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235 lines
5.4 KiB
235 lines
5.4 KiB
# hw definition file for processing by chibios_pins.py |
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# MCU class and specific type |
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# MCU class and specific type |
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MCU STM32F4xx STM32F427xx |
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# crystal frequency |
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OSCILLATOR_HZ 24000000 |
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# flash size |
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FLASH_SIZE_KB 2048 |
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STM32_ST_USE_TIMER 5 |
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# bootloader starts firmware at 64k |
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FLASH_RESERVE_START_KB 64 |
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# store parameters in pages 2 and 3 |
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define STORAGE_FLASH_PAGE 2 |
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define HAL_STORAGE_SIZE 16384 |
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# board ID for firmware load |
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APJ_BOARD_ID 1402 |
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# setup build for a peripheral firmware |
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env AP_PERIPH 1 |
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define PERIPH_FW TRUE |
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define HAL_BUILD_AP_PERIPH |
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define HAL_SUPPORT_RCOUT_SERIAL 0 |
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# use the app descriptor needed by MissionPlanner for CAN upload |
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env APP_DESCRIPTOR MissionPlanner |
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# disable dual GPS and GPS blending to save flash space |
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define GPS_MAX_RECEIVERS 1 |
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define GPS_MAX_INSTANCES 1 |
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define HAL_COMPASS_MAX_SENSORS 1 |
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define HAL_NO_GCS |
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define HAL_NO_LOGGING |
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define HAL_NO_MONITOR_THREAD |
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define HAL_DISABLE_LOOP_DELAY |
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define HAL_USE_RTC FALSE |
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define DISABLE_SERIAL_ESC_COMM TRUE |
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define NO_DATAFLASH TRUE |
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define HAL_NO_RCIN_THREAD |
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define HAL_BARO_ALLOW_INIT_NO_BARO |
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define HAL_USE_ADC TRUE |
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define STM32_ADC_USE_ADC1 TRUE |
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define HAL_DISABLE_ADC_DRIVER FALSE |
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define HAL_CAN_DEFAULT_NODE_ID 0 |
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define CAN_APP_NODE_NAME "org.ardupilot.Pixracer_periph" |
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# reserve 256 bytes for comms between app and bootloader |
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RAM_RESERVE_START 256 |
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env DISABLE_SCRIPTING 1 |
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MAIN_STACK 0x2000 |
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PROCESS_STACK 0x6000 |
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# listen for reboot command from uploader.py script |
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# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0 |
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define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0 |
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# default to all pins low to avoid ESD issues |
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DEFAULTGPIO OUTPUT LOW PULLDOWN |
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# --------- Peripherals ----------- |
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define HAL_PERIPH_ENABLE_ADSB |
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define HAL_PERIPH_ADSB_PORT_DEFAULT 2 |
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define HAL_PERIPH_ENABLE_AIRSPEED |
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define HAL_AIRSPEED_BUS_DEFAULT 0 |
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define AIRSPEED_MAX_SENSORS 1 |
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define HAL_PERIPH_ENABLE_GPS |
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define HAL_PERIPH_GPS_PORT_DEFAULT 3 |
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define HAL_PERIPH_ENABLE_MAG |
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define HAL_PERIPH_ENABLE_BARO |
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define HAL_PERIPH_ENABLE_BATTERY |
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define HAL_PERIPH_ENABLE_RC_OUT |
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define HAL_PERIPH_ENABLE_RANGEFINDER |
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define HAL_PERIPH_RANGEFINDER_PORT_DEFAULT 1 |
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define RANGEFINDER_MAX_INSTANCES 1 |
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define HAL_PERIPH_ENABLE_NOTIFY |
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# --------- LED ----------- |
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# a LED to flash |
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PB1 LED OUTPUT LOW |
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# --------- ANALOG ----------- |
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# analog pins |
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PA2 BATT_VOLTAGE_SENS ADC1 |
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PA3 BATT_CURRENT_SENS ADC1 |
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# define default battery setup |
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define HAL_BATT_VOLT_PIN 2 |
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define HAL_BATT_CURR_PIN 3 |
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define HAL_BATT_VOLT_SCALE 10.1 |
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define HAL_BATT_CURR_SCALE 17.0 |
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#---------------- SERIAL ----------------------------- |
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# order of UARTs |
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# --------------------------------------- |
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# | sr0 | sr1 | sr2 | sr3 | sr4 | sr5 | sr6 |
