Baud rate to 115200
- updated baud rate to 115200 - minor updates to match sideboard data
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e114e49dfe
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@ -281,13 +281,13 @@
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#define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
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#define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
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// Min / Max values of each channel (use DEBUG to determine these values)
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#define INPUT1_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT1_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT1_MIN -1000 // (-1000 - 0)
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#define INPUT1_MID 0
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#define INPUT1_MAX 1000 // (0 - 1000)
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#define INPUT1_DEADBAND 0 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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#define INPUT2_TYPE 3 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT2_TYPE 1 // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
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#define INPUT2_MIN -1000 // (-1000 - 0)
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#define INPUT2_MID 0
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#define INPUT2_MAX 1000 // (0 - 1000)
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@ -566,13 +566,13 @@
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#endif
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#if defined(FEEDBACK_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
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#ifndef USART2_BAUD
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#define USART2_BAUD 38400 // UART2 baud rate (long wired cable)
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#define USART2_BAUD 115200 // UART2 baud rate (long wired cable)
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#endif
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#define USART2_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
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#endif
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#if defined(FEEDBACK_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
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#ifndef USART3_BAUD
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#define USART3_BAUD 38400 // UART3 baud rate (short wired cable)
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#define USART3_BAUD 115200 // UART3 baud rate (short wired cable)
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#endif
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#define USART3_WORDLENGTH UART_WORDLENGTH_8B // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
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#endif
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@ -209,14 +209,23 @@ void PWM_ISR_CH1_Callback(void);
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void PWM_ISR_CH2_Callback(void);
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// Sideboard definitions
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#define LED1_SET (0x01)
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#define LED2_SET (0x02)
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#define LED3_SET (0x04)
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#define LED4_SET (0x08)
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#define LED5_SET (0x10)
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#define SENSOR1_SET (0x01)
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#define SENSOR2_SET (0x02)
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#define SENSOR_MPU (0x04)
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#define LED1_SET (0x01)
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#define LED2_SET (0x02)
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#define LED3_SET (0x04)
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#define LED4_SET (0x08)
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#define LED5_SET (0x10)
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#define SENSOR1_SET (0x01)
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#define SENSOR2_SET (0x02)
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#define SENSOR_MPU (0x04)
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// RC iBUS switch definitions. Flysky FS-i6S has SW1, SW4 - 2 positions; SW2, SW3 - 3 positions
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#define SW1_SET (0x0100) // 0000 0001 0000 0000
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#define SW2_SET1 (0x0200) // 0000 0010 0000 0000
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#define SW2_SET2 (0x0400) // 0000 0100 0000 0000
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#define SW3_SET1 (0x0800) // 0000 1000 0000 0000
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#define SW3_SET2 (0x1000) // 0001 0000 0000 0000
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#define SW4_SET (0x2000) // 0010 0000 0000 0000
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#endif // DEFINES_H
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13
Inc/util.h
13
Inc/util.h
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@ -45,12 +45,13 @@
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#endif
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#if defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3)
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typedef struct{
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uint16_t start;
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int16_t roll;
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int16_t pitch;
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int16_t yaw;
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uint16_t sensors;
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uint16_t checksum;
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uint16_t start;
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int16_t pitch; // Angle
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int16_t dPitch; // Angle derivative
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int16_t cmd1; // RC Channel 1
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int16_t cmd2; // RC Channel 2
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uint16_t sensors; // RC Switches and Optical sideboard sensors
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uint16_t checksum;
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} SerialSideboard;
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#endif
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@ -870,7 +870,7 @@ void readInput(void) {
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#if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
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// Handle received data validity, timeout and fix out-of-sync if necessary
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#ifdef CONTROL_IBUS
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#ifdef CONTROL_IBUS
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for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
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ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
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}
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@ -1184,7 +1184,7 @@ void usart_process_sideboard(SerialSideboard *Sideboard_in, SerialSideboard *Sid
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{
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uint16_t checksum;
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if (Sideboard_in->start == SERIAL_START_FRAME) {
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checksum = (uint16_t)(Sideboard_in->start ^ Sideboard_in->roll ^ Sideboard_in->pitch ^ Sideboard_in->yaw ^ Sideboard_in->sensors);
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checksum = (uint16_t)(Sideboard_in->start ^ Sideboard_in->pitch ^ Sideboard_in->dPitch ^ Sideboard_in->cmd1 ^ Sideboard_in->cmd2 ^ Sideboard_in->sensors);
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if (Sideboard_in->checksum == checksum) {
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*Sideboard_out = *Sideboard_in;
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if (usart_idx == 2) { // Sideboard USART2
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@ -32,16 +32,15 @@ upload_protocol = stlink
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; Serial Port settings (make sure the COM port is correct)
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monitor_port = COM5
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monitor_speed = 38400
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monitor_speed = 115200
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build_flags =
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-DUSE_HAL_DRIVER
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-DSTM32F103xE
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-Wl,-T./STM32F103RCTx_FLASH.ld
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-Wl,-lc
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-Wl,-lm
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-T./STM32F103RCTx_FLASH.ld
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-lc
