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Code Issues Releases Activity

OP-22 PIOS/Spektrum: Made spektrum input driver, NOT YET TESTED!!!, also preliminary support for CC, sync/supv timer not yet fixed.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2602 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
sambas 2011-01-28 09:25:30 +00:00 committed by sambas
parent df0b5f9b6c
commit 195b63b6bb
7 changed files with 345 additions and 98 deletions
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1
flight/CopterControl/System/inc/pios_config.h
View File

@ -41,6 +41,7 @@
#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_GPS
//#define PIOS_INCLUDE_SPEKTRUM
//#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_PWM

124
flight/CopterControl/System/pios_board.c
View File

@ -302,6 +302,7 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
},
};
#ifdef PIOS_COM_GPS
/*
* GPS USART
*/
@ -347,53 +348,88 @@ const struct pios_usart_cfg pios_usart_gps_cfg = {
},
},
};
#endif
#ifdef PIOS_COM_SPEKTRUM
/*
* SPEKTRUM USART
*/
#include <pios_spektrum_priv.h>
void PIOS_USART_spektrum_irq_handler(void);
void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler")));
const struct pios_usart_cfg pios_usart_spektrum_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
.USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE,
#else
.USART_BaudRate = 115200,
#endif
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_USART_spektrum_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
void USART3_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler")));
void TIM6_IRQHandler();
void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler")));
const struct pios_spektrum_cfg pios_spektrum_cfg = {
.pios_usart_spektrum_cfg = {
.regs = USART3,
.init = {
#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
.USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE,
#else
.USART_BaudRate = 115200,
#endif
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_USART_spektrum_irq_handler,
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
},
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = ((1000000 / 60) - 1), //60hz
.TIM_RepetitionCounter = 0x0000,
},
.gpio_init = { //used for bind feature
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
.remap = 0,
.irq = {
.handler = TIM6_IRQHandler,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.timer = TIM6,
.port = GPIOB,
.ccr = TIM_IT_Update,
.pin = GPIO_Pin_11,
};
void PIOS_TIM6_irq_handler()
{
PIOS_SPEKTRUM_irq_handler();
}
#endif
/*
@ -404,14 +440,16 @@ struct pios_usart_dev pios_usart_devs[] = {
{
.cfg = &pios_usart_telem_cfg,
},
#ifdef PIOS_COM_GPS
#define PIOS_USART_GPS 1
{
.cfg = &pios_usart_gps_cfg,
},
#endif
#ifdef PIOS_COM_SPEKTRUM
#define PIOS_USART_AUX 2
{
.cfg = &pios_usart_spektrum_cfg,
.cfg = &pios_spektrum_cfg.pios_usart_spektrum_cfg,
},
#endif
};
@ -423,10 +461,12 @@ void PIOS_USART_telem_irq_handler(void)
PIOS_USART_IRQ_Handler(PIOS_USART_TELEM);
}
#ifdef PIOS_COM_GPS
void PIOS_USART_gps_irq_handler(void)
{
PIOS_USART_IRQ_Handler(PIOS_USART_GPS);
}
#endif
#ifdef PIOS_COM_SPEKTRUM
void PIOS_USART_spektrum_irq_handler(void)
@ -450,10 +490,12 @@ struct pios_com_dev pios_com_devs[] = {
.id = PIOS_USART_TELEM,
.driver = &pios_usart_com_driver,
},
#ifdef PIOS_COM_GPS
{
.id = PIOS_USART_GPS,
.driver = &pios_usart_com_driver,
},
#endif
#if defined(PIOS_INCLUDE_USB_HID)
{
.id = 0,

114
flight/OpenPilot/System/pios_board.c
View File

@ -509,48 +509,82 @@ const struct pios_usart_cfg pios_usart_aux_cfg = {
/*
* SPEKTRUM USART
*/
#include <pios_spektrum_priv.h>
void PIOS_USART_spektrum_irq_handler(void);
void USART1_IRQHandler() __attribute__ ((alias ("PIOS_USART_spektrum_irq_handler")));
const struct pios_usart_cfg pios_usart_spektrum_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
.USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE,
#else
.USART_BaudRate = 115200,
#endif
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_USART_spektrum_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
void TIM6_IRQHandler();
void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler")));
const struct pios_spektrum_cfg pios_spektrum_cfg = {
.pios_usart_spektrum_cfg = {
.regs = USART1,
.init = {
#if defined (PIOS_COM_SPEKTRUM_BAUDRATE)
.USART_BaudRate = PIOS_COM_SPEKTRUM_BAUDRATE,
#else
.USART_BaudRate = 115200,
#endif
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.handler = PIOS_USART_spektrum_irq_handler,
.init = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.tx = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
},
.tim_base_init = {
.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1, /* For 1 uS accuracy */
.TIM_ClockDivision = TIM_CKD_DIV1,
.TIM_CounterMode = TIM_CounterMode_Up,
.TIM_Period = ((1000000 / 60) - 1), //60hz
.TIM_RepetitionCounter = 0x0000,
},
.gpio_init = { //used for bind feature
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_2MHz,
},
.remap = 0,
.irq = {
.handler = TIM6_IRQHandler,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.timer = TIM6,
.port = GPIOA,
.ccr = TIM_IT_Update,
.pin = GPIO_Pin_10,
};
void PIOS_TIM6_irq_handler()
{
PIOS_SPEKTRUM_irq_handler();
}
#endif
/*
@ -574,7 +608,7 @@ struct pios_usart_dev pios_usart_devs[] = {
#ifdef PIOS_COM_SPEKTRUM
#define PIOS_USART_AUX 2
{
.cfg = &pios_usart_spektrum_cfg,
.cfg = &pios_spektrum_cfg.pios_usart_spektrum_cfg,
},
#endif
};

