bool pitotDetect(pitotDev_t *dev, uint8_t pitotHardwareToUse)
{
pitotSensor_e pitotHardware = PITOT_NONE;
requestedSensors[SENSOR_INDEX_PITOT] = pitotHardwareToUse;
switch (pitotHardwareToUse) {
case PITOT_AUTODETECT:
case PITOT_MS4525:
#ifdef USE_PITOT_MS4525
if (ms4525Detect(dev)) {
pitotHardware = PITOT_MS4525;
break;
}
#endif
/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
if (pitotHardwareToUse != PITOT_AUTODETECT) {
break;
}
case PITOT_ADC:
#if defined(USE_PITOT_ADC) && defined(AIRSPEED_ADC_PIN)
if (adcPitotDetect(dev)) {
pitotHardware = PITOT_ADC;
break;
}
#endif
/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
if (pitotHardwareToUse != PITOT_AUTODETECT) {
break;
}
case PITOT_VIRTUAL:
#if defined(USE_PITOT_VIRTUAL)
/*
if (adcPitotDetect(&pitot)) {
pitotHardware = PITOT_ADC;
break;
}
*/
#endif
/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
if (pitotHardwareToUse != PITOT_AUTODETECT) {
break;
}
case PITOT_FAKE:
#ifdef USE_PITOT_FAKE
if (fakePitotDetect(dev)) {
pitotHardware = PITOT_FAKE;
break;
}
#endif
/* If we are asked for a specific sensor - break out, otherwise - fall through and continue */
if (pitotHardwareToUse != PITOT_AUTODETECT) {
break;
}
case PITOT_NONE:
pitotHardware = PITOT_NONE;
break;
}
addBootlogEvent6(BOOT_EVENT_PITOT_DETECTION, BOOT_EVENT_FLAGS_NONE, pitotHardware, 0, 0, 0);
if (pitotHardware == PITOT_NONE) {
sensorsClear(SENSOR_PITOT);
return false;
}
detectedSensors[SENSOR_INDEX_PITOT] = pitotHardware;
sensorsSet(SENSOR_PITOT);
return true;
}
static bool gyroDetect(gyroDev_t *dev, const extiConfig_t *extiConfig)
{
dev->mpuIntExtiConfig = extiConfig;
gyroSensor_e gyroHardware = GYRO_AUTODETECT;
dev->gyroAlign = ALIGN_DEFAULT;
switch(gyroHardware) {
case GYRO_AUTODETECT:
; // fallthrough
case GYRO_MPU6050:
#ifdef USE_GYRO_MPU6050
if (mpu6050GyroDetect(dev)) {
gyroHardware = GYRO_MPU6050;
#ifdef GYRO_MPU6050_ALIGN
dev->gyroAlign = GYRO_MPU6050_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_L3G4200D:
#ifdef USE_GYRO_L3G4200D
if (l3g4200dDetect(dev)) {
gyroHardware = GYRO_L3G4200D;
#ifdef GYRO_L3G4200D_ALIGN
dev->gyroAlign = GYRO_L3G4200D_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU3050:
#ifdef USE_GYRO_MPU3050
if (mpu3050Detect(dev)) {
gyroHardware = GYRO_MPU3050;
#ifdef GYRO_MPU3050_ALIGN
dev->gyroAlign = GYRO_MPU3050_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_L3GD20:
#ifdef USE_GYRO_L3GD20
if (l3gd20Detect(dev)) {
gyroHardware = GYRO_L3GD20;
#ifdef GYRO_L3GD20_ALIGN
dev->gyroAlign = GYRO_L3GD20_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU6000:
#ifdef USE_GYRO_SPI_MPU6000
if (mpu6000SpiGyroDetect(dev)) {
gyroHardware = GYRO_MPU6000;
#ifdef GYRO_MPU6000_ALIGN
dev->gyroAlign = GYRO_MPU6000_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_MPU6500:
#if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
#ifdef USE_GYRO_SPI_MPU6500
if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev)) {
#else
if (mpu6500GyroDetect(dev)) {
#endif
gyroHardware = GYRO_MPU6500;
#ifdef GYRO_MPU6500_ALIGN
dev->gyroAlign = GYRO_MPU6500_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_FAKE:
#ifdef USE_FAKE_GYRO
if (fakeGyroDetect(dev)) {
gyroHardware = GYRO_FAKE;
break;
}
#endif
; // fallthrough
case GYRO_NONE:
gyroHardware = GYRO_NONE;
}
addBootlogEvent6(BOOT_EVENT_GYRO_DETECTION, BOOT_EVENT_FLAGS_NONE, gyroHardware, 0, 0, 0);
if (gyroHardware == GYRO_NONE) {
return false;
}
detectedSensors[SENSOR_INDEX_GYRO] = gyroHardware;
sensorsSet(SENSOR_GYRO);
return true;
}
bool gyroInit(const gyroConfig_t *gyroConfigToUse)
{
gyroConfig = gyroConfigToUse;
memset(&gyro, 0, sizeof(gyro));
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050)
const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
mpuDetect(&gyro.dev);
mpuReset = gyro.dev.mpuConfiguration.reset;
#endif
