Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
openpilot_revo_1.0.h
Go to the documentation of this file.
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/*
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* Copyright (C) 2016 Felix Ruess <felix.ruess@gmail.com
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*
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* This file is part of paparazzi.
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*
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* paparazzi 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 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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#ifndef CONFIG_OPENPILOT_REVO_1_0_H
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#define CONFIG_OPENPILOT_REVO_1_0_H
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#define BOARD_REVO
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/* OpenPilot Revo has a 8MHz external clock and 168MHz internal. */
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#define EXT_CLK 8000000
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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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/* STAT blue, on PB5 */
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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 GPIO5
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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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/* WARN red, on PB4 */
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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 GPIOB
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#define LED_2_GPIO_PIN GPIO4
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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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/* 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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/* UART */
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/* Main Port */
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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 UART2_GPIO_AF GPIO_AF7
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#define UART2_GPIO_PORT_RX GPIOA
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#define UART2_GPIO_RX GPIO3
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#define UART2_GPIO_PORT_TX GPIOA
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#define UART2_GPIO_TX GPIO2
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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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/*
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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 GPIO0
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#define SPEKTRUM_BIND_PIN_PORT GPIOB
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#define SPEKTRUM_UART1_RCC RCC_USART1
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#define SPEKTRUM_UART1_BANK GPIOA
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#define SPEKTRUM_UART1_PIN GPIO10
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#define SPEKTRUM_UART1_AF GPIO_AF7
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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_UART2_RCC RCC_USART2
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#define SPEKTRUM_UART2_BANK GPIOA
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#define SPEKTRUM_UART2_PIN GPIO3
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#define SPEKTRUM_UART2_AF GPIO_AF7
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#define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ
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#define SPEKTRUM_UART2_ISR usart2_isr
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#define SPEKTRUM_UART2_DEV USART2
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#define SPEKTRUM_UART5_RCC RCC_UART5
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#define SPEKTRUM_UART5_BANK GPIOD
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#define SPEKTRUM_UART5_PIN GPIO2
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#define SPEKTRUM_UART5_AF GPIO_AF8
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#define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ
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#define SPEKTRUM_UART5_ISR uart5_isr
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#define SPEKTRUM_UART5_DEV UART5
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/* PPM
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*
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* Default is PPM config 2, input on GPIOA1 (Servo pin 6)
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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 PA10 (UART1_RX) */
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#define USE_PPM_TIM1 1
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#define PPM_CHANNEL TIM_IC3
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#define PPM_TIMER_INPUT TIM_IC_IN_TI3
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#define PPM_IRQ NVIC_TIM1_CC_IRQ
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#define PPM_IRQ2 NVIC_TIM1_UP_TIM10_IRQ
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// Capture/Compare InteruptEnable and InterruptFlag
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#define PPM_CC_IE TIM_DIER_CC3IE
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#define PPM_CC_IF TIM_SR_CC3IF
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#define PPM_GPIO_PORT GPIOA
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#define PPM_GPIO_PIN GPIO10
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#define PPM_GPIO_AF GPIO_AF1
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#elif PPM_CONFIG == 2
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/* input on PA01 (Servo 6 pin) */
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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 GPIO_AF1
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// Move default ADC timer
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#if USE_AD_TIM2
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#undef USE_AD_TIM2
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#endif
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#define USE_AD_TIM1 1
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#else
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#error "Unknown PPM config"
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#endif
// PPM_CONFIG
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/* SPI */
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/* MPU6000 */
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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 SPI1_GPIO_PORT_NSS GPIOA
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#define SPI1_GPIO_NSS GPIO4
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/* flash and RFM22B-S2 modem */
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#define SPI3_GPIO_AF GPIO_AF5
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#define SPI3_GPIO_PORT_MISO GPIOC
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#define SPI3_GPIO_MISO GPIO11
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#define SPI3_GPIO_PORT_MOSI GPIOC
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#define SPI3_GPIO_MOSI GPIO12
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#define SPI3_GPIO_PORT_SCK GPIOC
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#define SPI3_GPIO_SCK GPIO10
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/* modem CS */
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#define SPI3_GPIO_PORT_NSS GPIOA
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#define SPI3_GPIO_NSS GPIO15
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/* MODEM select */
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#define SPI_SELECT_SLAVE0_PORT GPIOA
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#define SPI_SELECT_SLAVE0_PIN GPIO15
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/* external flash chip select */
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#define SPI_SELECT_SLAVE1_PORT GPIOB
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#define SPI_SELECT_SLAVE1_PIN GPIO3
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/* MPU6000 select */
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#define SPI_SELECT_SLAVE2_PORT GPIOA
