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Merge branch 'betaflight' of https://github.com/borisbstyle/betaflight into betaflight

This commit is contained in:
borisbstyle 2016-04-08 23:00:12 +02:00
parent 244c091844 c5c7882204
commit e780dd7023
14 changed files with 962 additions and 46 deletions
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20
Makefile
View File

@ -42,7 +42,7 @@ FORKNAME = betaflight
CC3D_TARGETS = CC3D CC3D_OPBL
VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENFLIGHTF1 ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI SPRACINGF3MINI SPRACINGF3EVO
VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENFLIGHTF1 ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI SPRACINGF3MINI SPRACINGF3EVO DOGE
# Valid targets for OP VCP support
VCP_VALID_TARGETS = $(CC3D_TARGETS)
@ -52,9 +52,9 @@ OPBL_VALID_TARGETS = CC3D_OPBL
64K_TARGETS = CJMCU
128K_TARGETS = ALIENFLIGHTF1 $(CC3D_TARGETS) NAZE OLIMEXINO RMDO AFROMINI
256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB SPRACINGF3MINI SPRACINGF3EVO
256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB SPRACINGF3MINI SPRACINGF3EVO DOGE
F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI SPRACINGF3EVO
F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI SPRACINGF3EVO DOGE
# Configure default flash sizes for the targets
@ -624,6 +624,20 @@ LUX_RACE_SRC = \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
DOGE_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_bmp280.c \
drivers/barometer_spi_bmp280.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_usb_vcp.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
SPARKY_SRC = \
$(STM32F30x_COMMON_SRC) \

2
src/main/config/config.c
View File

@ -380,7 +380,7 @@ static void resetConf(void)
masterConfig.version = EEPROM_CONF_VERSION;
masterConfig.mixerMode = MIXER_QUADX;
featureClearAll();
#if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE)
#if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE) || defined(DOGE)
featureSet(FEATURE_RX_PPM);
#endif

1
src/main/drivers/accgyro_mpu6500.h
View File

@ -17,6 +17,7 @@
#define MPU6500_WHO_AM_I_CONST (0x70)
#define MPU9250_WHO_AM_I_CONST (0x71)
#define ICM20608G_WHO_AM_I_CONST (0xAF)
#define MPU6500_BIT_RESET (0x80)

2
src/main/drivers/accgyro_spi_mpu6500.c
View File

@ -107,7 +107,7 @@ bool mpu6500SpiDetect(void)
mpu6500ReadRegister(MPU_RA_WHO_AM_I, 1, &tmp);
if (tmp == MPU6500_WHO_AM_I_CONST || tmp == MPU9250_WHO_AM_I_CONST) {
if (tmp == MPU6500_WHO_AM_I_CONST || tmp == MPU9250_WHO_AM_I_CONST || tmp == ICM20608G_WHO_AM_I_CONST) {
return true;
}

