SENT improvements (#4702)
* smt32_common.mk: reduce copy-paste * SENT: sentPins is not used * hw: stm32: add ICU helper * hw: stm32: icu helpers: also return timer base clock * SENT: icu: use helper to get ICU & channel and AF * SENT: icu: use CPU ticks for pulse measurements * hw: stm32: icu: cleanup
This commit is contained in:
Andrey G
GitHub
parent
8209e4da69
commit
7abe3ba112
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@ -63,6 +63,9 @@
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#define MsgGetSig1(msg) (((msg) >> (1 * 4)) & 0xfff)
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#define MsgGetCrc(msg) MsgGetNibble(msg, 7)
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/* convert CPU ticks to float Us */
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#define TicksToUs(ticks) ((float)(ticks) * 1000.0 * 1000.0 / CORE_CLOCK)
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typedef enum
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{
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SENT_STATE_CALIB = 0,
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@ -521,7 +524,7 @@ void sent_channel::Info(void)
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uint8_t stat;
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uint16_t sig0, sig1;
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efiPrintf("Unit time %d timer ticks", tickPerUnit);
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efiPrintf("Unit time %d CPU ticks %f uS", tickPerUnit, TicksToUs(tickPerUnit));
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efiPrintf("Total pulses %d", pulseCounter);
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if (GetSignals(&stat, &sig0, &sig1) == 0) {
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@ -22,49 +22,56 @@
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#if (HAL_USE_ICU == TRUE)
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/* TODO: get at runtime */
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#define SENT_ICU_FREQ (CORE_CLOCK / 2) // == CPU freq / 2
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/* TODO: implement helper to get AF from GPIO for TIM2 capture */
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#define SENT_INPUT_AF PAL_MODE_ALTERNATE(1)
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/* TODO: implement helper to get ICU and channel from GPIO */
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#define SENT_ICU_UNIT ICUD2 /* TIM2 */
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#define SENT_ICU_CHANNEL ICU_CHANNEL_2
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/* Max timer clock for most timers on STM32 is CPU clock / 2 */
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#define SENT_TIMER_CLOCK_DIV 2
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#define SENT_ICU_FREQ (CORE_CLOCK / SENT_TIMER_CLOCK_DIV) // == CPU freq / 2
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/* ICU callbacks */
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static void icuperiodcb_in1(ICUDriver *icup)
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{
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SENT_ISR_Handler(0, icuGetPeriodX(icup));
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SENT_ISR_Handler(0, icuGetPeriodX(icup) * SENT_TIMER_CLOCK_DIV);
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}
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/* ICU configs */
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static ICUConfig icucfg_in1 =
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static ICUConfig icucfg[SENT_INPUT_COUNT] =
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{
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.mode = ICU_INPUT_ACTIVE_LOW,
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.frequency = SENT_ICU_FREQ,
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.width_cb = NULL,
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.period_cb = icuperiodcb_in1,
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.overflow_cb = NULL,
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.channel = SENT_ICU_CHANNEL,
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.dier = 0U,
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.arr = 0xFFFFFFFFU,
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{
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.mode = ICU_INPUT_ACTIVE_LOW,
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.frequency = SENT_ICU_FREQ,
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.width_cb = NULL,
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.period_cb = icuperiodcb_in1,
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.overflow_cb = NULL,
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.channel = ICU_CHANNEL_1, /* will be overwriten on startSent() */
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.dier = 0U,
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.arr = 0xFFFFFFFFU,
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}
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};
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/* current config */
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static brain_input_pin_e sentPins[SENT_INPUT_COUNT];
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void startSent()
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{
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for (int i = 0; i < SENT_INPUT_COUNT; i++) {
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brain_input_pin_e sentPin = engineConfiguration->sentInputPins[i];
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if (isBrainPinValid(sentPin)) {
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efiSetPadMode("SENT", sentPin, SENT_INPUT_AF);
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icuStart(&SENT_ICU_UNIT, &icucfg_in1);
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icuStartCapture(&SENT_ICU_UNIT);
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icuEnableNotifications(&SENT_ICU_UNIT);
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if (!isBrainPinValid(sentPin)) {
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continue;
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}
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ICUConfig *cfg = &icucfg[i];
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ICUDriver *icu;
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iomode_t pinAF;
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uint32_t baseClock;
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if (getIcuParams(sentPin, &pinAF, &icu, &cfg->channel, &baseClock) != true) {
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/* this pin has no ICU functionality, of ICU driver is not enabled for TIM on this pin */
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/* throw error? */
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continue;
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}
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efiSetPadMode("SENT", sentPin, PAL_MODE_ALTERNATE(pinAF));
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icuStart(icu, cfg);
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icuStartCapture(icu);
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icuEnableNotifications(icu);
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}
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}
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@ -73,13 +80,23 @@ void stopSent()
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for (int i = 0; i < SENT_INPUT_COUNT; i++) {
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brain_input_pin_e sentPin = activeConfiguration.sentInputPins[i];
