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259 lines
9.8 KiB
259 lines
9.8 KiB
/************************************************************************************ |
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* nuttx-configs/px4cannode-v1/include/board.h |
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* |
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* Copyright (C) 2015 Gregory Nutt. All rights reserved. |
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* Author: Gregory Nutt <gnutt@nuttx.org> |
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* David Sidrane <david_s5@nscdg.com> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name NuttX nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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************************************************************************************/ |
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#ifndef __CONFIGS_PX4CANNODE_V1_INCLUDE_BOARD_H |
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#define __CONFIGS_PX4CANNODE_V1_INCLUDE_BOARD_H |
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/************************************************************************************ |
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* Included Files |
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************************************************************************************/ |
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#include <nuttx/config.h> |
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#ifndef __ASSEMBLY__ |
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# include <stdint.h> |
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#endif |
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#include "stm32_rcc.h" |
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#include "stm32_sdio.h" |
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#include "stm32.h" |
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/************************************************************************************ |
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* Pre-processor Definitions |
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************************************************************************************/ |
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/* Clocking *************************************************************************/ |
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/* HSI - 8 MHz RC factory-trimmed |
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* LSI - 40 KHz RC (30-60KHz, uncalibrated) |
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* HSE - On-board crystal frequency is 8MHz |
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* LSE - 32.768 kHz |
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*/ |
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#define STM32_BOARD_XTAL 8000000ul |
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#define STM32_HSI_FREQUENCY 8000000ul |
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#define STM32_LSI_FREQUENCY 40000 |
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#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL |
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#define STM32_LSE_FREQUENCY 32768 |
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/* PLL source is HSE/1, PLL multipler is 9: PLL frequency is 8MHz (XTAL) x 9 = 72MHz */ |
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#define STM32_CFGR_PLLSRC RCC_CFGR_PLLSRC |
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#define STM32_CFGR_PLLXTPRE 0 |
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#define STM32_CFGR_PLLMUL RCC_CFGR_PLLMUL_CLKx9 |
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#define STM32_PLL_FREQUENCY (9*STM32_BOARD_XTAL) |
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/* Use the PLL and set the SYSCLK source to be the PLL */ |
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#define STM32_SYSCLK_SW RCC_CFGR_SW_PLL |
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#define STM32_SYSCLK_SWS RCC_CFGR_SWS_PLL |
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#define STM32_SYSCLK_FREQUENCY STM32_PLL_FREQUENCY |
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/* AHB clock (HCLK) is SYSCLK (72MHz) */ |
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#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK |
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#define STM32_HCLK_FREQUENCY STM32_PLL_FREQUENCY |
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#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ |
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/* APB2 clock (PCLK2) is HCLK (72MHz) */ |
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#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK |
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#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY |
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/* APB2 timers 1 and 8 will receive PCLK2. */ |
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#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY) |
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#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY) |
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/* APB1 clock (PCLK1) is HCLK/2 (36MHz) */ |
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#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2 |
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#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) |
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/* APB1 timers 2-4 will be twice PCLK1 */ |
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#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) |
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#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) |
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#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) |
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#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) |
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#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) |
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#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) |
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/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx |
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* otherwise frequency is 2xAPBx. |
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* Note: TIM1,8 are on APB2, others on APB1 |
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*/ |
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#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN |
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#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN |
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#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN |
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#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN |
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#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN |
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#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN |
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#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN |
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#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN |
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/* USB divider -- Divide PLL clock by 1.5 */ |
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#define STM32_CFGR_USBPRE 0 |
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/* Buttons *************************************************************************/ |
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#define BUTTON_BOOT0_BIT (0) |
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#define BUTTON_BOOT0_MASK (1<<BUTTON_BOOT0_BIT) |
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/* Leds *************************************************************************/ |
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/* LED index values for use with board_setled() */ |
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#define BOARD_LED1 0 |
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#define BOARD_LED_GREEN BOARD_LED1 |
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#define BOARD_LED2 1 |
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#define BOARD_LED_YELLOW BOARD_LED2 |
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#define BOARD_NLEDS 2 |
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/* LED bits for use with board_setleds() */ |
