mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
506 lines
12 KiB
C
506 lines
12 KiB
C
#include <pios_config.h>
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#if defined(PIOS_INCLUDE_LED)
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#include <pios_led_priv.h>
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static const struct pios_led pios_leds[] = {
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[PIOS_LED_USB] = {
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.pin = {
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.gpio = GPIOA,
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//.gpio = GPIOC,
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.init = {
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.GPIO_Pin = GPIO_Pin_3,
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//.GPIO_Pin = GPIO_Pin_13,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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.GPIO_Speed = GPIO_Speed_50MHz,
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},
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},
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},
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[PIOS_LED_LINK] = {
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_5,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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.GPIO_Speed = GPIO_Speed_50MHz,
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},
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},
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},
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[PIOS_LED_RX] = {
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_6,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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.GPIO_Speed = GPIO_Speed_50MHz,
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},
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},
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},
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[PIOS_LED_TX] = {
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_7,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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.GPIO_Speed = GPIO_Speed_50MHz,
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},
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},
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},
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};
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static const struct pios_led_cfg pios_led_cfg = {
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.leds = pios_leds,
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.num_leds = NELEMENTS(pios_leds),
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};
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#endif /* PIOS_INCLUDE_LED */
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#if defined(PIOS_INCLUDE_SPI)
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#include <pios_spi_priv.h>
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/* OP Interface
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*
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* NOTE: Leave this declared as const data so that it ends up in the
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* .rodata section (ie. Flash) rather than in the .bss section (RAM).
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*/
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void PIOS_SPI_port_irq_handler(void);
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void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
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void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
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static const struct pios_spi_cfg pios_spi_port_cfg =
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{
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.regs = SPI1,
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.init =
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{
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.SPI_Mode = SPI_Mode_Master,
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.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
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.SPI_DataSize = SPI_DataSize_8b,
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.SPI_NSS = SPI_NSS_Soft,
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.SPI_FirstBit = SPI_FirstBit_MSB,
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.SPI_CRCPolynomial = 0,
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.SPI_CPOL = SPI_CPOL_Low,
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.SPI_CPHA = SPI_CPHA_1Edge,
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.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256, // slowest SCLK
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},
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.use_crc = FALSE,
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.dma =
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{
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq =
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{
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.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel2_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA1_Channel2,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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.tx = {
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.channel = DMA1_Channel3,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
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.DMA_DIR = DMA_DIR_PeripheralDST,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
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.DMA_Mode = DMA_Mode_Normal,
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.DMA_Priority = DMA_Priority_Medium,
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.DMA_M2M = DMA_M2M_Disable,
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},
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},
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},
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.ssel =
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{
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.gpio = GPIOA,
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.init =
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{
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.GPIO_Pin = GPIO_Pin_4,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_Out_PP,
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},
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},
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.sclk =
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{
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.gpio = GPIOA,
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.init =
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{
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.GPIO_Pin = GPIO_Pin_5,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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.miso =
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{
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.gpio = GPIOA,
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.init =
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{
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.GPIO_Pin = GPIO_Pin_6,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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},
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},
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.mosi =
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{
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.gpio = GPIOA,
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.init =
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{
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.GPIO_Pin = GPIO_Pin_7,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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uint32_t pios_spi_port_id;
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void PIOS_SPI_port_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_SPI_IRQ_Handler(pios_spi_port_id);
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}
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#endif /* PIOS_INCLUDE_SPI */
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#if defined(PIOS_INCLUDE_ADC)
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/*
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* ADC system
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*/
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#include "pios_adc_priv.h"
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extern void PIOS_ADC_handler(void);
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void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
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// Remap the ADC DMA handler to this one
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static const struct pios_adc_cfg pios_adc_cfg = {
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.dma = {
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.ahb_clk = RCC_AHBPeriph_DMA1,
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.irq = {
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.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
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.init = {
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.NVIC_IRQChannel = DMA1_Channel1_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA1_Channel1,
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.init = {
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.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR,
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.DMA_DIR = DMA_DIR_PeripheralSRC,
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.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
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.DMA_MemoryInc = DMA_MemoryInc_Enable,
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.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word,
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.DMA_MemoryDataSize = DMA_MemoryDataSize_Word,
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.DMA_Mode = DMA_Mode_Circular,
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.DMA_Priority = DMA_Priority_High,
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.DMA_M2M = DMA_M2M_Disable,
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},
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}
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},
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.half_flag = DMA1_IT_HT1,
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.full_flag = DMA1_IT_TC1,
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};
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struct pios_adc_dev pios_adc_devs[] = {
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{
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.cfg = &pios_adc_cfg,
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.callback_function = NULL,
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},
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};
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uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);
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void PIOS_ADC_handler() {
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PIOS_ADC_DMA_Handler();
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}
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#endif /* PIOS_INCLUDE_ADC */
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#if defined(PIOS_INCLUDE_USART)
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#include <pios_usart_priv.h>
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/*
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* SERIAL USART
