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PX4 System changes Supporting STM32H7
stm32:ToneAlarmInterfacePWM TIM15-TIM17 have a BDTR Register common:board_crashdump Add H7 support stm32/board_mcu_version:Support H7 PX4 ADC:Use 32 interface and resoution abstraction Added PX4 stm32h7 ADC driver stm32h7:adc fix ADC ready check fmu: handle BOARD_HAS_PWM==5 cmake: improve error handling for NuttX olddefconfig failures WorkQueueManager:Quiet loadmon stack warning camera_trigger:GPIO support < 6 GPIO Adjust stack sizes (under hw stack check) PX4 System changes Supporting STM32H7 PX4IO Driver aerotenna_ocpoc:ADC add px4_arch_adc_dn_fullcount init.cmake:Track Upstream change needing Make.def at config time PX4 System changes Supporting STM32H7 NuttX CMakeLists.txt Track upstream changes Common board_crashdump add header and px4 config NuttX simplify callinb make libapps Use UINT32_MAX for error return drivers:uavcannode NuttX chip is now hardware drivers:uavcanesc NuttX chip is now hardware px4io:Avoid Race on AP to PX4 IO upgrade
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
58799dc7d1
commit
e847698c9f
@@ -94,70 +94,14 @@
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#error PWMIN defines are needed in board_config.h for this board
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#endif
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/* PWMIN configuration */
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#if PWMIN_TIMER == 1
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# define PWMIN_TIMER_BASE STM32_TIM1_BASE
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# define PWMIN_TIMER_POWER_REG STM32_RCC_APB2ENR
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# define PWMIN_TIMER_POWER_BIT RCC_APB2ENR_TIM1EN
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# define PWMIN_TIMER_VECTOR STM32_IRQ_TIM1CC
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# define PWMIN_TIMER_CLOCK STM32_APB2_TIM1_CLKIN
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#elif PWMIN_TIMER == 2
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# define PWMIN_TIMER_BASE STM32_TIM2_BASE
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# define PWMIN_TIMER_POWER_REG STM32_RCC_APB1ENR
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# define PWMIN_TIMER_POWER_BIT RCC_APB1ENR_TIM2EN
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# define PWMIN_TIMER_VECTOR STM32_IRQ_TIM2
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# define PWMIN_TIMER_CLOCK STM32_APB1_TIM2_CLKIN
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#elif PWMIN_TIMER == 3
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# define PWMIN_TIMER_BASE STM32_TIM3_BASE
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# define PWMIN_TIMER_POWER_REG STM32_RCC_APB1ENR
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# define PWMIN_TIMER_POWER_BIT RCC_APB1ENR_TIM3EN
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# define PWMIN_TIMER_VECTOR STM32_IRQ_TIM3
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# define PWMIN_TIMER_CLOCK STM32_APB1_TIM3_CLKIN
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#elif PWMIN_TIMER == 4
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# define PWMIN_TIMER_BASE STM32_TIM4_BASE
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# define PWMIN_TIMER_POWER_REG STM32_RCC_APB1ENR
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# define PWMIN_TIMER_POWER_BIT RCC_APB1ENR_TIM4EN
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# define PWMIN_TIMER_VECTOR STM32_IRQ_TIM4
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# define PWMIN_TIMER_CLOCK STM32_APB1_TIM4_CLKIN
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#elif PWMIN_TIMER == 5
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# define PWMIN_TIMER_BASE STM32_TIM5_BASE
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# define PWMIN_TIMER_POWER_REG STM32_RCC_APB1ENR
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# define PWMIN_TIMER_POWER_BIT RCC_APB1ENR_TIM5EN
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# define PWMIN_TIMER_VECTOR STM32_IRQ_TIM5
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# define PWMIN_TIMER_CLOCK STM32_APB1_TIM5_CLKIN
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#elif PWMIN_TIMER == 8
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# define PWMIN_TIMER_BASE STM32_TIM8_BASE
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# define PWMIN_TIMER_POWER_REG STM32_RCC_APB2ENR
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# define PWMIN_TIMER_POWER_BIT RCC_APB2ENR_TIM8EN
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# define PWMIN_TIMER_VECTOR STM32_IRQ_TIM8CC
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# define PWMIN_TIMER_CLOCK STM32_APB2_TIM8_CLKIN
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#elif PWMIN_TIMER == 9
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# define PWMIN_TIMER_BASE STM32_TIM9_BASE
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# define PWMIN_TIMER_POWER_REG STM32_RCC_APB2ENR
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# define PWMIN_TIMER_POWER_BIT RCC_APB2ENR_TIM9EN
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# define PWMIN_TIMER_VECTOR STM32_IRQ_TIM1BRK
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# define PWMIN_TIMER_CLOCK STM32_APB2_TIM9_CLKIN
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#elif PWMIN_TIMER == 10
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# define PWMIN_TIMER_BASE STM32_TIM10_BASE
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# define PWMIN_TIMER_POWER_REG STM32_RCC_APB2ENR
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# define PWMIN_TIMER_POWER_BIT RCC_APB2ENR_TIM10EN
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# define PWMIN_TIMER_VECTOR STM32_IRQ_TIM1UP
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# define PWMIN_TIMER_CLOCK STM32_APB2_TIM10_CLKIN
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#elif PWMIN_TIMER == 11
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# define PWMIN_TIMER_BASE STM32_TIM11_BASE
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# define PWMIN_TIMER_POWER_REG STM32_RCC_APB2ENR
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# define PWMIN_TIMER_POWER_BIT RCC_APB2ENR_TIM11EN
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# define PWMIN_TIMER_VECTOR STM32_IRQ_TIM1TRGCOM
