mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Felix Ruess
426 lines
11 KiB
C
426 lines
11 KiB
C
#ifndef CONFIG_KROOZ_SD_H
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#define CONFIG_KROOZ_SD_H
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#define BOARD_KROOZ
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/* KroozSD has a 12MHz external clock and 168MHz internal. */
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#define EXT_CLK 12000000
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#define AHB_CLK 168000000
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/*
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* Onboard LEDs
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*/
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/* red, on PA8 */
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#ifndef USE_LED_1
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#define USE_LED_1 1
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#endif
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#define LED_1_GPIO GPIOA
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#define LED_1_GPIO_CLK RCC_AHB1ENR_IOPAEN
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#define LED_1_GPIO_PIN GPIO13
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#define LED_1_GPIO_ON gpio_clear
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#define LED_1_GPIO_OFF gpio_set
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#define LED_1_AFIO_REMAP ((void)0)
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/* green, shared with JTAG_TRST */
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#ifndef USE_LED_2
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#define USE_LED_2 1
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#endif
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#define LED_2_GPIO GPIOA
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#define LED_2_GPIO_CLK RCC_AHB1ENR_IOPAEN
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#define LED_2_GPIO_PIN GPIO14
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#define LED_2_GPIO_ON gpio_clear
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#define LED_2_GPIO_OFF gpio_set
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#define LED_2_AFIO_REMAP ((void)0)
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/* green, shared with ADC12 (ADC_6 on connector ANALOG2) */
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#ifndef USE_LED_3
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#define USE_LED_3 1
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#endif
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#define LED_3_GPIO GPIOA
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#define LED_3_GPIO_CLK RCC_AHB1ENR_IOPAEN
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#define LED_3_GPIO_PIN GPIO15
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#define LED_3_GPIO_ON gpio_clear
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#define LED_3_GPIO_OFF gpio_set
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#define LED_3_AFIO_REMAP ((void)0)
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/*
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* not actual LEDS, used as GPIOs
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*/
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/* PB4, Camera power On/Off */
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#define CAM_SW_GPIO GPIOB
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#define CAM_SW_GPIO_CLK RCC_AHB1ENR_IOPBEN
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#define CAM_SW_GPIO_PIN GPIO4
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#define CAM_SW_AFIO_REMAP ((void)0)
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/* PC2, Camera shot */
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#define CAM_SH_GPIO GPIOC
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#define CAM_SH_GPIO_CLK RCC_AHB1ENR_IOPCEN
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#define CAM_SH_GPIO_PIN GPIO2
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#define CAM_SH_AFIO_REMAP ((void)0)
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/* PC15, Camera video */
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#define CAM_V_GPIO GPIOC
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#define CAM_V_GPIO_CLK RCC_AHB1ENR_IOPCEN
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#define CAM_V_GPIO_PIN GPIO15
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#define CAM_V_AFIO_REMAP ((void)0)
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#define BEEPER_GPIO GPIOC
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#define BEEPER_GPIO_CLK RCC_AHB1ENR_IOPCEN
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#define BEEPER_GPIO_PIN GPIO14
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#define BEEPER_AFIO_REMAP ((void)0)
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/* Default actuators driver */
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#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
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#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
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#define ActuatorsDefaultInit() ActuatorsPwmInit()
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#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
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#define DefaultVoltageOfAdc(adc) (0.008874*adc)
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/* UART */
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#define UART1_GPIO_AF GPIO_AF7
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#define UART1_GPIO_PORT_RX GPIOA
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#define UART1_GPIO_RX GPIO10
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#define UART1_GPIO_PORT_TX GPIOA
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#define UART1_GPIO_TX GPIO9
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#define UART3_GPIO_AF GPIO_AF7
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#define UART3_GPIO_PORT_RX GPIOC
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#define UART3_GPIO_RX GPIO11
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#define UART3_GPIO_PORT_TX GPIOC
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#define UART3_GPIO_TX GPIO10
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#define UART5_GPIO_AF GPIO_AF8
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#define UART5_GPIO_PORT_RX GPIOD
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#define UART5_GPIO_RX GPIO2
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#define UART5_GPIO_PORT_TX GPIOC
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#define UART5_GPIO_TX GPIO12
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/* SPI */
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#define SPI1_GPIO_AF GPIO_AF5
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#define SPI1_GPIO_PORT_MISO GPIOA
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#define SPI1_GPIO_MISO GPIO6
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#define SPI1_GPIO_PORT_MOSI GPIOA
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#define SPI1_GPIO_MOSI GPIO7
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#define SPI1_GPIO_PORT_SCK GPIOA
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#define SPI1_GPIO_SCK GPIO5
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#define SPI2_GPIO_AF GPIO_AF5