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# AP Name GPS |
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# --------------------------------------- |
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SERIAL_ORDER OTG1 USART2 USART3 UART4 EMPTY EMPTY UART7 |
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PA9 VBUS INPUT |
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PA11 OTG_FS_DM OTG1 |
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PA12 OTG_FS_DP OTG1 |
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# USART1 is ESP8266 unused |
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# PB6 USART1_TX USART1 |
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# PB7 USART1_RX USART1 |
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# USART2 serial2 GPS1 |
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PD3 USART2_CTS USART2 |
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PD4 USART2_RTS USART2 |
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PD5 USART2_TX USART2 |
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PD6 USART2_RX USART2 |
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# USART3 serial3 telem1 |
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PD8 USART3_TX USART3 NODMA |
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PD9 USART3_RX USART3 |
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PD11 USART3_CTS USART3 |
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PD12 USART3_RTS USART3 |
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# UART4 is GPS2 |
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PA0 UART4_TX UART4 NODMA |
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PA1 UART4_RX UART4 NODMA |
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# UART7 is debug |
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PE7 UART7_RX UART7 NODMA |
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PE8 UART7_TX UART7 NODMA |
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# UART8 serial4 FrSky unused |
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# PE0 UART8_RX UART8 |
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# PE1 UART8_TX UART8 |
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# SWD debugging |
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PA13 JTMS-SWDIO SWD |
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PA14 JTCK-SWCLK SWD |
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#---------------- I2C ----------------------------- |
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# only one I2C bus in normal config |
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PB8 I2C1_SCL I2C1 |
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PB9 I2C1_SDA I2C1 |
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define HAL_USE_I2C TRUE |
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define STM32_I2C_USE_I2C1 TRUE |
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define HAL_I2C_CLEAR_ON_TIMEOUT 0 |
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define HAL_I2C_INTERNAL_MASK 0 |
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# only one I2C bus |
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I2C_ORDER I2C1 |
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# also probe all types of external I2C compasses |
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES |
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#------------------- SPI ----------------------------- |
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# spi bus for Sensors |
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PA5 SPI1_SCK SPI1 |
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PA6 SPI1_MISO SPI1 |
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PA7 SPI1_MOSI SPI1 |
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PE12 MAG_DRDY INPUT |
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PE15 MAG_CS CS |
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PB10 SPI2_SCK SPI2 |
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PB14 SPI2_MISO SPI2 |
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PB15 SPI2_MOSI SPI2 |
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PD7 BARO_CS CS |
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# PD10 FRAM_CS CS |
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# SPI device table. The DEVID values are chosen to match the PX4 port |
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# of ArduPilot so users don't need to re-do their accel and compass calibrations |
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# when moving to ChibiOS |
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SPIDEV ms5611_int SPI2 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ |
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# SPIDEV mpu9250 SPI1 DEVID4 MPU9250_CS MODE3 2*MHZ 4*MHZ //future use |
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# SPIDEV icm20608 SPI1 DEVID6 20608_CS MODE3 2*MHZ 8*MHZ //future use |
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SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ |
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SPIDEV lis3mdl SPI1 DEVID5 MAG_CS MODE3 500*KHZ 500*KHZ |
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# SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ //unused |
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# one barometer |
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BARO MS56XX SPI:ms5611_int |
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# 2 compasses. R15 has LIS3MDL instead of HMC5843 |
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COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180 |
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COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE |
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# COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_9 |
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--------------- ALARM ----------------- |
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# PWM output for buzzer |
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PA15 TIM2_CH1 TIM2 GPIO(77) ALARM |
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--------------- CAN ----------------- |
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# enable CAN support |
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PD0 CAN1_RX CAN1 |
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PD1 CAN1_TX CAN1 |
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define HAL_CAN_DRIVER_DEFAULT 1 |
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# --------PWMS ----------- |
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) |
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) |
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) |
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) |
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) |
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) |
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define BOARD_PWM_COUNT_DEFAULT 6
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