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# define PWMIN_TIMER_CLOCK STM32_APB2_TIM11_CLKIN
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#elif PWMIN_TIMER == 12
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# define PWMIN_TIMER_BASE STM32_TIM12_BASE
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# define PWMIN_TIMER_POWER_REG STM32_RCC_APB1ENR
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# define PWMIN_TIMER_POWER_BIT RCC_APB1ENR_TIM12EN
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# define PWMIN_TIMER_VECTOR STM32_IRQ_TIM8BRK
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# define PWMIN_TIMER_CLOCK STM32_APB1_TIM12_CLKIN
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#else
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# error PWMIN_TIMER must be a value between 1 and 12
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#endif
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/* Get the timer defines */
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#define INPUT_TIMER PWMIN_TIMER
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#include "timer_registers.h"
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#define PWMIN_TIMER_BASE TIMER_BASE
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#define PWMIN_TIMER_CLOCK TIMER_CLOCK
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#define PWMIN_TIMER_POWER_REG TIMER_CLOCK_POWER_REG
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#define PWMIN_TIMER_POWER_BIT TIMER_CLOCK_POWER_BIT
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#define PWMIN_TIMER_VECTOR TIMER_IRQ_REG
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/*
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* HRT clock must be at least 1MHz
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@@ -0,0 +1,188 @@
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/****************************************************************************
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*
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* Copyright (C) 2019 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 timer_registers.h
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*
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* Get architecture-specific timer register defines.
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* Usage:
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* #define INPUT_TIMER <timer>
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* #include "timer_registers.h"
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* # define <xy>_TIMER_BASE TIMER_BASE
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* # define <xy>_TIMER_CLOCK TIMER_CLOCK
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* # define <xy>_TIMER_POWER_REG TIMER_CLOCK_POWER_REG
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* # define <xy>_TIMER_POWER_BIT TIMER_CLOCK_POWER_BIT
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* # define <xy>_TIMER_VECTOR TIMER_IRQ_REG
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*
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*/
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#include <px4_platform_common/px4_config.h>
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#ifndef INPUT_TIMER
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# error "need to define INPUT_TIMER to use this header"
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#endif
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#ifdef TIMER_BASE
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#undef TIMER_BASE
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#endif
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#ifdef TIMER_CLOCK_POWER_REG
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#undef TIMER_CLOCK_POWER_REG
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#endif
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#ifdef TIMER_CLOCK_POWER_BIT
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#undef TIMER_CLOCK_POWER_BIT
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#endif
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#ifdef TIMER_CLOCK
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#undef TIMER_CLOCK
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#endif
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#ifdef TIMER_IRQ_REG
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#undef TIMER_IRQ_REG
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#endif
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#if defined(CONFIG_ARCH_CHIP_STM32H7)
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#if INPUT_TIMER == 1
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# define TIMER_BASE STM32_TIM1_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB2ENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB2ENR_TIM1EN
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# define TIMER_IRQ_REG STM32_IRQ_TIMCC
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# define TIMER_CLOCK STM32_APB2_TIM1_CLKIN
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#elif INPUT_TIMER == 2
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# define TIMER_BASE STM32_TIM2_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB1LENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB1LENR_TIM2EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM2
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# define TIMER_CLOCK STM32_APB1_TIM2_CLKIN
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#elif INPUT_TIMER == 3
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# define TIMER_BASE STM32_TIM3_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB1LENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB1LENR_TIM3EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM3
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# define TIMER_CLOCK STM32_APB1_TIM3_CLKIN
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#elif INPUT_TIMER == 4
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# define TIMER_BASE STM32_TIM4_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB1LENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB1LENR_TIM4EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM4
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# define TIMER_CLOCK STM32_APB1_TIM4_CLKIN