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#define SPI2_GPIO_PORT_MISO GPIOB
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#define SPI2_GPIO_MISO GPIO14
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#define SPI2_GPIO_PORT_MOSI GPIOB
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#define SPI2_GPIO_MOSI GPIO15
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#define SPI2_GPIO_PORT_SCK GPIOB
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#define SPI2_GPIO_SCK GPIO13
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#define SPI_SELECT_SLAVE0_PORT GPIOA
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#define SPI_SELECT_SLAVE0_PIN GPIO4
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#define SPI_SELECT_SLAVE1_PORT GPIOB
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#define SPI_SELECT_SLAVE1_PIN GPIO12
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#define SPI_SELECT_SLAVE2_PORT GPIOB
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#define SPI_SELECT_SLAVE2_PIN GPIO2
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/* I2C mapping */
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#define I2C1_GPIO_PORT GPIOB
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#define I2C1_GPIO_SCL GPIO8
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#define I2C1_GPIO_SDA GPIO9
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#define I2C2_GPIO_PORT GPIOB
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#define I2C2_GPIO_SCL GPIO10
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#define I2C2_GPIO_SDA GPIO11
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#define I2C3_GPIO_PORT_SCL GPIOA
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#define I2C3_GPIO_PORT_SDA GPIOC
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#define I2C3_GPIO_SCL GPIO8
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#define I2C3_GPIO_SDA GPIO9
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/* Onboard ADCs */
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#define USE_AD_TIM1 1
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#define BOARD_ADC_CHANNEL_1 12
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#define BOARD_ADC_CHANNEL_2 10
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#define BOARD_ADC_CHANNEL_3 11
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#define BOARD_ADC_CHANNEL_4 13
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#define BOARD_ADC_CHANNEL_5 14
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#define BOARD_ADC_CHANNEL_6 15
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/* provide defines that can be used to access the ADC_x in the code or airframe file
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* these directly map to the index number of the 4 adc channels defined above
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* 4th (index 3) is used for bat monitoring by default
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*/
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/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
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#ifndef ADC_CHANNEL_VSUPPLY
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#define ADC_CHANNEL_VSUPPLY ADC_4
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#endif
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#define ADC_CHANNEL_CAM1 ADC_1
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#ifndef USE_AD1
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#define USE_AD1 1
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#endif
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/* provide defines that can be used to access the ADC_x in the code or airframe file
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* these directly map to the index number of the 4 adc channels defined above
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* 4th (index 3) is used for bat monitoring by default
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*/
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#define ADC_1 ADC1_C1
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#ifdef USE_ADC_1
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#ifndef ADC_1_GPIO_CLOCK_PORT
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#define ADC_1_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPCEN
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#define ADC_1_INIT() gpio_mode_setup(GPIOC, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO2)
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#endif
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#define USE_AD1_1 1
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#else
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#define ADC_1_GPIO_CLOCK_PORT 0
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#define ADC_1_INIT() {}
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#endif
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#define ADC_2 ADC1_C2
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#ifdef USE_ADC_2
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#ifndef ADC_2_GPIO_CLOCK_PORT
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#define ADC_2_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPCEN
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#define ADC_2_INIT() gpio_mode_setup(GPIOC, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO0)
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#endif
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#define USE_AD1_2 1
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#else
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#define ADC_2_GPIO_CLOCK_PORT 0
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#define ADC_2_INIT() {}
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#endif
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#define ADC_3 ADC1_C3
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#ifdef USE_ADC_3
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#ifndef ADC_3_GPIO_CLOCK_PORT
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#define ADC_3_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPCEN
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#define ADC_3_INIT() gpio_mode_setup(GPIOC, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO1)
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#endif
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#define USE_AD1_3 1
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#else
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#define ADC_3_GPIO_CLOCK_PORT 0
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#define ADC_3_INIT() {}
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#endif
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#define ADC_4 ADC1_C4
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//#ifdef USE_ADC_4
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#ifndef ADC_4_GPIO_CLOCK_PORT
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#define ADC_4_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPCEN
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#define ADC_4_INIT() gpio_mode_setup(GPIOC, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO3)
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#endif
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#define USE_AD1_4 1
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//#else
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//#define ADC_4_GPIO_CLOCK_PORT 0