65
src/main/drivers/barometer_bmp280.c
View File

@ -28,50 +28,12 @@
#include "bus_i2c.h"
#include "barometer_bmp280.h"
#include "barometer_spi_bmp280.h"
#ifdef BARO
// BMP280, address 0x76
#define BMP280_I2C_ADDR (0x76)
#define BMP280_DEFAULT_CHIP_ID (0x58)
#define BMP280_CHIP_ID_REG (0xD0) /* Chip ID Register */
#define BMP280_RST_REG (0xE0) /* Softreset Register */
#define BMP280_STAT_REG (0xF3) /* Status Register */
#define BMP280_CTRL_MEAS_REG (0xF4) /* Ctrl Measure Register */
#define BMP280_CONFIG_REG (0xF5) /* Configuration Register */
#define BMP280_PRESSURE_MSB_REG (0xF7) /* Pressure MSB Register */
#define BMP280_PRESSURE_LSB_REG (0xF8) /* Pressure LSB Register */
#define BMP280_PRESSURE_XLSB_REG (0xF9) /* Pressure XLSB Register */
#define BMP280_TEMPERATURE_MSB_REG (0xFA) /* Temperature MSB Reg */
#define BMP280_TEMPERATURE_LSB_REG (0xFB) /* Temperature LSB Reg */
#define BMP280_TEMPERATURE_XLSB_REG (0xFC) /* Temperature XLSB Reg */
#define BMP280_FORCED_MODE (0x01)
#define BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG (0x88)
#define BMP280_PRESSURE_TEMPERATURE_CALIB_DATA_LENGTH (24)
#define BMP280_DATA_FRAME_SIZE (6)
#define BMP280_OVERSAMP_SKIPPED (0x00)
#define BMP280_OVERSAMP_1X (0x01)
#define BMP280_OVERSAMP_2X (0x02)
#define BMP280_OVERSAMP_4X (0x03)
#define BMP280_OVERSAMP_8X (0x04)
#define BMP280_OVERSAMP_16X (0x05)
// configure pressure and temperature oversampling, forced sampling mode
#define BMP280_PRESSURE_OSR (BMP280_OVERSAMP_8X)
#define BMP280_TEMPERATURE_OSR (BMP280_OVERSAMP_1X)
#define BMP280_MODE (BMP280_PRESSURE_OSR << 2 | BMP280_TEMPERATURE_OSR << 5 | BMP280_FORCED_MODE)
#define T_INIT_MAX (20)
// 20/16 = 1.25 ms
#define T_MEASURE_PER_OSRS_MAX (37)
// 37/16 = 2.3125 ms
#define T_SETUP_PRESSURE_MAX (10)
// 10/16 = 0.625 ms
typedef struct bmp280_calib_param_s {
uint16_t dig_T1; /* calibration T1 data */
int16_t dig_T2; /* calibration T2 data */
@ -92,13 +54,15 @@ static uint8_t bmp280_chip_id = 0;
static bool bmp280InitDone = false;
STATIC_UNIT_TESTED bmp280_calib_param_t bmp280_cal;
// uncompensated pressure and temperature
STATIC_UNIT_TESTED int32_t bmp280_up = 0;
STATIC_UNIT_TESTED int32_t bmp280_ut = 0;
int32_t bmp280_up = 0;
int32_t bmp280_ut = 0;
static void bmp280_start_ut(void);
static void bmp280_get_ut(void);
#ifndef USE_BARO_SPI_BMP280
static void bmp280_start_up(void);
static void bmp280_get_up(void);
#endif
STATIC_UNIT_TESTED void bmp280_calculate(int32_t *pressure, int32_t *temperature);
bool bmp280Detect(baro_t *baro)
@ -108,6 +72,17 @@ bool bmp280Detect(baro_t *baro)
delay(20);
#ifdef USE_BARO_SPI_BMP280
bmp280SpiInit();
bmp280ReadRegister(BMP280_CHIP_ID_REG, 1, &bmp280_chip_id);
if (bmp280_chip_id != BMP280_DEFAULT_CHIP_ID)
return false;
// read calibration
bmp280ReadRegister(BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, 24, (uint8_t *)&bmp280_cal);
// set oversampling + power mode (forced), and start sampling
bmp280WriteRegister(BMP280_CTRL_MEAS_REG, BMP280_MODE);
#else
i2cRead(BMP280_I2C_ADDR, BMP280_CHIP_ID_REG, 1, &bmp280_chip_id); /* read Chip Id */
if (bmp280_chip_id != BMP280_DEFAULT_CHIP_ID)
return false;
@ -116,6 +91,7 @@ bool bmp280Detect(baro_t *baro)
i2cRead(BMP280_I2C_ADDR, BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, 24, (uint8_t *)&bmp280_cal);
// set oversampling + power mode (forced), and start sampling
i2cWrite(BMP280_I2C_ADDR, BMP280_CTRL_MEAS_REG, BMP280_MODE);
#endif
bmp280InitDone = true;
@ -126,8 +102,13 @@ bool bmp280Detect(baro_t *baro)
// only _up part is executed, and gets both temperature and pressure
baro->up_delay = ((T_INIT_MAX + T_MEASURE_PER_OSRS_MAX * (((1 << BMP280_TEMPERATURE_OSR) >> 1) + ((1 << BMP280_PRESSURE_OSR) >> 1)) + (BMP280_PRESSURE_OSR ? T_SETUP_PRESSURE_MAX : 0) + 15) / 16) * 1000;
#ifdef USE_BARO_SPI_BMP280
baro->start_up = bmp280_spi_start_up;
baro->get_up = bmp280_spi_get_up;
#else
baro->start_up = bmp280_start_up;
baro->get_up = bmp280_get_up;
#endif
baro->calculate = bmp280_calculate;
return true;
@ -143,6 +124,7 @@ static void bmp280_get_ut(void)
// dummy
}
#ifndef USE_BARO_SPI_BMP280
static void bmp280_start_up(void)
{
// start measurement
@ -159,6 +141,7 @@ static void bmp280_get_up(void)
bmp280_up = (int32_t)((((uint32_t)(data[0])) << 12) | (((uint32_t)(data[1])) << 4) | ((uint32_t)data[2] >> 4));
bmp280_ut = (int32_t)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | ((uint32_t)data[5] >> 4));
}
#endif
// Returns temperature in DegC, resolution is 0.01 DegC. Output value of "5123" equals 51.23 DegC
// t_fine carries fine temperature as global value

