mirror of https://github.com/ArduPilot/ardupilot
227 lines
5.0 KiB
Plaintext
227 lines
5.0 KiB
Plaintext
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# hw definition file for processing by chibios_pins.py
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# for Matek H7A3
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# MCU class and specific type
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MCU STM32H7xx STM32H7A3xx
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# board ID for firmware load
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APJ_BOARD_ID AP_HW_MatekH7A3
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB 2048
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env OPTIMIZE -Os
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# bootloader takes first 4 sectors
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FLASH_RESERVE_START_KB 32
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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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# USB
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PA11 OTG_HS_DM OTG1
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PA12 OTG_HS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 for IMU1 (MPU6000)
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PD7 SPI1_MOSI SPI1
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PC15 IMU1_CS CS
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# SPI2 for MAX7456 OSD
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PB12 MAX7456_CS CS
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PB13 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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# SPI3 - external
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PB3 SPI3_SCK SPI3
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PB4 SPI3_MISO SPI3
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PB5 SPI3_MOSI SPI3
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# external CS pins
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PD4 EXT_CS1 CS
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PE2 EXT_CS2 CS
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# SPI4 for IMU2 (ICM20602)
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PE11 IMU2_CS CS
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PE12 SPI4_SCK SPI4
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PE13 SPI4_MISO SPI4
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PE14 SPI4_MOSI SPI4
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# add ICM42605 on SPI4 as a backup to replace ICM20602
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PC13 IMU3_CS CS
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# two I2C bus
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I2C_ORDER I2C2 I2C1
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# I2C1
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# I2C2
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# ADC
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PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
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PA4 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
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PA7 BATT2_CURRENT_SENS ADC1 SCALE(1)
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 10
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define HAL_BATT_CURR_PIN 11
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define HAL_BATT2_VOLT_PIN 18
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define HAL_BATT2_CURR_PIN 7
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define HAL_BATT_VOLT_SCALE 11.0
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define HAL_BATT_CURR_SCALE 40.0
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define HAL_BATT2_VOLT_SCALE 11.0
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PC4 PRESSURE_SENS ADC1 SCALE(2)
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define HAL_DEFAULT_AIRSPEED_PIN 4
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PC5 RSSI_ADC ADC1
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#define BOARD_RSSI_ANA_PIN 8
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# LED
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# green LED1 marked as B/E
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# blue LED0 marked as ACT
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PE3 LED0 OUTPUT LOW GPIO(90) # blue
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PE4 LED1 OUTPUT LOW GPIO(91) # green
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define HAL_GPIO_A_LED_PIN 91
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define HAL_GPIO_B_LED_PIN 90
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define HAL_GPIO_LED_OFF 1
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6
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# USART1 (telem2)
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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# USART2 (GPS1)
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# USART3 (GPS2)
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3
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# UART4 (spare)
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PB9 UART4_TX UART4
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PB8 UART4_RX UART4
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# USART6 (RC input), SERIAL7
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PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW
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PC6 USART6_TX USART6 NODMA
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# as an alternative config setup the RX6 pin as a uart. This allows
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# for bi-directional UART based receiver protocols such as FPort
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# without any extra hardware
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PC7 USART6_RX USART6 NODMA ALT(1)
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# UART7 (telem1)
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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PE10 UART7_CTS UART7
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PE9 UART7_RTS UART7
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# UART8 (spare)
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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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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PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
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# Motors
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PB0 TIM8_CH2N TIM8 PWM(1) GPIO(50)
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PB1 TIM8_CH3N TIM8 PWM(2) GPIO(51)
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PA0 TIM5_CH1 TIM5 PWM(3) GPIO(52)
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PA1 TIM5_CH2 TIM5 PWM(4) GPIO(53)
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PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54)
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PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55)
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PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56)
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PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
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PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58)
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PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59)
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PE5 TIM15_CH1 TIM15 PWM(11) GPIO(60)
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PE6 TIM15_CH2 TIM15 PWM(12) GPIO(61)
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PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED
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# Beeper
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PA15 TIM2_CH1 TIM2 GPIO(32) ALARM
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# microSD support
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PC8 SDMMC1_D0 SDMMC1
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PC9 SDMMC1_D1 SDMMC1
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PC10 SDMMC1_D2 SDMMC1
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PC11 SDMMC1_D3 SDMMC1
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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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# GPIOs
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PD10 PINIO1 OUTPUT GPIO(81) LOW
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PD11 PINIO2 OUTPUT GPIO(82) LOW
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DMA_PRIORITY S*
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define HAL_STORAGE_SIZE 15360
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# use last 4 pages for flash storage
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# H7A3 has 256 pages of 8k each
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STORAGE_FLASH_PAGE 252
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# use double page size for flash storage to effectively
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# give 16k pages
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define AP_FLASH_STORAGE_DOUBLE_PAGE 1
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# spi devices
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SPIDEV icm42688 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 16*MHZ # Clock is 100Mhz so highest clock <= 24Mhz is 100Mhz/8
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SPIDEV mpu6000 SPI1 DEVID1 IMU1_CS MODE3 1*MHZ 4*MHZ
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SPIDEV icm20602 SPI4 DEVID1 IMU2_CS MODE3 1*MHZ 4*MHZ
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SPIDEV icm42605 SPI4 DEVID1 IMU3_CS MODE3 2*MHZ 16*MHZ
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SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
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DMA_NOSHARE SPI1* SPI4*
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# SPI3 external connections
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SPIDEV pixartflow SPI3 DEVID1 EXT_CS1 MODE3 2*MHZ 2*MHZ
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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# two IMUs
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# H743-V1, ICM20602, MPU6000
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# H743-V1.5/V2, ICM42605, MPU6000
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# H743-V3, ICM42688P, ICM42605
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IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180
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IMU Invensensev3 SPI:icm42605 ROTATION_YAW_270
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IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_270
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IMU Invensense SPI:mpu6000 ROTATION_ROLL_180_YAW_270
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# DPS310 integrated on I2C2 bus, multiple possible choices for external barometer
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BARO MS56XX I2C:0:0x77
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BARO DPS310 I2C:0:0x76
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BARO BMP280 I2C:0:0x76
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define HAL_OS_FATFS_IO 1
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# setup for OSD
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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