Merge pull request #3089 from ted-rcnet/development

Fix motor and beeper for YUPI FC V1

make/release.mk

@@ -1,7 +1,7 @@
 RELEASE_TARGETS = AIRHEROF3 AIRHEROF3_QUAD
 
 RELEASE_TARGETS += COLIBRI_RACE LUX_RACE FURYF3 FURYF3_SPIFLASH RCEXPLORERF3 RMDO SPARKY KFC32F3_INAV FALCORE MOTOLAB ANYFC BLUEJAYF4 COLIBRI F4BY
-RELEASE_TARGETS += QUANTON REVO SPARKY2 YUPIF4 KROOZX PIKOBLX CLRACINGF4AIR CLRACINGF4AIRV2 PIXRACER BEEROTORF4 ANYFCF7 ANYFCF7_EXTERNAL_BARO ANYFCM7
+RELEASE_TARGETS += QUANTON REVO SPARKY2 YUPIF4 YUPIF4R2 YUPIF4MINI KROOZX PIKOBLX CLRACINGF4AIR CLRACINGF4AIRV2 PIXRACER BEEROTORF4 ANYFCF7 ANYFCF7_EXTERNAL_BARO ANYFCM7
 RELEASE_TARGETS += ALIENFLIGHTNGF7
 
 RELEASE_TARGETS += BETAFLIGHTF3 BETAFLIGHTF4
@@ -12,6 +12,6 @@ RELEASE_TARGETS += SPRACINGF3 SPRACINGF3EVO SPRACINGF3EVO_1SS SPRACINGF3MINI SPR
 
 RELEASE_TARGETS += OMNIBUS AIRBOTF4 ASGARD32F4 FIREWORKSV2
 RELEASE_TARGETS += OMNIBUSF4 OMNIBUSF4PRO OMNIBUSF4V3 OMNIBUSF4PRO_LEDSTRIPM5 DYSF4PRO
-RELEASE_TARGETS += OMNIBUSF7 OMNIBUSF7V2 OMNIBUSF7NXT
+RELEASE_TARGETS += OMNIBUSF7 OMNIBUSF7V2 OMNIBUSF7NXT YUPIF7
 
 RELEASE_TARGETS += MATEKF405 MATEKF405_SERVOS6 MATEKF405OSD MATEKF722 MATEKF405SE

src/main/target/YUPIF4/README.md

@@ -39,3 +39,7 @@ This board is available in the shop FR
 Website : http://www.yupif4.com
 
 ![YuPiF4 - Logo](http://www.yupif4.com/imgs/YuPiF4.jpg)
+
+
+Test YupiFc https://www.facebook.com/jimmy.mix/videos/10214800834801662/
+https://www.facebook.com/jimmy.mix/videos/10214893753404569/

src/main/target/YUPIF4/YUPIF4MINI.mk

@@ -0,0 +1 @@
+#YUPIF4MINI

src/main/target/YUPIF4/YUPIF4R2.mk

@@ -0,0 +1 @@
+#YUPIF4R2

src/main/target/YUPIF4/config.c

@@ -17,54 +17,47 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-
 #include <platform.h>
-
 #ifdef TARGET_CONFIG
+#include "config/feature.h"
+#include "drivers/pwm_output.h"
 #include "blackbox/blackbox.h"
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
+#include "io/serial.h"
+#include "rx/rx.h"
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/compass.h"
+#include "sensors/boardalignment.h"
 #include "flight/pid.h"
-#include "telemetry/telemetry.h"
-
-#include "hardware_revision.h"
-
-
+#include "flight/mixer.h"
+#include "flight/servos.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "drivers/sound_beeper.h"
+#include "navigation/navigation.h"
 
