Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
chimera.h
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1 #ifndef CONFIG_CHIMERA_1_00_H
2 #define CONFIG_CHIMERA_1_00_H
3 
4 #define BOARD_CHIMERA
5 
10 
15 /*
16  * Concat macro
17  */
18 #define _CONCAT_BOARD_PARAM(_s1, _s2) _s1 ## _s2
19 #define CONCAT_BOARD_PARAM(_s1, _s2) _CONCAT_BOARD_PARAM(_s1, _s2)
20 
21 /*
22  * LEDs
23  */
24 /* red, on PB12, 1 on LED_ON, 0 on LED_OFF */
25 #ifndef USE_LED_1
26 #define USE_LED_1 1
27 #endif
28 #define LED_1_GPIO GPIOB
29 #define LED_1_GPIO_PIN GPIO12
30 #define LED_1_GPIO_ON gpio_set
31 #define LED_1_GPIO_OFF gpio_clear
32 
33 /* orange, on PB13, 1 on LED_ON, 0 on LED_OFF */
34 #ifndef USE_LED_2
35 #define USE_LED_2 1
36 #endif
37 #define LED_2_GPIO GPIOB
38 #define LED_2_GPIO_PIN GPIO13
39 #define LED_2_GPIO_ON gpio_set
40 #define LED_2_GPIO_OFF gpio_clear
41 
42 /* green, on PD10, 1 on LED_ON, 0 on LED_OFF */
43 #ifndef USE_LED_3
44 #define USE_LED_3 1
45 #endif
46 #define LED_3_GPIO GPIOD
47 #define LED_3_GPIO_PIN GPIO10
48 #define LED_3_GPIO_ON gpio_set
49 #define LED_3_GPIO_OFF gpio_clear
50 
51 /* yellow, on PD11, 1 on LED_ON, 0 on LED_OFF */
52 #ifndef USE_LED_4
53 #define USE_LED_4 1
54 #endif
55 #define LED_4_GPIO GPIOD
56 #define LED_4_GPIO_PIN GPIO11
57 #define LED_4_GPIO_ON gpio_set
58 #define LED_4_GPIO_OFF gpio_clear
59 
60 /* AUX0, on PA5, 1 on LED_ON, 0 on LED_OFF */
61 #ifndef USE_LED_5
62 #define USE_LED_5 0
63 #endif
64 #define LED_5_GPIO GPIOA
65 #define LED_5_GPIO_PIN GPIO5
66 #define LED_5_GPIO_ON gpio_set
67 #define LED_5_GPIO_OFF gpio_clear
68 
69 /* AUX1, on PA3, 1 on LED_ON, 0 on LED_OFF */
70 #ifndef USE_LED_6
71 #define USE_LED_6 0
72 #endif
73 #define LED_6_GPIO GPIOA
74 #define LED_6_GPIO_PIN GPIO3
75 #define LED_6_GPIO_ON gpio_set
76 #define LED_6_GPIO_OFF gpio_clear
77 
78 /* AUX2, on PA2, 1 on LED_ON, 0 on LED_OFF */
79 #ifndef USE_LED_7
80 #define USE_LED_7 0
81 #endif
82 #define LED_7_GPIO GPIOA
83 #define LED_7_GPIO_PIN GPIO2
84 #define LED_7_GPIO_ON gpio_set
85 #define LED_7_GPIO_OFF gpio_clear
86 
87 /* AUX3, on PA0, 1 on LED_ON, 0 on LED_OFF */
88 #ifndef USE_LED_8
89 #define USE_LED_8 0
90 #endif
91 #define LED_8_GPIO GPIOA
92 #define LED_8_GPIO_PIN GPIO0
93 #define LED_8_GPIO_ON gpio_set
94 #define LED_8_GPIO_OFF gpio_clear
95 
96 /* AUX4, on PC3, 1 on LED_ON, 0 on LED_OFF */
97 #ifndef USE_LED_9
98 #define USE_LED_9 0
99 #endif
100 #define LED_9_GPIO GPIOC
101 #define LED_9_GPIO_PIN GPIO3
102 #define LED_9_GPIO_ON gpio_set
103 #define LED_9_GPIO_OFF gpio_clear
104 
105 /* AUX5, on PC2, 1 on LED_ON, 0 on LED_OFF */
