Paparazzi UAS  v7.0_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 TIM defines
212  * enable TIM3 and TIM4 by default
213  */
214 #ifndef USE_PWM_TIM3
215 #define USE_PWM_TIM3 1
216 #endif
217 
218 #ifndef USE_PWM_TIM4
219 #define USE_PWM_TIM4 1
220 #endif
221 
222 /*
223  * PWM defines
224  */
225 #if defined(LINE_SERVO0)
226 #ifndef USE_PWM0
227 #define USE_PWM0 1
228 #endif
229 #if USE_PWM0
230 #define PWM_SERVO_0 0
231 #define PWM_SERVO_0_GPIO PAL_PORT(LINE_SERVO0)
232 #define PWM_SERVO_0_PIN PAL_PAD(LINE_SERVO0)
233 #define PWM_SERVO_0_AF AF_LINE_SERVO0
234 #define PWM_SERVO_0_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO0_TIM)
235 #define PWM_SERVO_0_CHANNEL (SERVO0_TIM_CH-1)
236 #define PWM_SERVO_0_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO0_TIM)
237 #endif
238 #endif
239 
240 #if defined(LINE_SERVO1)
241 #ifndef USE_PWM1
242 #define USE_PWM1 1
243 #endif
244 #if USE_PWM1
245 #define PWM_SERVO_1 1
246 #define PWM_SERVO_1_GPIO PAL_PORT(LINE_SERVO1)
247 #define PWM_SERVO_1_PIN PAL_PAD(LINE_SERVO1)
248 #define PWM_SERVO_1_AF AF_LINE_SERVO1
249 #define PWM_SERVO_1_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO1_TIM)
250 #define PWM_SERVO_1_CHANNEL (SERVO1_TIM_CH-1)
251 #define PWM_SERVO_1_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO1_TIM)
252 #endif
253 #endif
254 
255 #if defined(LINE_SERVO2)
256 #ifndef USE_PWM2
257 #define USE_PWM2 1
258 #endif
259 #if USE_PWM2
260 #define PWM_SERVO_2 2
261 #define PWM_SERVO_2_GPIO PAL_PORT(LINE_SERVO2)
262 #define PWM_SERVO_2_PIN PAL_PAD(LINE_SERVO2)
263 #define PWM_SERVO_2_AF AF_LINE_SERVO2
264 #define PWM_SERVO_2_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO2_TIM)
265 #define PWM_SERVO_2_CHANNEL (SERVO2_TIM_CH-1)
266 #define PWM_SERVO_2_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO2_TIM)
267 #endif
268 #endif
269 
270 #if defined(LINE_SERVO3)
271 #ifndef USE_PWM3
272 #define USE_PWM3 1
273 #endif
274 #if USE_PWM3
275 #define PWM_SERVO_3 3
276 #define PWM_SERVO_3_GPIO PAL_PORT(LINE_SERVO3)
277 #define PWM_SERVO_3_PIN PAL_PAD(LINE_SERVO3)
278 #define PWM_SERVO_3_AF AF_LINE_SERVO3
279 #define PWM_SERVO_3_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO3_TIM)
280 #define PWM_SERVO_3_CHANNEL (SERVO3_TIM_CH-1)
281 #define PWM_SERVO_3_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO3_TIM)
282 #endif
283 #endif
284 
285 #if defined(LINE_SERVO4)
286 #ifndef USE_PWM4
287 #define USE_PWM4 1
288 #endif
289 #if USE_PWM4
290 #define PWM_SERVO_4 4
291 #define PWM_SERVO_4_GPIO PAL_PORT(LINE_SERVO4)
292 #define PWM_SERVO_4_PIN PAL_PAD(LINE_SERVO4)
293 #define PWM_SERVO_4_AF AF_LINE_SERVO4
294 #define PWM_SERVO_4_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO4_TIM)
295 #define PWM_SERVO_4_CHANNEL (SERVO4_TIM_CH-1)
