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AP_HAL_ChibiOS: Add FlywooF745
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Lava Chemist
Andrew Tridgell
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109
libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/README.md
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109
libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/README.md
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# Flywoo GOKU GN 745 40A AIO
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https://flywoo.net/products/goku-gn745-40a-aio-bl_32-mpu6000-25-5-x-25-5
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The Flywoo GOKU GN 745 AIO is a flight controller produced by [Flywoo](https://flywoo.net/).
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## Features
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- MCU: STM32F745 32-bit processor,216MHz, 512Kbytes Flash
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- IMU: MPU6000 (SPI)
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- Barometer: BMP280
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- Onboard LED：WS2812*4
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- USB VCP Driver (all UARTs usable simultaneously; USB does not take up a UART)
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- 7 hardware UARTS (UART1,2,3,4,5,6,7)
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- Supports serial receivers (SBUS, iBus, Spektrum, Crossfire) only.
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- PPM and PWM receivers are not supported.
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- Onbord 8Mbytes for Blackbox logging
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- 9V Power Out: 1.5A max
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- 5V Power Out: 2.0A max
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- 3.3V Power Out: 0.5A max
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- Dimensions: 33.5x33.5mm
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- Mounting Holes: Standard 25.5/26.5mm square to center of holes
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- Weight: 8.5g
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- Built-in 40A BL_32 4in1 ESC
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- Support BLheli / BLHELI_32
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- Support PWM, Oneshot125, Oneshot42, Multishot, Dshot150, Dshot300, Dshot600,Dshot1200
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- Input Voltage: 2-6S Lipo
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- Continuous Current: 40A
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- Firmware: BLHELI_32
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## Pinout
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## UART Mapping
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The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
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receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
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|Name|Pin|Function|
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|:-|:-|:-|
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|SERIAL0|COMPUTER|USB|
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|SERIAL1|RX1/TX1|UART1 (TELEM)|
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|SERIAL2|TX2/RX2|UART2 (TELEM)|
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|SERIAL3|TX3/RX3|UART3 (RC Input/Output)|
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|SERIAL4|TX4/RX4|UART4|
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|SERIAL5|TX5/RX5|UART5|
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|SERIAL6|TX6/RX6|UART6 (GPS)|
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|SERIAL7|TX7/RX7|UART7|
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UART3 supports RX and TX DMA. UART1, UART2, UART4, and UART6 supports TX DMA. UART5 and UART7 do not support DMA.
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## RC Input
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RC input is configured on the UART3, which supports serial RC protocols. This board does not support PPM.
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## OSD Support
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The GOKU GN 745 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The GOKU GN 745 AIO supports up to 8 PWM outputs. The pads for motor output ESC1 to ESC4 on the above diagram are the first 4 outputs, there are four additional pads for PWM 5-8. All 8 outputs support DShot as well as all PWM types.
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The PWM are in 5 groups:
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PWM 6: Group 1
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PWM 1-2 and 7-8: Group 2
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LED: Group 3
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PWM: Group 4
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PWM 3-4: Group 5
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Channels within the same group need to use the same output rate. If
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any channel in a group uses DShot then all channels in the group need
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to use DShot. PWM 1-4 support bidirectional dshot.
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## Battery Monitoring
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The board has a builtin voltage sensor. The voltage sensor can handle 2S to 6S
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LiPo batteries.
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The correct battery setting parameters are:
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 12
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- BATT_VOLT_MULT around 10.9
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- BATT_CURR_PIN 13
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- BATT_CURR_MULT around 28.5
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These are set by default in the firmware and shouldn't need to be adjusted
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## Compass
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The GOKU GN 745 AIO does not have a builtin compass but it does have an external I2C connector.
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## NeoPixel LED
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The board includes a NeoPixel LED pad.
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## Loading Firmware (you will need to compile your own firmware)
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Initial firmware load can be done with DFU by plugging in USB with the
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bootloader button pressed. Then you should load the "with_bl.hex"
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firmware, using your favourite DFU loading tool.
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Once the initial firmware is loaded you can update the firmware using
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any ArduPilot ground station software. Updates should be done with the
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*.apj firmware files.