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#define BOARD_LED_GREEN_BIT (1 << BOARD_LED_GREEN) |
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#define BOARD_LED_YELLOW_BIT (1 << BOARD_LED_YELLOW) |
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/* These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is |
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* defined. In that case, the usage by the board port is as follows: |
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* |
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* SYMBOL Meaning LED state |
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* Green Yellow |
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* ------------------------ -------------------------- ------ ------ */ |
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#define LED_STARTED 0 /* NuttX has been started OFF OFF */ |
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#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF */ |
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#define LED_IRQSENABLED 2 /* Interrupts enabled OFF OFF */ |
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#define LED_STACKCREATED 3 /* Idle stack created ON OFF */ |
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#define LED_INIRQ 4 /* In an interrupt N/C ON */ |
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#define LED_SIGNAL 5 /* In a signal handler N/C ON */ |
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#define LED_ASSERTION 6 /* An assertion failed N/C ON */ |
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#define LED_PANIC 7 /* The system has crashed N/C Blinking */ |
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#define LED_IDLE 8 /* MCU is is sleep mode OFF N/C */ |
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/* Thus if the Green is statically on, NuttX has successfully booted and is, |
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* apparently, running normally. If the YellowLED is flashing at |
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* approximately 2Hz, then a fatal error has been detected and the system |
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* has halted. |
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* |
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* NOTE: That the Yellow is not used after completion of booting and may |
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* be used by other board-specific logic. |
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*/ |
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#if defined(CONFIG_BOARD_USE_PROBES) |
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# define PROBE_N(n) (1<<((n)-1)) |
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# define PROBE_1 (GPIO_OUTPUT|GPIO_CNF_OUTPP | GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1) |
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# define PROBE_2 (GPIO_OUTPUT|GPIO_CNF_OUTPP | GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2) |
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# define PROBE_3 (GPIO_OUTPUT|GPIO_CNF_OUTPP | GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3) |
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# define PROBE_INIT(mask) \ |
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do { \ |
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if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \ |
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if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \ |
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if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \ |
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} while(0) |
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# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0) |
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# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) |
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#else |
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# define PROBE_INIT(mask) |
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# define PROBE(n,s) |
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# define PROBE_MARK(n) |
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#endif |
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/************************************************************************************ |
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* Public Data |
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************************************************************************************/ |
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#ifndef __ASSEMBLY__ |
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#undef EXTERN |
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#if defined(__cplusplus) |
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#define EXTERN extern "C" |
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extern "C" |
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{ |
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#else |
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#define EXTERN extern |
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#endif |
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/************************************************************************************ |
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* Public Function Prototypes |
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************************************************************************************/ |
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/************************************************************************************ |
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* Name: stm32_boardinitialize |
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* |
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* Description: |
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* All STM32 architectures must provide the following entry point. This entry point |
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* is called early in the initialization -- after all memory has been configured |
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* and mapped but before any devices have been initialized. |
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* |
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************************************************************************************/ |
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void stm32_boardinitialize(void); |
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/************************************************************************************ |
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* Name: stm32_ledinit, stm32_setled, and stm32_setleds |
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* |
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* Description: |
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* If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board LEDs. If |
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* CONFIG_ARCH_LEDS is not defined, then the following interfaces are available to |
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* control the LEDs from user applications. |
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* |
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************************************************************************************/ |
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#ifndef CONFIG_ARCH_LEDS |
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void stm32_led_initialize(void); |
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void stm32_setled(int led, bool ledon); |
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void stm32_setleds(uint8_t ledset); |
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#endif |
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#if !defined(CONFIG_NSH_LIBRARY) |
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int app_archinitialize(void); |
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#else |
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#define app_archinitialize() (-ENOSYS) |
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#endif |
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#undef EXTERN |
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#if defined(__cplusplus) |
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} |
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#endif |
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#endif /* __ASSEMBLY__ */ |
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#endif /* __CONFIGS_PX4CANNODE_V1_INCLUDE_BOARD_H */
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