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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-15 20:41:35 +08:00
Daniel Agar
709961ec8c
- uses the FIFO and SPI DMA to transfer full raw data (8 kHz gyro, 4 kHz accel)
- new sensor messages for better visibility
- sensor_{accel, gyro}_fifo: full raw data for optional logging and analysis
- sensor_{accel, gyro}_status: metadata, clipping, etc
- currently not enabled by default
24 lines
883 B
C
24 lines
883 B
C
#pragma once
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/* DMA Channel/Stream Selections
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*
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* DMAMAP_USART3_RX = DMA1, Stream 1, Channel 4
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* DMAMAP_UART4_RX = DMA1, Stream 2, Channel 4
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* DMAMAP_UART7_RX = DMA1, Stream 3, Channel 5
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* DMAMAP_USART2_RX = DMA1, Stream 5, Channel 4
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* DMAMAP_UART8_RX = DMA1, Stream 6, Channel 5
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*
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* DMAMAP_SPI1_RX_1 = DMA2, Stream 0, Channel 3
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* DMAMAP_USART6_RX_2 = DMA2, Stream 2, Channel 5
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* DMAMAP_SPI1_TX_1 = DMA2, Stream 3, Channel 3
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* DMAMAP_USART1_RX_2 = DMA2, Stream 5, Channel 4
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* DMAMAP_SDIO_2 = DMA2, Stream 6, Channel 4
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* DMAMAP_USART6_TX_2 = DMA2, Stream 7, Channel 5
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*/
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#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
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#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
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#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1
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#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
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#define DMAMAP_SDIO DMAMAP_SDIO_2
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#define DMAMAP_USART6_RX DMAMAP_USART6_TX_2
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