mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: support 8 bi-directional dshot channels on MatekH743
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@ -5,7 +5,7 @@
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include ../MatekH743/hwdef.dat
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# undefine the pins we are going to change
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undef PC7 PB0 PB1 PA0 PA1 PA15 PD14 PD15 PE5 PE6
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undef PC7 PC6 PB0 PB1 PA0 PA1 PA15 PD14 PD15 PE5 PE6 PA2 PA3 PD12 PD13 PB9 PB8 PE0 PE1
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# UART4 (spare)
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PB9 UART4_TX UART4 NODMA
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@ -17,12 +17,17 @@ PE1 UART8_TX UART8 NODMA
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# USART6 (RC input), SERIAL7
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PC7 USART6_RX USART6
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PC6 USART6_TX USART6
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# Motors
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR
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PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51)
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PA0 TIM2_CH1 TIM2 PWM(3) GPIO(52) BIDIR
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PA1 TIM2_CH2 TIM2 PWM(4) GPIO(53)
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PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54) BIDIR
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PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55)
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PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR
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PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
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# Disable DMA on PWM9-12 so that the LEDs get a channel
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PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) NODMA
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@ -36,5 +41,7 @@ define HAL_BUZZER_PIN 32
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define HAL_BUZZER_ON 1
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define HAL_BUZZER_OFF 0
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DMA_PRIORITY S* TIM3* TIM2*
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DMA_NOSHARE SPI1* SPI4* TIM3* TIM2*
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DMA_PRIORITY SPI1* SPI4*
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DMA_NOSHARE SPI1* SPI4* TIM3* TIM2* TIM5* TIM4*
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NODMA I2C*
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define STM32_I2C_USE_DMA FALSE
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