2022-05-12 01:38:56 -03:00
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# hw definition file for processing by chibios_hwdef.py
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# for the HolybroV6X hardware
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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 2
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# board ID for firmware load
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APJ_BOARD_ID 53
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2022-07-18 19:32:53 -03:00
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# enable board sub-type detection for FMUV6
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define HAL_CHIBIOS_ARCH_FMUV6 1
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define AP_FEATURE_BOARD_DETECT 1
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2022-05-12 01:38:56 -03:00
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FLASH_RESERVE_START_KB 128
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# to be compatible with the px4 bootloader we need
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# to use a different RAM_MAP
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env USE_ALT_RAM_MAP 1
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# flash size
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FLASH_SIZE_KB 2048
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env OPTIMIZE -O2
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# order of UARTs (and USB)
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2022-07-04 01:39:01 -03:00
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SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 OTG2
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2022-05-12 01:38:56 -03:00
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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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# 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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# telem1
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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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# telem2
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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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2022-07-04 01:39:01 -03:00
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# telem3
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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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2022-05-12 01:38:56 -03:00
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# GPS1
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PB6 USART1_TX USART1
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PB7 USART1_RX USART1
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# GPS2
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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# uart4
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PH13 UART4_TX UART4
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PH14 UART4_RX UART4
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# debug uart
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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# USART6 is for IOMCU
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6
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IOMCU_UART USART6
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# uart6, RX only, RC input, if no IOMCU
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# PC7 USART6_RX USART6
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2023-07-05 18:07:21 -03:00
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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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#PG15 ETH_POWER_EN ETH1
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PG15 Ethernet_PWR_EN OUTPUT HIGH # disable power on ethernet
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define BOARD_PHY_ID MII_LAN8742A_ID
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define BOARD_PHY_RMII
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2022-05-12 01:38:56 -03:00
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# ADC
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PA0 SCALED1_V3V3 ADC1 SCALE(2)
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PA4 SCALED2_V3V3 ADC1 SCALE(2)
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PB0 SCALED3_V3V3 ADC1 SCALE(2)
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2022-08-01 05:31:52 -03:00
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PF12 SCALED4_V3V3 ADC1 SCALE(2)
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2022-05-12 01:38:56 -03:00
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PB1 VDD_5V_SENS ADC1 SCALE(2)
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2022-07-17 23:38:58 -03:00
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# pin7 on AD&IO, analog 12
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2022-05-12 01:38:56 -03:00
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PC2 ADC1_6V6 ADC1 SCALE(2)
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2022-07-17 23:38:58 -03:00
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# pin6 on AD&IO, analog 13
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2022-05-12 01:38:56 -03:00
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PC3 ADC1_3V3 ADC1 SCALE(1)
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# SPI1 - IMU1
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PA5 SPI1_SCK SPI1
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PB5 SPI1_MOSI SPI1
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PG9 SPI1_MISO SPI1
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2023-10-24 00:52:16 -03:00
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PI9 SP1_CS1 CS
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2022-05-12 01:38:56 -03:00
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# SPI2 - ICM42688
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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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2023-10-24 00:52:16 -03:00
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PH5 SP2_CS1 CS
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PA10 SP2_DRDY2 INPUT
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2022-05-12 01:38:56 -03:00
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# SPI3 - BMI088
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PB2 SPI3_MOSI SPI3
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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2023-10-24 00:52:16 -03:00
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PI4 SP3_CS1 CS
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PI8 SP3_CS2 CS
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PI6 SP3_DRDY1 INPUT
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PI7 SP3_DRDY2 INPUT GPIO(93)
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define SP3_DRDY2 93
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# SPI4 - unused
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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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#PF3 SP4_DRDY1 INPUT
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PH15 SP4_CS1 CS
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2022-05-12 01:38:56 -03:00
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# SPI5 - FRAM
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PF7 SPI5_SCK SPI5
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PH7 SPI5_MISO SPI5
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PF11 SPI5_MOSI SPI5
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PG7 FRAM_CS CS
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# SPI6 - external1 (disabled to save DMA channels)
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# PB3 SPI6_SCK SPI6
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# PA6 SPI6_MISO SPI6
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# PG14 SPI6_MOSI SPI6
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# PI10 EXT1_CS CS
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# PWM output pins
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PI0 TIM5_CH4 TIM5 PWM(1) GPIO(50)
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PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51)
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PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52)
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PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53)