if (!gyroDetect(&gyro.dev, extiConfig)) {
return false;
}
// After refactoring this function is always called after gyro sampling rate is known, so
// no additional condition is required
// Set gyro sample rate before driver initialisation
gyro.dev.lpf = gyroConfig->gyro_lpf;
gyro.targetLooptime = gyroSetSampleRate(gyroConfig->looptime, gyroConfig->gyro_lpf, gyroConfig->gyroSync, gyroConfig->gyroSyncDenominator);
// driver initialisation
gyro.dev.init(&gyro.dev);
if (gyroConfig->gyro_soft_lpf_hz) {
for (int axis = 0; axis < 3; axis++) {
#ifdef ASYNC_GYRO_PROCESSING
biquadFilterInitLPF(&gyroFilterLPF[axis], gyroConfig->gyro_soft_lpf_hz, getGyroUpdateRate());
#else
biquadFilterInitLPF(&gyroFilterLPF[axis], gyroConfig->gyro_soft_lpf_hz, gyro.targetLooptime);
#endif
}
}
return true;
}
pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
{
#if defined(USE_RX_PWM) || defined(USE_RX_PPM)
int channelIndex = 0;
#endif
memset(&pwmIOConfiguration, 0, sizeof(pwmIOConfiguration));
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
int i = 0;
if (init->airplane)
i = 2; // switch to air hardware config
if (init->usePPM || init->useSerialRx)
i++; // next index is for PPM
const uint16_t *setup = hardwareMaps[i];
for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT && setup[i] != 0xFFFF; i++) {
uint8_t timerIndex = setup[i] & 0x00FF;
uint8_t type = (setup[i] & 0xFF00) >> 8;
const timerHardware_t *timerHardwarePtr = &timerHardware[timerIndex];
#ifdef OLIMEXINO_UNCUT_LED2_E_JUMPER
// PWM2 is connected to LED2 on the board and cannot be connected unless you cut LED2_E
if (timerIndex == PWM2) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef STM32F10X
// skip UART2 ports
if (init->useUART2 && (timerHardwarePtr->tag == IO_TAG(PA2) || timerHardwarePtr->tag == IO_TAG(PA3))) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#if defined(STM32F303xC) && defined(USE_UART3)
// skip UART3 ports (PB10/PB11)
if (init->useUART3 && (timerHardwarePtr->tag == IO_TAG(UART3_TX_PIN) || timerHardwarePtr->tag == IO_TAG(UART3_RX_PIN))) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#if defined(UART6_TX_PIN) || defined(UART6_RX_PIN)
if (init->useUART6 && (timerHardwarePtr->tag == IO_TAG(UART6_TX_PIN) || timerHardwarePtr->tag == IO_TAG(UART6_RX_PIN))) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef SOFTSERIAL_1_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_1_TIMER) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef SOFTSERIAL_2_TIMER
if (init->useSoftSerial && timerHardwarePtr->tim == SOFTSERIAL_2_TIMER) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef WS2811_TIMER
// skip LED Strip output
if (init->useLEDStrip) {
if (timerHardwarePtr->tim == WS2811_TIMER) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#if defined(STM32F303xC) && defined(WS2811_PIN)
if (timerHardwarePtr->tag == IO_TAG(WS2811_PIN)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
}
#endif
#ifdef VBAT_ADC_PIN
if (init->useVbat && timerHardwarePtr->tag == IO_TAG(VBAT_ADC_PIN)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef RSSI_ADC_PIN
if (init->useRSSIADC && timerHardwarePtr->tag == IO_TAG(RSSI_ADC_PIN)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef CURRENT_METER_ADC_PIN
if (init->useCurrentMeterADC && timerHardwarePtr->tag == IO_TAG(CURRENT_METER_ADC_PIN)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
#ifdef SONAR
if (init->useSonar &&
(
timerHardwarePtr->tag == init->sonarIOConfig.triggerTag ||
timerHardwarePtr->tag == init->sonarIOConfig.echoTag
)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
#endif
// hacks to allow current functionality
if (type == MAP_TO_PWM_INPUT && !init->useParallelPWM)
continue;
if (type == MAP_TO_PPM_INPUT && !init->usePPM)
continue;
#ifdef USE_SERVOS
if (init->useServos && !init->airplane) {
#if defined(NAZE)
// remap PWM9+10 as servos
