mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-17 13:25:30 +03:00
X_RACERSPI support for betaflight V3
This commit is contained in:
rotcehdnih
parent
eb55c919b7
commit
ee860b122b
4 changed files with 284 additions and 1 deletions
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@ -20,7 +20,8 @@ targets=("PUBLISHMETA=True" \
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"TARGET=ALIENFLIGHTF3" \
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"TARGET=DOGE" \
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"TARGET=SINGULARITY" \
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"TARGET=SIRINFPV")
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"TARGET=SIRINFPV" \
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"TARGET=X_RACERSPI")
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#fake a travis build environment
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export TRAVIS_BUILD_NUMBER=$(date +%s)
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106
src/main/target/X_RACERSPI/target.c
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106
src/main/target/X_RACERSPI/target.c
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@ -0,0 +1,106 @@
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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/io.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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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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const uint16_t multiPWM[] = {
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PWM1 | (MAP_TO_PWM_INPUT << 8),
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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),
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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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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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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_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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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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0xFFFF
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};
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const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
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{ TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1, 0}, // RC_CH1 - PA0 - *TIM2_CH1
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{ TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1, 0}, // RC_CH2 - PA1 - *TIM2_CH2, TIM15_CH1N
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// Production boards swapped RC_CH3/4 swapped to make it easier to use SerialRX using supplied cables - compared to first prototype.
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{ TIM2, IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1, 0}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
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{ TIM2, IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1, 0}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
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{ TIM3, IO_TAG(PB4), TIM_Channel_1, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2, 0}, // 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, 0}, // 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, 0}, // 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, 0}, // RC_CH8 - 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, 0}, // 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, 0}, // PWM2 - PA7 - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
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{ TIM4, IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM3 - PA11
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{ TIM4, IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10, 0}, // PWM4 - PA12
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{ TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM5 - PB8
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{ TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2, 0}, // PWM6 - PB9
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{ TIM15, IO_TAG(PA2), TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_9, 0}, // PWM7 - PA2
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{ TIM15, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_9, 0}, // PWM8 - PA3
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{ TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_6, 0}, // GPIO_TIMER / LED_STRIP
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};
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161
src/main/target/X_RACERSPI/target.h
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161
src/main/target/X_RACERSPI/target.h
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@ -0,0 +1,161 @@
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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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#pragma once
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#define TARGET_BOARD_IDENTIFIER "X_RACERSPI"
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#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
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#define LED0 PC14
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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 USE_MAG_DATA_READY_SIGNAL
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#define ENSURE_MAG_DATA_READY_IS_HIGH
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#define MPU6000_CS_PIN PA15
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#define MPU6000_SPI_INSTANCE SPI1
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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
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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
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// MPU6000 interrupts
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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 MPU_INT_EXTI PC13
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#define USE_EXTI
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#define USE_FLASHFS
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#define USE_FLASH_M25P16
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#define USE_USART1
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#define USE_USART2
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#define USE_USART3
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#define USE_SOFTSERIAL1
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#define USE_SOFTSERIAL2
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#define SERIAL_PORT_COUNT 5
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#ifndef UART1_GPIO
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#define UART1_TX_PIN GPIO_Pin_9 // PA9
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#define UART1_RX_PIN GPIO_Pin_10 // PA10
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#define UART1_GPIO GPIOA
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#define UART1_GPIO_AF GPIO_AF_7
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#define UART1_TX_PINSOURCE GPIO_PinSource9
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#define UART1_RX_PINSOURCE GPIO_PinSource10
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#endif
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#define UART2_TX_PIN GPIO_Pin_2 // PA14 / SWCLK
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#define UART2_RX_PIN GPIO_Pin_3 // PA15
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#define UART2_GPIO GPIOA
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#define UART2_GPIO_AF GPIO_AF_7
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#define UART2_TX_PINSOURCE GPIO_PinSource2
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#define UART2_RX_PINSOURCE GPIO_PinSource3
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#ifndef UART3_GPIO
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#define UART3_TX_PIN GPIO_Pin_10 // PB10 (AF7)
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#define UART3_RX_PIN GPIO_Pin_11 // PB11 (AF7)
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#define UART3_GPIO_AF GPIO_AF_7
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#define UART3_GPIO GPIOB
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#define UART3_TX_PINSOURCE GPIO_PinSource10
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#define UART3_RX_PINSOURCE GPIO_PinSource11
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#endif
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#define SOFTSERIAL_1_TIMER TIM3
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#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
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#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
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#define SOFTSERIAL_2_TIMER TIM3
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#define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
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#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
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#define USE_I2C
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#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
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#define USE_SPI
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#define USE_SPI_DEVICE_1
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#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
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//GPIO_AF_1
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#define SPI1_NSS_PIN PA15
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#define SPI1_SCK_PIN PB3
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#define SPI1_MISO_PIN PB4
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#define SPI1_MOSI_PIN PB5
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#define SPI2_NSS_PIN PB12
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#define SPI2_SCK_PIN PB13
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#define SPI2_MISO_PIN PB14
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#define SPI2_MOSI_PIN PB15
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#define M25P16_CS_PIN PB12
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#define M25P16_SPI_INSTANCE SPI2
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#define USE_ADC
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#define BOARD_HAS_VOLTAGE_DIVIDER
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#define ADC_INSTANCE ADC2
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#define VBAT_ADC_PIN PA4
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#define CURRENT_METER_ADC_PIN PA5
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#define RSSI_ADC_PIN PB2
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#define LED_STRIP
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#define LED_STRIP_TIMER TIM1
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#define USE_LED_STRIP_ON_DMA1_CHANNEL2
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#define WS2811_GPIO GPIOA
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#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
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#define WS2811_GPIO_AF GPIO_AF_6
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#define WS2811_PIN GPIO_Pin_8
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#define WS2811_PIN_SOURCE GPIO_PinSource8
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#define WS2811_TIMER TIM1
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#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1
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#define WS2811_DMA_CHANNEL DMA1_Channel2
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#define WS2811_IRQ DMA1_Channel2_IRQn
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#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2
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#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER
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#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
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#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
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#define DEFAULT_FEATURES FEATURE_BLACKBOX
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#define SPEKTRUM_BIND
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// USART3,
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#define BIND_PIN PB11
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#define USE_SERIAL_4WAY_BLHELI_INTERFACE
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// IO - stm32f303cc in 48pin package
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#define TARGET_IO_PORTA 0xffff
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#define TARGET_IO_PORTB 0xffff
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#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
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#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
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#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
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15
src/main/target/X_RACERSPI/target.mk
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15
src/main/target/X_RACERSPI/target.mk
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@ -0,0 +1,15 @@
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F3_TARGETS += $(TARGET)
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FEATURES = ONBOARDFLASH
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TARGET_SRC = \
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drivers/accgyro_mpu.c \
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drivers/accgyro_spi_mpu6000.c \
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drivers/compass_ak8975.c \
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drivers/compass_hmc5883l.c \
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drivers/display_ug2864hsweg01.h \
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drivers/flash_m25p16.c \
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drivers/light_ws2811strip.c \
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drivers/light_ws2811strip_stm32f30x.c \
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drivers/serial_softserial.c \
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drivers/sonar_hcsr04.c
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