mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-27 16:54:15 +01:00
Small re-factorings.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@230 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy
gussy
parent
0500fe88c9
commit
a5d56cd537
@ -31,18 +31,18 @@
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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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/* 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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// PIOS_LED
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@ -53,19 +53,19 @@
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#define PIOS_LED_LED2_GPIO_PORT GPIOC
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#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13
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#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC
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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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#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_I2C
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//------------------------
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#define PIOS_I2C_GPIO_PORT GPIOB
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#define PIOS_I2C_SDA_PIN GPIO_Pin_11
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#define PIOS_I2C_SCL_PIN GPIO_Pin_10
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#define PIOS_I2C_DUTY_CYCLE I2C_DutyCycle_2
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#define PIOS_I2C_BUS_FREQ 400000
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#define PIOS_I2C_GPIO_PORT GPIOB
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#define PIOS_I2C_SDA_PIN GPIO_Pin_11
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#define PIOS_I2C_SCL_PIN GPIO_Pin_10
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#define PIOS_I2C_DUTY_CYCLE I2C_DutyCycle_2
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#define PIOS_I2C_BUS_FREQ 400000
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#define PIOS_I2C_TIMEOUT_VALUE 5000
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#define PIOS_I2C_IRQ_EV_PRIORITY 2
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#define PIOS_I2C_IRQ_ER_PRIORITY 2
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@ -77,18 +77,18 @@
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#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_15
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#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOG
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#define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource8
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#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
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#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
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#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line15
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#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
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//-------------------------
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// PIOS_USART1 (TELEM)
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//-------------------------
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#define PIOS_USART1_ENABLED 1
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#define PIOS_USART1_USART USART2
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#define PIOS_USART1_ENABLED 1
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#define PIOS_USART1_USART USART2
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#define PIOS_USART1_GPIO_PORT GPIOA
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#define PIOS_USART1_RX_PIN GPIO_Pin_3
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#define PIOS_USART1_TX_PIN GPIO_Pin_2
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#define PIOS_USART1_RX_PIN GPIO_Pin_3
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#define PIOS_USART1_TX_PIN GPIO_Pin_2
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#define PIOS_USART1_REMAP_FUNC { }
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#define PIOS_USART1_IRQ_CHANNEL USART2_IRQn
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#define PIOS_USART1_IRQHANDLER_FUNC void USART2_IRQHandler(void)
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@ -114,11 +114,11 @@
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//-------------------------
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// PIOS_USART3 (AUX) (RX5/RX6)
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//-------------------------
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#define PIOS_USART3_ENABLED 0
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#define PIOS_USART3_USART USART1
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#define PIOS_USART3_ENABLED 0
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#define PIOS_USART3_USART USART1
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#define PIOS_USART3_GPIO_PORT GPIOA
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#define PIOS_USART3_RX_PIN GPIO_Pin_10
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#define PIOS_USART3_TX_PIN GPIO_Pin_9
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#define PIOS_USART3_RX_PIN GPIO_Pin_10
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#define PIOS_USART3_TX_PIN GPIO_Pin_9
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#define PIOS_USART3_REMAP_FUNC { }
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#define PIOS_USART3_IRQ_CHANNEL USART1_IRQn
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#define PIOS_USART3_IRQHANDLER_FUNC void USART1_IRQHandler(void)
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@ -129,108 +129,108 @@
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//-------------------------
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// PIOS_USART
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//-------------------------
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#define PIOS_USART_NUM 3
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#define PIOS_USART_NUM 3
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#define PIOS_USART_RX_BUFFER_SIZE 1024
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#define PIOS_USART_TX_BUFFER_SIZE 256
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#define PIOS_COM_DEBUG_PORT GPS
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#define PIOS_COM_DEBUG_PORT GPS
