mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-19 06:15:16 +03:00
Add support for Colibri fc, used in Gemini racer hex
This commit is contained in:
Sami Korhonen
parent
e4011e9c5e
commit
8fce0c2e6e
6 changed files with 390 additions and 0 deletions
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@ -43,6 +43,7 @@
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#define JEDEC_ID_MICRON_M25P16 0x202015
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#define JEDEC_ID_MICRON_M25P16 0x202015
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#define JEDEC_ID_MICRON_N25Q064 0x20BA17
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#define JEDEC_ID_MICRON_N25Q064 0x20BA17
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#define JEDEC_ID_WINBOND_W25Q64 0xEF4017
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#define JEDEC_ID_WINBOND_W25Q64 0xEF4017
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#define JEDEC_ID_MACRONIX_MX25L3206E 0xC22016
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#define JEDEC_ID_MACRONIX_MX25L6406E 0xC22017
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#define JEDEC_ID_MACRONIX_MX25L6406E 0xC22017
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#define JEDEC_ID_MICRON_N25Q128 0x20ba18
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#define JEDEC_ID_MICRON_N25Q128 0x20ba18
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#define JEDEC_ID_WINBOND_W25Q128 0xEF4018
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#define JEDEC_ID_WINBOND_W25Q128 0xEF4018
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@ -161,6 +162,10 @@ static bool m25p16_readIdentification()
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geometry.sectors = 32;
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geometry.sectors = 32;
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geometry.pagesPerSector = 256;
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geometry.pagesPerSector = 256;
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break;
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break;
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case JEDEC_ID_MACRONIX_MX25L3206E:
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geometry.sectors = 64;
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geometry.pagesPerSector = 256;
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break;
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case JEDEC_ID_MICRON_N25Q064:
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case JEDEC_ID_MICRON_N25Q064:
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case JEDEC_ID_WINBOND_W25Q64:
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case JEDEC_ID_WINBOND_W25Q64:
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case JEDEC_ID_MACRONIX_MX25L6406E:
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case JEDEC_ID_MACRONIX_MX25L6406E:
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99
src/main/target/COLIBRI/config.c
Normal file
99
src/main/target/COLIBRI/config.c
Normal file
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@ -0,0 +1,99 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight 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 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include "platform.h"
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#include "debug.h"
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#include "build_config.h"
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#include "blackbox/blackbox_io.h"
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#include "common/color.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "common/filter.h"
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#include "drivers/sensor.h"
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#include "drivers/accgyro.h"
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#include "drivers/compass.h"
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#include "drivers/system.h"
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#include "drivers/gpio.h"
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#include "drivers/timer.h"
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#include "drivers/pwm_rx.h"
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#include "drivers/serial.h"
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#include "drivers/pwm_output.h"
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#include "drivers/max7456.h"
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#include "sensors/sensors.h"
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#include "sensors/gyro.h"
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#include "sensors/compass.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "sensors/boardalignment.h"
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#include "sensors/battery.h"
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#include "io/beeper.h"
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#include "io/serial.h"
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#include "io/gimbal.h"
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#include "io/escservo.h"
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#include "io/rc_controls.h"
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#include "io/rc_curves.h"
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#include "io/ledstrip.h"
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#include "io/gps.h"
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#include "io/osd.h"
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#include "io/vtx.h"
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#include "rx/rx.h"
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#include "telemetry/telemetry.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "flight/imu.h"
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#include "flight/failsafe.h"
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#include "flight/altitudehold.h"
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#include "flight/navigation.h"
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#include "config/runtime_config.h"
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#include "config/config.h"
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#include "config/config_profile.h"
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#include "config/config_master.h"
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// alternative defaults settings for Colibri/Gemini targets
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void targetConfiguration(void)
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{
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masterConfig.mixerMode = MIXER_HEX6X;
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masterConfig.rxConfig.serialrx_provider = 2;
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featureSet(FEATURE_RX_SERIAL);
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masterConfig.escAndServoConfig.minthrottle = 1070;