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if (isBrainPinValid(sentPin)) {
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icuDisableNotifications(&SENT_ICU_UNIT);
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icuStopCapture(&SENT_ICU_UNIT);
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icuStop(&SENT_ICU_UNIT);
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efiSetPadUnused(sentPin);
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if (!isBrainPinValid(sentPin)) {
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continue;
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}
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ICUDriver *icu;
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if (getIcuParams(sentPin, NULL, &icu, NULL, NULL) != true) {
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/* this pin has no ICU functionality, of ICU driver is not enabled for TIM on this pin */
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/* throw error? */
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continue;
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}
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icuDisableNotifications(icu);
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icuStopCapture(icu);
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icuStop(icu);
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efiSetPadUnused(sentPin);
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}
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}
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@ -49,6 +49,10 @@ void initSpiCs(SPIConfig *spiConfig, brain_pin_e csPin);
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void turnOnSpi(spi_device_e device);
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#endif // HAL_USE_SPI
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#if HAL_USE_ICU
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bool getIcuParams(brain_pin_e hwPin, iomode_t *af_ptr, ICUDriver ** icu_ptr, icuchannel_t *channel_ptr, uint32_t *base_clock);
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#endif
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// MMC Card
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#if HAL_USE_MMC_SPI
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// HS = max 50MHz SPI
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@ -60,6 +60,18 @@ typedef enum {
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#define GPIO_AF_TIM9 3
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#endif
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#ifndef GPIO_AF_TIM12
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#define GPIO_AF_TIM12 9
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#endif
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#ifndef GPIO_AF_TIM13
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#define GPIO_AF_TIM13 9
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#endif
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#ifndef GPIO_AF_TIM14
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#define GPIO_AF_TIM14 9
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#endif
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#ifndef ADC_CR2_SWSTART
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#define ADC_CR2_SWSTART ((uint32_t)0x40000000)
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#endif
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@ -1,19 +1,22 @@
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HW_STM32_PORT_DIR = $(PROJECT_DIR)/hw_layer/ports/stm32
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HW_LAYER_EMS_CPP += \
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$(PROJECT_DIR)/hw_layer/ports/stm32/serial_over_usb/usbconsole.cpp \
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$(PROJECT_DIR)/hw_layer/ports/stm32/stm32_pins.cpp \
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$(PROJECT_DIR)/hw_layer/ports/stm32/stm32_common.cpp \
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$(PROJECT_DIR)/hw_layer/ports/stm32/backup_ram.cpp \
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$(PROJECT_DIR)/hw_layer/ports/stm32/microsecond_timer_stm32.cpp \
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$(PROJECT_DIR)/hw_layer/ports/stm32/osc_detector.cpp \
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$(PROJECT_DIR)/hw_layer/ports/stm32/flash_int.cpp \
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$(PROJECT_DIR)/hw_layer/ports/stm32/serial_over_usb/usbcfg.cpp \
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$(HW_STM32_PORT_DIR)/serial_over_usb/usbconsole.cpp \
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$(HW_STM32_PORT_DIR)/stm32_pins.cpp \
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$(HW_STM32_PORT_DIR)/stm32_common.cpp \
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$(HW_STM32_PORT_DIR)/stm32_icu.cpp \
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$(HW_STM32_PORT_DIR)/backup_ram.cpp \
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$(HW_STM32_PORT_DIR)/microsecond_timer_stm32.cpp \
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$(HW_STM32_PORT_DIR)/osc_detector.cpp \
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$(HW_STM32_PORT_DIR)/flash_int.cpp \
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$(HW_STM32_PORT_DIR)/serial_over_usb/usbcfg.cpp
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RUSEFIASM = $(PROJECT_DIR)/hw_layer/ports/stm32/rusEfiStartup.S
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RUSEFIASM = \
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$(HW_STM32_PORT_DIR)/rusEfiStartup.S
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HW_INC += \
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$(PROJECT_DIR)/hw_layer/ports/stm32 \
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$(PROJECT_DIR)/hw_layer/ports/stm32/serial_over_usb
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$(HW_STM32_PORT_DIR) \
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$(HW_STM32_PORT_DIR)/serial_over_usb
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ifeq ($(EFI_HAS_EXT_SDRAM), yes)
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USE_OPT += -Wl,--defsym=STM32_HAS_SDRAM=1
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@ -0,0 +1,241 @@
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/**
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* @file stm32_icu.cpp
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* @brief Port implementation for the STM32 timer units in ICU mode found on the STM32F4 and STM32F7
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*
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* @date October 20, 2022
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* @author Andrey Gusakov, (c) 2022
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* @author Andrey Belomutskiy, (c) 2012-2020
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*/
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#include "pch.h"
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#if HAL_USE_ICU
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#define RETURN_ICU_TRUE(icu, channel, af, clock) \
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do { \
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if (icu_ptr) { \
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if (*icu_ptr != (icu)) { \
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if (af_ptr) \
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*af_ptr = (af); \
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*icu_ptr = (icu); \
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if (channel_ptr) \