106 #ifndef USE_LED_10
107 #define USE_LED_10 0
108 #endif
109 #define LED_10_GPIO GPIOC
110 #define LED_10_GPIO_PIN GPIO2
111 #define LED_10_GPIO_ON gpio_set
112 #define LED_10_GPIO_OFF gpio_clear
113 
114 /* AUX6, on PC6, 1 on LED_ON, 0 on LED_OFF */
115 #ifndef USE_LED_11
116 #define USE_LED_11 0
117 #endif
118 #define LED_11_GPIO GPIOC
119 #define LED_11_GPIO_PIN GPIO6
120 #define LED_11_GPIO_ON gpio_set
121 #define LED_11_GPIO_OFF gpio_clear
122 
123 /* AUX7, on PC7, 1 on LED_ON, 0 on LED_OFF */
124 #ifndef USE_LED_12
125 #define USE_LED_12 0
126 #endif
127 #define LED_12_GPIO GPIOC
128 #define LED_12_GPIO_PIN GPIO7
129 #define LED_12_GPIO_ON gpio_set
130 #define LED_12_GPIO_OFF gpio_clear
131 
132 /*
133  * ADCs
134  */
135 // AUX0
136 #if USE_ADC_1
137 #define AD1_1_CHANNEL ADC_CHANNEL_IN5
138 #define ADC_1 AD1_1
139 #define ADC_1_GPIO_PORT GPIOA
140 #define ADC_1_GPIO_PIN GPIO5
141 #endif
142 
143 // AUX1
144 #if USE_ADC_2
145 #define AD1_2_CHANNEL ADC_CHANNEL_IN3
146 #define ADC_2 AD1_2
147 #define ADC_2_GPIO_PORT GPIOA
148 #define ADC_2_GPIO_PIN GPIO3
149 #endif
150 
151 // AUX2
152 #if USE_ADC_3
153 #define AD1_3_CHANNEL ADC_CHANNEL_IN2
154 #define ADC_3 AD1_3
155 #define ADC_3_GPIO_PORT GPIOA
156 #define ADC_3_GPIO_PIN GPIO2
157 #endif
158 
159 // AUX3
160 #if USE_ADC_4
161 #define AD1_4_CHANNEL ADC_CHANNEL_IN0
162 #define ADC_4 AD1_4
163 #define ADC_4_GPIO_PORT GPIOA
164 #define ADC_4_GPIO_PIN GPIO0
165 #endif
166 
167 // AUX4
168 #if USE_ADC_5
169 #define AD1_5_CHANNEL ADC_CHANNEL_IN13
170 #define ADC_5 AD1_5
171 #define ADC_5_GPIO_PORT GPIOC
172 #define ADC_5_GPIO_PIN GPIO3
173 #endif
174 
175 // AUX5
176 #if USE_ADC_6
177 #define AD1_6_CHANNEL ADC_CHANNEL_IN12
178 #define ADC_6 AD1_6
179 #define ADC_6_GPIO_PORT GPIOC
180 #define ADC_6_GPIO_PIN GPIO2
181 #endif
182 
183 // Internal ADC for battery enabled by default
184 #ifndef USE_ADC_7
185 #define USE_ADC_7 1
186 #endif
187 #if USE_ADC_7
188 #define AD1_7_CHANNEL ADC_CHANNEL_IN4
189 #define ADC_7 AD1_7
190 #define ADC_7_GPIO_PORT GPIOA
191 #define ADC_7_GPIO_PIN GPIO4
192 #endif
193 
194 /* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
195 #ifndef ADC_CHANNEL_VSUPPLY
196 #define ADC_CHANNEL_VSUPPLY ADC_7
197 #endif
198 
199 /*
200  * R1 = 3.3k
201  * R2 = 22k
202  * adc * (3.3 / 2^12) * ((R1 + R2) / R1)
203  */
204 #define VBAT_R1 3300.0f
205 #define VBAT_R2 22000.0f
206 #define DefaultVoltageOfAdc(adc) ((3.3f/4096.0f)*((VBAT_R1+VBAT_R2)/VBAT_R1)*adc)
207 
208 //TODO configure DAC (ADC_1)
209 
210 /*
211  * PWM defines
212  */
213 /*
214  * PWM defines
215  */
