2011-01-14 02:38:34 +01:00
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/**
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******************************************************************************
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*
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* @file pios_board.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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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 STM32103CB_AHRS_H_
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#define STM32103CB_AHRS_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 - */
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/* Channel 3 - */
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/* Channel 4 - */
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/* Channel 5 - */
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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 FUNC_ID 2
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#define HW_VERSION 69
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#define BOOTLOADER_VERSION 0
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#define MEM_SIZE 0x20000 //128K
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#define SIZE_OF_DESCRIPTION 100
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#define START_OF_USER_CODE (uint32_t)0x08002000
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#define SIZE_OF_CODE (uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
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#ifdef STM32F10X_HD
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#define HW_TYPE 0 //0=high_density 1=medium_density;
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#elif STM32F10X_MD
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#define HW_TYPE 1 //0=high_density 1=medium_density;
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#endif
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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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2011-01-14 02:38:39 +01:00
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//------------------------
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// WATCHDOG_SETTINGS
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//------------------------
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#define PIOS_WATCHDOG_TIMEOUT 250
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#define PIOS_WDG_REGISTER BKP_DR4
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#define PIOS_WDG_ACTUATOR 0x0001
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#define PIOS_WDG_STABILIZATION 0x0002
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#define PIOS_WDG_AHRS 0x0004
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#define PIOS_WDG_MANUAL 0x0008
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2011-01-14 02:38:34 +01:00
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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_6
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2011-01-14 02:38:34 +01:00
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#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
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#define PIOS_LED_NUM 1
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#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT }
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#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN }
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#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK }
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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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#if defined(USE_BOOTLOADER)
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#define PIOS_NVIC_VECTTAB_FLASH (START_OF_USER_CODE)
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#else
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#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
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#endif
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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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// PIOS_I2C
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// See also pios_board.c
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//------------------------
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#define PIOS_I2C_MAIN_ADAPTER 0
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//-------------------------
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// SPI
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//
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// See also pios_board.c
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//-------------------------
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#define PIOS_SPI_OP 0
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//-------------------------
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// PIOS_USART
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//-------------------------
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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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#define PIOS_USART_BAUDRATE 230400
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#define PIOS_COM_AUX 0
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#define PIOS_COM_DEBUG PIOS_COM_AUX
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//-------------------------
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// ADC
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// PIOS_ADC_PinGet(0) = Accel Z
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// PIOS_ADC_PinGet(2) = Accel Y
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// PIOS_ADC_PinGet(4) = Accel X
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// PIOS_ADC_PinGet(1) = Gyro X
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// PIOS_ADC_PinGet(3) = Gyro Y