39
src/main/drivers/barometer_bmp280.h
View File

@ -17,5 +17,44 @@
#pragma once
#define BMP280_I2C_ADDR (0x76)
#define BMP280_DEFAULT_CHIP_ID (0x58)
#define BMP280_CHIP_ID_REG (0xD0) /* Chip ID Register */
#define BMP280_RST_REG (0xE0) /* Softreset Register */
#define BMP280_STAT_REG (0xF3) /* Status Register */
#define BMP280_CTRL_MEAS_REG (0xF4) /* Ctrl Measure Register */
#define BMP280_CONFIG_REG (0xF5) /* Configuration Register */
#define BMP280_PRESSURE_MSB_REG (0xF7) /* Pressure MSB Register */
#define BMP280_PRESSURE_LSB_REG (0xF8) /* Pressure LSB Register */
#define BMP280_PRESSURE_XLSB_REG (0xF9) /* Pressure XLSB Register */
#define BMP280_TEMPERATURE_MSB_REG (0xFA) /* Temperature MSB Reg */
#define BMP280_TEMPERATURE_LSB_REG (0xFB) /* Temperature LSB Reg */
#define BMP280_TEMPERATURE_XLSB_REG (0xFC) /* Temperature XLSB Reg */
#define BMP280_FORCED_MODE (0x01)
#define BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG (0x88)
#define BMP280_PRESSURE_TEMPERATURE_CALIB_DATA_LENGTH (24)
#define BMP280_DATA_FRAME_SIZE (6)
#define BMP280_OVERSAMP_SKIPPED (0x00)
#define BMP280_OVERSAMP_1X (0x01)
#define BMP280_OVERSAMP_2X (0x02)
#define BMP280_OVERSAMP_4X (0x03)
#define BMP280_OVERSAMP_8X (0x04)
#define BMP280_OVERSAMP_16X (0x05)
// configure pressure and temperature oversampling, forced sampling mode
#define BMP280_PRESSURE_OSR (BMP280_OVERSAMP_8X)
#define BMP280_TEMPERATURE_OSR (BMP280_OVERSAMP_1X)
#define BMP280_MODE (BMP280_PRESSURE_OSR << 2 | BMP280_TEMPERATURE_OSR << 5 | BMP280_FORCED_MODE)
#define T_INIT_MAX (20)
// 20/16 = 1.25 ms
#define T_MEASURE_PER_OSRS_MAX (37)
// 37/16 = 2.3125 ms
#define T_SETUP_PRESSURE_MAX (10)
// 10/16 = 0.625 ms
bool bmp280Detect(baro_t *baro);

