t airPWM[] = { }; const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { - { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM12 }, // PPM (5th pin on FlexiIO port) - { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM12 }, // S2_IN - GPIO_PartialRemap_TIM3 - { TIM8, IO_TAG(PC6), TIM_Channel_1, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S3_IN - { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S4_IN - { TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S5_IN - { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S6_IN - { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S1_OUT - { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S2_OUT - { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9 }, // S3_OUT - { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM2 }, // S4_OUT - { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3 - { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S6_OUT + { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 }, // PPM (5th pin on FlexiIO port) + { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 }, // S2_IN - GPIO_PartialRemap_TIM3 + { TIM8, IO_TAG(PC6), TIM_Channel_1, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S3_IN + { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S4_IN + { TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S5_IN + { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S6_IN + { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S1_OUT + { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S2_OUT + { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S3_OUT + { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S4_OUT + { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3 + { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S6_OUT };