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// PIOS_ADC_PinGet(5) = Gyro Z
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// PIOS_ADC_PinGet(6) = XY Temp
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// PIOS_ADC_PinGet(7) = Z Temp
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//-------------------------
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//#define PIOS_ADC_OVERSAMPLING_RATE 1
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#define PIOS_ADC_USE_TEMP_SENSOR 0
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#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
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#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
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#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA2 (Accel X)
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#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_2 // ADC12_IN2
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#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_2
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#define PIOS_ADC_PIN1_ADC ADC1
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#define PIOS_ADC_PIN1_ADC_NUMBER 1
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#define PIOS_ADC_PIN2_GPIO_PORT GPIOA // PA1 (Accel Y)
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#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
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#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_1
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#define PIOS_ADC_PIN2_ADC ADC1
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#define PIOS_ADC_PIN2_ADC_NUMBER 2
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#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA0 (Accel Z)
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#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_0 // ADC12_IN0
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#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_0
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#define PIOS_ADC_PIN3_ADC ADC1
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#define PIOS_ADC_PIN3_ADC_NUMBER 3
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#define PIOS_ADC_PIN4_GPIO_PORT GPIOA // PA6 (Temp_XY)
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#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_6 // ADC12_IN6
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#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_6
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#define PIOS_ADC_PIN4_ADC ADC1
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#define PIOS_ADC_PIN4_ADC_NUMBER 4
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#define PIOS_ADC_PIN5_GPIO_PORT GPIOA // PA4 (Gyro X)
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#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_4 // ADC12_IN4
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#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_4
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#define PIOS_ADC_PIN5_ADC ADC2
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#define PIOS_ADC_PIN5_ADC_NUMBER 1
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#define PIOS_ADC_PIN6_GPIO_PORT GPIOA // PA5 (Gyro Y)
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#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_5 // ADC12_IN5
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#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_5
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#define PIOS_ADC_PIN6_ADC ADC2
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#define PIOS_ADC_PIN6_ADC_NUMBER 2
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#define PIOS_ADC_PIN7_GPIO_PORT GPIOA // PA7 (Gyro Z)
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#define PIOS_ADC_PIN7_GPIO_PIN GPIO_Pin_7 // ADC12_IN7
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#define PIOS_ADC_PIN7_GPIO_CHANNEL ADC_Channel_7
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#define PIOS_ADC_PIN7_ADC ADC2
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#define PIOS_ADC_PIN7_ADC_NUMBER 3
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#define PIOS_ADC_PIN8_GPIO_PORT GPIOB // PB1 (Z Temp)
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#define PIOS_ADC_PIN8_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
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#define PIOS_ADC_PIN8_GPIO_CHANNEL ADC_Channel_9
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#define PIOS_ADC_PIN8_ADC ADC2
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#define PIOS_ADC_PIN8_ADC_NUMBER 4
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#define PIOS_ADC_NUM_PINS 8
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#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT, PIOS_ADC_PIN7_GPIO_PORT, PIOS_ADC_PIN8_GPIO_PORT }
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#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN, PIOS_ADC_PIN7_GPIO_PIN, PIOS_ADC_PIN8_GPIO_PIN }
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#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL, PIOS_ADC_PIN7_GPIO_CHANNEL, PIOS_ADC_PIN8_GPIO_CHANNEL }
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#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC, PIOS_ADC_PIN7_ADC, PIOS_ADC_PIN8_ADC }
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#define PIOS_ADC_CHANNEL_MAPPING { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER, PIOS_ADC_PIN4_ADC_NUMBER, PIOS_ADC_PIN5_ADC_NUMBER, PIOS_ADC_PIN6_ADC_NUMBER, PIOS_ADC_PIN7_ADC_NUMBER, PIOS_ADC_PIN8_ADC_NUMBER }
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#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
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#define PIOS_ADC_NUM_ADC_CHANNELS 2
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#define PIOS_ADC_USE_ADC2 1
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#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
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#define PIOS_ADC_ADCCLK RCC_PCLK2_Div2
