2024-02-12 17:52:45 -04:00
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# hw definition file for processing by chibios_hwdef.py
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# for the CBUnmanned H743 Stamp hardware
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# default to all pins low to avoid ESD issues
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#DEFAULTGPIO OUTPUT LOW PULLDOWN
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# crystal frequency
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OSCILLATOR_HZ 16000000
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# ChibiOS system timer
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STM32_ST_USE_TIMER 12
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define CH_CFG_ST_RESOLUTION 16
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MCU_CLOCKRATE_MHZ 480
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_CBU_StampH743
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FLASH_RESERVE_START_KB 128
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# flash size
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FLASH_SIZE_KB 2048
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env OPTIMIZE -Os
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8 OTG2
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# USB
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA9 VBUS INPUT OPENDRAIN
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# pins for SWD debugging
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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PB6 USART1_TX USART1 NODMA
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PB7 USART1_RX USART1 NODMA
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PA3 USART2_RX USART2
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PD5 USART2_TX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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# GPS 1
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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# GPS 2
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PH13 UART4_TX UART4
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PH14 UART4_RX UART4
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PC8 UART5_RTS UART5
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PC9 UART5_CTS UART5
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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# RCIN
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
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define DEFAULT_SERIAL6_BAUD 115
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PE8 UART7_TX UART7
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PF6 UART7_RX UART7
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PF8 UART7_RTS UART7
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PE10 UART7_CTS UART7
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PE1 UART8_TX UART8 NODMA
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PE0 UART8_RX UART8 NODMA
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PC1 ETH_MDC ETH1
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PA2 ETH_MDIO ETH1
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PC4 ETH_RMII_RXD0 ETH1
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PC5 ETH_RMII_RXD1 ETH1
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PG13 ETH_RMII_TXD0 ETH1
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PG12 ETH_RMII_TXD1 ETH1
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PB11 ETH_RMII_TX_EN ETH1
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PA7 ETH_RMII_CRS_DV ETH1
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PA1 ETH_RMII_REF_CLK ETH1
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# PHY DP83825IRMQR
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define BOARD_PHY_ID MII_DP83825I_ID
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define BOARD_PHY_RMII
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# ADC
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PA0 BATT_CURRENT_SENS ADC1 SCALE(1) # Current
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PA4 BATT_VOLTAGE_SENS ADC1 SCALE(1) # Voltage
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PB1 SPARE_SENS ADC1 SCALE(1) # Spare
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# define default battery setup
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 18
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define HAL_BATT_CURR_PIN 16
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define HAL_BATT_VOLT_SCALE 11.1
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define HAL_BATT_CURR_SCALE 64
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# IMU1 ICM-42760-P
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PI9 IMU1_CS CS
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PF2 IMU1_DRDY INPUT
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# IMU2 ICM-42688-P
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PH5 IMU2_CS CS
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PA10 IMU2_DRDY INPUT
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# IMU3 ICM-42688-P
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PI4 IMU3_CS CS
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PI6 IMU3_DRDY INPUT
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# SPI4 - External
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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PI7 SP4_DRDY INPUT
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PE4 SP4_CS1 CS
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# SPI6 - IMUs
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PA5 SPI6_SCK SPI6
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PA6 SPI6_MISO SPI6
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PG14 SPI6_MOSI SPI6
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# PWM output pins
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PH10 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR
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PH11 TIM5_CH2 TIM5 PWM(2) GPIO(51)
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PH12 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR
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PI0 TIM5_CH4 TIM5 PWM(4) GPIO(53)
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PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54) BIDIR
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PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55)
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PD14 TIM4_CH3 TIM4 PWM(7) GPIO(56) BIDIR
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PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)
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PA15 TIM2_CH1 TIM2 PWM(9) GPIO(58)
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PB3 TIM2_CH2 TIM2 PWM(10) GPIO(59)
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PF9 TIM14_CH1 TIM14 GPIO(61) ALARM
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# CAN bus
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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# I2C buses
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# I2C1 - BMM150
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PB9 I2C1_SDA I2C1
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PB8 I2C1_SCL I2C1
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# I2C2 - DPS310
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PF1 I2C2_SCL I2C2
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PF0 I2C2_SDA I2C2
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# I2C3 - GPS1 external compass
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PA8 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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# I2C4 - GPS2 external compass
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PF14 I2C4_SCL I2C4
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PF15 I2C4_SDA I2C4
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# order of I2C buses
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I2C_ORDER I2C1 I2C2 I2C3 I2C4
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define HAL_I2C_INTERNAL_MASK 3
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# power enable pins
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PI11 IMU1_PWR_EN OUTPUT HIGH
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PF4 IMU2_PWR_EN OUTPUT HIGH
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PE7 IMU3_PWR_EN OUTPUT HIGH
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PG8 MAG_PWR_EN OUTPUT HIGH
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PC13 SD_PWR_EN OUTPUT HIGH
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PG15 Ethernet_PWR_EN OUTPUT HIGH
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# microSD support
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PD6 SDMMC2_CK SDMMC2
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PD7 SDMMC2_CMD SDMMC2
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PB14 SDMMC2_D0 SDMMC2
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PB15 SDMMC2_D1 SDMMC2
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PG11 SDMMC2_D2 SDMMC2
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PB4 SDMMC2_D3 SDMMC2
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define FATFS_HAL_DEVICE SDCD2
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# safety
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PF5 SAFETY_IN INPUT PULLDOWN
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# LED
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PE3 LED_RED OUTPUT HIGH GPIO(90)
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2024-07-09 00:19:56 -03:00
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define AP_NOTIFY_GPIO_LED_1_ENABLED 1
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2024-02-12 17:52:45 -04:00
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define HAL_GPIO_A_LED_PIN 90
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define HAL_GPIO_LED_ON 1
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# barometers
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BARO DPS310 I2C:1:0x77
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# compass
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COMPASS BMM150 I2C:0:0x10 false ROTATION_YAW_180
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# IMUs
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SPIDEV icm42688 SPI6 DEVID1 IMU2_CS MODE3 2*MHZ 16*MHZ
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SPIDEV icm42688_2 SPI6 DEVID2 IMU3_CS MODE3 2*MHZ 16*MHZ
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SPIDEV icm42670 SPI6 DEVID3 IMU1_CS MODE3 2*MHZ 8*MHZ
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IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180
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IMU Invensensev3 SPI:icm42688_2 ROTATION_ROLL_180
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IMU Invensensev3 SPI:icm42670 ROTATION_PITCH_180_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 7
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# use last 2 pages for flash storage
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# H743 has 16 pages of 128k each
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define HAL_STORAGE_SIZE 32768
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STORAGE_FLASH_PAGE 14
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DMA_PRIORITY SDMMC* TIM* SPI6*
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DMA_NOSHARE TIM2* TIM4* TIM5*
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# enable FAT filesystem support (needs a microSD defined via SDMMC)
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define HAL_OS_FATFS_IO 1
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# enable DFU reboot for installing bootloader
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# note that if firmware is build with --secure-bl then DFU is
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# disabled
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ENABLE_DFU_BOOT 1
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# build ABIN for flash-from-bootloader support:
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env BUILD_ABIN True
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# ethernet consumes a big chunk of flash
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define AP_BATTERY_SCRIPTING_ENABLED 1
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