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#define SPI_SELECT_SLAVE2_PIN GPIO4
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/* I2C mapping */
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/* HMC5883L mag on I2C1 with DRDY on PB7 */
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/* MS5611 baro on I2C1 */
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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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/*
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* ADC
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*/
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/* Onboard ADCs */
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/*
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ADC1 PC3/ADC13
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ADC2 PC0/ADC10
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ADC3 PC1/ADC11
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ADC4 PC5/ADC15
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ADC6 PC2/ADC12
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BATT PC4/ADC14
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*/
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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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#ifndef USE_ADC_1
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#define USE_ADC_1 1
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#endif
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/* Voltage on Pwr/Sen/Sonar CONN3 */
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#if USE_ADC_1
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#define AD1_1_CHANNEL 12
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#define ADC_1 AD1_1
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#define ADC_1_GPIO_PORT GPIOC
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#define ADC_1_GPIO_PIN GPIO2
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#endif
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/* Current on Pwr/Sen/Sonar CONN3 */
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#if USE_ADC_2
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#define AD1_2_CHANNEL 11
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#define ADC_2 AD1_2
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#define ADC_2_GPIO_PORT GPIOC
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#define ADC_2_GPIO_PIN GPIO1
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#endif
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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_1
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#endif
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/* no voltage divider on board, adjust VoltageOfAdc in airframe file */
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#define DefaultVoltageOfAdc(adc) (0.0045*adc)
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/*
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* PWM
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*
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*/
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#define PWM_USE_TIM3 1
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#define PWM_USE_TIM5 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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#if USE_SERVOS_7AND8
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#if USE_I2C1
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#error "You cannot USE_SERVOS_7AND8 and USE_I2C1 at the same time"
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#else
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#define ACTUATORS_PWM_NB 8
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#define USE_PWM7 1
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#define USE_PWM8 1
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#define PWM_USE_TIM4 1
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#define ACTUATORS_PWM_NB 8
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#endif
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#else
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#define ACTUATORS_PWM_NB 6
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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_PWM1
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#define PWM_SERVO_1 0
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#define PWM_SERVO_1_TIMER TIM3
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#define PWM_SERVO_1_GPIO GPIOB
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#define PWM_SERVO_1_PIN GPIO0
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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 1
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#define PWM_SERVO_2_TIMER TIM3
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#define PWM_SERVO_2_GPIO GPIOB
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#define PWM_SERVO_2_PIN GPIO1
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#define PWM_SERVO_2_AF GPIO_AF2
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#define PWM_SERVO_2_OC TIM_OC4
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#define PWM_SERVO_2_OC_BIT (1<<3)
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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 TIM9
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#define PWM_SERVO_3_GPIO GPIOA
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#define PWM_SERVO_3_PIN GPIO3
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#define PWM_SERVO_3_AF GPIO_AF2
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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 TIM2
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#define PWM_SERVO_4_GPIO GPIOA
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#define PWM_SERVO_4_PIN GPIO2
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#define PWM_SERVO_4_AF GPIO_AF2
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#define PWM_SERVO_4_OC TIM_OC3
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#define PWM_SERVO_4_OC_BIT (1<<2)
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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 TIM5
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#define PWM_SERVO_5_GPIO GPIOA
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#define PWM_SERVO_5_PIN GPIO1
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#define PWM_SERVO_5_AF GPIO_AF2
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#define PWM_SERVO_5_OC TIM_OC2
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#define PWM_SERVO_5_OC_BIT (1<<1)
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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 TIM5
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#define PWM_SERVO_6_GPIO GPIOA
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#define PWM_SERVO_6_PIN GPIO0
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#define PWM_SERVO_6_AF GPIO_AF2
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#define PWM_SERVO_6_OC TIM_OC1
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#define PWM_SERVO_6_OC_BIT (1<<0)
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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 1-2 on TIM3 */
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#define PWM_TIM3_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT)
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/* servos 3 on TIM9 */
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#define PWM_TIM9_CHAN_MASK (PWM_SERVO_3_OC_BIT)
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/* servos 4 on TIM2 */
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#define PWM_TIM2_CHAN_MASK (PWM_SERVO_4_OC_BIT)
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/* servos 5-6 on TIM5 */
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#define PWM_TIM5_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)
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/* by default activate onboard baro */
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#ifndef USE_BARO_BOARD
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#define USE_BARO_BOARD 1
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#endif
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#endif
/* CONFIG_OPENPILOT_REVO_1_0_H */
sw
airborne
boards
openpilot_revo_1.0.h
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