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/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
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/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
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/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
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/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
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#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
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/* Sample time: */
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/* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
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/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
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/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
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#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_LOW
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// Currently analog acquistion hard coded at 480 Hz
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// PCKL2 = HCLK / 16
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// ADCCLK = PCLK2 / 2
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#define PIOS_ADC_RATE (72.0e6 / 16 / 2 / 252 / (PIOS_ADC_NUM_PINS / 2))
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#define EKF_RATE (PIOS_ADC_RATE / adc_oversampling / 2)
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//-------------------------
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2011-01-14 02:38:39 +01:00
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// Receiver PWM inputs
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2011-01-14 02:38:34 +01:00
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//-------------------------
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2011-01-14 02:38:39 +01:00
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#define PIOS_PWM_CH1_GPIO_PORT GPIOA
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#define PIOS_PWM_CH1_PIN GPIO_Pin_9
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#define PIOS_PWM_CH1_TIM_PORT TIM1
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#define PIOS_PWM_CH1_CH TIM_Channel_2
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#define PIOS_PWM_CH1_CCR TIM_IT_CC2
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#define PIOS_PWM_CH2_GPIO_PORT GPIOA
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#define PIOS_PWM_CH2_PIN GPIO_Pin_10
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#define PIOS_PWM_CH2_TIM_PORT TIM1
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#define PIOS_PWM_CH2_CH TIM_Channel_3
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#define PIOS_PWM_CH2_CCR TIM_IT_CC3
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#define PIOS_PWM_CH3_GPIO_PORT GPIOA
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#define PIOS_PWM_CH3_PIN GPIO_Pin_0
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#define PIOS_PWM_CH3_TIM_PORT TIM5
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#define PIOS_PWM_CH3_CH TIM_Channel_1
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#define PIOS_PWM_CH3_CCR TIM_IT_CC1
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#define PIOS_PWM_CH4_GPIO_PORT GPIOA
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#define PIOS_PWM_CH4_PIN GPIO_Pin_8
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#define PIOS_PWM_CH4_TIM_PORT TIM1
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#define PIOS_PWM_CH4_CH TIM_Channel_1
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#define PIOS_PWM_CH4_CCR TIM_IT_CC1
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#define PIOS_PWM_CH5_GPIO_PORT GPIOB
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#define PIOS_PWM_CH5_PIN GPIO_Pin_1
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#define PIOS_PWM_CH5_TIM_PORT TIM3
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#define PIOS_PWM_CH5_CH TIM_Channel_4
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#define PIOS_PWM_CH5_CCR TIM_IT_CC4
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#define PIOS_PWM_CH6_GPIO_PORT GPIOB
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#define PIOS_PWM_CH6_PIN GPIO_Pin_0
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#define PIOS_PWM_CH6_TIM_PORT TIM3
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#define PIOS_PWM_CH6_CH TIM_Channel_3
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#define PIOS_PWM_CH6_CCR TIM_IT_CC3
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#define PIOS_PWM_CH7_GPIO_PORT GPIOB
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#define PIOS_PWM_CH7_PIN GPIO_Pin_4
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#define PIOS_PWM_CH7_TIM_PORT TIM3
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#define PIOS_PWM_CH7_CH TIM_Channel_1
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#define PIOS_PWM_CH7_CCR TIM_IT_CC1
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#define PIOS_PWM_CH8_GPIO_PORT GPIOB
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#define PIOS_PWM_CH8_PIN GPIO_Pin_5
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#define PIOS_PWM_CH8_TIM_PORT TIM3
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#define PIOS_PWM_CH8_CH TIM_Channel_2
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#define PIOS_PWM_CH8_CCR TIM_IT_CC2
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#define PIOS_PWM_GPIO_PORTS { PIOS_PWM_CH1_GPIO_PORT, PIOS_PWM_CH2_GPIO_PORT, PIOS_PWM_CH3_GPIO_PORT, PIOS_PWM_CH4_GPIO_PORT, PIOS_PWM_CH5_GPIO_PORT, PIOS_PWM_CH6_GPIO_PORT, PIOS_PWM_CH7_GPIO_PORT, PIOS_PWM_CH8_GPIO_PORT }
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#define PIOS_PWM_GPIO_PINS { PIOS_PWM_CH1_PIN, PIOS_PWM_CH2_PIN, PIOS_PWM_CH3_PIN, PIOS_PWM_CH4_PIN, PIOS_PWM_CH5_PIN, PIOS_PWM_CH6_PIN, PIOS_PWM_CH7_PIN, PIOS_PWM_CH8_PIN }