if ((timerIndex == PWM9 || timerIndex == PWM10) && timerHardwarePtr->tim == TIM1)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(DOGE)
// remap outputs 1+2 (PWM2+3) as servos
if ((timerIndex == PWM2 || timerIndex == PWM3) && timerHardwarePtr->tim == TIM4)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(COLIBRI_RACE) || defined(LUX_RACE)
// remap PWM1+2 as servos
if ((timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8 || timerIndex == PWM9) && timerHardwarePtr->tim == TIM2)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(CC3D)
// remap PWM9+10 as servos
if ((timerIndex == PWM9 || timerIndex == PWM10) && timerHardwarePtr->tim == TIM1)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPARKY)
// remap PWM1+2 as servos
if ((timerIndex == PWM1 || timerIndex == PWM2) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPRACINGF3)
// remap PWM15+16 as servos
if ((timerIndex == PWM15 || timerIndex == PWM16) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(FALCORE)
// remap PWM5+6 as servos
if ((timerIndex == PWM5 || timerIndex == PWM6) && timerHardwarePtr->tim == TIM3)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPRACINGF3MINI)
// remap PWM6+7 as servos
if ((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(OMNIBUS)
// remap PWM2 (OUT1) as servo
if (timerIndex == PWM2 && timerHardwarePtr->tim == TIM8)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(OMNIBUSF4)
// remap PWM12 (OUT6) as servo
if (timerIndex == PWM12)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(RCEXPLORERF3)
if (timerIndex == PWM2)
{
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(SPRACINGF3EVO)
if ((timerIndex == PWM8 || timerIndex == PWM9) && timerHardwarePtr->tim == TIM3) {
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if (defined(STM32F3DISCOVERY) && !defined(CHEBUZZF3))
// remap PWM 5+6 or 9+10 as servos - softserial pin pairs require timer ports that use the same timer
if (init->useSoftSerial) {
if (timerIndex == PWM5 || timerIndex == PWM6)
type = MAP_TO_SERVO_OUTPUT;
} else {
if (timerIndex == PWM9 || timerIndex == PWM10)
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(MOTOLAB)
// remap PWM 7+8 as servos
if (timerIndex == PWM7 || timerIndex == PWM8)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SINGULARITY)
// remap PWM6+7 as servos
if (timerIndex == PWM6 || timerIndex == PWM7)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(AIRBOTF4)
// remap PWM11+PWM12 as servos on multirotor mixers that use servos (i.e. Tri)
if (timerIndex == PWM11 || timerIndex == PWM12)
type = MAP_TO_SERVO_OUTPUT;
#endif
}
if (init->useChannelForwarding && !init->airplane) {
#if defined(NAZE) && defined(WS2811_TIMER)
// if LED strip is active, PWM5-8 are unavailable, so map AUX1+AUX2 to PWM13+PWM14
if (init->useLEDStrip) {
if (timerIndex >= PWM13 && timerIndex <= PWM14) {
type = MAP_TO_SERVO_OUTPUT;
}
} else
#endif
#if defined(SPRACINGF3) || defined(NAZE)
// remap PWM5..8 as servos when used in extended servo mode
if (timerIndex >= PWM5 && timerIndex <= PWM8)
type = MAP_TO_SERVO_OUTPUT;
#endif
#if defined(SPRACINGF3EVO)
if ((timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8 || timerIndex == PWM9) && timerHardwarePtr->tim == TIM3) {
type = MAP_TO_SERVO_OUTPUT;
}
#endif
#if defined(SPRACINGF3MINI)
if (((timerIndex == PWM6 || timerIndex == PWM7) && timerHardwarePtr->tim == TIM15)
|| ((timerIndex == PWM8 || timerIndex == PWM9 || timerIndex == PWM10 || timerIndex == PWM11) && timerHardwarePtr->tim == TIM2)) {
type = MAP_TO_SERVO_OUTPUT;
}
#endif
}
#endif // USE_SERVOS
#ifdef CC3D
// This part of code is unnecessary and can be removed - timer clash is resolved by forcing configuration with the same
// timer tick rate - PWM_TIMER_MHZ
/*
if (init->useParallelPWM) {
// Skip PWM inputs that conflict with timers used outputs.