-// alternative defaults settings for YuPiF4 targets
 void targetConfiguration(void)
 {
-    /* Changes depending on versions */
-    if (hardwareRevision == YUPIF4_RACE3) {
-            beeperDevConfigMutable()->ioTag = IO_TAG(PB14);
-            telemetryConfigMutable()->halfDuplex = false;
-
-    } else if (hardwareRevision == YUPIF4_RACE2) {
-        beeperDevConfigMutable()->ioTag = IO_TAG(PB14);
-
-    } else if (hardwareRevision == YUPIF4_MINI) {
-        beeperDevConfigMutable()->frequency = 0;
-        blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
-        adcConfigMutable()->current.enabled = 0;
-
-    } else if (hardwareRevision == YUPIF4_NAV) {
-        beeperDevConfigMutable()->ioTag = IO_TAG(PB14);
-
-    } else {
-        adcConfigMutable()->current.enabled = 0;
-    }
-
     /* Specific PID values for YupiF4 */
-    for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
-        pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
+    setConfigProfile(0);
+    pidProfileMutable()->bank_mc.pid[PID_ROLL].P = 30;
+    pidProfileMutable()->bank_mc.pid[PID_ROLL].I = 45;
+    pidProfileMutable()->bank_mc.pid[PID_ROLL].D = 20;
+    pidProfileMutable()->bank_mc.pid[PID_PITCH].P = 30;
+    pidProfileMutable()->bank_mc.pid[PID_PITCH].I = 50;
+    pidProfileMutable()->bank_mc.pid[PID_PITCH].D = 20;
+    pidProfileMutable()->bank_mc.pid[PID_YAW].P = 40;
+    pidProfileMutable()->bank_mc.pid[PID_YAW].I = 50;
+    pidProfileMutable()->bank_mc.pid[PID_YAW].D = 0;
+    pidProfileMutable()->bank_mc.pid[PID_LEVEL].P = 20;
+    pidProfileMutable()->bank_mc.pid[PID_LEVEL].I = 10;
+    pidProfileMutable()->bank_mc.pid[PID_LEVEL].D = 75; 
 
-        pidProfile->pid[PID_ROLL].P = 30;
-        pidProfile->pid[PID_ROLL].I = 45;
-        pidProfile->pid[PID_ROLL].D = 20;
-        pidProfile->pid[PID_PITCH].P = 30;
-        pidProfile->pid[PID_PITCH].I = 50;
-        pidProfile->pid[PID_PITCH].D = 20;
-        pidProfile->pid[PID_YAW].P = 40;
-        pidProfile->pid[PID_YAW].I = 50;
-    }
 }
 #endif

src/main/target/YUPIF4/target.c

@@ -30,6 +30,15 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM5, IO_TAG(PA2), TIM_Channel_3, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO },
     { TIM5, IO_TAG(PA3), TIM_Channel_4, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO },
     { TIM3, IO_TAG(PB0), TIM_Channel_3, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3, TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO },
+#if defined (YUPIF4R2)
     { TIM3, IO_TAG(PB1), TIM_Channel_4, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3, TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO | TIM_USE_LED },
     { TIM12, IO_TAG(PB14), TIM_Channel_1, 1, IOCFG_AF_PP, GPIO_AF_TIM12, TIM_USE_BEEPER },
+#elif (YUPIF4MINI)
+    { TIM4, IO_TAG(PB7), TIM_Channel_2, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM4, TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO },
+    { TIM3, IO_TAG(PC9), TIM_Channel_4, 1, IOCFG_AF_PP, GPIO_AF_TIM3, TIM_USE_BEEPER },
+#else
+    { TIM3, IO_TAG(PB1), TIM_Channel_4, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3, TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO | TIM_USE_LED },
+    { TIM3, IO_TAG(PC9), TIM_Channel_4, 1, IOCFG_AF_PP, GPIO_AF_TIM3, TIM_USE_BEEPER },
+#endif
 };
+

src/main/target/YUPIF4/target.h

@@ -16,17 +16,36 @@
  */
 
 #pragma once
+
+#if defined (YUPIF4R2)
+#define TARGET_BOARD_IDENTIFIER "YPF4R2"
+#define USBD_PRODUCT_STRING "YUPIF4R2"
+#elif (YUPIF4MINI)
+#define TARGET_BOARD_IDENTIFIER "YPF4M"
+#define USBD_PRODUCT_STRING     "YUPIF4MINI"
+#else
 #define TARGET_BOARD_IDENTIFIER "YPF4"
+#define USBD_PRODUCT_STRING     "YUPIF4"
+#endif
 