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-lm
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-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
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# -Wl,-lnosys
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-D VARIANT_ADC
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;================================================================
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@ -60,11 +59,10 @@ monitor_speed = 38400
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build_flags =
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-DUSE_HAL_DRIVER
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-DSTM32F103xE
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-Wl,-T./STM32F103RCTx_FLASH.ld
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-Wl,-lc
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-Wl,-lm
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-T./STM32F103RCTx_FLASH.ld
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-lc
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-lm
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-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
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# -Wl,-lnosys
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-D VARIANT_USART
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;================================================================
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@ -79,11 +77,10 @@ upload_protocol = stlink
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build_flags =
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-DUSE_HAL_DRIVER
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-DSTM32F103xE
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-Wl,-T./STM32F103RCTx_FLASH.ld
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-Wl,-lc
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-Wl,-lm
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-T./STM32F103RCTx_FLASH.ld
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-lc
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-lm
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-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
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# -Wl,-lnosys
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-D VARIANT_NUNCHUK
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;================================================================
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@ -98,11 +95,10 @@ upload_protocol = stlink
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build_flags =
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-DUSE_HAL_DRIVER
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-DSTM32F103xE
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-Wl,-T./STM32F103RCTx_FLASH.ld
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-Wl,-lc
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-Wl,-lm
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-T./STM32F103RCTx_FLASH.ld
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-lc
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-lm
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-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
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# -Wl,-lnosys
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-D VARIANT_PPM
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;================================================================
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@ -117,11 +113,10 @@ upload_protocol = stlink
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build_flags =
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-DUSE_HAL_DRIVER
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-DSTM32F103xE
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-Wl,-T./STM32F103RCTx_FLASH.ld
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-Wl,-lc
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-Wl,-lm
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-T./STM32F103RCTx_FLASH.ld
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-lc
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-lm
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-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
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# -Wl,-lnosys
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-D VARIANT_PWM
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;================================================================
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@ -136,11 +131,10 @@ upload_protocol = stlink
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build_flags =
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-DUSE_HAL_DRIVER
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-DSTM32F103xE
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-Wl,-T./STM32F103RCTx_FLASH.ld
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-Wl,-lc
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-Wl,-lm
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-T./STM32F103RCTx_FLASH.ld
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-lc
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-lm
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-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
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# -Wl,-lnosys
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-D VARIANT_IBUS
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;================================================================
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@ -159,11 +153,10 @@ monitor_speed = 38400
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build_flags =
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-DUSE_HAL_DRIVER
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-DSTM32F103xE
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-Wl,-T./STM32F103RCTx_FLASH.ld
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-Wl,-lc
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-Wl,-lm
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-T./STM32F103RCTx_FLASH.ld
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-lc
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-lm
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-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
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# -Wl,-lnosys
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-D VARIANT_HOVERCAR
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;================================================================
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build_flags =
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-DUSE_HAL_DRIVER
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-DSTM32F103xE
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-Wl,-T./STM32F103RCTx_FLASH.ld
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-Wl,-lc
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-Wl,-lm
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-T./STM32F103RCTx_FLASH.ld
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-lc
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-lm
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-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
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# -Wl,-lnosys
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-D VARIANT_HOVERBOARD
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;================================================================
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build_flags =
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-DUSE_HAL_DRIVER
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-DSTM32F103xE
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-Wl,-T./STM32F103RCTx_FLASH.ld
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-Wl,-lc
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-Wl,-lm
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-T./STM32F103RCTx_FLASH.ld
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-lc
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-lm
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-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
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# -Wl,-lnosys
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-D VARIANT_TRANSPOTTER
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;================================================================
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build_flags =
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-DUSE_HAL_DRIVER
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-DSTM32F103xE
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-Wl,-T./STM32F103RCTx_FLASH.ld
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-Wl,-lc
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-Wl,-lm
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-T./STM32F103RCTx_FLASH.ld
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-lc
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-lm
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-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
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# -Wl,-lnosys
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-D VARIANT_SKATEBOARD
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;================================================================
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