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px4iov2 nsh boots
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Pat Hickey
Executable
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This directory contains header files unique to the PX4IO board.
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Executable
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/************************************************************************************
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* configs/px4io/include/board.h
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* include/arch/board/board.h
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*
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* Copyright (C) 2009 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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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 __ARCH_BOARD_BOARD_H
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#define __ARCH_BOARD_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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# include <stdbool.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_internal.h>
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/************************************************************************************
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* Definitions
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************************************************************************************/
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/* Clocking *************************************************************************/
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/* On-board crystal frequency is 24MHz (HSE) */
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#define STM32_BOARD_XTAL 24000000ul
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/* Use the HSE output as the system clock */
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#define STM32_SYSCLK_SW RCC_CFGR_SW_HSE
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#define STM32_SYSCLK_SWS RCC_CFGR_SWS_HSE
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#define STM32_SYSCLK_FREQUENCY STM32_BOARD_XTAL
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/* AHB clock (HCLK) is SYSCLK (24MHz) */
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#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK
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#define STM32_HCLK_FREQUENCY STM32_SYSCLK_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 (24MHz) */
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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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#define STM32_APB2_CLKIN (STM32_PCLK2_FREQUENCY) /* Timers 2-4 */
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/* APB2 timer 1 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 (24MHz) */
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#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLK
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#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY)
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/* All timers run off PCLK */
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#define STM32_APB1_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
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#define STM32_APB1_TIM2_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM3_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM4_CLKIN (STM32_PCLK1_FREQUENCY)
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/*
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* Some of the USART pins are not available; override the GPIO
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* definitions with an invalid pin configuration.
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*/
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#define GPIO_USART2_CTS 0xffffffff
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#define GPIO_USART2_RTS 0xffffffff
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#define GPIO_USART2_CK 0xffffffff
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#define GPIO_USART3_TX 0xffffffff
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#define GPIO_USART3_CK 0xffffffff
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#define GPIO_USART3_CTS 0xffffffff
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#define GPIO_USART3_RTS 0xffffffff
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/*
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* High-resolution timer
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*/
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#ifdef CONFIG_HRT_TIMER
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# define HRT_TIMER 1 /* use timer1 for the HRT */
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# define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
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#endif
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/*
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* PPM
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*
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* PPM input is handled by the HRT timer.
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*
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* Pin is PA8, timer 1, channel 1
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*/
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#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM)
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# define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
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# define GPIO_PPM_IN GPIO_TIM1_CH1IN
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#endif
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/* LED definitions ******************************************************************/
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/* PX4 has two LEDs that we will encode as: */
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#define LED_STARTED 0 /* LED? */
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#define LED_HEAPALLOCATE 1 /* LED? */
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#define LED_IRQSENABLED 2 /* LED? + LED? */
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#define LED_STACKCREATED 3 /* LED? */
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#define LED_INIRQ 4 /* LED? + LED? */
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#define LED_SIGNAL 5 /* LED? + LED? */
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#define LED_ASSERTION 6 /* LED? + LED? + LED? */
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#define LED_PANIC 7 /* N/C + N/C + N/C + LED? */
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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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#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 intitialization -- 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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EXTERN void stm32_boardinitialize(void);
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#endif /* __ASSEMBLY__ */
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#endif /* __ARCH_BOARD_BOARD_H */
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@@ -0,0 +1,42 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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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 PX4 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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/**
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* @file A simple, polled I2C slave-mode driver.
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*
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* The master writes to and reads from a byte buffer, which the caller
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* can update inbetween calls to the FSM.
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*/
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extern void i2c_fsm_init(uint8_t *buffer, size_t buffer_size);
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extern bool i2c_fsm(void);
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