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synced 2025-07-20 06:45:16 +03:00
Fix X_RACERSPI target
The pin mapping for this target wasn't quite right. o) old PWM (input) indexes 7,8 didn't really exist (removing these PWMs changed the numbers of PWM outputs 9-16 to 7-14) o) PWM (output) indexes that are now PWM13,14 are shared with UART2 (PA2, PA3) o) PWM inputs that were marked 7 and 8 were really 5 and 6 (verified with continuity test). Renumbered to 5, 6. Also, these are softserial 1 (PB0, PB1) o) PWM inputs 5 and 6 were really MISO and MOSI of SPI1 and not wired to the inputs on the board. Removed as timers. (PB4, PB5) o) PWM inputs 3 and 4 are shared with UART3 (PB10, PB11) The rest of the changes are: o) remove X_RACERSPI reliance on SPRACINGF3 defined o) fix main.c usage of softserial and X_RACERSPI o) fix pwm_mapping to avoid collisions between UARTS and PWMs. UARTs win.
This commit is contained in:
Mitch Miers
parent
a21694b065
commit
7219fb1fbc
5 changed files with 51 additions and 33 deletions
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@ -229,6 +229,27 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
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type = MAP_TO_SERVO_OUTPUT;
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#endif
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#if defined(X_RACERSPI)
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// skip UART2 ports when necessary
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if (init->useUART2) {
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// this board maps UART2 and PWM13,PWM14 to the same pins
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if (timerIndex == PWM13 || timerIndex == PWM14)
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continue;
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// remap PWM5+6 as servos when using UART2 .. except if softserial1, but that's caught above
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if ((timerIndex == PWM5 || timerIndex == PWM6) && timerHardwarePtr->tim == TIM3)
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type = MAP_TO_SERVO_OUTPUT;
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} else {
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// remap PWM13+14 as servos
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if ((timerIndex == PWM13 || timerIndex == PWM14) && timerHardwarePtr->tim == TIM15)
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type = MAP_TO_SERVO_OUTPUT;
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}
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// skip UART3 ports when necessary - this board maps UART3 and PWM3,PWM4 to the same pins
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if ((init->useUART3) && (timerIndex == PWM3 || timerIndex == PWM4))
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continue;
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#endif
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#if defined(SPRACINGF3MINI) || defined(OMNIBUS)
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// remap PWM6+7 as servos
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if ((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
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@ -279,14 +300,22 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
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if (timerIndex >= PWM13 && timerIndex <= PWM14) {
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type = MAP_TO_SERVO_OUTPUT;
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}
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} else
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} else {
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#endif
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#if defined(SPRACINGF3) || defined(NAZE)
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// remap PWM5..8 as servos when used in extended servo mode
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if (timerIndex >= PWM5 && timerIndex <= PWM8)
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type = MAP_TO_SERVO_OUTPUT;
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#elif defined(X_RACERSPI)
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// remap PWM3..6 as servos when used in extended servo mode ... except if using UART3
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if (!init->useUART3 && (timerIndex >= PWM3 && timerIndex <= PWM4))
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type = MAP_TO_SERVO_OUTPUT;
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// don't do this if softserial, but that's up above
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if (timerIndex >= PWM5 && timerIndex <= PWM6)
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type = MAP_TO_SERVO_OUTPUT;
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#endif
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}
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#endif // USE_SERVOS
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@ -396,7 +396,7 @@ void init(void)
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}
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#endif
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#if defined(SPRACINGF3MINI) || defined(OMNIBUS)
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#if defined(SPRACINGF3MINI) || defined(OMNIBUS) || defined(X_RACERSPI)
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#if defined(SONAR) && defined(USE_SOFTSERIAL1)
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if (feature(FEATURE_SONAR) && feature(FEATURE_SOFTSERIAL)) {
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serialRemovePort(SERIAL_PORT_SOFTSERIAL1);
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@ -9,18 +9,16 @@
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const uint16_t multiPPM[] = {
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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0xFFFF
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};
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@ -31,33 +29,29 @@ const uint16_t multiPWM[] = {
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8),
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PWM7 | (MAP_TO_PWM_INPUT << 8),
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PWM8 | (MAP_TO_PWM_INPUT << 8),
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),
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0xFFFF
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};
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const uint16_t airPPM[] = {
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
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PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
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PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM14 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM15 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM16 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #10
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PWM6 | (MAP_TO_SERVO_OUTPUT << 8), // servo #8
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0xFFFF
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};
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@ -67,17 +61,15 @@ const uint16_t airPWM[] = {
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PWM3 | (MAP_TO_PWM_INPUT << 8),
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PWM4 | (MAP_TO_PWM_INPUT << 8),
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PWM5 | (MAP_TO_PWM_INPUT << 8),
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PWM6 | (MAP_TO_PWM_INPUT << 8),
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PWM7 | (MAP_TO_PWM_INPUT << 8),
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PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
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PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
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PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
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PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
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PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
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PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
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PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
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PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM14 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM15 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM16 | (MAP_TO_SERVO_OUTPUT << 8), // server #6
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PWM14 | (MAP_TO_SERVO_OUTPUT << 8), // servo #6
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0xFFFF
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};
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@ -86,10 +78,8 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
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{ TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH2 - PA1 - *TIM2_CH2, TIM15_CH1N
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{ TIM2, IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH3 - PB11 - *TIM2_CH4, UART3_RX (AF7)
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{ TIM2, IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH4 - PB10 - *TIM2_CH3, UART3_TX (AF7)
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{ TIM3, IO_TAG(PB4), TIM_Channel_1, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH5 - PB4 - *TIM3_CH1
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{ TIM3, IO_TAG(PB5), TIM_Channel_2, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH6 - PB5 - *TIM3_CH2
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{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH7 - PB0 - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
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{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH8 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
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{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH5 - PB0 - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
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{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH6 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
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{ TIM16, IO_TAG(PA6), TIM_Channel_1, TIM1_UP_TIM16_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1 - PA6 - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
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{ TIM17, IO_TAG(PA7), TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2 - PA7 - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
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@ -26,7 +26,7 @@
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#define BEEPER PC15
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#define BEEPER_INVERTED
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#define USABLE_TIMER_CHANNEL_COUNT 17
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#define USABLE_TIMER_CHANNEL_COUNT 15
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#define USE_MAG_DATA_READY_SIGNAL
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#define ENSURE_MAG_DATA_READY_IS_HIGH
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@ -1,6 +1,5 @@
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F3_TARGETS += $(TARGET)
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FEATURES = ONBOARDFLASH
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TARGET_FLAGS = -DSPRACINGF3
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TARGET_SRC = \
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drivers/accgyro_mpu.c \
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