216 #if defined(LINE_SERVO0)
217 #ifndef USE_PWM0
218 #define USE_PWM0 1
219 #endif
220 #if USE_PWM0
221 #define PWM_SERVO_0 0
222 #define PWM_SERVO_0_GPIO PAL_PORT(LINE_SERVO0)
223 #define PWM_SERVO_0_PIN PAL_PAD(LINE_SERVO0)
224 #define PWM_SERVO_0_AF AF_LINE_SERVO0
225 #define PWM_SERVO_0_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO0_TIM)
226 #define PWM_SERVO_0_CHANNEL (SERVO0_TIM_CH-1)
227 #define PWM_SERVO_0_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO0_TIM)
228 #endif
229 #endif
230 
231 #if defined(LINE_SERVO1)
232 #ifndef USE_PWM1
233 #define USE_PWM1 1
234 #endif
235 #if USE_PWM1
236 #define PWM_SERVO_1 1
237 #define PWM_SERVO_1_GPIO PAL_PORT(LINE_SERVO1)
238 #define PWM_SERVO_1_PIN PAL_PAD(LINE_SERVO1)
239 #define PWM_SERVO_1_AF AF_LINE_SERVO1
240 #define PWM_SERVO_1_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO1_TIM)
241 #define PWM_SERVO_1_CHANNEL (SERVO1_TIM_CH-1)
242 #define PWM_SERVO_1_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO1_TIM)
243 #endif
244 #endif
245 
246 #if defined(LINE_SERVO2)
247 #ifndef USE_PWM2
248 #define USE_PWM2 1
249 #endif
250 #if USE_PWM2
251 #define PWM_SERVO_2 2
252 #define PWM_SERVO_2_GPIO PAL_PORT(LINE_SERVO2)
253 #define PWM_SERVO_2_PIN PAL_PAD(LINE_SERVO2)
254 #define PWM_SERVO_2_AF AF_LINE_SERVO2
255 #define PWM_SERVO_2_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO2_TIM)
256 #define PWM_SERVO_2_CHANNEL (SERVO2_TIM_CH-1)
257 #define PWM_SERVO_2_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO2_TIM)
258 #endif
259 #endif
260 
261 #if defined(LINE_SERVO3)
262 #ifndef USE_PWM3
263 #define USE_PWM3 1
264 #endif
265 #if USE_PWM3
266 #define PWM_SERVO_3 3
267 #define PWM_SERVO_3_GPIO PAL_PORT(LINE_SERVO3)
268 #define PWM_SERVO_3_PIN PAL_PAD(LINE_SERVO3)
269 #define PWM_SERVO_3_AF AF_LINE_SERVO3
270 #define PWM_SERVO_3_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO3_TIM)
271 #define PWM_SERVO_3_CHANNEL (SERVO3_TIM_CH-1)
272 #define PWM_SERVO_3_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO3_TIM)
273 #endif
274 #endif
275 
276 #if defined(LINE_SERVO4)
277 #ifndef USE_PWM4
278 #define USE_PWM4 1
279 #endif
280 #if USE_PWM4
281 #define PWM_SERVO_4 4
282 #define PWM_SERVO_4_GPIO PAL_PORT(LINE_SERVO4)
283 #define PWM_SERVO_4_PIN PAL_PAD(LINE_SERVO4)
284 #define PWM_SERVO_4_AF AF_LINE_SERVO4
285 #define PWM_SERVO_4_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO4_TIM)
286 #define PWM_SERVO_4_CHANNEL (SERVO4_TIM_CH-1)
287 #define PWM_SERVO_4_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO4_TIM)
288 #endif
289 #endif
290 
291 #if defined(LINE_SERVO5)