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//#define ADC_4_INIT() {}
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//#endif
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#define ADC_GPIO_CLOCK_PORT (ADC_1_GPIO_CLOCK_PORT | ADC_2_GPIO_CLOCK_PORT | ADC_3_GPIO_CLOCK_PORT | ADC_4_GPIO_CLOCK_PORT)
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#ifdef USE_AD1
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#define ADC1_GPIO_INIT(gpio) { \
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ADC_1_INIT(); \
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ADC_2_INIT(); \
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ADC_3_INIT(); \
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ADC_4_INIT(); \
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}
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#endif // USE_AD1
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/* Activate onboard baro */
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#define BOARD_HAS_BARO 1
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/* PWM */
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#define PWM_USE_TIM3 1
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#define PWM_USE_TIM4 1
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#define PWM_USE_TIM5 1
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#define USE_PWM0 1
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#define USE_PWM1 1
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#define USE_PWM2 1
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#define USE_PWM3 1
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#define USE_PWM4 1
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#define USE_PWM5 1
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#define USE_PWM6 1
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#define USE_PWM7 1
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#define USE_PWM8 1
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#define USE_PWM9 1
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//#define USE_PWM10 1
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#if USE_PWM10
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#define ACTUATORS_PWM_NB 11
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#define PWM_USE_TIM2 1
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#else
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#define ACTUATORS_PWM_NB 10
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#endif
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// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
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#if USE_PWM0
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#define PWM_SERVO_0 0
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#define PWM_SERVO_0_TIMER TIM3
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#define PWM_SERVO_0_RCC_IOP RCC_AHB1ENR_IOPBEN
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#define PWM_SERVO_0_GPIO GPIOB
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#define PWM_SERVO_0_PIN GPIO1
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#define PWM_SERVO_0_AF GPIO_AF2
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#define PWM_SERVO_0_OC TIM_OC4
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#define PWM_SERVO_0_OC_BIT (1<<3)
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#else
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#define PWM_SERVO_0_OC_BIT 0
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#endif
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#if USE_PWM1
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#define PWM_SERVO_1 1
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#define PWM_SERVO_1_TIMER TIM3
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#define PWM_SERVO_1_RCC_IOP RCC_AHB1ENR_IOPCEN
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#define PWM_SERVO_1_GPIO GPIOC
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#define PWM_SERVO_1_PIN GPIO8
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#define PWM_SERVO_1_AF GPIO_AF2
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#define PWM_SERVO_1_OC TIM_OC3
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#define PWM_SERVO_1_OC_BIT (1<<2)
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#else
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#define PWM_SERVO_1_OC_BIT 0
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#endif
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#if USE_PWM2
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#define PWM_SERVO_2 2
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#define PWM_SERVO_2_TIMER TIM3
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#define PWM_SERVO_2_RCC_IOP RCC_AHB1ENR_IOPCEN
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#define PWM_SERVO_2_GPIO GPIOC
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#define PWM_SERVO_2_PIN GPIO7
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#define PWM_SERVO_2_AF GPIO_AF2
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#define PWM_SERVO_2_OC TIM_OC2
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#define PWM_SERVO_2_OC_BIT (1<<1)
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#else
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#define PWM_SERVO_2_OC_BIT 0
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#endif
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#if USE_PWM3
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#define PWM_SERVO_3 3
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#define PWM_SERVO_3_TIMER TIM3
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#define PWM_SERVO_3_RCC_IOP RCC_AHB1ENR_IOPBEN
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#define PWM_SERVO_3_GPIO GPIOB
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#define PWM_SERVO_3_PIN GPIO4
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#define PWM_SERVO_3_AF GPIO_AF2
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#define PWM_SERVO_3_OC TIM_OC1
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#define PWM_SERVO_3_OC_BIT (1<<0)
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#else
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#define PWM_SERVO_3_OC_BIT 0
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#endif
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#if USE_PWM4
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#define PWM_SERVO_4 4
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#define PWM_SERVO_4_TIMER TIM4
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#define PWM_SERVO_4_RCC_IOP RCC_AHB1ENR_IOPBEN
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#define PWM_SERVO_4_GPIO GPIOB
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#define PWM_SERVO_4_PIN GPIO7
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#define PWM_SERVO_4_AF GPIO_AF2
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#define PWM_SERVO_4_OC TIM_OC2
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#define PWM_SERVO_4_OC_BIT (1<<1)
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#else
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#define PWM_SERVO_4_OC_BIT 0
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#endif
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#if USE_PWM5
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#define PWM_SERVO_5 5
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#define PWM_SERVO_5_TIMER TIM4