110
src/main/drivers/barometer_spi_bmp280.c Normal file
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@ -0,0 +1,110 @@
/*
* This file is part of Betaflight.
*
* Betaflight 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.
*
* Betaflight 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 Betaflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <platform.h>
#include "build_config.h"
#include "bus_spi.h"
#include "barometer.h"
#include "barometer_bmp280.h"
#define DISABLE_BMP280 GPIO_SetBits(BMP280_CS_GPIO, BMP280_CS_PIN)
#define ENABLE_BMP280 GPIO_ResetBits(BMP280_CS_GPIO, BMP280_CS_PIN)
extern int32_t bmp280_up;
extern int32_t bmp280_ut;
bool bmp280WriteRegister(uint8_t reg, uint8_t data)
{
ENABLE_BMP280;
spiTransferByte(BMP280_SPI_INSTANCE, reg & 0x7F);
spiTransferByte(BMP280_SPI_INSTANCE, data);
DISABLE_BMP280;
return true;
}
bool bmp280ReadRegister(uint8_t reg, uint8_t length, uint8_t *data)
{
ENABLE_BMP280;
spiTransferByte(BMP280_SPI_INSTANCE, reg | 0x80); // read transaction
spiTransfer(BMP280_SPI_INSTANCE, data, NULL, length);
DISABLE_BMP280;
return true;
}
void bmp280SpiInit(void)
{
static bool hardwareInitialised = false;
if (hardwareInitialised) {
return;
}
#ifdef STM32F303
RCC_AHBPeriphClockCmd(BMP280_CS_GPIO_CLK_PERIPHERAL, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = BMP280_CS_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(BMP280_CS_GPIO, &GPIO_InitStructure);
#endif
#ifdef STM32F10X
RCC_APB2PeriphClockCmd(BMP280_CS_GPIO_CLK_PERIPHERAL, ENABLE);
gpio_config_t gpio;
gpio.mode = Mode_Out_PP;
gpio.pin = BMP280_CS_PIN;
gpio.speed = Speed_50MHz;
gpioInit(BMP280_CS_GPIO, &gpio);
#endif
GPIO_SetBits(BMP280_CS_GPIO, BMP280_CS_PIN);
spiSetDivisor(BMP280_SPI_INSTANCE, SPI_9MHZ_CLOCK_DIVIDER);
hardwareInitialised = true;
}
void bmp280_spi_start_up(void)
{
// start measurement
// set oversampling + power mode (forced), and start sampling
bmp280WriteRegister(BMP280_CTRL_MEAS_REG, BMP280_MODE);
}
void bmp280_spi_get_up(void)
{
uint8_t data[BMP280_DATA_FRAME_SIZE];
// read data from sensor
bmp280ReadRegister(BMP280_PRESSURE_MSB_REG, BMP280_DATA_FRAME_SIZE, data);
bmp280_up = (int32_t)((((uint32_t)(data[0])) << 12) | (((uint32_t)(data[1])) << 4) | ((uint32_t)data[2] >> 4));
bmp280_ut = (int32_t)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | ((uint32_t)data[5] >> 4));
}

24
src/main/drivers/barometer_spi_bmp280.h Normal file
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@ -0,0 +1,24 @@
/*
* This file is part of Betaflight.
*
* Betaflight 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.
*
* Betaflight 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 Betaflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
void bmp280SpiInit(void);
bool bmp280ReadRegister(uint8_t reg, uint8_t length, uint8_t *data);
bool bmp280WriteRegister(uint8_t reg, uint8_t data);
void bmp280_spi_start_up(void);
void bmp280_spi_get_up(void);

54
src/main/drivers/pwm_mapping.c
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@ -639,6 +639,60 @@ static const uint16_t airPWM[] = {
};
#endif
#ifdef DOGE
static const uint16_t multiPPM[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
0xFFFF
};
static const uint16_t multiPWM[] = {
// prevent crashing, but do nothing
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
0xFFFF
};
static const uint16_t airPPM[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
0xFFFF
};
static const uint16_t airPWM[] = {
// prevent crashing, but do nothing
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
0xFFFF
};
#endif
static const uint16_t * const hardwareMaps[] = {
multiPWM,
multiPPM,

24
src/main/drivers/timer.c
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@ -141,6 +141,30 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
#endif
#ifdef DOGE
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 0, Mode_AF_PP_PD, GPIO_PinSource8, GPIO_AF_6}, // PWM1 - PA8
{ TIM4, GPIOB, Pin_8, TIM_Channel_3, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_2}, // PWM2 - PB8
{ TIM4, GPIOB, Pin_9, TIM_Channel_4, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource9, GPIO_AF_2}, // PWM3 - PB9
{ TIM2, GPIOA, Pin_10, TIM_Channel_4, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource10, GPIO_AF_10}, // PMW4 - PA10
{ TIM2, GPIOA, Pin_9, TIM_Channel_3, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource9, GPIO_AF_10}, // PWM5 - PA9
{ TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_1}, // PWM6 - PA0
{ TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_1}, // PWM7 - PA1
{ TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 1, Mode_AF_PP_PD, GPIO_PinSource0, GPIO_AF_2}, // PWM8 - PB1
{ TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 1, Mode_AF_PP_PD, GPIO_PinSource1, GPIO_AF_2}, // PWM9 - PB0
};
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15))
#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4)
#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM15)
#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB)
#endif
#ifdef CHEBUZZF3
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
// INPUTS CH1-8

