Development
===
###### tags: `Development`
## 燒錄

## ncrl flight control timer modify


## I2C

參考資料：
https://lolikitty.pixnet.net/blog/post/164969727-stm32f4-%E5%85%A5%E9%96%80%E6%95%99%E5%AD%B8%EF%BC%9A%E4%BD%BF%E7%94%A8-i2c-%E8%AE%80%E5%8F%96-tc74-a0-%E6%BA%AB%E5%BA%A6

## debug
cd ~/ncrl-flight-control/src
make openocd
make gdbauto

# USART DMA

DMA channel and streaming 參考
https://www.st.com/resource/en/application_note/dm00046011-using-the-stm32f2-stm32f4-and-stm32f7-series-dma-controller-stmicroelectronics.pdf

# Sensors

### L3GD20 (legency gyro)
GYRO_CS ( PC13 )

### onboard accel
ACCEL_MAG_CS ( PC15 )

### L3GD20H (replacement gyro)
GYRO_CS ( PC13 )

### MPU6000
MPU_CS ( PC2 )

### MS5611
BARO_CS ( PD7 )

### radio_rc
#define RC_THROTTLE_MAX 1686
#define RC_THROTTLE_MIN 304

#define RC_ROLL_MAX 1707
#define RC_ROLL_MIN 330

#define RC_PITCH_MAX 1716
#define RC_PITCH_MIN 356

#define RC_YAW_MAX 1689
#define RC_YAW_MIN 306