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#elif INPUT_TIMER == 5
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# define TIMER_BASE STM32_TIM5_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB1LENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB1LENR_TIM5EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM5
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# define TIMER_CLOCK STM32_APB1_TIM5_CLKIN
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#elif INPUT_TIMER == 8
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# define TIMER_BASE STM32_TIM8_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB2ENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB2ENR_TIM8EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM8CC
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# define TIMER_CLOCK STM32_APB2_TIM8_CLKIN
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#elif INPUT_TIMER == 12
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# define TIMER_BASE STM32_TIM12_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB1LENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB1LENR_TIM12EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM12
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# define TIMER_CLOCK STM32_APB1_TIM12_CLKIN
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#else
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# error INPUT_TIMER must be a value between 1 and 12
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#endif
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#else // F4, F7
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#if INPUT_TIMER == 1
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# define TIMER_BASE STM32_TIM1_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB2ENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB2ENR_TIM1EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM1CC
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# define TIMER_CLOCK STM32_APB2_TIM1_CLKIN
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#elif INPUT_TIMER == 2
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# define TIMER_BASE STM32_TIM2_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB1ENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB1ENR_TIM2EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM2
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# define TIMER_CLOCK STM32_APB1_TIM2_CLKIN
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#elif INPUT_TIMER == 3
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# define TIMER_BASE STM32_TIM3_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB1ENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB1ENR_TIM3EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM3
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# define TIMER_CLOCK STM32_APB1_TIM3_CLKIN
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#elif INPUT_TIMER == 4
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# define TIMER_BASE STM32_TIM4_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB1ENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB1ENR_TIM4EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM4
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# define TIMER_CLOCK STM32_APB1_TIM4_CLKIN
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#elif INPUT_TIMER == 5
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# define TIMER_BASE STM32_TIM5_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB1ENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB1ENR_TIM5EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM5
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# define TIMER_CLOCK STM32_APB1_TIM5_CLKIN
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#elif INPUT_TIMER == 8
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# define TIMER_BASE STM32_TIM8_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB2ENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB2ENR_TIM8EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM8CC
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# define TIMER_CLOCK STM32_APB2_TIM8_CLKIN
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#elif INPUT_TIMER == 9
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# define TIMER_BASE STM32_TIM9_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB2ENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB2ENR_TIM9EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM1BRK
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# define TIMER_CLOCK STM32_APB2_TIM9_CLKIN
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#elif INPUT_TIMER == 10
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# define TIMER_BASE STM32_TIM10_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB2ENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB2ENR_TIM10EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM1UP
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# define TIMER_CLOCK STM32_APB2_TIM10_CLKIN
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#elif INPUT_TIMER == 11
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# define TIMER_BASE STM32_TIM11_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB2ENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB2ENR_TIM11EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM1TRGCOM
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# define TIMER_CLOCK STM32_APB2_TIM11_CLKIN
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#elif INPUT_TIMER == 12
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# define TIMER_BASE STM32_TIM12_BASE
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# define TIMER_CLOCK_POWER_REG STM32_RCC_APB1ENR
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# define TIMER_CLOCK_POWER_BIT RCC_APB1ENR_TIM12EN
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# define TIMER_IRQ_REG STM32_IRQ_TIM8BRK
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# define TIMER_CLOCK STM32_APB1_TIM12_CLKIN
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#else
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# error INPUT_TIMER must be a value between 1 and 12
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#endif
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#endif
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