296 #define PWM_SERVO_4_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO4_TIM)
297 #endif
298 #endif
299 
300 #if defined(LINE_SERVO5)
301 #ifndef USE_PWM5
302 #define USE_PWM5 1
303 #endif
304 #if USE_PWM5
305 #define PWM_SERVO_5 5
306 #define PWM_SERVO_5_GPIO PAL_PORT(LINE_SERVO5)
307 #define PWM_SERVO_5_PIN PAL_PAD(LINE_SERVO5)
308 #define PWM_SERVO_5_AF AF_LINE_SERVO5
309 #define PWM_SERVO_5_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO5_TIM)
310 #define PWM_SERVO_5_CHANNEL (SERVO5_TIM_CH-1)
311 #define PWM_SERVO_5_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO5_TIM)
312 #endif
313 #endif
314 
315 #if defined(LINE_SERVO6)
316 #ifndef USE_PWM6
317 #define USE_PWM6 1
318 #endif
319 #if USE_PWM6
320 #define PWM_SERVO_6 6
321 #define PWM_SERVO_6_GPIO PAL_PORT(LINE_SERVO6)
322 #define PWM_SERVO_6_PIN PAL_PAD(LINE_SERVO6)
323 #define PWM_SERVO_6_AF AF_LINE_SERVO6
324 #define PWM_SERVO_6_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO6_TIM)
325 #define PWM_SERVO_6_CHANNEL (SERVO6_TIM_CH-1)
326 #define PWM_SERVO_6_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO6_TIM)
327 #endif
328 #endif
329 
330 #if defined(LINE_SERVO7)
331 #ifndef USE_PWM7
332 #define USE_PWM7 1
333 #endif
334 #if USE_PWM7
335 #define PWM_SERVO_7 7
336 #define PWM_SERVO_7_GPIO PAL_PORT(LINE_SERVO7)
337 #define PWM_SERVO_7_PIN PAL_PAD(LINE_SERVO7)
338 #define PWM_SERVO_7_AF AF_LINE_SERVO7
339 #define PWM_SERVO_7_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO7_TIM)
340 #define PWM_SERVO_7_CHANNEL (SERVO7_TIM_CH-1)
341 #define PWM_SERVO_7_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO7_TIM)
342 #endif
343 #endif
344 
345 #if defined(LINE_SERVO8)
346 #ifndef USE_PWM8
347 #define USE_PWM8 1
348 #endif
349 #if USE_PWM8
350 #define PWM_SERVO_8 8
351 #define PWM_SERVO_8_GPIO PAL_PORT(LINE_SERVO8)
352 #define PWM_SERVO_8_PIN PAL_PAD(LINE_SERVO8)
353 #define PWM_SERVO_8_AF AF_LINE_SERVO8
354 #define PWM_SERVO_8_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO8_TIM)
355 #define PWM_SERVO_8_CHANNEL (SERVO8_TIM_CH-1)
356 #define PWM_SERVO_8_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO8_TIM)
357 #endif
358 #endif
359 
363 #define UART2_GPIO_PORT_TX GPIOD
364 #define UART2_GPIO_TX GPIO5
365 #define UART2_GPIO_PORT_RX GPIOD
366 #define UART2_GPIO_RX GPIO6
367 #define UART2_GPIO_AF 7
368 #ifndef UART2_HW_FLOW_CONTROL
369 #define UART2_HW_FLOW_CONTROL TRUE
370 #endif
371 
377 #define UART1_GPIO_PORT_TX GPIOB
378 #define UART1_GPIO_TX GPIO6
379 #define UART1_GPIO_PORT_RX GPIOB
380 #define UART1_GPIO_RX GPIO7
381 #define UART1_GPIO_AF 7
382 
383 #define UART3_GPIO_PORT_TX GPIOD
384 #define UART3_GPIO_TX GPIO8
385 #define UART3_GPIO_PORT_RX GPIOD
386 #define UART3_GPIO_RX GPIO9