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#define PIOS_PWM_TIM_PORTS { PIOS_PWM_CH1_TIM_PORT, PIOS_PWM_CH2_TIM_PORT, PIOS_PWM_CH3_TIM_PORT, PIOS_PWM_CH4_TIM_PORT, PIOS_PWM_CH5_TIM_PORT, PIOS_PWM_CH6_TIM_PORT, PIOS_PWM_CH7_TIM_PORT, PIOS_PWM_CH8_TIM_PORT }
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#define PIOS_PWM_TIM_CHANNELS { PIOS_PWM_CH1_CH, PIOS_PWM_CH2_CH, PIOS_PWM_CH3_CH, PIOS_PWM_CH4_CH, PIOS_PWM_CH5_CH, PIOS_PWM_CH6_CH, PIOS_PWM_CH7_CH, PIOS_PWM_CH8_CH }
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#define PIOS_PWM_TIM_CCRS { PIOS_PWM_CH1_CCR, PIOS_PWM_CH2_CCR, PIOS_PWM_CH3_CCR, PIOS_PWM_CH4_CCR, PIOS_PWM_CH5_CCR, PIOS_PWM_CH6_CCR, PIOS_PWM_CH7_CCR, PIOS_PWM_CH8_CCR }
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#define PIOS_PWM_TIMS { TIM1, TIM3, TIM5 }
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#define PIOS_PWM_TIM_IRQS { TIM1_CC_IRQn, TIM3_IRQn, TIM5_IRQn }
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#define PIOS_PWM_NUM_INPUTS 8
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#define PIOS_PWM_NUM_TIMS 3
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#define PIOS_PWM_SUPV_ENABLED 1
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#define PIOS_PWM_SUPV_TIMER TIM6
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#define PIOS_PWM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
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#define PIOS_PWM_SUPV_HZ 25
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#define PIOS_PWM_SUPV_IRQ_CHANNEL TIM6_IRQn
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#define PIOS_PWM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void)
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2011-01-14 02:38:34 +01:00
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2011-01-14 02:38:39 +01:00
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//-------------------------
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// Servo outputs
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//-------------------------
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#define PIOS_SERVO_GPIO_PORT_1TO4 GPIOB
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#define PIOS_SERVO_GPIO_PIN_1 GPIO_Pin_6
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#define PIOS_SERVO_GPIO_PIN_2 GPIO_Pin_7
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#define PIOS_SERVO_GPIO_PIN_3 GPIO_Pin_8
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#define PIOS_SERVO_GPIO_PIN_4 GPIO_Pin_9
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#define PIOS_SERVO_GPIO_PORT_5TO8 GPIOC
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#define PIOS_SERVO_GPIO_PIN_5 GPIO_Pin_6
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#define PIOS_SERVO_GPIO_PIN_6 GPIO_Pin_7
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#define PIOS_SERVO_GPIO_PIN_7 GPIO_Pin_8
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#define PIOS_SERVO_GPIO_PIN_8 GPIO_Pin_9
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#define PIOS_SERVO_NUM_OUTPUTS 8
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#define PIOS_SERVO_NUM_TIMERS PIOS_SERVO_NUM_OUTPUTS
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#define PIOS_SERVO_UPDATE_HZ 50
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#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
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//-------------------------
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// GPIO
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//-------------------------
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#define PIOS_GPIO_1_PORT GPIOC
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#define PIOS_GPIO_1_PIN GPIO_Pin_0
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#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_GPIO_2_PORT GPIOC
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#define PIOS_GPIO_2_PIN GPIO_Pin_1
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#define PIOS_GPIO_2_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_GPIO_3_PORT GPIOC
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#define PIOS_GPIO_3_PIN GPIO_Pin_2
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#define PIOS_GPIO_3_GPIO_CLK RCC_APB2Periph_GPIOC
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#define PIOS_GPIO_4_PORT GPIOD
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#define PIOS_GPIO_4_PIN GPIO_Pin_2
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#define PIOS_GPIO_4_GPIO_CLK RCC_APB2Periph_GPIOD
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#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT, PIOS_GPIO_2_PORT, PIOS_GPIO_3_PORT, PIOS_GPIO_4_PORT }
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#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN, PIOS_GPIO_2_PIN, PIOS_GPIO_3_PIN, PIOS_GPIO_4_PIN }
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#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK, PIOS_GPIO_2_GPIO_CLK, PIOS_GPIO_3_GPIO_CLK, PIOS_GPIO_4_GPIO_CLK }
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#define PIOS_GPIO_NUM 4
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2011-01-14 02:38:34 +01:00
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2011-01-14 02:38:39 +01:00
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//-------------------------
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// USB
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//-------------------------
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#define PIOS_USB_ENABLED 1
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#define PIOS_USB_DETECT_GPIO_PORT GPIOC
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#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4
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#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4
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#define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
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2011-01-14 02:38:34 +01:00
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#endif /* STM32103CB_AHRS_H_ */
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