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243 lines
7.8 KiB
C
243 lines
7.8 KiB
C
/**
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******************************************************************************
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*
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* @file pios_board.h
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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*
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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 PIOS_BOARD_H
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#define PIOS_BOARD_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 | Servo 4 | | |
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TIM2 | RC In 5 | RC In 6 | Servo 6 |
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TIM3 | Servo 5 | RC In 2 | RC In 3 | RC In 4
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TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
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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 BOARD_READABLE true
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#define BOARD_WRITABLE true
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#define MAX_DEL_RETRYS 3
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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 RTC_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_ATTITUDE 0x0004
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#define PIOS_WDG_MANUAL 0x0008
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#define PIOS_WDG_AUTOTUNE 0x0010
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#define PIOS_WDG_SENSORS 0x0020
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// ------------------------
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// TELEMETRY
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// ------------------------
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#define TELEM_QUEUE_SIZE 10
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// ------------------------
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// PIOS_LED
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// ------------------------
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#define PIOS_LED_HEARTBEAT 0
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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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// -------------------------
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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_MAX_DEVS 1
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extern uint32_t pios_i2c_id;
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#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_id)
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#define PIOS_I2C_ESC_ADAPTER (pios_i2c_id)
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#define PIOS_I2C_MS5611_INTERNAL_ADAPTER (pios_i2c_id)
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#define PIOS_I2C_HMC5X83_INTERNAL_ADAPTER (pios_i2c_id)
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#define PIOS_I2C_MPU6000_ADAPTER (pios_i2c_id)
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#define PIOS_I2C_EXTERNAL_ADAPTER (pios_i2c_id)
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// ------------------------
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// PIOS_BMP085
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// ------------------------
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#define PIOS_BMP085_OVERSAMPLING 3
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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_MAX_DEVS 2
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// -------------------------
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// PIOS_USART
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// -------------------------
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#define PIOS_USART_MAX_DEVS 2
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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 3
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// -------------------------
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// ADC
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// PIOS_ADC_PinGet(0) = Current sensor
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// PIOS_ADC_PinGet(1) = RSSI sensor
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// PIOS_ADC_PinGet(2) = Battery voltage
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// -------------------------
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#define PIOS_DMA_PIN_CONFIG \
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{ \
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{ GPIOA, GPIO_Pin_5, ADC_Channel_2, false }, /* ADC_1 / Current */ \
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{ GPIOB, GPIO_Pin_2, ADC_Channel_12, false }, /* ADC_2 / RSSI */ \
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{ GPIOA, GPIO_Pin_4, ADC_Channel_1, false }, /* Battery voltage */ \
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}
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/* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
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/* which is annoying because this then determines the rate at which we generate buffer turnover events */
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/* the objective here is to get enough buffer space to support 100Hz averaging rate */
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#define PIOS_ADC_NUM_CHANNELS 3
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#define PIOS_ADC_MAX_OVERSAMPLING 32
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#define PIOS_ADC_USE_ADC2 0
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// ------------------------
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// PIOS_RCVR
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// See also pios_board.c
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// ------------------------
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#define PIOS_RCVR_MAX_DEVS 3
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#define PIOS_RCVR_MAX_CHANNELS 12
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#define PIOS_GCSRCVR_TIMEOUT_MS 100
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// -------------------------
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// Receiver PPM input
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// -------------------------
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#define PIOS_PPM_MAX_DEVS 1
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#define PIOS_PPM_NUM_INPUTS 16
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// -------------------------
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// Receiver PWM input
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// -------------------------
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#define PIOS_PWM_MAX_DEVS 1
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#define PIOS_PWM_NUM_INPUTS 6
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// -------------------------
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// Receiver DSM input
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// -------------------------
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#define PIOS_DSM_MAX_DEVS 2
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#define PIOS_DSM_NUM_INPUTS 12
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// -------------------------
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// Receiver S.Bus input
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// -------------------------
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#define PIOS_SBUS_MAX_DEVS 1
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#define PIOS_SBUS_NUM_INPUTS (16 + 2)
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// -------------------------
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// Receiver HOTT input
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// -------------------------
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#define PIOS_HOTT_MAX_DEVS 1
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#define PIOS_HOTT_NUM_INPUTS 32
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// -------------------------
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// Receiver EX.Bus input
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// -------------------------
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#define PIOS_EXBUS_MAX_DEVS 1
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#define PIOS_EXBUS_NUM_INPUTS 16
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// -------------------------
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// Receiver Multiplex SRXL input
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// -------------------------
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#define PIOS_SRXL_MAX_DEVS 1
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#define PIOS_SRXL_NUM_INPUTS 16
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// -------------------------
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// Receiver FlySky IBus input
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// -------------------------
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#define PIOS_IBUS_MAX_DEVS 1
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#define PIOS_IBUS_NUM_INPUTS 10
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// -------------------------
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// Servo outputs
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// -------------------------
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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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#define PIOS_SERVO_BANKS 6
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// --------------------------
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// Timer controller settings
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// --------------------------
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#define PIOS_TIM_MAX_DEVS 3
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// -------------------------
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// GPIO
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// -------------------------
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#define PIOS_GPIO_PORTS {}
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#define PIOS_GPIO_PINS {}
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#define PIOS_GPIO_CLKS {}
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#define PIOS_GPIO_NUM 0
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// -------------------------
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// MPU6000
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// -------------------------
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#define PIOS_MPU6050_I2C_ADDR_AD0_LOW 0x68
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#define PIOS_MPU6050_I2C_ADDR_AD0_HIGH 0x69
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#define PIOS_MPU6000_I2C_ADDR PIOS_MPU6050_I2C_ADDR_AD0_LOW
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#endif /* PIOS_BOARD_H */
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