13
src/main/sensors/initialisation.c
View File

@ -156,6 +156,19 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
return &RaceMPUIntExtiConfig;
#endif
#if defined(DOGE)
static const extiConfig_t dogeMPUIntExtiConfig = {
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOC,
.gpioPort = GPIOC,
.gpioPin = Pin_13,
.exti_port_source = EXTI_PortSourceGPIOC,
.exti_pin_source = EXTI_PinSource13,
.exti_line = EXTI_Line13,
.exti_irqn = EXTI15_10_IRQn
};
return &dogeMPUIntExtiConfig;
#endif
#if defined(MOTOLAB) || defined(SPARKY)
static const extiConfig_t MotolabF3MPU6050Config = {
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOA,

372
src/main/target/DOGE/system_stm32f30x.c Normal file
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@ -0,0 +1,372 @@
/**
******************************************************************************
* @file system_stm32f30x.c
* @author MCD Application Team
* @version V1.1.1
* @date 28-March-2014
* @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
* This file contains the system clock configuration for STM32F30x devices,
* and is generated by the clock configuration tool
* stm32f30x_Clock_Configuration_V1.0.0.xls
*
* 1. This file provides two functions and one global variable to be called from
* user application:
* - SystemInit(): Setups the system clock (System clock source, PLL Multiplier
* and Divider factors, AHB/APBx prescalers and Flash settings),
* depending on the configuration made in the clock xls tool.
* This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the "startup_stm32f30x.s" file.
*
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
* by the user application to setup the SysTick
* timer or configure other parameters.
*
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
* be called whenever the core clock is changed
* during program execution.
*
* 2. After each device reset the HSI (8 MHz) is used as system clock source.
* Then SystemInit() function is called, in "startup_stm32f30x.s" file, to
* configure the system clock before to branch to main program.
*
* 3. If the system clock source selected by user fails to startup, the SystemInit()
* function will do nothing and HSI still used as system clock source. User can
* add some code to deal with this issue inside the SetSysClock() function.
*
* 4. The default value of HSE crystal is set to 8MHz, refer to "HSE_VALUE" define
* in "stm32f30x.h" file. When HSE is used as system clock source, directly or
* through PLL, and you are using different crystal you have to adapt the HSE
* value to your own configuration.
*
* 5. This file configures the system clock as follows:
*=============================================================================
* Supported STM32F30x device
*-----------------------------------------------------------------------------
* System Clock source | PLL (HSE)
*-----------------------------------------------------------------------------
* SYSCLK(Hz) | 72000000
*-----------------------------------------------------------------------------
* HCLK(Hz) | 72000000
*-----------------------------------------------------------------------------
* AHB Prescaler | 1
*-----------------------------------------------------------------------------
* APB2 Prescaler | 2
*-----------------------------------------------------------------------------
* APB1 Prescaler | 2
*-----------------------------------------------------------------------------
* HSE Frequency(Hz) | 8000000
*----------------------------------------------------------------------------
* PLLMUL | 9
*-----------------------------------------------------------------------------
* PREDIV | 1
*-----------------------------------------------------------------------------
* USB Clock | ENABLE
*-----------------------------------------------------------------------------
* Flash Latency(WS) | 2
*-----------------------------------------------------------------------------
* Prefetch Buffer | ON
*-----------------------------------------------------------------------------
*=============================================================================
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT 2014 STMicroelectronics</center></h2>
*
* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
* You may not use this file except in compliance with the License.