387 #define UART3_GPIO_AF 7
388 
389 #define UART8_GPIO_PORT_TX GPIOE
390 #define UART8_GPIO_TX GPIO0
391 #define UART8_GPIO_PORT_RX GPIOE
392 #define UART8_GPIO_RX GPIO1
393 #define UART8_GPIO_AF 8
394 
407 // In case, do dynamic config of UARTs
408 #define USE_UART7_RX TRUE
409 #ifndef USE_UART7_TX // may be used in half duplex mode
410 #define USE_UART7_TX FALSE
411 #endif
412 #define UART7_GPIO_PORT_RX GPIOE
413 #define UART7_GPIO_RX GPIO7
414 #define UART7_GPIO_AF 8
415 
416 #define USE_UART4_RX TRUE
417 #define USE_UART4_TX FALSE
418 #define UART4_GPIO_PORT_RX GPIOA
419 #define UART4_GPIO_RX GPIO1
420 #define UART4_GPIO_AF 8
421 
422 /* The line that is pulled low at power up to initiate the bind process
423  * PC7: AUX7
424  */
425 #define SPEKTRUM_BIND_PIN GPIO7
426 #define SPEKTRUM_BIND_PIN_PORT GPIOC
427 
428 // no wait with chibios as the RTC oscillator takes longer to stabilize
429 #define SPEKTRUM_BIND_WAIT 30000
430 
436 #define RC_PPM_TICKS_PER_USEC 6
437 #define PPM_TIMER_FREQUENCY 6000000
438 #define PPM_CHANNEL ICU_CHANNEL_2
439 #define PPM_TIMER ICUD5
440 
441 /*
442  * PWM input
443  */
444 // PWM_INPUT 1 on PA0 (AUX3)
445 #define PWM_INPUT1_ICU ICUD2
446 #define PWM_INPUT1_CHANNEL ICU_CHANNEL_1
447 #define PWM_INPUT1_GPIO_PORT GPIOA
448 #define PWM_INPUT1_GPIO_PIN GPIO0
449 #define PWM_INPUT1_GPIO_AF GPIO_AF1
450 
451 // PWM_INPUT 2 on PC7 (AUX7)
452 #define PWM_INPUT2_ICU ICUD8
453 #define PWM_INPUT2_CHANNEL ICU_CHANNEL_2
454 #define PWM_INPUT2_GPIO_PORT GPIOC
455 #define PWM_INPUT2_GPIO_PIN GPIO7
456 #define PWM_INPUT2_GPIO_AF GPIO_AF3
457 
461 // Digital noise filter: 0 disabled, [0x1 - 0xF] enable up to n t_I2CCLK
462 #define STM32_CR1_DNF(n) ((n & 0x0f) << 8)
463 // Timing register
464 #define I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR (STM32_TIMINGR_PRESC(0U) | \
465  STM32_TIMINGR_SCLDEL(10U) | STM32_TIMINGR_SDADEL(0U) | \
466  STM32_TIMINGR_SCLH(34U) | STM32_TIMINGR_SCLL(86U))
467 #define I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR (STM32_TIMINGR_PRESC(1U) | \
468  STM32_TIMINGR_SCLDEL(9U) | STM32_TIMINGR_SDADEL(0U) | \
469  STM32_TIMINGR_SCLH(105U) | STM32_TIMINGR_SCLL(153U))
470 
471 
472 #ifndef I2C1_CLOCK_SPEED
473 #define I2C1_CLOCK_SPEED 400000
474 #endif
475 
476 #if I2C1_CLOCK_SPEED == 400000
477 #define I2C1_CFG_DEF { \
478  .timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
479  .cr1 = STM32_CR1_DNF(0), \
480  .cr2 = 0 \
481 }
482 #elif I2C1_CLOCK_SPEED == 100000
483 #define I2C1_CFG_DEF { \
484  .timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
485  .cr1 = STM32_CR1_DNF(0), \
486  .cr2 = 0 \
487 }
488 #else
489 #error "Unknown I2C1 clock speed"
490 #endif
491 
492 
493 #ifndef I2C2_CLOCK_SPEED
494 #define I2C2_CLOCK_SPEED 400000