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//-------------------------
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// SPI
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//-------------------------
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#define PIOS_SPI_IRQ_DMA_PRIORITY PIOS_IRQ_PRIO_HIGH
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#define PIOS_SPI_NUM 2
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#define PIOS_SPI0_ENABLED 1
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#define PIOS_SPI0_PTR SPI1
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#define PIOS_SPI_NUM 2
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#define PIOS_SPI0_ENABLED 1
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#define PIOS_SPI0_PTR SPI1
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#define PIOS_SPI0_DMA_RX_PTR DMA1_Channel2
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#define PIOS_SPI0_DMA_TX_PTR DMA1_Channel3
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#define PIOS_SPI0_DMA_RX_IRQ_FLAGS (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2)
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#define PIOS_SPI0_DMA_IRQ_CHANNEL DMA1_Channel2_IRQn
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#define PIOS_SPI0_DMA_IRQHANDLER_FUNC void DMA1_Channel2_IRQHandler(void)
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#define PIOS_SPI0_DMA_IRQHANDLER_FUNC void DMA1_Channel2_IRQHandler(void)
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#define PIOS_SPI0_RCLK1_PORT GPIOA
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#define PIOS_SPI0_RCLK1_PIN GPIO_Pin_4
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#define PIOS_SPI0_SCLK_PORT GPIOA
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#define PIOS_SPI0_SCLK_PIN GPIO_Pin_5
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#define PIOS_SPI0_MISO_PORT GPIOA
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#define PIOS_SPI0_MISO_PIN GPIO_Pin_6
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#define PIOS_SPI0_MOSI_PORT GPIOA
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#define PIOS_SPI0_MOSI_PIN GPIO_Pin_7
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#define PIOS_SPI1_ENABLED 1
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#define PIOS_SPI1_PTR SPI2
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#define PIOS_SPI0_RCLK1_PIN GPIO_Pin_4
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#define PIOS_SPI0_SCLK_PORT GPIOA
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#define PIOS_SPI0_SCLK_PIN GPIO_Pin_5
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#define PIOS_SPI0_MISO_PORT GPIOA
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#define PIOS_SPI0_MISO_PIN GPIO_Pin_6
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#define PIOS_SPI0_MOSI_PORT GPIOA
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#define PIOS_SPI0_MOSI_PIN GPIO_Pin_7
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#define PIOS_SPI1_ENABLED 1
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#define PIOS_SPI1_PTR SPI2
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#define PIOS_SPI1_DMA_RX_PTR DMA1_Channel4
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#define PIOS_SPI1_DMA_TX_PTR DMA1_Channel5
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#define PIOS_SPI1_DMA_RX_IRQ_FLAGS (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4)
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#define PIOS_SPI1_DMA_IRQ_CHANNEL DMA1_Channel4_IRQn
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#define PIOS_SPI1_DMA_IRQHANDLER_FUNC void DMA1_Channel4_IRQHandler(void)
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#define PIOS_SPI1_DMA_IRQHANDLER_FUNC void DMA1_Channel4_IRQHandler(void)
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#define PIOS_SPI1_RCLK1_PORT GPIOB
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#define PIOS_SPI1_RCLK1_PIN GPIO_Pin_12
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#define PIOS_SPI1_SCLK_PORT GPIOB
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#define PIOS_SPI1_SCLK_PIN GPIO_Pin_13
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#define PIOS_SPI1_MISO_PORT GPIOB
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#define PIOS_SPI1_MISO_PIN GPIO_Pin_14
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#define PIOS_SPI1_MOSI_PORT GPIOB
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#define PIOS_SPI1_MOSI_PIN GPIO_Pin_15
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#define PIOS_SPI1_RCLK1_PIN GPIO_Pin_12
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#define PIOS_SPI1_SCLK_PORT GPIOB
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#define PIOS_SPI1_SCLK_PIN GPIO_Pin_13
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#define PIOS_SPI1_MISO_PORT GPIOB
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#define PIOS_SPI1_MISO_PIN GPIO_Pin_14
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#define PIOS_SPI1_MOSI_PORT GPIOB
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#define PIOS_SPI1_MOSI_PIN GPIO_Pin_15
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//-------------------------
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// PIOS_SDCARD
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//-------------------------
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#define PIOS_SDCARD_SPI 0
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#define PIOS_SDCARD_SPI 0
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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 TIM2
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#define PIOS_DELAY_TIMER_RCC RCC_APB1Periph_TIM2
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//-------------------------
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// Master Clock
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//-------------------------
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#define PIOS_MASTER_CLOCK 72000000
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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_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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// Receiver PWM inputs
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//-------------------------
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#define RECEIVER1_GPIO_PORT GPIOB
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#define RECEIVER1_PIN GPIO_Pin_0 // PB0
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#define RECEIVER1_TIM_PORT TIM3
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#define RECEIVER1_CH TIM_Channel_3 // TIM3_CH3
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#define RECEIVER2_GPIO_PORT GPIOB