* You may obtain a copy of the License at:
*
* http://www.st.com/software_license_agreement_liberty_v2
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f30x_system
* @{
*/
/** @addtogroup STM32F30x_System_Private_Includes
* @{
*/
#include "stm32f30x.h"
uint32_t hse_value = HSE_VALUE;
/**
* @}
*/
/* Private typedef -----------------------------------------------------------*/
/** @addtogroup STM32F30x_System_Private_Defines
* @{
*/
/*!< Uncomment the following line if you need to relocate your vector Table in
Internal SRAM. */
/* #define VECT_TAB_SRAM */
#define VECT_TAB_OFFSET 0x0 /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
/**
* @}
*/
/* Private macro -------------------------------------------------------------*/
/** @addtogroup STM32F30x_System_Private_Variables
* @{
*/
uint32_t SystemCoreClock = 72000000;
__I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
/**
* @}
*/
/** @addtogroup STM32F30x_System_Private_FunctionPrototypes
* @{
*/
void SetSysClock(void);
/**
* @}
*/
/** @addtogroup STM32F30x_System_Private_Functions
* @{
*/
/**
* @brief Setup the microcontroller system
* Initialize the Embedded Flash Interface, the PLL and update the
* SystemFrequency variable.
* @param None
* @retval None
*/
void SystemInit(void)
{
/* FPU settings ------------------------------------------------------------*/
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */
#endif
/* Reset the RCC clock configuration to the default reset state ------------*/
/* Set HSION bit */
RCC->CR |= (uint32_t)0x00000001;
/* Reset CFGR register */
RCC->CFGR &= 0xF87FC00C;
/* Reset HSEON, CSSON and PLLON bits */
RCC->CR &= (uint32_t)0xFEF6FFFF;
/* Reset HSEBYP bit */
RCC->CR &= (uint32_t)0xFFFBFFFF;
/* Reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE bits */
RCC->CFGR &= (uint32_t)0xFF80FFFF;
/* Reset PREDIV1[3:0] bits */
RCC->CFGR2 &= (uint32_t)0xFFFFFFF0;
/* Reset USARTSW[1:0], I2CSW and TIMs bits */
RCC->CFGR3 &= (uint32_t)0xFF00FCCC;
/* Disable all interrupts */
RCC->CIR = 0x00000000;
/* Configure the System clock source, PLL Multiplier and Divider factors,
AHB/APBx prescalers and Flash settings ----------------------------------*/
//SetSysClock(); // called from main()
#ifdef VECT_TAB_SRAM
SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */
#else
SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH. */
#endif
}
/**
* @brief Update SystemCoreClock variable according to Clock Register Values.
* The SystemCoreClock variable contains the core clock (HCLK), it can
* be used by the user application to setup the SysTick timer or configure
* other parameters.
*
* @note Each time the core clock (HCLK) changes, this function must be called
* to update SystemCoreClock variable value. Otherwise, any configuration
* based on this variable will be incorrect.
*
* @note - The system frequency computed by this function is not the real
* frequency in the chip. It is calculated based on the predefined
* constant and the selected clock source:
*
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
*
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
*
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
* or HSI_VALUE(*) multiplied/divided by the PLL factors.
*
* (*) HSI_VALUE is a constant defined in stm32f30x.h file (default value
* 8 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (**) HSE_VALUE is a constant defined in stm32f30x.h file (default value
* 8 MHz), user has to ensure that HSE_VALUE is same as the real
* frequency of the crystal used. Otherwise, this function may
* have wrong result.
*
* - The result of this function could be not correct when using fractional
* value for HSE crystal.
*
* @param None
* @retval None
*/
void SystemCoreClockUpdate (void)
{
uint32_t tmp = 0, pllmull = 0, pllsource = 0, prediv1factor = 0;
/* Get SYSCLK source -------------------------------------------------------*/
tmp = RCC->CFGR & RCC_CFGR_SWS;
switch (tmp)
{
case 0x00: /* HSI used as system clock */
SystemCoreClock = HSI_VALUE;
break;
case 0x04: /* HSE used as system clock */
SystemCoreClock = HSE_VALUE;
break;
case 0x08: /* PLL used as system clock */
/* Get PLL clock source and multiplication factor ----------------------*/
pllmull = RCC->CFGR & RCC_CFGR_PLLMULL;
pllsource = RCC->CFGR & RCC_CFGR_PLLSRC;
pllmull = ( pllmull >> 18) + 2;
if (pllsource == 0x00)
{