if ((type == MAP_TO_SERVO_OUTPUT || type == MAP_TO_MOTOR_OUTPUT) && (timerHardwarePtr->tim == TIM2 || timerHardwarePtr->tim == TIM3)) {
continue;
}
if (type == MAP_TO_PWM_INPUT && timerHardwarePtr->tim == TIM4) {
continue;
}
}
*/
#endif
if (type == MAP_TO_PPM_INPUT) {
#if defined(USE_RX_PPM)
#ifdef CC3D_PPM1
if (init->useFastPwm || init->pwmProtocolType == PWM_TYPE_BRUSHED) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM4);
}
#endif
#if defined(SPARKY) || defined(ALIENFLIGHTF3)
if (init->useFastPwm || init->pwmProtocolType == PWM_TYPE_BRUSHED) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
}
#endif
ppmInConfig(timerHardwarePtr);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_PPM;
pwmIOConfiguration.ppmInputCount++;
addBootlogEvent6(BOOT_EVENT_TIMER_CH_MAPPED, BOOT_EVENT_FLAGS_NONE, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 0);
#endif
} else if (type == MAP_TO_PWM_INPUT) {
#if defined(USE_RX_PWM)
pwmInConfig(timerHardwarePtr, channelIndex);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_PWM;
pwmIOConfiguration.pwmInputCount++;
channelIndex++;
addBootlogEvent6(BOOT_EVENT_TIMER_CH_MAPPED, BOOT_EVENT_FLAGS_NONE, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 1);
#endif
} else if (type == MAP_TO_MOTOR_OUTPUT) {
/* Check if we already configured maximum supported number of motors and skip the rest */
if (pwmIOConfiguration.motorCount >= MAX_MOTORS) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 1);
continue;
}
#if defined(CC3D) && !defined(CC3D_PPM1)
if (init->useFastPwm || init->pwmProtocolType == PWM_TYPE_BRUSHED) {
// Skip it if it would cause PPM capture timer to be reconfigured or manually overflowed
if (timerHardwarePtr->tim == TIM2) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;
}
}
#endif
pwmMotorConfig(timerHardwarePtr, pwmIOConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->pwmProtocolType, init->enablePWMOutput);
if (init->useFastPwm) {
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_FASTPWM | PWM_PF_OUTPUT_PROTOCOL_PWM;
} else if (init->pwmProtocolType == PWM_TYPE_BRUSHED) {
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_MOTOR_MODE_BRUSHED | PWM_PF_OUTPUT_PROTOCOL_PWM;
} else {
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM ;
}
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].index = pwmIOConfiguration.motorCount;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].timerHardware = timerHardwarePtr;
pwmIOConfiguration.motorCount++;
addBootlogEvent6(BOOT_EVENT_TIMER_CH_MAPPED, BOOT_EVENT_FLAGS_NONE, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 2);
} else if (type == MAP_TO_SERVO_OUTPUT) {
if (pwmIOConfiguration.servoCount >= MAX_SERVOS) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 2);
continue;
}
#ifdef USE_SERVOS
pwmServoConfig(timerHardwarePtr, pwmIOConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse, init->enablePWMOutput);
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].flags = PWM_PF_SERVO | PWM_PF_OUTPUT_PROTOCOL_PWM;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].index = pwmIOConfiguration.servoCount;
pwmIOConfiguration.ioConfigurations[pwmIOConfiguration.ioCount].timerHardware = timerHardwarePtr;
pwmIOConfiguration.servoCount++;
addBootlogEvent6(BOOT_EVENT_TIMER_CH_MAPPED, BOOT_EVENT_FLAGS_NONE, i, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
#endif
} else {
continue;
}
pwmIOConfiguration.ioCount++;
}
return &pwmIOConfiguration;
}