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*/
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static const struct pios_usart_cfg pios_usart_serial_cfg =
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{
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.regs = USART1,
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.init =
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{
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.USART_BaudRate = 57600,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
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},
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.irq =
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{
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.init =
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{
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.NVIC_IRQChannel = USART1_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx =
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{
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.gpio = GPIOA,
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.init =
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{
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.tx =
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{
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.gpio = GPIOA,
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.init =
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{
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.GPIO_Pin = GPIO_Pin_9,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = {
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.regs = USART3,
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.init = {
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.USART_BaudRate = 57600,
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.USART_WordLength = USART_WordLength_8b,
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.USART_Parity = USART_Parity_No,
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.USART_StopBits = USART_StopBits_1,
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.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
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.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = USART3_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_11,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IPU,
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},
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},
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.tx = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_10,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_AF_PP,
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},
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},
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};
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#endif /* PIOS_INCLUDE_USART */
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#if defined(PIOS_INCLUDE_COM)
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#include <pios_com_priv.h>
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#endif /* PIOS_INCLUDE_COM */
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#if defined(PIOS_INCLUDE_RTC)
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/*
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* Realtime Clock (RTC)
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*/
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#include <pios_rtc_priv.h>
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void PIOS_RTC_IRQ_Handler (void);
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void RTC_IRQHandler() __attribute__ ((alias ("PIOS_RTC_IRQ_Handler")));
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static const struct pios_rtc_cfg pios_rtc_main_cfg = {
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.clksrc = RCC_RTCCLKSource_HSE_Div128,
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.prescaler = 100,
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.irq = {
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.init = {
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.NVIC_IRQChannel = RTC_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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void PIOS_RTC_IRQ_Handler (void)
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{
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PIOS_RTC_irq_handler ();
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}
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#endif
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#if defined(PIOS_INCLUDE_TIM)
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#include "pios_tim_priv.h"
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static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_time_base = {
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.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,
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.TIM_ClockDivision = TIM_CKD_DIV1,
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.TIM_CounterMode = TIM_CounterMode_Up,
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.TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
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.TIM_RepetitionCounter = 0x0000,
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};
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static const struct pios_tim_clock_cfg tim_1_cfg = {
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.timer = TIM1,
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.time_base_init = &tim_1_2_3_4_time_base,
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.irq = {
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.init = {
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.NVIC_IRQChannel = TIM1_CC_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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static const struct pios_tim_clock_cfg tim_2_cfg = {
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.timer = TIM2,
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.time_base_init = &tim_1_2_3_4_time_base,
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.irq = {
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.init = {
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.NVIC_IRQChannel = TIM2_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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static const struct pios_tim_clock_cfg tim_3_cfg = {
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.timer = TIM3,
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.time_base_init = &tim_1_2_3_4_time_base,
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.irq = {
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.init = {
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.NVIC_IRQChannel = TIM3_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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static const struct pios_tim_clock_cfg tim_4_cfg = {
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.timer = TIM4,
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.time_base_init = &tim_1_2_3_4_time_base,
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.irq = {
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.init = {
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.NVIC_IRQChannel = TIM4_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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#endif /* PIOS_INCLUDE_TIM */
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#if defined(PIOS_INCLUDE_USB)
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#include "pios_usb_priv.h"
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static const struct pios_usb_cfg pios_usb_main_cfg = {
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.irq = {
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.init = {
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.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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#include "pios_usb_board_data_priv.h"
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#include "pios_usb_desc_hid_cdc_priv.h"
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#include "pios_usb_desc_hid_only_priv.h"
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#endif /* PIOS_INCLUDE_USB */
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#if defined(PIOS_INCLUDE_COM_MSG)
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#include <pios_com_msg_priv.h>
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#endif /* PIOS_INCLUDE_COM_MSG */
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#if defined(PIOS_INCLUDE_USB_HID)
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#include <pios_usb_hid_priv.h>
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const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
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.data_if = 0,
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.data_rx_ep = 1,
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.data_tx_ep = 1,
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};
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#endif /* PIOS_INCLUDE_USB_HID */
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#if defined(PIOS_INCLUDE_USB_CDC)
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#include <pios_usb_cdc_priv.h>
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const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
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.ctrl_if = 1,
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.ctrl_tx_ep = 2,
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.data_if = 2,
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.data_rx_ep = 3,
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.data_tx_ep = 3,
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};
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#endif /* PIOS_INCLUDE_USB_CDC */
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#if defined(PIOS_INCLUDE_RFM22B)
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#include <pios_rfm22b_priv.h>
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const struct pios_rfm22b_cfg pios_rfm22b_cfg = {
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.frequencyHz = 434000000,
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.minFrequencyHz = 434000000 - 2000000,
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.maxFrequencyHz = 434000000 + 2000000,
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.RFXtalCap = 0x7f,
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.maxRFBandwidth = 128000,
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//.maxTxPower = RFM22_tx_pwr_txpow_0, // +1dBm ... 1.25mW
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.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
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.sendTimeout = 25, /* ms */
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.minPacketSize = 100,
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.txWinSize = 4,
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.maxConnections = 1,
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};
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#endif /* PIOS_INCLUDE_RFM22B */
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#if defined(PIOS_INCLUDE_PACKET_HANDLER)
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#include <packet_handler.h>
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// Initialize the packet handler
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PacketHandlerConfig pios_ph_cfg = {
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.txWinSize = PIOS_PH_TX_WIN_SIZE,
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.maxConnections = PIOS_PH_MAX_CONNECTIONS,
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};
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#endif /* PIOS_INCLUDE_PACKET_HANDLER */
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