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masterConfig.escAndServoConfig.maxthrottle = 2000;
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masterConfig.boardAlignment.pitchDegrees = 10;
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//masterConfig.rcControlsConfig.deadband = 10;
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//masterConfig.rcControlsConfig.yaw_deadband = 10;
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masterConfig.mag_hardware = 1;
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masterConfig.profile[0].controlRateProfile[0].dynThrPID = 45;
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masterConfig.profile[0].controlRateProfile[0].tpa_breakpoint = 1700;
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masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
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}
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123
src/main/target/COLIBRI/target.c
Normal file
123
src/main/target/COLIBRI/target.c
Normal file
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@ -0,0 +1,123 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight 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 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <platform.h>
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#include "drivers/pwm_mapping.h"
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const uint16_t multiPPM[] = {
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PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
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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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PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
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PWM4 | (MAP_TO_MOTOR_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),
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0xFFFF
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};
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const uint16_t multiPWM[] = {
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PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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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),
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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), // Swap to servo if needed
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PWM16 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
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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),
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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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PWM2 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
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PWM4 | (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),
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0xFFFF
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};
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const uint16_t airPWM[] = {
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PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
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PWM2 | (MAP_TO_PWM_INPUT << 8),
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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_SERVO_OUTPUT << 8), // servo #1
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PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
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PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
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PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
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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_MOTOR_OUTPUT << 8), // motor #1
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0xFFFF
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};
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const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
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{ TIM1, IO_TAG(PA10), TIM_Channel_3, TIM1_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM1 }, // S1_IN
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{ TIM8, IO_TAG(PC6), TIM_Channel_1, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S2_IN
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{ TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S3_IN
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{ TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S4_IN
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{ TIM2, IO_TAG(PA15), TIM_Channel_1, TIM2_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM2 }, // S5_IN
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{ TIM2, IO_TAG(PB3), TIM_Channel_2, TIM2_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM2 }, // S6_IN
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{ TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM5 }, // S7_IN
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{ TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM5 }, // S8_IN
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{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S1_OUT
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{ TIM3, IO_TAG(PB4), TIM_Channel_1, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S2_OUT
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{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S3_OUT
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{ TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM12 }, // S4_OUT
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{ TIM3, IO_TAG(PB5), TIM_Channel_2, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S5_OUT
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{ TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM12 }, // S6_OUT
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{ TIM10, IO_TAG(PB8), TIM_Channel_1, TIM1_UP_TIM10_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM10 }, // S7_OUT
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{ TIM11, IO_TAG(PB9), TIM_Channel_1, TIM1_TRG_COM_TIM11_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM11 }, // S8_OUT
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};
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148
src/main/target/COLIBRI/target.h
Normal file
148
src/main/target/COLIBRI/target.h
Normal file
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@ -0,0 +1,148 @@
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/*
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|
* This file is part of Cleanflight.
|
||||||
|
*
|
||||||
|
* Cleanflight is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* Cleanflight is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||||
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*/