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#define PWM_SERVO_5_RCC_IOP RCC_AHB1ENR_IOPBEN
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#define PWM_SERVO_5_GPIO GPIOB
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#define PWM_SERVO_5_PIN GPIO6
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#define PWM_SERVO_5_AF GPIO_AF2
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#define PWM_SERVO_5_OC TIM_OC1
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#define PWM_SERVO_5_OC_BIT (1<<0)
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#else
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#define PWM_SERVO_5_OC_BIT 0
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#endif
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#if USE_PWM6
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#define PWM_SERVO_6 6
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#define PWM_SERVO_6_TIMER TIM5
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#define PWM_SERVO_6_RCC_IOP RCC_AHB1ENR_IOPAEN
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#define PWM_SERVO_6_GPIO GPIOA
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#define PWM_SERVO_6_PIN GPIO3
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#define PWM_SERVO_6_AF GPIO_AF2
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#define PWM_SERVO_6_OC TIM_OC4
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#define PWM_SERVO_6_OC_BIT (1<<3)
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#else
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#define PWM_SERVO_6_OC_BIT 0
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#endif
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#if USE_PWM7
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#define PWM_SERVO_7 7
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#define PWM_SERVO_7_TIMER TIM5
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#define PWM_SERVO_7_RCC_IOP RCC_AHB1ENR_IOPAEN
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#define PWM_SERVO_7_GPIO GPIOA
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#define PWM_SERVO_7_PIN GPIO2
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#define PWM_SERVO_7_AF GPIO_AF2
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#define PWM_SERVO_7_OC TIM_OC3
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#define PWM_SERVO_7_OC_BIT (1<<2)
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#else
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#define PWM_SERVO_7_OC_BIT 0
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#endif
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#if USE_PWM8
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#define PWM_SERVO_8 8
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#define PWM_SERVO_8_TIMER TIM5
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#define PWM_SERVO_8_RCC_IOP RCC_AHB1ENR_IOPAEN
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#define PWM_SERVO_8_GPIO GPIOA
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#define PWM_SERVO_8_PIN GPIO1
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#define PWM_SERVO_8_AF GPIO_AF2
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#define PWM_SERVO_8_OC TIM_OC2
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#define PWM_SERVO_8_OC_BIT (1<<1)
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#else
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#define PWM_SERVO_8_OC_BIT 0
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#endif
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#if USE_PWM9
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#define PWM_SERVO_9 9
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#define PWM_SERVO_9_TIMER TIM5
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#define PWM_SERVO_9_RCC_IOP RCC_AHB1ENR_IOPAEN
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#define PWM_SERVO_9_GPIO GPIOA
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#define PWM_SERVO_9_PIN GPIO0
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#define PWM_SERVO_9_AF GPIO_AF2
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#define PWM_SERVO_9_OC TIM_OC1
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#define PWM_SERVO_9_OC_BIT (1<<0)
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#else
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#define PWM_SERVO_9_OC_BIT 0
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#endif
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#if USE_PWM10
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#define PWM_SERVO_10 10
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#define PWM_SERVO_10_TIMER TIM2
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#define PWM_SERVO_10_RCC_IOP RCC_AHB1ENR_IOPBEN
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#define PWM_SERVO_10_GPIO GPIOB
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#define PWM_SERVO_10_PIN GPIO3
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#define PWM_SERVO_10_AF GPIO_AF1
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#define PWM_SERVO_10_OC TIM_OC2
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#define PWM_SERVO_10_OC_BIT (1<<1)
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#else
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#define PWM_SERVO_10_OC_BIT 0
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#endif
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#define PWM_TIM2_CHAN_MASK (PWM_SERVO_10_OC_BIT)
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#define PWM_TIM3_CHAN_MASK (PWM_SERVO_0_OC_BIT|PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT)
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#define PWM_TIM4_CHAN_MASK (PWM_SERVO_4_OC_BIT|PWM_SERVO_5_OC_BIT)
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#define PWM_TIM5_CHAN_MASK (PWM_SERVO_6_OC_BIT|PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT|PWM_SERVO_9_OC_BIT)
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/* PPM */
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#define USE_PPM_TIM2 1
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#define PPM_CHANNEL TIM_IC2
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#define PPM_TIMER_INPUT TIM_IC_IN_TI2
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#define PPM_IRQ NVIC_TIM2_IRQ
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//#define PPM_IRQ2 NVIC_TIM2_UP_TIM10_IRQ
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// Capture/Compare InteruptEnable and InterruptFlag
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#define PPM_CC_IE TIM_DIER_CC2IE
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#define PPM_CC_IF TIM_SR_CC2IF
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#define PPM_GPIO_PORT GPIOB
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#define PPM_GPIO_PIN GPIO3
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#define PPM_GPIO_AF GPIO_AF1
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/*
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* Spektrum
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*/
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/* The line that is pulled low at power up to initiate the bind process */
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#define SPEKTRUM_BIND_PIN GPIO9
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#define SPEKTRUM_BIND_PIN_PORT GPIOA
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#endif /* CONFIG_KROOZ_SD_H */
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