11
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -148,12 +148,19 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
#define PIOS_USART_RX_BUFFER_SIZE 256
#define PIOS_USART_TX_BUFFER_SIZE 256
#define PIOS_USART_BAUDRATE 57600
#define PIOS_COM_DEBUG PIOS_COM_GPS
#define PIOS_COM_DEBUG PIOS_COM_TELEM_RF
#define PIOS_COM_TELEM_RF 0
#define PIOS_COM_GPS 1
#ifdef PIOS_INCLUDE_GPS
#define PIOS_COM_GPS 1
#endif
#define PIOS_COM_TELEM_USB 2
#ifdef PIOS_INCLUDE_SPEKTRUM
#define PIOS_COM_SPEKTRUM_BAUDRATE 115200
#define PIOS_COM_SPEKTRUM 1
#endif
//-------------------------
// ADC
// PIOS_ADC_PinGet(0) = Gyro Z

12
flight/PiOS/Boards/STM3210E_OP.h
View File

@ -230,12 +230,12 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
//-------------------------
// SPEKTRUM input
//-------------------------
#define PIOS_SPEKTRUM_SUPV_ENABLED 1
#define PIOS_SPEKTRUM_SUPV_TIMER TIM6
#define PIOS_SPEKTRUM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
#define PIOS_SPEKTRUM_SUPV_HZ 60 // 1/22ms
#define PIOS_SPEKTRUM_SUPV_IRQ_CHANNEL TIM6_IRQn
#define PIOS_SPEKTRUM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void)
//#define PIOS_SPEKTRUM_SUPV_ENABLED 1
//#define PIOS_SPEKTRUM_SUPV_TIMER TIM6
//#define PIOS_SPEKTRUM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
//#define PIOS_SPEKTRUM_SUPV_HZ 60 // 1/22ms
//#define PIOS_SPEKTRUM_SUPV_IRQ_CHANNEL TIM6_IRQn
//#define PIOS_SPEKTRUM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void)
//-------------------------
// Servo outputs

