2023-06-07 21:28:16 -03:00
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# hw definition file for processing by chibios_hwdef.py
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# for FlyingmoonH743 hardware
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# board ID for firmware load
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APJ_BOARD_ID 1112
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FLASH_SIZE_KB 2048
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define HAL_STORAGE_SIZE 32768
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 128
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env OPTIMIZE -O2
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# crystal frequency
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OSCILLATOR_HZ 8000000
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# this is the STM32 timer that ChibiOS will use for the low level
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# driver. This must be a 32 bit timer. We currently only support
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# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details
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# ChibiOS system timer
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STM32_ST_USE_TIMER 2
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# this is the pin that senses USB being connected. It is an input pin
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# setup as OPENDRAIN
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PA9 VBUS INPUT OPENDRAIN
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# The normal usage of this ordering is:
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# 1) SERIAL0: console (primary mavlink, usually USB)
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# 2) SERIAL1: telem1
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# 5) SERIAL2: telem2
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# 3) SERIAL3: primary GPS1
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# 4) SERIAL4: second GPS2
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# 6) SERIAL5: extra UART or sbus output (usually RTOS debug console)
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SERIAL_ORDER OTG1 USART1 UART4 USART2 USART3 UART5
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# USART1 for telem1
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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# USART2 for primary GPS1
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PD5 USART2_TX USART2 NODMA
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PD6 USART2_RX USART2
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# USART3 for second GPS2
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PD8 USART3_TX USART3 NODMA
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PD9 USART3_RX USART3
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# UART4 for telem2
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PC10 UART4_TX UART4 NODMA
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PC11 UART4_RX UART4 NODMA
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# UART5
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PC12 UART5_TX UART5 NODMA
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PD2 UART5_RX UART5 NODMA
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# CAN Busses 1
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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# CAN Busses 2
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PB12 CAN2_RX CAN2
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PB13 CAN2_TX CAN2
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# SPI1 for IMU OSD
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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PB0 ICM20689_CS CS
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PB1 ICM42605_CS CS
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PB2 ICM20649_CS CS
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PA4 RM3100_CS CS
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PA8 MAX7456_CS CS
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# SPI bus for dataflash AND SD
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PD3 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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PA10 FRAM_CS CS SPEED_VERYLOW
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PE15 FLASH_CS CS
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# SPI3 bus for reserve
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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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SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ
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2023-10-24 04:47:17 -03:00
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SPIDEV icm20649 SPI1 DEVID2 ICM20649_CS MODE3 2*MHZ 8*MHZ
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SPIDEV icm42605 SPI1 DEVID3 ICM42605_CS MODE3 2*MHZ 8*MHZ
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2024-04-10 02:36:18 -03:00
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SPIDEV rm3100 SPI1 DEVID4 RM3100_CS MODE3 1*MHZ 1*MHZ
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2023-06-07 21:28:16 -03:00
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SPIDEV osd SPI1 DEVID5 MAX7456_CS MODE0 10*MHZ 10*MHZ
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SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV sdcard SPI2 DEVID2 FLASH_CS MODE0 1*MHZ 8*MHZ
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# Three IMUs
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IMU Invensense SPI:icm20689 ROTATION_NONE
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IMU Invensensev2 SPI:icm20649 ROTATION_NONE
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2023-10-24 04:47:17 -03:00
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IMU Invensensev3 SPI:icm42605 ROTATION_ROLL_180_YAW_90
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2023-06-07 21:28:16 -03:00
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# Two baro
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BARO SPL06 I2C:0:0x76
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BARO MS56XX I2C:0:0x77
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# compass
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COMPASS RM3100 SPI:rm3100 false ROTATION_NONE
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# also probe external compasses
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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# enable RAMTROM parameter storage
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define HAL_WITH_RAMTRON 1
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# enable FAT filesystem support
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define HAL_OS_FATFS_IO 1
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# define the order that I2C buses
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I2C_ORDER I2C1 I2C2
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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define HAL_I2C_INTERNAL_MASK 0
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# PWM out pins
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PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50)
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PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51)
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PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52)
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PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53)
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PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
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PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
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PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
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PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
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PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
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PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59)
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PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60)
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PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61)
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PC7 TIM3_CH2 TIM3 PWM(13) GPIO(62) NODMA
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PC8 TIM3_CH3 TIM3 PWM(14) GPIO(63) NODMA
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PC9 TIM3_CH4 TIM3 PWM(15) GPIO(64) NODMA
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PC15 EXTERN_GPIO1 OUTPUT GPIO(1)
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PC14 EXTERN_GPIO2 OUTPUT GPIO(2)
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PC13 EXTERN_GPIO3 OUTPUT GPIO(3)
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PE6 EXTERN_GPIO4 OUTPUT GPIO(4)
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PE4 EXTERN_GPIO5 OUTPUT GPIO(5)
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define RELAY1_PIN_DEFAULT 1
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define RELAY2_PIN_DEFAULT 2
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define RELAY3_PIN_DEFAULT 3
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define RELAY4_PIN_DEFAULT 4
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define RELAY5_PIN_DEFAULT 5
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# also USART6_RX for serial RC
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PC6 TIM8_CH1 TIM8 RCININT PULLDOWN LOW DMA_CH0
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# LED setup is similar to PixRacer
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2024-07-09 00:19:56 -03:00
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define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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2023-06-07 21:28:16 -03:00
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PE3 LED_RED OUTPUT GPIO(10)
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PE2 LED_GREEN OUTPUT GPIO(11)
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PE1 LED_BLUE OUTPUT GPIO(12)
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PE0 LED_YELOW OUTPUT GPIO(13)
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2024-07-09 00:19:56 -03:00
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define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 10
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define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 11
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define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 12
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2023-06-07 21:28:16 -03:00
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# analog in
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PC0 PRESSURE_SENS ADC1 SCALE(2)
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PC1 RSSI_IN ADC1 SCALE(2)
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# define the primary battery connectors.
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PC2 BATT_CURRENT_SENS ADC1 SCALE(2)
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(2)
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PC4 VDD_5V_SENS ADC1 SCALE(2)
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PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(4)
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define HAL_BATT_VOLT_PIN 13
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define HAL_BATT_CURR_PIN 12
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define HAL_BATT_VOLT_SCALE 22
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define HAL_BATT_CURR_SCALE 55.55
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define HAL_HAVE_SAFETY_SWITCH 1
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PE7 LED_SAFETY OUTPUT
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PE8 SAFETY_IN INPUT PULLDOWN
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# PWM output for buzzer
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PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
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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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