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
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# we need to disable DMA on the last 2 FMU channels
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# as timer 12 doesn't have a TIMn_UP DMA option
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PH6 TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA
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PH9 TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA
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# GPIOs
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PE11 FMU_CAP1 INPUT GPIO(58)
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PC0 NFC_GPIO INPUT GPIO(60)
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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, GPS+MAG
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PB9 I2C1_SDA I2C1
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PB8 I2C1_SCL I2C1
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# I2C2, GPS2+MAG
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PF1 I2C2_SCL I2C2
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PF0 I2C2_SDA I2C2
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PG5 DRDY1_BMP388 INPUT
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# I2C3, MS5611, external
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PA8 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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# I2C4 internal
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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 I2C4 I2C1 I2C2 I2C3
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define HAL_I2C_INTERNAL_MASK 1
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# heater
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PB10 HEATER_EN OUTPUT LOW GPIO(80)
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define HAL_HEATER_GPIO_PIN 80
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# Setup the IMU heater
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define HAL_HAVE_IMU_HEATER 1
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define HAL_IMU_TEMP_DEFAULT 45
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define HAL_IMUHEAT_P_DEFAULT 50
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define HAL_IMUHEAT_I_DEFAULT 0.07
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# armed indication
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PE6 nARMED OUTPUT HIGH
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# power enable pins
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PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
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PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH
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PF4 VDD_3V3_SENSORS2_EN OUTPUT HIGH
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PE7 VDD_3V3_SENSORS3_EN OUTPUT HIGH
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PG8 VDD_3V3_SENSORS4_EN OUTPUT HIGH
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2024-04-10 07:09:54 -03:00
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# start peripheral power on
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PG10 nVDD_5V_HIPOWER_EN OUTPUT LOW
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PG4 nVDD_5V_PERIPH_EN OUTPUT LOW
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2022-05-12 01:38:56 -03:00
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# Control of Spektrum power pin
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PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
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define HAL_GPIO_SPEKTRUM_PWR 73
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# Spektrum Power is Active High
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define HAL_SPEKTRUM_PWR_ENABLED 1
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# power sensing
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PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
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PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
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PG1 VDD_BRICK_nVALID INPUT PULLUP
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PG2 VDD_BRICK2_nVALID INPUT PULLUP
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PG3 VDD_BRICK3_nVALID INPUT PULLUP
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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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PD10 LED_SAFETY OUTPUT
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PF5 SAFETY_IN INPUT PULLDOWN
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# LEDs
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PE3 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH
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PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(91) HIGH
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PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH
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2022-08-01 06:01:33 -03:00
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# setup for "pixracer" RGB LEDs
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2022-05-12 01:38:56 -03:00
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define HAL_GPIO_A_LED_PIN 90
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2022-08-01 06:01:33 -03:00
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define HAL_GPIO_B_LED_PIN 91
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define HAL_GPIO_C_LED_PIN 92
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2022-05-12 01:38:56 -03:00
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define HAL_GPIO_LED_ON 0
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2022-08-01 06:01:33 -03:00
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define HAL_HAVE_PIXRACER_LED
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2022-05-12 01:38:56 -03:00
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# ID pins
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PG0 HW_VER_REV_DRIVE OUTPUT LOW
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2022-07-18 19:32:53 -03:00
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# PH3 HW_VER_SENS ADC3 SCALE(1)
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# PH4 HW_REV_SENS ADC3 SCALE(1)
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2022-05-12 01:38:56 -03:00
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# PWM output for buzzer
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PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
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# RC input
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PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW
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2022-07-18 19:32:53 -03:00
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# barometers (Holybro 6X)
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2022-05-12 01:38:56 -03:00
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BARO BMP388 I2C:2:0x76
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BARO BMP388 I2C:0:0x77
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2022-07-18 19:32:53 -03:00
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# barometers (CUAV 6X)
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BARO ICP201XX I2C:0:0x64
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BARO ICP201XX I2C:2:0x63
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2022-05-12 01:38:56 -03:00
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# compass
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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2022-07-18 19:32:53 -03:00
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# builtin compass on Holybro 6X
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2022-05-12 01:38:56 -03:00
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COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE
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2022-07-18 19:32:53 -03:00
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# builtin compass on CUAV 6X
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COMPASS RM3100 I2C:0:0x20 false ROTATION_PITCH_180
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2022-08-01 05:07:48 -03:00
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# compensate for magnetic field generated by the heater on CUAV-6X RM3100
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define HAL_HEATER_MAG_OFFSET_RM3100 AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x20,0x11),Vector3f(-19,37,-24)