121
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -31,6 +31,7 @@
/* Project Includes */
#include "pios.h"
#include "pios_spektrum_priv.h"
#if defined(PIOS_INCLUDE_SPEKTRUM)
#if defined(PIOS_INCLUDE_PWM)
@ -58,6 +59,68 @@ void PIOS_SPEKTRUM_Init(void)
PIOS_SPEKTRUM_Bind();
}
///////////////////////
NVIC_InitTypeDef NVIC_InitStructure = pios_spektrum_cfg.irq.init;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_spektrum_cfg.tim_base_init;
/* Enable appropriate clock to timer module */
switch((int32_t) pios_spektrum_cfg.timer) {
case (int32_t)TIM1:
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
break;
case (int32_t)TIM2:
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
break;
case (int32_t)TIM3:
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
break;
case (int32_t)TIM4:
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
break;
#ifdef STM32F10X_HD
case (int32_t)TIM5:
NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
break;
case (int32_t)TIM6:
NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
break;
case (int32_t)TIM7:
NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
break;
case (int32_t)TIM8:
NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
break;
#endif
}
NVIC_Init(&NVIC_InitStructure);
/* Configure timer clocks */
TIM_InternalClockConfig(pios_spektrum_cfg.timer);
TIM_TimeBaseInit(pios_spektrum_cfg.timer, &TIM_TimeBaseStructure);
/* Enable the Capture Compare Interrupt Request */
TIM_ITConfig(pios_spektrum_cfg.timer, pios_spektrum_cfg.ccr, ENABLE);
/* Clear update pending flag */
TIM_ClearFlag(pios_spektrum_cfg.timer, TIM_FLAG_Update);
/* Enable timers */
TIM_Cmd(pios_spektrum_cfg.timer, ENABLE);
/////////////////////////////
#if 0
/* spektrum "watchdog" timer */
NVIC_InitTypeDef NVIC_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
@ -83,10 +146,11 @@ void PIOS_SPEKTRUM_Init(void)
TIM_ITConfig(PIOS_SPEKTRUM_SUPV_TIMER, TIM_IT_Update, ENABLE);
/* Clear update pending flag */
TIM_ClearFlag(TIM6, TIM_FLAG_Update);
TIM_ClearFlag(PIOS_SPEKTRUM_SUPV_TIMER, TIM_FLAG_Update);
/* Enable counter */
TIM_Cmd(PIOS_SPEKTRUM_SUPV_TIMER, ENABLE);
#endif
}
/**
@ -112,6 +176,43 @@ int16_t PIOS_SPEKTRUM_Get(int8_t Channel)
*/
uint8_t PIOS_SPEKTRUM_Bind(void)
{
GPIO_InitTypeDef GPIO_InitStructure = pios_spektrum_cfg.gpio_init;
GPIO_InitStructure.GPIO_Pin = pios_spektrum_cfg.pin;
GPIO_Init(pios_spektrum_cfg.port, &GPIO_InitStructure);
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
//PIOS_DELAY_WaitmS(75);
/* RX line, drive high for 10us */
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(10);
/* RX line, drive low for 120us */
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
/* RX line, drive low for 120us */
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
/* RX line, drive low for 120us */
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
/* RX line, drive low for 120us */
pios_spektrum_cfg.port->BRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
pios_spektrum_cfg.port->BSRR = pios_spektrum_cfg.pin;
PIOS_DELAY_WaituS(120);
/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
#if 0
#define PIOS_USART3_GPIO_PORT GPIOA
#define PIOS_USART3_RX_PIN GPIO_Pin_10
@ -155,6 +256,7 @@ uint8_t PIOS_SPEKTRUM_Bind(void)
PIOS_USART3_GPIO_PORT->BSRR = PIOS_USART3_RX_PIN;
PIOS_DELAY_WaituS(120);
/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
#endif
return 1;
}
@ -214,31 +316,32 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
return 0;
}
/* Interrupt handler for USART3 */
/* Interrupt handler for USART */
void SPEKTRUM_IRQHandler(void)
{
/* check if RXNE flag is set */
if (USART1->SR & (1 << 5)) {
uint8_t b = USART1->DR;
if (pios_spektrum_cfg.pios_usart_spektrum_cfg.regs->SR & (1 << 5)) {
uint8_t b = pios_spektrum_cfg.pios_usart_spektrum_cfg.regs->DR;
if (PIOS_SPEKTRUM_Decode(b) < 0) {
/* Here we could add some error handling */
}
}
if (USART1->SR & (1 << 7)) { // check if TXE flag is set
if (pios_spektrum_cfg.pios_usart_spektrum_cfg.regs->SR & (1 << 7)) { // check if TXE flag is set
/* Disable TXE interrupt (TXEIE=0) */
USART1->CR1 &= ~(1 << 7);
pios_spektrum_cfg.pios_usart_spektrum_cfg.regs->CR1 &= ~(1 << 7);
}
/* clear "watchdog" timer */
TIM_SetCounter(PIOS_SPEKTRUM_SUPV_TIMER, 0);
TIM_SetCounter(pios_spektrum_cfg.timer, 0);
}
/**
* This function handles TIM6 global interrupt request.
*/
PIOS_SPEKTRUM_SUPV_IRQ_FUNC {
void PIOS_SPEKTRUM_irq_handler() {
//PIOS_SPEKTRUM_SUPV_IRQ_FUNC {
/* Clear timer interrupt pending bit */
TIM_ClearITPendingBit(PIOS_SPEKTRUM_SUPV_TIMER, TIM_IT_Update);
TIM_ClearITPendingBit(pios_spektrum_cfg.timer, TIM_IT_Update);
/* sync between frames, TODO! DX7SE */
sync = 0;

60
flight/PiOS/inc/pios_spektrum_priv.h Normal file
View File

@ -0,0 +1,60 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_SPEKTRUM SPEKTRUM Functions
* @brief PIOS interface to read and write from spektrum port
* @{
*
* @file pios_spektrum_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Servo private structures.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_SPEKTRUM_PRIV_H
#define PIOS_SPEKTRUM_PRIV_H
#include <pios.h>
#include <pios_stm32.h>
#include <pios_usart_priv.h>
struct pios_spektrum_cfg {
struct pios_usart_cfg pios_usart_spektrum_cfg;
TIM_TimeBaseInitTypeDef tim_base_init;
GPIO_InitTypeDef gpio_init;
uint32_t remap; /* GPIO_Remap_* */
struct stm32_irq irq;
TIM_TypeDef * timer;
GPIO_TypeDef * port;
uint16_t ccr;
uint16_t pin;
};
extern void PIOS_SPEKTRUM_irq_handler();
extern uint8_t pios_spektrum_num_channels;
extern const struct pios_spektrum_cfg pios_spektrum_cfg;
#endif /* PIOS_PWM_PRIV_H */
/**
* @}
* @}
*/