Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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cc3d.h
Go to the documentation of this file.
1
#ifndef CONFIG_CC3D_H
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#define CONFIG_CC3D_H
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/* CC3D has a 8MHz external clock and 72MHz internal. */
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#define EXT_CLK 8000000
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#define AHB_CLK 72000000
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/*
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* Onboard LEDs
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*/
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/* blue status led, on PB3 */
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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 GPIOB
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#define LED_1_GPIO_PIN GPIO3
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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 { \
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rcc_periph_clock_enable(RCC_AFIO); \
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AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_ON; \
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}
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#define LED_1_AFIO_REMAP { \
…
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/* SPI slave mapping */
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/* MPU600 on spi1 */
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#define SPI_SELECT_SLAVE0_PORT GPIOA
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#define SPI_SELECT_SLAVE0_PIN GPIO4
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/* 16Mbit flash on spi2 */
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#define SPI_SELECT_SLAVE1_PORT GPIOB
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#define SPI_SELECT_SLAVE1_PIN GPIO12
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/*
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* UART pin configuration
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*
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* sets on which pins the UARTs are connected
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*/
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/* UART1 on main port */
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#define UART1_GPIO_AF 0
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#define UART1_GPIO_PORT_RX GPIO_BANK_USART1_RX
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#define UART1_GPIO_RX GPIO_USART1_RX
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#define UART1_GPIO_PORT_TX GPIO_BANK_USART1_TX
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#define UART1_GPIO_TX GPIO_USART1_TX
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/* UART3 on Flexi Port */
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#define UART3_GPIO_AF AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP
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#define UART3_GPIO_PORT_RX GPIO_BANK_USART3_PR_RX
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#define UART3_GPIO_RX GPIO_USART3_PR_RX
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#define UART3_GPIO_PORT_TX GPIO_BANK_USART3_PR_TX
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#define UART3_GPIO_TX GPIO_USART3_PR_TX
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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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/* set to ppm/servo6 input pin on RC connector for now */
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#define SPEKTRUM_BIND_PIN GPIO1
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#define SPEKTRUM_BIND_PIN_PORT GPIOA
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#define SPEKTRUM_UART1_RCC RCC_USART1
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#define SPEKTRUM_UART1_BANK GPIO_BANK_USART1_RX
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#define SPEKTRUM_UART1_PIN GPIO_USART1_RX
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#define SPEKTRUM_UART1_AF 0
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#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ
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#define SPEKTRUM_UART1_ISR usart1_isr
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#define SPEKTRUM_UART1_DEV USART1
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#define SPEKTRUM_UART3_RCC RCC_USART3
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#define SPEKTRUM_UART3_BANK GPIO_BANK_USART3_PR_RX
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#define SPEKTRUM_UART3_PIN GPIO_USART3_PR_RX
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#define SPEKTRUM_UART3_AF AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP
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#define SPEKTRUM_UART3_IRQ NVIC_USART3_IRQ
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#define SPEKTRUM_UART3_ISR usart3_isr
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#define SPEKTRUM_UART3_DEV USART3
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/* Pint to set Uart1 RX polarity, on PB2, output high inverts, low doesn't */
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#define RC_POLARITY_GPIO_PORT GPIOB
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#define RC_POLARITY_GPIO_PIN GPIO2
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/* PPM
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*
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* Default is PPM config 2, input on GPIOA1: RC input pin 8 (S6_IN)
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*/
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#ifndef PPM_CONFIG
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#define PPM_CONFIG 2
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#endif
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#if PPM_CONFIG == 1
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/* input on PB6 (S1_IN) */
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#define USE_PPM_TIM4 1
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#define PPM_CHANNEL TIM_IC1
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#define PPM_TIMER_INPUT TIM_IC_IN_TI1
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#define PPM_IRQ NVIC_TIM4_UP_IRQ
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// Capture/Compare InteruptEnable and InterruptFlag
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#define PPM_CC_IE TIM_DIER_CC1IE
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#define PPM_CC_IF TIM_SR_CC1IF
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#define PPM_GPIO_PORT GPIOB
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#define PPM_GPIO_PIN GPIO6
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#define PPM_GPIO_AF 0
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#elif PPM_CONFIG == 2
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/* input on PA1 (S6_IN) */
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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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// 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 GPIOA
