mirror of
https://bitbucket.org/librepilot/librepilot.git
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ff73ab5a80
Added PIOS_I2C into AHRS code. Added PIOS_HMC5843 Module. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@617 ebee16cc-31ac-478f-84a7-5cbb03baadba
421 lines
18 KiB
C
421 lines
18 KiB
C
/**
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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 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 | RC In 3 | RC In 6 | RC In 5 |
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TIM2 | --------------- PIOS_DELAY -----------------
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TIM3 | RC In 7 | RC In 8 | RC In 1 | RC In 2
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TIM4 | Servo 1 | Servo 2 | Servo 3 | Servo 4
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TIM5 | RC In 4 | | |
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TIM6 | ----------- PIOS_PWM (Supervisor) ----------
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TIM7 | | | |
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TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
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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 - ADC */
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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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//------------------------
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#define PIOS_LED_LED1_GPIO_PORT GPIOC
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#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_12
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#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOC
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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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//------------------------
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// PIOS_I2C
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//------------------------
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#define PIOS_I2C_PORT I2C2
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#define PIOS_I2C_CLK RCC_APB1Periph_I2C2
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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_HANDLER void I2C2_EV_IRQHandler(void)
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#define PIOS_I2C_IRQ_ER_HANDLER void I2C2_ER_IRQHandler(void)
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#define PIOS_I2C_IRQ_EV_CHANNEL I2C2_EV_IRQn
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#define PIOS_I2C_IRQ_ER_CHANNEL I2C2_EV_IRQn
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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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//------------------------
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// PIOS_BMP085
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//------------------------
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#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
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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_EXTI_LINE EXTI_Line15
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#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
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#define PIOS_BMP085_EOC_PRIO PIOS_IRQ_PRIO_HIGH
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#define PIOS_BMP085_OVERSAMPLING 2
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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_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_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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#define PIOS_USART1_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE)
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#define PIOS_USART1_NVIC_PRIO PIOS_IRQ_PRIO_HIGHEST
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#define PIOS_USART1_BAUDRATE 57600
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//-------------------------
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// PIOS_USART2 (GPS)
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//-------------------------
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#define PIOS_USART2_ENABLED 1
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#define PIOS_USART2_USART USART3
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#define PIOS_USART2_GPIO_PORT GPIOC
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#define PIOS_USART2_RX_PIN GPIO_Pin_11
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#define PIOS_USART2_TX_PIN GPIO_Pin_10
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#define PIOS_USART2_REMAP_FUNC { GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); }
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#define PIOS_USART2_IRQ_CHANNEL USART3_IRQn
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#define PIOS_USART2_IRQHANDLER_FUNC void USART3_IRQHandler(void)
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#define PIOS_USART2_CLK_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE)
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#define PIOS_USART2_NVIC_PRIO PIOS_IRQ_PRIO_HIGH
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#define PIOS_USART2_BAUDRATE 38400
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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_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_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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#define PIOS_USART3_CLK_FUNC RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE)
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#define PIOS_USART3_NVIC_PRIO PIOS_IRQ_PRIO_HIGH
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#define PIOS_USART3_BAUDRATE 57600
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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_RX_BUFFER_SIZE 1024
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#define PIOS_USART_TX_BUFFER_SIZE 256
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#define PIOS_COM_DEBUG_PORT USART_1
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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_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_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_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_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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//-------------------------
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// PIOS_SDCARD
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//-------------------------
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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_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 ((uint32_t)0x08006000)
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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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// Receiver PWM inputs
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//-------------------------