-#define USBD_PRODUCT_STRING     "YupiF4"
+#define TARGET_CONFIG
 
 #define LED0                    PB6
 #define LED1                    PB4
 
+#if defined(YUPIF4R2)
 #define BEEPER                  PB14
+#else
+#define BEEPER                  PC9
+#endif
+
+#if defined(YUPIF4MINI)
+#define BEEPER_INVERTED
+#else
 #define BEEPER_PWM
 #define BEEPER_INVERTED
 #define BEEPER_PWM_FREQUENCY    3150
+#endif
 
 #define INVERTER_PIN_UART6      PB15
 
@@ -73,6 +92,8 @@
 #define MAX7456_SPI_BUS         BUS_SPI1
 #define MAX7456_CS_PIN          PA14
 
+#if defined(YUPIF4MINI)
+#else
 #define USE_SDCARD
 #define USE_SDCARD_SPI3
 #define SDCARD_DETECT_INVERTED
@@ -83,6 +104,7 @@
 #define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF5
 #define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
 #define SDCARD_DMA_CHANNEL                  DMA_Channel_0
+#endif
 
 #define USB_IO
 #define USE_VCP
@@ -155,5 +177,13 @@
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         (BIT(2))
 
+#if defined (YUPIF4R2)
 #define USABLE_TIMER_CHANNEL_COUNT 8
 #define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(12))
+#elif (YUPIF4MINI)
+#define USABLE_TIMER_CHANNEL_COUNT 8
+#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8))
+#else
+#define USABLE_TIMER_CHANNEL_COUNT 8
+#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8))
+#endif

src/main/target/YUPIF7/config.c

@@ -18,27 +18,46 @@
 #include <stdbool.h>
 #include <stdint.h>
 #include <platform.h>
-
-#ifdef USE_TARGET_CONFIG
+#ifdef TARGET_CONFIG
+#include "config/feature.h"
+#include "drivers/pwm_output.h"
+#include "blackbox/blackbox.h"
 #include "fc/config.h"
+#include "fc/controlrate_profile.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
+#include "io/serial.h"
+#include "rx/rx.h"
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/compass.h"
+#include "sensors/boardalignment.h"
 #include "flight/pid.h"
+#include "flight/mixer.h"
+#include "flight/servos.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "drivers/sound_beeper.h"
+#include "navigation/navigation.h"
 
-
-// alternative defaults settings for YuPiF4 targets
 void targetConfiguration(void)
 {
-    /* Specific PID values for YupiF4 */
-    for (uint8_t pidProfileIndex = 0; pidProfileIndex < MAX_PROFILE_COUNT; pidProfileIndex++) {
-        pidProfile_t *pidProfile = pidProfilesMutable(pidProfileIndex);
+    /* Specific PID values for YupiF7 */
+    setConfigProfile(0);
+    pidProfileMutable()->bank_mc.pid[PID_ROLL].P = 30;
+    pidProfileMutable()->bank_mc.pid[PID_ROLL].I = 45;
+    pidProfileMutable()->bank_mc.pid[PID_ROLL].D = 20;
+    pidProfileMutable()->bank_mc.pid[PID_PITCH].P = 30;
+    pidProfileMutable()->bank_mc.pid[PID_PITCH].I = 50;
+    pidProfileMutable()->bank_mc.pid[PID_PITCH].D = 20;
+    pidProfileMutable()->bank_mc.pid[PID_YAW].P = 40;
+    pidProfileMutable()->bank_mc.pid[PID_YAW].I = 50;
+    pidProfileMutable()->bank_mc.pid[PID_YAW].D = 0;
+    pidProfileMutable()->bank_mc.pid[PID_LEVEL].P = 20;
+    pidProfileMutable()->bank_mc.pid[PID_LEVEL].I = 10;
+    pidProfileMutable()->bank_mc.pid[PID_LEVEL].D = 75;
 
-        pidProfile->pid[PID_ROLL].P = 30;
-        pidProfile->pid[PID_ROLL].I = 45;
-        pidProfile->pid[PID_ROLL].D = 20;
-        pidProfile->pid[PID_PITCH].P = 30;
-        pidProfile->pid[PID_PITCH].I = 50;
-        pidProfile->pid[PID_PITCH].D = 20;
-        pidProfile->pid[PID_YAW].P = 40;
-        pidProfile->pid[PID_YAW].I = 50;
-    }
 }
 #endif