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*channel_ptr = (channel); \
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if (*clock_ptr) \
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*clock_ptr = clock; \
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return true; \
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} else { \
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/* if current icu is allready in *icu_ptr, continue and return another icu available on this pin, if any */ \
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} \
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} else { \
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/* called with null icu_ptr, just to know if icu is available on given pin */ \
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return true; \
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} \
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} while(0)
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#if (STM32_ICU_USE_TIM1 == TRUE)
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#define RETURN_ICU1(channel) RETURN_ICU_TRUE(&ICUD1, channel, GPIO_AF_TIM1, STM32_TIMCLK1)
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#else
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#define RETURN_ICU1(channel)
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#endif
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#if (STM32_ICU_USE_TIM2 == TRUE)
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#define RETURN_ICU2(channel) RETURN_ICU_TRUE(&ICUD2, channel, GPIO_AF_TIM2, STM32_TIMCLK2)
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#else
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#define RETURN_ICU2(channel)
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#endif
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#if (STM32_ICU_USE_TIM3 == TRUE)
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#define RETURN_ICU3(channel) RETURN_ICU_TRUE(&ICUD3, channel, GPIO_AF_TIM3, STM32_TIMCLK3)
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#else
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#define RETURN_ICU3(channel)
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#endif
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#if (STM32_ICU_USE_TIM4 == TRUE)
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#define RETURN_ICU4(channel) RETURN_ICU_TRUE(&ICUD4, channel, GPIO_AF_TIM4, STM32_TIMCLK4)
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#else
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#define RETURN_ICU4(channel)
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#endif
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#if (STM32_ICU_USE_TIM5 == TRUE)
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#define RETURN_ICU5(channel) RETURN_ICU_TRUE(&ICUD5, channel, GPIO_AF_TIM5, STM32_TIMCLK5)
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#else
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#define RETURN_ICU5(channel)
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#endif
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/* TIM6 is internal only */
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/* TIM7 is internal only */
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#if (STM32_ICU_USE_TIM8 == TRUE)
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#define RETURN_ICU8(channel) RETURN_ICU_TRUE(&ICUD8, channel, GPIO_AF_TIM8, STM32_TIMCLK8)
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#else
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#define RETURN_ICU8(channel)
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#endif
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#if (STM32_ICU_USE_TIM9 == TRUE)
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#define RETURN_ICU9(channel) RETURN_ICU_TRUE(&ICUD9, channel, GPIO_AF_TIM9, STM32_TIMCLK9)
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#else
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#define RETURN_ICU9(channel)
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#endif
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#if (STM32_ICU_USE_TIM10 == TRUE)
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#define RETURN_ICU10(channel) RETURN_ICU_TRUE(&ICUD10, channel, GPIO_AF_TIM10, STM32_TIMCLK10)
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#else
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#define RETURN_ICU10(channel)
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#endif
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#if (STM32_ICU_USE_TIM11 == TRUE)
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#define RETURN_ICU11(channel) RETURN_ICU_TRUE(&ICUD11, channel, GPIO_AF_TIM11, STM32_TIMCLK11)
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#else
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#define RETURN_ICU11(channel)
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#endif
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#if (STM32_ICU_USE_TIM12 == TRUE)
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#define RETURN_ICU12(channel) RETURN_ICU_TRUE(&ICUD12, channel, GPIO_AF_TIM12, STM32_TIMCLK12)
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#else
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#define RETURN_ICU12(channel)
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#endif
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#if (STM32_ICU_USE_TIM13 == TRUE)
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#define RETURN_ICU13(channel) RETURN_ICU_TRUE(&ICUD13, channel, GPIO_AF_TIM13, STM32_TIMCLK13)
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#else
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#define RETURN_ICU13(channel)
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#endif
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#if (STM32_ICU_USE_TIM14 == TRUE)
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#define RETURN_ICU14(channel) RETURN_ICU_TRUE(&ICUD14, channel, GPIO_AF_TIM14, STM32_TIMCLK14)
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#else
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#define RETURN_ICU14(channel)
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#endif
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/**
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* ChibiOS limitation is that only channels #1 and #2 could be used for input capture
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*/
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bool getIcuParams(brain_pin_e hwPin, iomode_t *af_ptr, ICUDriver ** icu_ptr, icuchannel_t *channel_ptr, uint32_t *clock_ptr)
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{
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switch (hwPin) {
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case Gpio::A0:
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RETURN_ICU5(ICU_CHANNEL_1);
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return false;
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case Gpio::A1:
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RETURN_ICU2(ICU_CHANNEL_2);
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RETURN_ICU5(ICU_CHANNEL_2);
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return false;
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case Gpio::A2:
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RETURN_ICU9(ICU_CHANNEL_1);
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return false;
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case Gpio::A3:
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RETURN_ICU9(ICU_CHANNEL_2);
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return false;
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case Gpio::A5:
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RETURN_ICU2(ICU_CHANNEL_1);
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return false;
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case Gpio::A6:
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RETURN_ICU3(ICU_CHANNEL_1);
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RETURN_ICU13(ICU_CHANNEL_1);
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return false;
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case Gpio::A7:
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RETURN_ICU3(ICU_CHANNEL_2);
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RETURN_ICU14(ICU_CHANNEL_1);
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return false;
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case Gpio::A8:
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RETURN_ICU1(ICU_CHANNEL_1);
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return false;
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case Gpio::A9:
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RETURN_ICU1(ICU_CHANNEL_2);
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return false;
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case Gpio::A15:
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RETURN_ICU2(ICU_CHANNEL_1);
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return false;
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case Gpio::B3:
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RETURN_ICU2(ICU_CHANNEL_2);
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return false;
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case Gpio::B4:
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RETURN_ICU3(ICU_CHANNEL_1);
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return false;
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case Gpio::B5:
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RETURN_ICU3(ICU_CHANNEL_2);
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return false;
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case Gpio::B6:
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RETURN_ICU4(ICU_CHANNEL_1);
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return false;
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case Gpio::B7:
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RETURN_ICU4(ICU_CHANNEL_2);
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return false;
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case Gpio::B8:
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RETURN_ICU10(ICU_CHANNEL_1);
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return false;
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case Gpio::B9:
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RETURN_ICU11(ICU_CHANNEL_1);
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return false;
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case Gpio::B14:
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RETURN_ICU12(ICU_CHANNEL_1);
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return false;
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case Gpio::B15:
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RETURN_ICU12(ICU_CHANNEL_2);
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return false;
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case Gpio::C6:
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RETURN_ICU3(ICU_CHANNEL_1);
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RETURN_ICU8(ICU_CHANNEL_1);
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return false;
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case Gpio::C7:
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RETURN_ICU3(ICU_CHANNEL_2);
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RETURN_ICU8(ICU_CHANNEL_2);
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return false;
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case Gpio::D12:
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RETURN_ICU4(ICU_CHANNEL_1);
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return false;
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case Gpio::D13:
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RETURN_ICU4(ICU_CHANNEL_2);
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return false;
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case Gpio::E5:
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RETURN_ICU9(ICU_CHANNEL_1);
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return false;
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case Gpio::E6:
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RETURN_ICU9(ICU_CHANNEL_2);
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return false;
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case Gpio::E9:
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RETURN_ICU1(ICU_CHANNEL_1);
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return false;
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case Gpio::E11:
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RETURN_ICU1(ICU_CHANNEL_2);
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return false;
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case Gpio::F6:
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RETURN_ICU10(ICU_CHANNEL_1);
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return false;
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case Gpio::F7:
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RETURN_ICU11(ICU_CHANNEL_1);
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return false;
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case Gpio::F8:
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RETURN_ICU13(ICU_CHANNEL_1);
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return false;
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case Gpio::F9:
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RETURN_ICU14(ICU_CHANNEL_1);
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return false;
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case Gpio::H6:
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RETURN_ICU12(ICU_CHANNEL_1);
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return false;
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case Gpio::H9:
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RETURN_ICU12(ICU_CHANNEL_2);
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return false;
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case Gpio::H10:
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RETURN_ICU5(ICU_CHANNEL_1);
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return false;
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case Gpio::H11:
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RETURN_ICU5(ICU_CHANNEL_2);
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return false;
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case Gpio::I5:
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RETURN_ICU8(ICU_CHANNEL_1);
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return false;
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case Gpio::I6:
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RETURN_ICU8(ICU_CHANNEL_2);
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return false;
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default:
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return false;
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}
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return false;
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}
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#endif //HAL_USE_ICU
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