292 #ifndef USE_PWM5
293 #define USE_PWM5 1
294 #endif
295 #if USE_PWM5
296 #define PWM_SERVO_5 5
297 #define PWM_SERVO_5_GPIO PAL_PORT(LINE_SERVO5)
298 #define PWM_SERVO_5_PIN PAL_PAD(LINE_SERVO5)
299 #define PWM_SERVO_5_AF AF_LINE_SERVO5
300 #define PWM_SERVO_5_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO5_TIM)
301 #define PWM_SERVO_5_CHANNEL (SERVO5_TIM_CH-1)
302 #define PWM_SERVO_5_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO5_TIM)
303 #endif
304 #endif
305 
306 #if defined(LINE_SERVO6)
307 #ifndef USE_PWM6
308 #define USE_PWM6 1
309 #endif
310 #if USE_PWM6
311 #define PWM_SERVO_6 6
312 #define PWM_SERVO_6_GPIO PAL_PORT(LINE_SERVO6)
313 #define PWM_SERVO_6_PIN PAL_PAD(LINE_SERVO6)
314 #define PWM_SERVO_6_AF AF_LINE_SERVO6
315 #define PWM_SERVO_6_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO6_TIM)
316 #define PWM_SERVO_6_CHANNEL (SERVO6_TIM_CH-1)
317 #define PWM_SERVO_6_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO6_TIM)
318 #endif
319 #endif
320 
321 #if defined(LINE_SERVO7)
322 #ifndef USE_PWM7
323 #define USE_PWM7 1
324 #endif
325 #if USE_PWM7
326 #define PWM_SERVO_7 7
327 #define PWM_SERVO_7_GPIO PAL_PORT(LINE_SERVO7)
328 #define PWM_SERVO_7_PIN PAL_PAD(LINE_SERVO7)
329 #define PWM_SERVO_7_AF AF_LINE_SERVO7
330 #define PWM_SERVO_7_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO7_TIM)
331 #define PWM_SERVO_7_CHANNEL (SERVO7_TIM_CH-1)
332 #define PWM_SERVO_7_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO7_TIM)
333 #endif
334 #endif
335 
336 #if defined(LINE_SERVO8)
337 #ifndef USE_PWM8
338 #define USE_PWM8 1
339 #endif
340 #if USE_PWM8
341 #define PWM_SERVO_8 8
342 #define PWM_SERVO_8_GPIO PAL_PORT(LINE_SERVO8)
343 #define PWM_SERVO_8_PIN PAL_PAD(LINE_SERVO8)
344 #define PWM_SERVO_8_AF AF_LINE_SERVO8
345 #define PWM_SERVO_8_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO8_TIM)
346 #define PWM_SERVO_8_CHANNEL (SERVO8_TIM_CH-1)
347 #define PWM_SERVO_8_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO8_TIM)
348 #endif
349 #endif
350 
354 #define UART2_GPIO_PORT_TX GPIOD
355 #define UART2_GPIO_TX GPIO5
356 #define UART2_GPIO_PORT_RX GPIOD
357 #define UART2_GPIO_RX GPIO6
358 #define UART2_GPIO_AF 7
359 #ifndef UART2_HW_FLOW_CONTROL
360 #define UART2_HW_FLOW_CONTROL TRUE
361 #endif
362 
368 #define UART1_GPIO_PORT_TX GPIOB
369 #define UART1_GPIO_TX GPIO6
370 #define UART1_GPIO_PORT_RX GPIOB
371 #define UART1_GPIO_RX GPIO7
372 #define UART1_GPIO_AF 7
373 
374 #define UART3_GPIO_PORT_TX GPIOD
375 #define UART3_GPIO_TX GPIO8
376 #define UART3_GPIO_PORT_RX GPIOD