/* HSI oscillator clock divided by 2 selected as PLL clock entry */
SystemCoreClock = (HSI_VALUE >> 1) * pllmull;
}
else
{
prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1;
/* HSE oscillator clock selected as PREDIV1 clock entry */
SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;
}
break;
default: /* HSI used as system clock */
SystemCoreClock = HSI_VALUE;
break;
}
/* Compute HCLK clock frequency ----------------*/
/* Get HCLK prescaler */
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
/* HCLK clock frequency */
SystemCoreClock >>= tmp;
}
/**
* @brief Configures the System clock source, PLL Multiplier and Divider factors,
* AHB/APBx prescalers and Flash settings
* @note This function should be called only once the RCC clock configuration
* is reset to the default reset state (done in SystemInit() function).
* @param None
* @retval None
*/
void SetSysClock(void)
{
__IO uint32_t StartUpCounter = 0, HSEStatus = 0;
/******************************************************************************/
/* PLL (clocked by HSE) used as System clock source */
/******************************************************************************/
/* SYSCLK, HCLK, PCLK2 and PCLK1 configuration -----------*/
/* Enable HSE */
RCC->CR |= ((uint32_t)RCC_CR_HSEON);
/* Wait till HSE is ready and if Time out is reached exit */
do
{
HSEStatus = RCC->CR & RCC_CR_HSERDY;
StartUpCounter++;
} while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT));
if ((RCC->CR & RCC_CR_HSERDY) != RESET)
{
HSEStatus = (uint32_t)0x01;
}
else
{
HSEStatus = (uint32_t)0x00;
}
if (HSEStatus == (uint32_t)0x01)
{
/* Enable Prefetch Buffer and set Flash Latency */
FLASH->ACR = FLASH_ACR_PRFTBE | (uint32_t)FLASH_ACR_LATENCY_1;
/* HCLK = SYSCLK / 1 */
RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1;
/* PCLK2 = HCLK / 1 */
RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1;
/* PCLK1 = HCLK / 2 */
RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV2;
/* PLL configuration */
RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL));
RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_PREDIV1 | RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLMULL9);
/* Enable PLL */
RCC->CR |= RCC_CR_PLLON;
/* Wait till PLL is ready */
while((RCC->CR & RCC_CR_PLLRDY) == 0)
{
}
/* Select PLL as system clock source */
RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL;
/* Wait till PLL is used as system clock source */
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL)
{
}
}
else
{ /* If HSE fails to start-up, the application will have wrong clock
configuration. User can add here some code to deal with this error */
}
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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/**
******************************************************************************
* @file system_stm32f30x.h
* @author MCD Application Team
* @version V1.1.1
* @date 28-March-2014
* @brief CMSIS Cortex-M4 Device System Source File for STM32F30x devices.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT 2014 STMicroelectronics</center></h2>
*
* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
* You may not use this file except in compliance with the License.
* You may obtain a copy of the License at:
*
* http://www.st.com/software_license_agreement_liberty_v2
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f30x_system
* @{
*/
/**
* @brief Define to prevent recursive inclusion
*/
#ifndef __SYSTEM_STM32F30X_H
#define __SYSTEM_STM32F30X_H
#ifdef __cplusplus
extern "C" {
#endif
/* Exported types ------------------------------------------------------------*/
extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */
/* Exported constants --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
/** @addtogroup STM32F30x_System_Exported_Functions
* @{
*/
extern void SystemInit(void);
extern void SystemCoreClockUpdate(void);
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /*__SYSTEM_STM32F30X_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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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/>.
*/
#pragma once
#define TARGET_BOARD_IDENTIFIER "DOGE"
// tqfp48 pin 34
#define LED0_GPIO GPIOA
#define LED0_PIN Pin_13
#define LED0_PERIPHERAL RCC_AHBPeriph_GPIOA
// tqfp48 pin 37
#define LED1_GPIO GPIOA
#define LED1_PIN Pin_14
