| This file documents what code is using which peripherial(s), priorities when |
| applicable, and which file(s) the code is in. The purpose is to make assigning |
| priorities to everything else easier because the relative priorities of |
| everything is what matters; the absolute priority is meaningless. It also helps |
| with choosing things like timers. |
| |
| [BBB communication] |
| uart_common |
| USART1 |
| uart |
| USART1_IRQ:3 |
| uart_dma |
| DMA2.7:2 |
| DMA2.7_IRQ:8 |
| uart_byte |
| TIM7 |
| |
| [gyro communication] |
| gyro |
| SPI3 |
| SPI3_IRQ:4 |
| TIM13 |
| TIM13_IRQ:5 (aka TIM8_UP) |
| |
| [ADC communication] |
| analog |
| SPI2 |
| SPI2_IRQ:6 |
| TIM14 |
| TIM14_IRQ:6 (aka TIM8_TRG_COM) |
| |
| [encoders] |
| encoder |
| TIM2,TIM3,TIM4,TIM5,TIM8 |
| EXTI0,EXTI1,EXTI3 |
| EXTI0_IRQ:0,EXTI1_IRQ:0,EXTI3_IRQ:0 |
| TIM9 (for its input capture 1) |
| TIM9_IRQ:0 (aka TIM1_BRK) |
| TIM1 (for its input capture 1) |
| TIM1_CC_IRQ:0 |
| TIM3 (for its input capture 3) |
| TIM3_IRQ:0 |
| |
| [digital inputs] |
| digital |
| EXTI2,EXTI4-15 |
| EXTI2_IRQ:1,EXTI4-15_IRQ:1 |
| |
| [sensor packet sending] |
| fill_packet |
| TIM6 |
| |
| [utilities] |
| crc |
| CRC |
| |
| [robots] |
| robot_comp |
| TIM11 |
| TIM11_IRQ:1 (aka TIM1_TRG_COM) |