Merge pull request #2924 from betaflight/spracingf3mq

SPRacing target cleanups/additions.

src/main/target/SPRACINGF3EVO/SPRACINGF3MQ.mk

@@ -0,0 +1 @@
+# Brushed variant of the SPRACINGF3EVO

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

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) && (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
+    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 // 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)]

src/main/target/SPRACINGF3EVO/target.h

@@ -19,12 +19,29 @@
 
 #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
+
+
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
 #define BRUSHED_ESC_AUTODETECT

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

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

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

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