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# compensate for magnetic field generated by the heater on Holybro6X BMM150
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define HAL_HEATER_MAG_OFFSET_BMM150 AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x10,0x05),Vector3f(12,-38,23)
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define HAL_HEATER_MAG_OFFSET {HAL_HEATER_MAG_OFFSET_RM3100, HAL_HEATER_MAG_OFFSET_BMM150}
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2022-07-18 19:32:53 -03:00
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# IMU devices for Holybro6X
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2023-10-24 00:52:16 -03:00
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SPIDEV bmi088_g SPI3 DEVID1 SP3_CS2 MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_a SPI3 DEVID2 SP3_CS1 MODE3 10*MHZ 10*MHZ
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2022-05-12 01:38:56 -03:00
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# alternative to bmi088
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2023-10-24 00:52:16 -03:00
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SPIDEV icm20649 SPI3 DEVID1 SP3_CS1 MODE3 10*MHZ 10*MHZ
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SPIDEV icm42688 SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 8*MHZ
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SPIDEV icm42670 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ
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2022-07-18 19:32:53 -03:00
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# IMU devices for CUAV-6X. The CUAV board has a BMI088, ICM20649 and
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# ICM42688 the ICM42688 and BMI088 are on the same SPI buses and CS
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# pins as the Holybro board, but the orientation of the BMI088 is
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# different. The ICM20649 is on a different bus
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2023-10-24 00:52:16 -03:00
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SPIDEV icm20649_2 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ
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2022-07-18 19:32:53 -03:00
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2022-05-12 01:38:56 -03:00
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SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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2023-10-24 00:52:16 -03:00
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# IMU devices for Holybro6X-Rev6
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SPIDEV adis16470 SPI3 DEVID1 SP3_CS1 MODE3 1*MHZ 2*MHZ
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SPIDEV iim42652 SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 8*MHZ
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SPIDEV icm45686 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ
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2024-01-21 00:36:46 -04:00
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# IMU devices for Holybro6X-45686 version
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SPIDEV icm45686-3 SPI3 DEVID1 SP3_CS1 MODE3 2*MHZ 8*MHZ
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SPIDEV icm45686-2 SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 8*MHZ
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SPIDEV icm45686-1 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ
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2022-07-18 19:32:53 -03:00
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# Holybro6X 3 IMUs
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IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
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2022-07-23 05:37:43 -03:00
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
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2022-07-18 19:32:53 -03:00
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IMU Invensensev2 SPI:icm20649 ROTATION_YAW_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) # alternative to BMI088
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2022-07-19 21:45:38 -03:00
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IMU Invensensev3 SPI:icm42670 ROTATION_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
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2022-07-18 19:32:53 -03:00
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# CUAV-6X 3 IMUs
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IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_270 BOARD_MATCH(FMUV6_BOARD_CUAV_6X)
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_CUAV_6X)
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IMU Invensensev2 SPI:icm20649_2 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_CUAV_6X)
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2022-05-12 01:38:56 -03:00
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2023-10-24 00:52:16 -03:00
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# Holybro6X-Rev6 3 IMUs
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IMU ADIS1647x SPI:adis16470 ROTATION_ROLL_180 SP3_DRDY2 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)
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IMU Invensensev3 SPI:iim42652 ROTATION_ROLL_180_YAW_270 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)
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IMU Invensensev3 SPI:icm45686 ROTATION_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)
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2024-01-21 00:36:46 -04:00
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# Holybro6X-45686 3 IMUs, the ones on SPI-2 and SPI-3 are isolated
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IMU Invensensev3 SPI:icm45686-2 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
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IMU Invensensev3 SPI:icm45686-3 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
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IMU Invensensev3 SPI:icm45686-1 ROTATION_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
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2024-04-29 04:18:28 -03:00
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define HAL_INS_HIGHRES_SAMPLE 7
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2022-05-12 01:38:56 -03:00
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define HAL_DEFAULT_INS_FAST_SAMPLE 7
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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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# INA226 battery monitor
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define HAL_BATTMON_INA2XX_BUS 1
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2023-05-01 03:07:01 -03:00
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define HAL_BATTMON_INA2XX_ADDR 0
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2022-05-12 01:38:56 -03:00
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define HAL_BATT_MONITOR_DEFAULT 21
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# allow to have have a dedicated safety switch pin
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define HAL_HAVE_SAFETY_SWITCH 1
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DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*
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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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2023-06-22 15:12:42 -03:00
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ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_f103_lowpolh.bin
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2022-08-29 02:49:08 -03:00
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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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2022-08-24 04:18:50 -03:00
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# build ABIN for flash-from-bootloader support:
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env BUILD_ABIN True
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2023-06-21 18:43:21 -03:00
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# enable support for dshot on iomcu
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2023-06-22 15:12:42 -03:00
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ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
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2023-11-16 13:44:26 -04:00
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define HAL_WITH_IO_MCU_BIDIR_DSHOT 1
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