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#define RECEIVER2_PIN GPIO_Pin_1 // PB1
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#define RECEIVER2_TIM_PORT TIM3
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#define RECEIVER2_CH TIM_Channel_4 // TIM3_CH4
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#define RECEIVER3_GPIO_PORT GPIOA
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#define RECEIVER3_PIN GPIO_Pin_8 // PA8
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#define RECEIVER3_TIM_PORT TIM1
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#define RECEIVER3_CH TIM_Channel_1 // TIM1_CH1
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#define RECEIVER4_GPIO_PORT GPIOA
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#define RECEIVER4_PIN GPIO_Pin_0 // PA0
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#define RECEIVER4_TIM_PORT TIM5
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#define RECEIVER4_CH TIM_Channel_1 // TIM5_CH1
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#define RECEIVER5_GPIO_PORT GPIOA
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#define RECEIVER5_PIN GPIO_Pin_10 // PA10
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#define RECEIVER5_TIM_PORT TIM1
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#define RECEIVER5_CH TIM_Channel_3 // TIM1_CH3
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#define RECEIVER6_GPIO_PORT GPIOA
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#define RECEIVER6_PIN GPIO_Pin_9 // PA9
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#define RECEIVER6_TIM_PORT TIM1
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#define RECEIVER6_CH TIM_Channel_2 // TIM1_CH2
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#define RECEIVER7_GPIO_PORT GPIOB
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#define RECEIVER7_PIN GPIO_Pin_4 // PB4
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#define RECEIVER7_TIM_PORT TIM3
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#define RECEIVER7_CH TIM_Channel_1 // TIM3_CH1
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#define RECEIVER8_GPIO_PORT GPIOB
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#define RECEIVER8_PIN GPIO_Pin_5 // PB5
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#define RECEIVER8_TIM_PORT TIM3
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#define RECEIVER8_CH TIM_Channel_2 // TIM3_CH2
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#define NUM_RECEIVER_INPUTS 6
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#define RECEIVER1_GPIO_PORT GPIOB
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#define RECEIVER1_PIN GPIO_Pin_0 // PB0
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#define RECEIVER1_TIM_PORT TIM3
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#define RECEIVER1_CH TIM_Channel_3 // TIM3_CH3
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#define RECEIVER2_GPIO_PORT GPIOB
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#define RECEIVER2_PIN GPIO_Pin_1 // PB1
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#define RECEIVER2_TIM_PORT TIM3
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#define RECEIVER2_CH TIM_Channel_4 // TIM3_CH4
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#define RECEIVER3_GPIO_PORT GPIOA
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#define RECEIVER3_PIN GPIO_Pin_8 // PA8
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#define RECEIVER3_TIM_PORT TIM1
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#define RECEIVER3_CH TIM_Channel_1 // TIM1_CH1
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#define RECEIVER4_GPIO_PORT GPIOA
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#define RECEIVER4_PIN GPIO_Pin_0 // PA0
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#define RECEIVER4_TIM_PORT TIM5
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#define RECEIVER4_CH TIM_Channel_1 // TIM5_CH1
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#define RECEIVER5_GPIO_PORT GPIOA
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#define RECEIVER5_PIN GPIO_Pin_10 // PA10
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#define RECEIVER5_TIM_PORT TIM1
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#define RECEIVER5_CH TIM_Channel_3 // TIM1_CH3
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#define RECEIVER6_GPIO_PORT GPIOA
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#define RECEIVER6_PIN GPIO_Pin_9 // PA9
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#define RECEIVER6_TIM_PORT TIM1
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#define RECEIVER6_CH TIM_Channel_2 // TIM1_CH2
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#define RECEIVER7_GPIO_PORT GPIOB
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#define RECEIVER7_PIN GPIO_Pin_4 // PB4
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#define RECEIVER7_TIM_PORT TIM3
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#define RECEIVER7_CH TIM_Channel_1 // TIM3_CH1
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#define RECEIVER8_GPIO_PORT GPIOB
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#define RECEIVER8_PIN GPIO_Pin_5 // PB5
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#define RECEIVER8_TIM_PORT TIM3
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#define RECEIVER8_CH TIM_Channel_2 // TIM3_CH2
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#define NUM_RECEIVER_INPUTS 8
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//-------------------------
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// Servo outputs
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@ -248,25 +248,25 @@
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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 1500
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#define PIOS_SERVOS_INITIAL_POSITION 1500
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//-------------------------
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// ADC
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//-------------------------
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#define ADC_GPIO_PORT GPIOC
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#define ADC_Z_PIN GPIO_Pin_0 // ADC123_IN10
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#define ADC_A_PIN GPIO_Pin_1 // ADC123_IN11
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#define ADC_B_PIN GPIO_Pin_2 // ADC123_IN12
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#define ADC_Z_CHANNEL ADC_Channel_10
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#define ADC_A_CHANNEL ADC_Channel_11