377 #define UART3_GPIO_RX GPIO9
378 #define UART3_GPIO_AF 7
379 
380 #define UART8_GPIO_PORT_TX GPIOE
381 #define UART8_GPIO_TX GPIO0
382 #define UART8_GPIO_PORT_RX GPIOE
383 #define UART8_GPIO_RX GPIO1
384 #define UART8_GPIO_AF 8
385 
398 // In case, do dynamic config of UARTs
399 #define USE_UART7_RX TRUE
400 #ifndef USE_UART7_TX // may be used in half duplex mode
401 #define USE_UART7_TX FALSE
402 #endif
403 #define UART7_GPIO_PORT_RX GPIOE
404 #define UART7_GPIO_RX GPIO7
405 #define UART7_GPIO_AF 8
406 
407 #define USE_UART4_RX TRUE
408 #define USE_UART4_TX FALSE
409 #define UART4_GPIO_PORT_RX GPIOA
410 #define UART4_GPIO_RX GPIO1
411 #define UART4_GPIO_AF 8
412 
413 /* The line that is pulled low at power up to initiate the bind process
414  * PC7: AUX7
415  */
416 #define SPEKTRUM_BIND_PIN GPIO7
417 #define SPEKTRUM_BIND_PIN_PORT GPIOC
418 
419 // no wait with chibios as the RTC oscillator takes longer to stabilize
420 #define SPEKTRUM_BIND_WAIT 30000
421 
427 #define RC_PPM_TICKS_PER_USEC 6
428 #define PPM_TIMER_FREQUENCY 6000000
429 #define PPM_CHANNEL ICU_CHANNEL_2
430 #define PPM_TIMER ICUD5
431 
432 /*
433  * PWM input
434  */
435 // PWM_INPUT 1 on PA0 (AUX3)
436 #define PWM_INPUT1_ICU ICUD2
437 #define PWM_INPUT1_CHANNEL ICU_CHANNEL_1
438 #define PWM_INPUT1_GPIO_PORT GPIOA
439 #define PWM_INPUT1_GPIO_PIN GPIO0
440 #define PWM_INPUT1_GPIO_AF GPIO_AF1
441 
442 // PWM_INPUT 2 on PC7 (AUX7)
443 #define PWM_INPUT2_ICU ICUD8
444 #define PWM_INPUT2_CHANNEL ICU_CHANNEL_2
445 #define PWM_INPUT2_GPIO_PORT GPIOC
446 #define PWM_INPUT2_GPIO_PIN GPIO7
447 #define PWM_INPUT2_GPIO_AF GPIO_AF3
448 
452 // Digital noise filter: 0 disabled, [0x1 - 0xF] enable up to n t_I2CCLK
453 #define STM32_CR1_DNF(n) ((n & 0x0f) << 8)
454 // Timing register
455 #define I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR (STM32_TIMINGR_PRESC(0U) | \
456  STM32_TIMINGR_SCLDEL(10U) | STM32_TIMINGR_SDADEL(0U) | \
457  STM32_TIMINGR_SCLH(34U) | STM32_TIMINGR_SCLL(86U))
458 #define I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR (STM32_TIMINGR_PRESC(1U) | \
459  STM32_TIMINGR_SCLDEL(9U) | STM32_TIMINGR_SDADEL(0U) | \
460  STM32_TIMINGR_SCLH(105U) | STM32_TIMINGR_SCLL(153U))
461 
462 
463 #ifndef I2C1_CLOCK_SPEED
464 #define I2C1_CLOCK_SPEED 400000
465 #endif
466 
467 #if I2C1_CLOCK_SPEED == 400000
468 #define I2C1_CFG_DEF { \
469  .timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
470  .cr1 = STM32_CR1_DNF(0), \
471  .cr2 = 0 \
472 }
473 #elif I2C1_CLOCK_SPEED == 100000
474 #define I2C1_CFG_DEF { \
475  .timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
