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OP-291 PIOS/Servo: Fix a few interrupt mappins for OP
Also keep the priority of actuator at idle+4, dropping it down slipped through git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2580 ebee16cc-31ac-478f-84a7-5cbb03baadba
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@ -45,7 +45,7 @@
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// Private constants
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#define MAX_QUEUE_SIZE 2
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#define STACK_SIZE configMINIMAL_STACK_SIZE+200
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#define TASK_PRIORITY (tskIDLE_PRIORITY+0)
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#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
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#define FAILSAFE_TIMEOUT_MS 100
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#define MAX_MIX_ACTUATORS ACTUATORCOMMAND_CHANNEL_NUMELEM
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@ -775,7 +775,7 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
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},
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.remap = GPIO_PartialRemap_TIM3,
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.irq = {
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.handler = TIM2_IRQHandler,
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.handler = TIM1_CC_IRQHandler,
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.init = {
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelSubPriority = 0,
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@ -785,11 +785,11 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
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.channels = pios_pwm_channels,
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.num_channels = NELEMENTS(pios_pwm_channels),
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};
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void TIM1_CC_IRQHandler()
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void PIOS_TIM1_CC_irq_handler()
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{
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PIOS_PWM_irq_handler(TIM1);
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}
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void TIM3_IRQHandler()
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void PIOS_TIM3_irq_handler()
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{
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PIOS_PWM_irq_handler(TIM3);
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}
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