2023-07-25 18:07:20 -03:00
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# hw definition file for processing by chibios_hwdef.py
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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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2023-07-17 01:04:55 -03:00
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# board ID for firmware load
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APJ_BOARD_ID 1123
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2023-07-25 18:07:20 -03:00
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FLASH_SIZE_KB 2048
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# with 2M flash we can afford to optimize for speed
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env OPTIMIZE -O2
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 128
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2 EMPTY USART1 UART4 EMPTY UART7 OTG2
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# default the 2nd interface to MAVLink2
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define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
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define HAL_STORAGE_SIZE 32768
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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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# debug pins
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 - internal sensors
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PG11 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PD7 SPI1_MOSI SPI1
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# SPI2 - FRAM
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PI1 SPI2_SCK SPI2
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PI2 SPI2_MISO SPI2
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PI3 SPI2_MOSI SPI2
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# SPI4 - sensors2
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PE2 SPI4_SCK SPI4
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PE13 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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# sensor CS
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PF10 MS5611_CS CS
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PF2 ICM20689_CS CS
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PF4 BMI088_G_CS CS
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PG10 BMI088_A_CS CS
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PF5 FRAM_CS CS SPEED_VERYLOW
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# I2C buses
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# I2C1 is on GPS port
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# I2C on uart4 connector
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PF1 I2C2_SCL I2C2
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PF0 I2C2_SDA I2C2
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# I2C for onboard mag
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PH7 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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# I2C4 is on external2
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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 I2C3 I2C1 I2C2 I2C4
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define HAL_I2C_INTERNAL_MASK 1
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# enable pins
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PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
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PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH
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# drdy pins
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PB4 DRDY_ICM20689 INPUT
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PB14 DRDY_BMI088_GYRO INPUT
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PB15 DRDY_BMI088_ACC INPUT
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PD15 DRDY7_EXTERNAL INPUT
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# UARTs
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# USART2 is telem1
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PD6 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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# USART1 is GPS1
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PB7 USART1_RX USART1 NODMA
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PB6 USART1_TX USART1 NODMA
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# UART4 GPS2
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PD0 UART4_RX UART4 NODMA
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PD1 UART4_TX UART4 NODMA
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# UART7 is debug
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PF6 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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# UART8 is for IOMCU
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# UART for IOMCU
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IOMCU_UART UART8
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# PWM AUX channels
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
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PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
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# PWM output for buzzer
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PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
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# analog in
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PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
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PC0 VDD_5V_SENS ADC1 SCALE(2)
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PC1 SCALED_V3V3 ADC1 SCALE(2)
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# voltage divider 1/(16.9/(33+16.9))
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define HAL_IOMCU_VSERVO_SCALAR 1 / (16.9 / (33 + 16.9))
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# CAN bus
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PI9 CAN1_RX CAN1
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PH13 CAN1_TX CAN1
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PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
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# GPIOs
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PA7 HEATER_EN OUTPUT LOW GPIO(80)
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define HAL_HEATER_GPIO_PIN 80
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define HAL_HAVE_IMU_HEATER 1
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define HAL_IMU_TEMP_DEFAULT 45
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PH5 AUX_CS CS
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PG1 VDD_BRICK_nVALID INPUT PULLUP
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PG2 VDD_BRICK2_nVALID INPUT PULLUP
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PA9 VBUS INPUT
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PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
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PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
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PB10 nSPI5_RESET_EXTERNAL OUTPUT HIGH
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# SPI devices
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SPIDEV ms5611 SPI4 DEVID1 MS5611_CS MODE3 20*MHZ 20*MHZ
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SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ
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SPIDEV bmi088_g SPI1 DEVID3 BMI088_G_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_a SPI1 DEVID4 BMI088_A_CS MODE3 10*MHZ 10*MHZ
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SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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# Two IMUs
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IMU Invensense SPI:icm20689 ROTATION_NONE
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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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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# red LED
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PB1 LED_RED OUTPUT GPIO(90)
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# green LED
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PC6 LED_GREEN OUTPUT GPIO(91) LOW
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# blue LED
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PC7 LED_BLUE OUTPUT GPIO(92) HIGH
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# setup for 2 LEDs
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define HAL_GPIO_A_LED_PIN 90
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define HAL_GPIO_B_LED_PIN 92
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define HAL_GPIO_LED_ON 0
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# enable RAMTROM parameter storage
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define HAL_STORAGE_SIZE 32768
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define HAL_WITH_RAMTRON 1
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# safety switch pin
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PE10 LED_SAFETY OUTPUT
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PE12 SAFETY_IN INPUT PULLDOWN
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define HAL_HAVE_SAFETY_SWITCH 1
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# one baro
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BARO MS56XX SPI:ms5611
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# one builtin compass, plus one on the default GPS that is external with
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# a non-default orientation
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COMPASS IST8310 I2C:0:0x0e false ROTATION_PITCH_180_YAW_270
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define AP_COMPASS_IST8310_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_270
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# compensate for magnetic field generated by the heater on the internal IST8310
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define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xe,0x0a),Vector3f(15,35,-6)}
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# also probe for external compasses
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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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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# don't share IOMCU DMA
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DMA_NOSHARE UART8* SPI1* TIM*UP*
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DMA_PRIORITY UART8* ADC* SPI1*
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# battery setup
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 16
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define HAL_BATT_CURR_PIN 17
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define HAL_BATT_VOLT_SCALE 18.182
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define HAL_BATT_CURR_SCALE 36.364
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ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
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