476  .cr1 = STM32_CR1_DNF(0), \
477  .cr2 = 0 \
478 }
479 #else
480 #error "Unknown I2C1 clock speed"
481 #endif
482 
483 
484 #ifndef I2C2_CLOCK_SPEED
485 #define I2C2_CLOCK_SPEED 400000
486 #endif
487 
488 #if I2C2_CLOCK_SPEED == 400000
489 #define I2C2_CFG_DEF { \
490  .timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
491  .cr1 = STM32_CR1_DNF(0), \
492  .cr2 = 0 \
493 }
494 #elif I2C2_CLOCK_SPEED == 100000
495 #define I2C2_CFG_DEF { \
496  .timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
497  .cr1 = STM32_CR1_DNF(0), \
498  .cr2 = 0 \
499 }
500 #else
501 #error "Unknown I2C2 clock speed"
502 #endif
503 
507 #define SPI1_GPIO_AF GPIO_AF5
508 #define SPI1_GPIO_PORT_MISO GPIOB
509 #define SPI1_GPIO_MISO GPIO4
510 #define SPI1_GPIO_PORT_MOSI GPIOB
511 #define SPI1_GPIO_MOSI GPIO5
512 #define SPI1_GPIO_PORT_SCK GPIO3
513 #define SPI1_GPIO_SCK GPIO3
514 
515 // SLAVE0 on SPI connector
516 #define SPI_SELECT_SLAVE0_PORT GPIOA
517 #define SPI_SELECT_SLAVE0_PIN GPIO15
518 // SLAVE1 on AUX0
519 #define SPI_SELECT_SLAVE1_PORT GPIOA
520 #define SPI_SELECT_SLAVE1_PIN GPIO5
521 // SLAVE2 on AUX1
522 #define SPI_SELECT_SLAVE2_PORT GPIOA
523 #define SPI_SELECT_SLAVE2_PIN GPIO3
524 // SLAVE3 on AUX2
525 #define SPI_SELECT_SLAVE3_PORT GPIOA
526 #define SPI_SELECT_SLAVE3_PIN GPIO2
527 // SLAVE4 on AUX3
528 #define SPI_SELECT_SLAVE4_PORT GPIOA
529 #define SPI_SELECT_SLAVE4_PIN GPIO0
530 // SLAVE5 on AUX4
531 #define SPI_SELECT_SLAVE5_PORT GPIOC
532 #define SPI_SELECT_SLAVE5_PIN GPIO3
533 
540 #ifndef USE_BARO_BOARD
541 #define USE_BARO_BOARD 1
542 #endif
543 
547 #define SDIO_D0_PORT GPIOC
548 #define SDIO_D0_PIN GPIO8
549 #define SDIO_D1_PORT GPIOC
550 #define SDIO_D1_PIN GPIO9
551 #define SDIO_D2_PORT GPIOC
552 #define SDIO_D2_PIN GPIO10
553 #define SDIO_D3_PORT GPIOC
554 #define SDIO_D3_PIN GPIO11
555 #define SDIO_CK_PORT GPIOC
556 #define SDIO_CK_PIN GPIO12
557 #define SDIO_CMD_PORT GPIOD
558 #define SDIO_CMD_PIN GPIO2
559 #define SDIO_AF 12
560 // bat monitoring for file closing
561 #define SDLOG_BAT_ADC ADCD1
562 #define SDLOG_BAT_CHAN AD1_7_CHANNEL
563 // usb led status
564 #define SDLOG_USB_LED 4
565 #define SDLOG_USB_VBUS_PORT GPIOA
566 #define SDLOG_USB_VBUS_PIN GPIO9
567 
568 
569 /*
570  * Actuators for fixedwing
571  */
572  /* Default actuators driver */
573 #define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
574 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
575 #define ActuatorsDefaultInit() ActuatorsPwmInit()
576 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()
577 
578 #endif /* CONFIG_CHIMERA_1_00_H */
579 
board.h