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209 lines
7.0 KiB
C
209 lines
7.0 KiB
C
/**
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******************************************************************************
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*
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* @file pios_ws2811.c
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
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* @brief A driver for ws2811 rgb led controller.
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* this is a port of the CleanFlight/BetaFlight implementation.
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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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#include "pios.h"
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#include "pios_ws2811.h"
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#include "pios_ws2811_cfg.h"
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#define WS2811_BITS_PER_LED 24
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// for 50us delay
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#define WS2811_DELAY_BUFFER_LENGTH 42
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#define WS2811_DATA_BUFFER_SIZE (WS2811_BITS_PER_LED * PIOS_WS2811_NUMLEDS)
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// number of bytes needed is #LEDs * 24 bytes + 42 trailing bytes)
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#define WS2811_DMA_BUFFER_SIZE (WS2811_DATA_BUFFER_SIZE + WS2811_DELAY_BUFFER_LENGTH)
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#define WS2811_TIMER_HZ 24000000
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#define WS2811_TIMER_PERIOD 29
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// timer compare value for logical 1
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#define BIT_COMPARE_1 17
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// timer compare value for logical 0
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#define BIT_COMPARE_0 9
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#define PIOS_WS2811_MAGIC 0x00281100
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struct pios_ws2811_dev {
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uint32_t magic;
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const struct pios_ws2811_cfg *config;
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uint8_t dma_buffer[WS2811_DMA_BUFFER_SIZE];
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bool dma_active;
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};
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struct pios_ws2811_dev *ws2811_dev;
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void PIOS_WS2811_Init(uint32_t *dev_id, const struct pios_ws2811_cfg *ws2811_cfg)
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{
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if (ws2811_dev) {
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return;
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}
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ws2811_dev = (struct pios_ws2811_dev *)pios_malloc(sizeof(*ws2811_dev));
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PIOS_Assert(ws2811_dev);
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memset(ws2811_dev, 0, sizeof(*ws2811_dev));
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ws2811_dev->magic = PIOS_WS2811_MAGIC;
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ws2811_dev->config = ws2811_cfg;
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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TIM_OCInitTypeDef TIM_OCInitStructure;
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DMA_InitTypeDef DMA_InitStructure;
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GPIO_Init(ws2811_cfg->pin.gpio, (GPIO_InitTypeDef *)&ws2811_cfg->pin.init);
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GPIO_PinAFConfig(ws2811_cfg->pin.gpio, ws2811_cfg->pin.pin_source, ws2811_cfg->remap);
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/* Compute the prescaler value */
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uint16_t prescalerValue = (uint16_t)(SystemCoreClock / WS2811_TIMER_HZ) - 1;
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/* Time base configuration */
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TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
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TIM_TimeBaseStructure.TIM_Period = WS2811_TIMER_PERIOD; // 800kHz
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TIM_TimeBaseStructure.TIM_Prescaler = prescalerValue;
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TIM_TimeBaseStructure.TIM_ClockDivision = 0;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseInit(ws2811_cfg->timer, &TIM_TimeBaseStructure);
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/* PWM1 Mode configuration: Channel1 */
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TIM_OCStructInit(&TIM_OCInitStructure);
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TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
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TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
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TIM_OCInitStructure.TIM_Pulse = 0;
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TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
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switch (ws2811_cfg->timer_chan) {
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case TIM_Channel_1:
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TIM_OC1Init(ws2811_cfg->timer, &TIM_OCInitStructure);
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TIM_OC1PreloadConfig(ws2811_cfg->timer, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_2:
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TIM_OC2Init(ws2811_cfg->timer, &TIM_OCInitStructure);
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TIM_OC2PreloadConfig(ws2811_cfg->timer, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_3:
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TIM_OC3Init(ws2811_cfg->timer, &TIM_OCInitStructure);
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TIM_OC3PreloadConfig(ws2811_cfg->timer, TIM_OCPreload_Enable);
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break;
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case TIM_Channel_4:
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TIM_OC4Init(ws2811_cfg->timer, &TIM_OCInitStructure);
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TIM_OC4PreloadConfig(ws2811_cfg->timer, TIM_OCPreload_Enable);
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break;
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}
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TIM_CtrlPWMOutputs(ws2811_cfg->timer, ENABLE);
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/* configure DMA */
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// NVIC setup here
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannel = ws2811_cfg->dma_irqn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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DMA_DeInit(ws2811_cfg->dma_chan);
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DMA_StructInit(&DMA_InitStructure);
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DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ws2811_cfg->timer->CCR1 + ws2811_cfg->timer_chan;
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DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)ws2811_dev->dma_buffer;
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
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DMA_InitStructure.DMA_BufferSize = WS2811_DMA_BUFFER_SIZE;
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
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DMA_InitStructure.DMA_Priority = DMA_Priority_High;
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DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
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DMA_Init(ws2811_cfg->dma_chan, &DMA_InitStructure);
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TIM_DMACmd(ws2811_cfg->timer, ws2811_cfg->timer_dma_source, ENABLE);
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DMA_ITConfig(ws2811_cfg->dma_chan, DMA_IT_TC, ENABLE);
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*dev_id = (uint32_t)ws2811_dev;
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}
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void PIOS_WS2811_DMA_irq_handler()
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{
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if (!ws2811_dev) {
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return;
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}
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if (DMA_GetITStatus(ws2811_dev->config->dma_tcif)) {
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ws2811_dev->dma_active = false;
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DMA_Cmd(ws2811_dev->config->dma_chan, DISABLE);
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DMA_ClearITPendingBit(ws2811_dev->config->dma_tcif);
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}
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}
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/**
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* Set a led color
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* @param c color
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* @param led led number
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* @param update Perform an update after changing led color
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*/
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void PIOS_WS2811_setColorRGB(Color_t c, uint8_t led, bool update)
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{
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if (!ws2811_dev || (led >= PIOS_WS2811_NUMLEDS)) {
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return;
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}
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int offset = led * WS2811_BITS_PER_LED;
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uint32_t grb = (c.G << 16) | (c.R << 8) | (c.B);
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for (int bit = (WS2811_BITS_PER_LED - 1); bit >= 0; --bit) {
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ws2811_dev->dma_buffer[offset++] = (grb & (1 << bit)) ? BIT_COMPARE_1 : BIT_COMPARE_0;
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}
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if (update) {
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PIOS_WS2811_Update();
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}
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}
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void PIOS_WS2811_Update()
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{
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if (!ws2811_dev || ws2811_dev->dma_active) {
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return;
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}
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ws2811_dev->dma_active = true;
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DMA_SetCurrDataCounter(ws2811_dev->config->dma_chan, WS2811_DMA_BUFFER_SIZE); // load number of bytes to be transferred
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TIM_SetCounter(ws2811_dev->config->timer, 0);
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TIM_Cmd(ws2811_dev->config->timer, ENABLE);
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DMA_Cmd(ws2811_dev->config->dma_chan, ENABLE);
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}
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