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#define PPM_GPIO_PIN GPIO1
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#define PPM_GPIO_AF 0
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#else
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#error "Unknown PPM config"
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#endif
// PPM_CONFIG
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/*
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* ADC
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* noting yet, board doesn't seem to have voltage devider for bat measurement
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*/
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/*
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* I2C
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*/
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/* flexi port */
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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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/*
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* PWM
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* only servos 1-4 enabled for now
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*/
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/* servos 1-3 */
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#define PWM_USE_TIM4 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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/* servo 4 */
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#define PWM_USE_TIM1 1
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#define USE_PWM4 1
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/* servo 5 */
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#define PWM_USE_TIM3 0
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#define USE_PWM5 0
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/* servo 6 */
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#define PWM_USE_TIM2 0
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#define USE_PWM6 0
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#define ACTUATORS_PWM_NB 4
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// Servo output numbering on silkscreen starts with 1
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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_PWM1
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#define PWM_SERVO_1 0
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#define PWM_SERVO_1_TIMER TIM4
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#define PWM_SERVO_1_GPIO GPIOB
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#define PWM_SERVO_1_PIN GPIO9
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#define PWM_SERVO_1_AF 0
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#define PWM_SERVO_1_OC TIM_OC4
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#define PWM_SERVO_1_OC_BIT (1<<3)
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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 1
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#define PWM_SERVO_2_TIMER TIM4
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#define PWM_SERVO_2_GPIO GPIOB
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#define PWM_SERVO_2_PIN GPIO8
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#define PWM_SERVO_2_AF 0
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#define PWM_SERVO_2_OC TIM_OC3
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#define PWM_SERVO_2_OC_BIT (1<<2)
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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 2
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#define PWM_SERVO_3_TIMER TIM4
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#define PWM_SERVO_3_GPIO GPIOB
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#define PWM_SERVO_3_PIN GPIO7
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#define PWM_SERVO_3_AF 0
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#define PWM_SERVO_3_OC TIM_OC2
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#define PWM_SERVO_3_OC_BIT (1<<1)
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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 3
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#define PWM_SERVO_4_TIMER TIM1
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#define PWM_SERVO_4_GPIO GPIOA
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#define PWM_SERVO_4_PIN GPIO1
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#define PWM_SERVO_4_AF 0
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#define PWM_SERVO_4_OC TIM_OC1
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#define PWM_SERVO_4_OC_BIT (1<<0)
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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 4
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#define PWM_SERVO_5_TIMER TIM3
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#define PWM_SERVO_5_GPIO GPIOB
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#define PWM_SERVO_5_PIN GPIO4
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#define PWM_SERVO_5_AF 0
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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 5
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#define PWM_SERVO_6_TIMER TIM2
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#define PWM_SERVO_6_GPIO GPIOA
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#define PWM_SERVO_6_PIN GPIO2
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#define PWM_SERVO_6_AF 0
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#define PWM_SERVO_6_OC TIM_OC3
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#define PWM_SERVO_6_OC_BIT (1<<2)
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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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/* servos 1-3 on TIM4 */
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#define PWM_TIM4_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT)
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/* servo 4 on TIM1 */
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#define PWM_TIM1_CHAN_MASK PWM_SERVO_4_OC_BIT
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/* servo 5 on TIM3 */
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#define PWM_TIM3_CHAN_MASK PWM_SERVO_5_OC_BIT
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/* servo 6 on TIM2 */
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#define PWM_TIM2_CHAN_MASK PWM_SERVO_6_OC_BIT
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/* Default actuators driver */
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#define DEFAULT_ACTUATORS "modules/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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/* simply always return 5V for now */
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#define DefaultVoltageOfAdc(adc) (50)
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#endif
/* CONFIG_CC3D_H */
sw
airborne
boards
cc3d.h
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