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Re: printf/debugging
If you are debugging something critical to timing, I recommend an alternative method. The last 4 PWMs in CCM mode and digital outputs come to mind.
I can vouch for the PWM method. I used them to test interrupts attached to wheel encoders. Toggle them on interrupt handling. We hooked an oscilloscope up to the PWM pin and the encoder, and the wave forms synced up nicely.
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