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#define ADC_B_CHANNEL ADC_Channel_12
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#define NUM_ADC_PINS 4 // 3 but actually 4 because of temp sensor
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#define ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
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#define ADC_GPIO_PORT GPIOC
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#define ADC_Z_PIN GPIO_Pin_0 // ADC123_IN10
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#define ADC_A_PIN GPIO_Pin_1 // ADC123_IN11
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#define ADC_B_PIN GPIO_Pin_2 // ADC123_IN12
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#define ADC_Z_CHANNEL ADC_Channel_10
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#define ADC_A_CHANNEL ADC_Channel_11
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#define ADC_B_CHANNEL ADC_Channel_12
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#define NUM_ADC_PINS 4 // 3 but actually 4 because of temp sensor
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#define ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
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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_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_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID
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@ -122,6 +122,7 @@ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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#if 0
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/* Clipping */
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if(onetofour > 500) {
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onetofour = 500;
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@ -129,6 +130,7 @@ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
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if(fivetoeight > 500) {
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fivetoeight = 500;
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}
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#endif
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TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1;
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TIM_TimeBaseStructure.TIM_Period = ((1000000 / onetofour) - 1);
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@ -141,53 +143,53 @@ void PIOS_Servo_SetHz(uint16_t onetofour, uint16_t fivetoeight)
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/**
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* Set servo position
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* \param[in] Servo Servo number (0-7)
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* \param[in] Servo Servo number (1-8)
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* \param[in] Position Servo position in milliseconds
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*/
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void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
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{
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/* Make sure servo exists */
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if (Servo < PIOS_SERVO_NUM_OUTPUTS && Servo >= 0)
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{
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/* Clip servo position */
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if(Position < Settings.Servos.PositionMin) {
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Position = Settings.Servos.PositionMin;
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}
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if(Position > Settings.Servos.PositionMax) {
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Position = Settings.Servos.PositionMax;
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}
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/* Update the position */
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ServoPosition[Servo] = Position;
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switch(Servo)
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{
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case 0:
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/* Make sure servo exists */
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if (Servo < PIOS_SERVO_NUM_OUTPUTS && Servo >= 0)
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{
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/* Clip servo position */
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if(Position < Settings.Servos.PositionMin) {
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Position = Settings.Servos.PositionMin;
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}
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if(Position > Settings.Servos.PositionMax) {
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Position = Settings.Servos.PositionMax;
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}
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/* Update the position */
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ServoPosition[Servo] = Position;
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switch(Servo)
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{
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case 1:
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TIM_SetCompare1(TIM4, Position);
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break;
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case 1:
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case 2:
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TIM_SetCompare2(TIM4, Position);
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break;
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case 2:
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case 3:
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TIM_SetCompare3(TIM4, Position);
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break;
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case 3:
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case 4:
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TIM_SetCompare4(TIM4, Position);
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break;
|
||||
case 4:
|
||||
case 5:
|
||||
TIM_SetCompare1(TIM8, Position);
|
||||
break;
|
||||
case 5:
|
||||
case 6:
|
||||
TIM_SetCompare2(TIM8, Position);
|
||||
break;
|
||||
case 6:
|
||||
case 7:
|
||||
TIM_SetCompare3(TIM8, Position);
|
||||
break;
|
||||
case 7:
|
||||
case 8:
|
||||
TIM_SetCompare4(TIM8, Position);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user