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https://bitbucket.org/librepilot/librepilot.git
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223 lines
8.1 KiB
C
223 lines
8.1 KiB
C
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @{
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* @file pios_board.h
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* @author David "Buzz" Carlson (buzz@chebuzz.com)
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef STM3210E_INS_H_
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#define STM3210E_INS_H_
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//------------------------
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// Timers and Channels Used
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//------------------------
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/*
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Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
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------+-----------+-----------+-----------+----------
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TIM1 | | | |
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TIM2 | --------------- PIOS_DELAY -----------------
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TIM3 | | | |
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TIM4 | | | |
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TIM5 | | | |
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TIM6 | | | |
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TIM7 | | | |
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TIM8 | | | |
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------+-----------+-----------+-----------+----------
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*/
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//------------------------
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// DMA Channels Used
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//------------------------
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/* Channel 1 - */
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/* Channel 2 - SPI1 RX */
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/* Channel 3 - SPI1 TX */
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/* Channel 4 - SPI2 RX */
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/* Channel 5 - SPI2 TX */
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/* Channel 6 - */
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/* Channel 7 - */
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/* Channel 8 - */
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/* Channel 9 - */
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/* Channel 10 - */
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/* Channel 11 - */
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/* Channel 12 - */
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//------------------------
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// BOOTLOADER_SETTINGS
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//------------------------
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#define BOARD_READABLE TRUE
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#define BOARD_WRITABLA TRUE
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#define MAX_DEL_RETRYS 3
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//------------------------
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// PIOS_LED
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//------------------------
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#define PIOS_LED_LED1_GPIO_PORT GPIOA
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#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
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#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
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#define PIOS_LED_LED2_GPIO_PORT GPIOA
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#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_2
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#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOA
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#define PIOS_LED_NUM 2
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#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
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#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
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#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
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//------------------------
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// PIOS_SPI
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// See also pios_board.c
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//------------------------
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#define PIOS_SPI_MAX_DEVS 2
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//------------------------
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// PIOS_I2C
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// See also pios_board.c
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//------------------------
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#define PIOS_I2C_MAX_DEVS 3
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extern uint32_t pios_i2c_pres_mag_adapter_id;
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#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_pres_mag_adapter_id)
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extern uint32_t pios_i2c_gyro_adapter_id;
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#define PIOS_I2C_GYRO_ADAPTER (pios_i2c_gyro_adapter_id)
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//------------------------
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// PIOS_BMP085
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//------------------------
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#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
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#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_2
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#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOC
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#define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource2
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#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
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#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line2
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#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
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#define PIOS_BMP085_EOC_PRIO PIOS_IRQ_PRIO_LOW
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#define PIOS_BMP085_XCLR_GPIO_PORT GPIOC
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#define PIOS_BMP085_XCLR_GPIO_PIN GPIO_Pin_1
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#define PIOS_BMP085_OVERSAMPLING 3
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//-------------------------
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// PIOS_USART
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//
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// See also pios_board.c
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//-------------------------
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#define PIOS_USART_MAX_DEVS 2
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#define PIOS_USART_RX_BUFFER_SIZE 256
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#define PIOS_USART_TX_BUFFER_SIZE 256
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//-------------------------
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// PIOS_COM
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//
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// See also pios_board.c
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//-------------------------
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#define PIOS_COM_MAX_DEVS 2
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#define PIOS_COM_GPS_BAUDRATE 57600
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extern uint32_t pios_com_gps_id;
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#define PIOS_COM_GPS (pios_com_gps_id)
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#ifdef PIOS_ENABLE_AUX_UART
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#define PIOS_COM_AUX_BAUDRATE 57600
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extern uint32_t pios_com_aux_id;
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#define PIOS_COM_AUX (pios_com_aux_id)
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#define PIOS_COM_DEBUG PIOS_COM_AUX
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#endif
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//-------------------------
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// Delay Timer
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//-------------------------
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#define PIOS_DELAY_TIMER TIM2
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#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
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//-------------------------
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// System Settings
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//-------------------------
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#define PIOS_MASTER_CLOCK 72000000
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#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
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//-------------------------
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// Interrupt Priorities
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//-------------------------
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#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
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#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
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#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
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#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
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//-------------------------
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// ADC
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// None.
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//-------------------------
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//-------------------------
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// GPIO
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// Not used, but pios_gpio.c expects something
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//-------------------------
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#define PIOS_GPIO_1_PORT GPIOA
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#define PIOS_GPIO_1_PIN GPIO_Pin_1
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#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOA
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#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT }
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#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN }
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#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK }
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#define PIOS_GPIO_NUM 1
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#define PIOS_BMA_ENABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0)
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#define PIOS_BMA_DISABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,1)
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//------------------------
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// PIOS_HMC5883
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//------------------------
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#define PIOS_HMC5883_DRDY_GPIO_PORT GPIOB
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#define PIOS_HMC5883_DRDY_GPIO_PIN GPIO_Pin_8
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#define PIOS_HMC5883_DRDY_PORT_SOURCE GPIO_PortSourceGPIOB
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#define PIOS_HMC5883_DRDY_PIN_SOURCE GPIO_PinSource8
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#define PIOS_HMC5883_DRDY_CLK RCC_APB2Periph_GPIOB
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#define PIOS_HMC5883_DRDY_EXTI_LINE EXTI_Line8
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#define PIOS_HMC5883_DRDY_IRQn EXTI9_5_IRQn
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#define PIOS_HMC5883_DRDY_PRIO PIOS_IRQ_PRIO_LOW
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//------------------------
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// PIOS_IMU3000
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//------------------------
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#define PIOS_IMU3000_INT_GPIO_PORT GPIOB
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#define PIOS_IMU3000_INT_GPIO_PIN GPIO_Pin_1
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#define PIOS_IMU3000_INT_PORT_SOURCE GPIO_PortSourceGPIOB
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#define PIOS_IMU3000_INT_PIN_SOURCE GPIO_PinSource1
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#define PIOS_IMU3000_INT_CLK RCC_APB2Periph_GPIOB
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#define PIOS_IMU3000_INT_EXTI_LINE EXTI_Line1
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#define PIOS_IMU3000_INT_IRQn EXTI1_IRQn
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#define PIOS_IMU3000_INT_PRIO PIOS_IRQ_PRIO_HIGH
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#endif /* STM3210E_INS_H_ */
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/**
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* @}
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* @}
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*/
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