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#pragma once
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#define PLL_M 16
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#define PLL_N 336
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#define TARGET_BOARD_IDENTIFIER "COLI"
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#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
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#define USBD_PRODUCT_STRING "Colibri"
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#ifdef OPBL
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#define USBD_SERIALNUMBER_STRING "0x8020000"
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#endif
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#define LED0 PC14
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#define LED1 PC13
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#define BEEPER PC5
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#define INVERTER PB2 // PB2 used as inverter select GPIO
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#define INVERTER_USART USART2
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#define MPU6000_CS_PIN PC4
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#define MPU6000_SPI_INSTANCE SPI1
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#define ACC
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#define USE_ACC_SPI_MPU6000
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#define ACC_MPU6000_ALIGN CW270_DEG_FLIP
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#define GYRO
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#define USE_GYRO_SPI_MPU6000
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#define GYRO_MPU6000_ALIGN CW270_DEG_FLIP
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// MPU6000 interrupts
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#define USE_EXTI
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#define MPU_INT_EXTI PC0
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#define USE_MPU_DATA_READY_SIGNAL
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#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
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#define MAG
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#define USE_MAG_HMC5883
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#define MAG_HMC5883_ALIGN CW270_DEG_FLIP
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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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||||||
|
#define MAG_INT_EXTI PC1
|
||||||
|
|
||||||
|
#define BARO
|
||||||
|
#define USE_BARO_MS5611
|
||||||
|
|
||||||
|
#define M25P16_CS_PIN PB12
|
||||||
|
#define M25P16_SPI_INSTANCE SPI2
|
||||||
|
|
||||||
|
#define USE_FLASHFS
|
||||||
|
#define USE_FLASH_M25P16
|
||||||
|
|
||||||
|
|
||||||
|
#define USE_VCP
|
||||||
|
#define VBUS_SENSING_PIN PA9
|
||||||
|
|
||||||
|
#define USE_UART1
|
||||||
|
#define UART1_RX_PIN PB7
|
||||||
|
#define UART1_TX_PIN PB6
|
||||||
|
#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
|
||||||
|
|
||||||
|
#define USE_UART2
|
||||||
|
#define UART2_RX_PIN PA3
|
||||||
|
#define UART2_TX_PIN PA2
|
||||||
|
|
||||||
|
#define USE_UART3
|
||||||
|
#define UART3_RX_PIN PB11
|
||||||
|
#define UART3_TX_PIN PB10
|
||||||
|
|
||||||
|
//#define USE_UART4
|
||||||
|
#define UART4_RX_PIN PC11
|
||||||
|
#define UART4_TX_PIN PC10
|
||||||
|
|
||||||
|
//#define USE_UART5
|
||||||
|
#define UART5_RX_PIN PD2
|
||||||
|
#define UART5_TX_PIN PC12
|
||||||
|
|
||||||
|
#define SERIAL_PORT_COUNT 4 //VCP, UART1, UART2, UART3
|
||||||
|
|
||||||
|
#define USE_SPI
|
||||||
|
|
||||||
|
#define USE_SPI_DEVICE_1
|
||||||
|
#define SPI1_NSS_PIN PC4
|
||||||
|
#define SPI1_SCK_PIN PA5
|
||||||
|
#define SPI1_MISO_PIN PA6
|
||||||
|
#define SPI1_MOSI_PIN PA7
|
||||||
|
|
||||||
|
#define USE_SPI_DEVICE_2
|
||||||
|
#define SPI2_NSS_PIN PB12
|
||||||
|
#define SPI2_SCK_PIN PB13
|
||||||
|
#define SPI2_MISO_PIN PC2
|
||||||
|
#define SPI2_MOSI_PIN PC3
|
||||||
|
|
||||||
|
#define USE_I2C
|
||||||
|
#define I2C_DEVICE (I2CDEV_3)
|
||||||
|
#define I2C3_SCL PA8
|
||||||
|
#define I2C3_SDA PC9
|
||||||
|
|
||||||
|
#define SENSORS_SET (SENSOR_ACC)
|
||||||
|
|
||||||
|
#define LED_STRIP
|
||||||
|
|
||||||
|
#define WS2811_PIN PB7 // Shared UART1
|
||||||
|
#define WS2811_TIMER TIM4
|
||||||
|
#define WS2811_TIMER_CHANNEL TIM_Channel_2
|
||||||
|
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_ST3_HANDLER
|
||||||
|
#define WS2811_DMA_STREAM DMA1_Stream3
|
||||||
|
#define WS2811_DMA_FLAG DMA_FLAG_TCIF3
|
||||||
|
#define WS2811_DMA_IT DMA_IT_TCIF3
|
||||||
|
#define WS2811_DMA_CHANNEL DMA_Channel_2
|
||||||
|
#define WS2811_DMA_IRQ DMA1_Stream3_IRQn
|
||||||
|
|
||||||
|
// alternative defaults for Colibri/Gemini target
|
||||||
|
#define TARGET_CONFIG
|
||||||
|
|
||||||
|
#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
|
||||||
|
|
||||||
|
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
|
||||||
|
#define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_RX_SERIAL)
|
||||||
|
|
||||||
|
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||||
|
|
||||||
|
#define TARGET_IO_PORTA 0xffff
|
||||||
|
#define TARGET_IO_PORTB 0xffff
|
||||||
|
#define TARGET_IO_PORTC 0xffff
|
||||||
|
#define TARGET_IO_PORTD 0xffff
|
||||||
|
|
||||||
|
#define USABLE_TIMER_CHANNEL_COUNT 16
|
||||||
|
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(10) | TIM_N(11))
|
||||||
11
src/main/target/COLIBRI/target.mk
Normal file
11
src/main/target/COLIBRI/target.mk
Normal file
|
|
@ -0,0 +1,11 @@
|
||||||
|
F405_TARGETS += $(TARGET)
|
||||||
|
FEATURES += VCP ONBOARDFLASH
|
||||||
|
HSE_VALUE = 16000000
|
||||||
|
|
||||||
|
TARGET_SRC = \
|
||||||
|
drivers/accgyro_spi_mpu6000.c \
|
||||||
|
drivers/barometer_ms5611.c \
|
||||||
|
drivers/compass_hmc5883l.c \
|
||||||
|
drivers/light_ws2811strip.c \
|
||||||
|
drivers/light_ws2811strip_stm32f4xx.c \
|
||||||
|
|
||||||
|
|
@ -371,7 +371,11 @@ uint32_t hse_value = HSE_VALUE;
|
||||||
/************************* PLL Parameters *************************************/
|
/************************* PLL Parameters *************************************/
|
||||||
#if defined(STM32F40_41xxx) || defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F401xx) || defined(STM32F469_479xx)
|
#if defined(STM32F40_41xxx) || defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F401xx) || defined(STM32F469_479xx)
|
||||||
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */
|
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */
|
||||||
|
#if defined(COLIBRI)
|
||||||
|
#define PLL_M 16
|
||||||
|
#else
|
||||||
#define PLL_M 8
|
#define PLL_M 8
|
||||||
|
#endif
|
||||||
#elif defined (STM32F446xx)
|
#elif defined (STM32F446xx)
|
||||||
#define PLL_M 8
|
#define PLL_M 8
|
||||||
#elif defined (STM32F410xx) || defined (STM32F411xE)
|
#elif defined (STM32F410xx) || defined (STM32F411xE)
|
||||||
|
|
|
||||||
Loading…
Add table
Add a link
Reference in a new issue