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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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//-------------------------
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// Receiver PPM input
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//-------------------------
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#define PIOS_PPM_GPIO_PORT PIOS_PWM_CH1_GPIO_PORT
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#define PIOS_PPM_GPIO_PIN PIOS_PWM_CH1_PIN
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#define PIOS_PPM_TIM_PORT PIOS_PWM_CH1_TIM_PORT
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#define PIOS_PPM_TIM_CHANNEL PIOS_PWM_CH1_CH
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#define PIOS_PPM_TIM_CCR PIOS_PWM_CH1_CCR
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#define PIOS_PPM_TIM TIM1
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#define PIOS_PPM_TIM_IRQ TIM1_CC_IRQn
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#define PIOS_PPM_NUM_INPUTS 8 //Could be more if needed
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#define PIOS_PPM_SUPV_ENABLED 1
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#define PIOS_PPM_SUPV_TIMER TIM6
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#define PIOS_PPM_SUPV_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE)
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#define PIOS_PPM_SUPV_HZ 25
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#define PIOS_PPM_SUPV_IRQ_CHANNEL TIM6_IRQn
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#define PIOS_PPM_SUPV_IRQ_FUNC void TIM6_IRQHandler(void)
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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 1500
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//-------------------------
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// ADC
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// PIOS_ADC_PinGet(0) = Temperature Sensor (On-board)
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// PIOS_ADC_PinGet(1) = Power Sensor (Current)
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// PIOS_ADC_PinGet(2) = Power Sensor (Voltage)
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// PIOS_ADC_PinGet(3) = On-board 5v Rail Sensor
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// PIOS_ADC_PinGet(4) = Auxiliary Input 1
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// PIOS_ADC_PinGet(5) = Auxiliary Input 2
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// PIOS_ADC_PinGet(6) = Auxiliary Input 3
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//-------------------------
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//#define PIOS_ADC_OVERSAMPLING_RATE 1
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#define PIOS_ADC_USE_TEMP_SENSOR 1
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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 // PA1 (Power Sense - Voltage)
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#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_1 // ADC123_IN1
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#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_1
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#define PIOS_ADC_PIN1_ADC ADC1
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#define PIOS_ADC_PIN1_ADC_NUMBER 2
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#define PIOS_ADC_PIN2_GPIO_PORT GPIOC // PC3 (Power Sense - Current)
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#define PIOS_ADC_PIN2_GPIO_PIN GPIO_Pin_3 // ADC123_IN13
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#define PIOS_ADC_PIN2_GPIO_CHANNEL ADC_Channel_13
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#define PIOS_ADC_PIN2_ADC ADC2
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#define PIOS_ADC_PIN2_ADC_NUMBER 1
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#define PIOS_ADC_PIN3_GPIO_PORT GPIOC // PC5 (Onboard 5v Sensor) PC5
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#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_5 // ADC12_IN15
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#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_15
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#define PIOS_ADC_PIN3_ADC ADC2
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#define PIOS_ADC_PIN3_ADC_NUMBER 2
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#define PIOS_ADC_PIN4_GPIO_PORT GPIOC // PC0 (AUX 1)
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#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_0 // ADC123_IN10
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#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_10
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#define PIOS_ADC_PIN4_ADC ADC1
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#define PIOS_ADC_PIN4_ADC_NUMBER 3
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#define PIOS_ADC_PIN5_GPIO_PORT GPIOC // PC1 (AUX 2)
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#define PIOS_ADC_PIN5_GPIO_PIN GPIO_Pin_1 // ADC123_IN11
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#define PIOS_ADC_PIN5_GPIO_CHANNEL ADC_Channel_11
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#define PIOS_ADC_PIN5_ADC ADC2
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#define PIOS_ADC_PIN5_ADC_NUMBER 3
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#define PIOS_ADC_PIN6_GPIO_PORT GPIOC // PC2 (AUX 3)
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#define PIOS_ADC_PIN6_GPIO_PIN GPIO_Pin_2 // ADC123_IN12
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#define PIOS_ADC_PIN6_GPIO_CHANNEL ADC_Channel_12
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#define PIOS_ADC_PIN6_ADC ADC1
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#define PIOS_ADC_PIN6_ADC_NUMBER 4
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#define PIOS_ADC_NUM_PINS 6
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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 }
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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 }
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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 }
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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 }
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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 }
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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_Div8
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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 293.5 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_HIGH
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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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//-------------------------
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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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#endif /* PIOS_BOARD_H */
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