495 #endif
496 
497 #if I2C2_CLOCK_SPEED == 400000
498 #define I2C2_CFG_DEF { \
499  .timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
500  .cr1 = STM32_CR1_DNF(0), \
501  .cr2 = 0 \
502 }
503 #elif I2C2_CLOCK_SPEED == 100000
504 #define I2C2_CFG_DEF { \
505  .timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
506  .cr1 = STM32_CR1_DNF(0), \
507  .cr2 = 0 \
508 }
509 #else
510 #error "Unknown I2C2 clock speed"
511 #endif
512 
516 #define SPI1_GPIO_AF GPIO_AF5
517 #define SPI1_GPIO_PORT_MISO GPIOB
518 #define SPI1_GPIO_MISO GPIO4
519 #define SPI1_GPIO_PORT_MOSI GPIOB
520 #define SPI1_GPIO_MOSI GPIO5
521 #define SPI1_GPIO_PORT_SCK GPIO3
522 #define SPI1_GPIO_SCK GPIO3
523 
524 // SLAVE0 on SPI connector
525 #define SPI_SELECT_SLAVE0_PORT GPIOA
526 #define SPI_SELECT_SLAVE0_PIN GPIO15
527 // SLAVE1 on AUX0
528 #define SPI_SELECT_SLAVE1_PORT GPIOA
529 #define SPI_SELECT_SLAVE1_PIN GPIO5
530 // SLAVE2 on AUX1
531 #define SPI_SELECT_SLAVE2_PORT GPIOA
532 #define SPI_SELECT_SLAVE2_PIN GPIO3
533 // SLAVE3 on AUX2
534 #define SPI_SELECT_SLAVE3_PORT GPIOA
535 #define SPI_SELECT_SLAVE3_PIN GPIO2
536 // SLAVE4 on AUX3
537 #define SPI_SELECT_SLAVE4_PORT GPIOA
538 #define SPI_SELECT_SLAVE4_PIN GPIO0
539 // SLAVE5 on AUX4
540 #define SPI_SELECT_SLAVE5_PORT GPIOC
541 #define SPI_SELECT_SLAVE5_PIN GPIO3
542 
549 #ifndef USE_BARO_BOARD
550 #define USE_BARO_BOARD 1
551 #endif
552 
556 #define SDIO_D0_PORT GPIOC
557 #define SDIO_D0_PIN GPIO8
558 #define SDIO_D1_PORT GPIOC
559 #define SDIO_D1_PIN GPIO9
560 #define SDIO_D2_PORT GPIOC
561 #define SDIO_D2_PIN GPIO10
562 #define SDIO_D3_PORT GPIOC
563 #define SDIO_D3_PIN GPIO11
564 #define SDIO_CK_PORT GPIOC
565 #define SDIO_CK_PIN GPIO12
566 #define SDIO_CMD_PORT GPIOD
567 #define SDIO_CMD_PIN GPIO2
568 #define SDIO_AF 12
569 // bat monitoring for file closing
570 #define SDLOG_BAT_ADC ADCD1
571 #define SDLOG_BAT_CHAN AD1_7_CHANNEL
572 // usb led status
573 #define SDLOG_USB_LED 4
574 #define SDLOG_USB_VBUS_PORT GPIOA
575 #define SDLOG_USB_VBUS_PIN GPIO9
576 
577 
578 /*
579  * Actuators for fixedwing
580  */
581  /* Default actuators driver */
582 #define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
583 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
584 #define ActuatorsDefaultInit() ActuatorsPwmInit()
585 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()
586 
590 #define WS2812D1_GPIO GPIOC
591 #define WS2812D1_PIN GPIO6
592 #define WS2812D1_AF 3
593 #define WS2812D1_CFG_DEF { \
594  .dma_stream = STM32_PWM8_UP_DMA_STREAM, \
595  .dma_channel = STM32_PWM8_UP_DMA_CHANNEL, \
596  .dma_priority = STM32_PWM8_UP_DMA_PRIORITY, \
597  .pwm_channel = 0, \
598  .pwmp = &PWMD8 \
599 }
600 
601 #endif /* CONFIG_CHIMERA_1_00_H */
602