#define LED1_PERIPHERAL RCC_AHBPeriph_GPIOA
// tqfp48 pin 38
#define LED2_GPIO GPIOA
#define LED2_PIN Pin_15
#define LED2_PERIPHERAL RCC_AHBPeriph_GPIOA
#define BEEP_GPIO GPIOB
#define BEEP_PIN Pin_2
#define BEEP_PERIPHERAL RCC_AHBPeriph_GPIOB
//#define BEEPER_INVERTED
// #define BEEP_GPIO GPIOB
// #define BEEP_PIN Pin_13
// #define BEEP_PERIPHERAL RCC_AHBPeriph_GPIOB
// #define BEEPER_INVERTED
// tqfp48 pin 3
#define MPU6500_CS_GPIO_CLK_PERIPHERAL RCC_AHBPeriph_GPIOC
#define MPU6500_CS_GPIO GPIOC
#define MPU6500_CS_PIN GPIO_Pin_14
#define MPU6500_SPI_INSTANCE SPI1
// tqfp48 pin 25
#define BMP280_CS_GPIO_CLK_PERIPHERAL RCC_AHBPeriph_GPIOB
#define BMP280_CS_GPIO GPIOB
#define BMP280_CS_PIN GPIO_Pin_12
#define BMP280_SPI_INSTANCE SPI2
#define USE_SPI
#define USE_SPI_DEVICE_1
#define USE_SPI_DEVICE_2
#define SPI1_GPIO GPIOB
#define SPI1_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB
// tqfp48 pin 39
#define SPI1_SCK_PIN GPIO_Pin_3
#define SPI1_SCK_PIN_SOURCE GPIO_PinSource3
// tqfp48 pin 40
#define SPI1_MISO_PIN GPIO_Pin_4
#define SPI1_MISO_PIN_SOURCE GPIO_PinSource4
// tqfp48 pin 41
#define SPI1_MOSI_PIN GPIO_Pin_5
#define SPI1_MOSI_PIN_SOURCE GPIO_PinSource5
#define SPI2_GPIO GPIOB
#define SPI2_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB
// tqfp48 pin 26
#define SPI2_SCK_PIN GPIO_Pin_13
#define SPI2_SCK_PIN_SOURCE GPIO_PinSource13
// tqfp48 pin 27
#define SPI2_MISO_PIN GPIO_Pin_14
#define SPI2_MISO_PIN_SOURCE GPIO_PinSource14
// tqfp48 pin 28
#define SPI2_MOSI_PIN GPIO_Pin_15
#define SPI2_MOSI_PIN_SOURCE GPIO_PinSource15
// timer definitions in drivers/timer.c
// channel mapping in drivers/pwm_mapping.c
// only 6 outputs available on hardware
#define USABLE_TIMER_CHANNEL_COUNT 9
#define USE_ESCSERIAL
#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
#define GYRO
// #define USE_FAKE_GYRO
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW270_DEG // ??
#define ACC
// #define USE_FAKE_ACC
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW270_DEG // ??
#define BARO
#define USE_BARO_BMP280
#define USE_BARO_SPI_BMP280
#define BEEPER
#define LED0
#define LED1
#define LED2
#define USB_IO
#define USE_VCP
#define USE_USART1
#define USE_USART2
#define USE_USART3
#define SERIAL_PORT_COUNT 4
// tqfp48 pin 42
#define UART1_TX_PIN GPIO_Pin_6
// tqfp48 pin 43
#define UART1_RX_PIN GPIO_Pin_7
#define UART1_GPIO GPIOB
#define UART1_GPIO_AF GPIO_AF_7
#define UART1_TX_PINSOURCE GPIO_PinSource6
#define UART1_RX_PINSOURCE GPIO_PinSource7
// tqfp48 pin 12
#define UART2_TX_PIN GPIO_Pin_2
// tqfp48 pin 13
#define UART2_RX_PIN GPIO_Pin_3
#define UART2_GPIO GPIOA
#define UART2_GPIO_AF GPIO_AF_7
#define UART2_TX_PINSOURCE GPIO_PinSource2
#define UART2_RX_PINSOURCE GPIO_PinSource3
// tqfp48 pin 21
#define UART3_TX_PIN GPIO_Pin_10
// tqfp48 pin 22
#define UART3_RX_PIN GPIO_Pin_11
#define UART3_GPIO GPIOB
#define UART3_GPIO_AF GPIO_AF_7
#define UART3_TX_PINSOURCE GPIO_PinSource10
#define UART3_RX_PINSOURCE GPIO_PinSource11
#define USE_ADC
#define BOARD_HAS_VOLTAGE_DIVIDER
#define ADC_INSTANCE ADC2
#define ADC_AHB_PERIPHERAL RCC_AHBPeriph_DMA2
#define ADC_DMA_CHANNEL DMA2_Channel1
// tqfp48 pin 14
#define VBAT_ADC_GPIO GPIOA
#define VBAT_ADC_GPIO_PIN GPIO_Pin_4
#define VBAT_ADC_CHANNEL ADC_Channel_1
// tqfp48 pin 15
#define CURRENT_METER_ADC_GPIO GPIOA
#define CURRENT_METER_ADC_GPIO_PIN GPIO_Pin_5
#define CURRENT_METER_ADC_CHANNEL ADC_Channel_2
// mpu_int definition in sensors/initialisation.c
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
#define BLACKBOX
#define GPS
//#define GTUNE
#define LED_STRIP
// tqfp48 pin 16
#define LED_STRIP_TIMER TIM16
#define USE_LED_STRIP_ON_DMA1_CHANNEL3
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_1
#define WS2811_PIN GPIO_Pin_6 // TIM16_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource6
#define WS2811_TIMER TIM16
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM16
#define WS2811_DMA_CHANNEL DMA1_Channel3
#define WS2811_IRQ DMA1_Channel3_IRQn
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC3
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH3_HANDLER
#define TELEMETRY
#define SERIAL_RX
#define USE_SERVOS
#define USE_CLI
#define SPEKTRUM_BIND
// Use UART3 for speksat
#define BIND_PORT GPIOB
#define BIND_PIN Pin_11
#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER
#define USE_SERIAL_4WAY_SK_BOOTLOADER