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13
libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/defaults.parm
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libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/defaults.parm
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# setup the four built-in Neopixel LEDs on chan 9
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SERVO9_FUNCTION 120
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NTF_LED_TYPES 257
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NTF_LED_LEN 4
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# setup SERIAL3 for RCIN
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SERIAL3_PROTOCOL 23
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# disable GPS on Serial 4
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SERIAL4_PROTOCOL -1
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# setup SERIAL6 for GPS
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SERIAL6_PROTOCOL 5
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44
libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef-bl.dat
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44
libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef-bl.dat
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# hw definition file for processing by chibios_pins.py
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# for Flywoo Goku GN F745.
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# MCU class and specific type
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MCU STM32F7xx STM32F745xx
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# board ID for firmware load
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APJ_BOARD_ID 1027
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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 1024
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# bootloader starts at zero offset
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FLASH_RESERVE_START_KB 0
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# the location where the bootloader will put the firmware
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FLASH_BOOTLOADER_LOAD_KB 96
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# order of UARTs (and USB). Allow bootloading on USB and telem1
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SERIAL_ORDER OTG1 USART1
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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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# USART1
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PA10 USART1_RX USART1
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PA9 USART1_TX USART1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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PC13 LED_BOOTLOADER OUTPUT LOW
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define HAL_LED_ON 0
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define HAL_USE_EMPTY_STORAGE 1
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define HAL_STORAGE_SIZE 16384
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# Add CS pins to ensure they are high in bootloader
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PE4 MPU6000_CS CS
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PA4 FLASH_CS CS
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PB12 AT7456E_CS CS
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160
libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat
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160
libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/hwdef.dat
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# hw definition file for processing by chibios_pins.py
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# for FLYWOO Goku GN F745.
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# thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32F7xx STM32F745xx
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# board ID for firmware load
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APJ_BOARD_ID 1027
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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 1024
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 96
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# only one I2C bus
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I2C_ORDER I2C1
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# Buzzer - DMA timer channel use by LEDs
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#PD15 TIM4_CH4 TIM4 GPIO(80) ALARM
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PD15 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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define HAL_BUZZER_ON 1
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define HAL_BUZZER_OFF 0
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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
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# SPI1 for Flash Storage 16mb
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PA4 FLASH_CS CS
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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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# SPI2 for OSD
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PB12 AT7456E_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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# SPI4 for MPU6000
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PE4 MPU6000_CS CS
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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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# I2C1 for baro
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PB6 I2C1_SCL I2C1 PULLUP
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PB7 I2C1_SDA I2C1 PULLUP
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PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
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# define default battery setup
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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 10.9
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define HAL_BATT_CURR_SCALE 28.5
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define HAL_BATT_MONITOR_DEFAULT 4
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PC5 RSSI_ADC ADC1
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7
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# USART1
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PA10 USART1_RX USART1 NODMA
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PA9 USART1_TX USART1
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# USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2 NODMA
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# USART3
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PB10 USART3_TX USART3
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PB11 USART3_RX USART3
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# UART4
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PA0 UART4_TX UART4
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PA1 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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# USART6
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PC6 USART6_TX USART6
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PC7 USART6_RX USART6 NODMA
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# UART7
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PE7 UART7_RX UART7 NODMA
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PE8 UART7_TX UART7 NODMA
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# Motors
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PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR # Motor 1
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PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) # Motor 2
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PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52) # Motor 3
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PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53) BIDIR # Motor 4
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PC9 TIM8_CH4 TIM8 PWM(5) GPIO(54) # Motor 5
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PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) # Motor 6
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PB4 TIM3_CH1 TIM3 PWM(7) GPIO(56) # Motor 7
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PB5 TIM3_CH2 TIM3 PWM(8) GPIO(57) # Motor 8
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# NeoPixel LED strip
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PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
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PA2 LED0 OUTPUT LOW GPIO(90) # LED
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# Misc Timer Stuff
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PE13 TIM1_CH3 TIM1 PWM(10) GPIO(59) # PPM/Unused - for future use according to Flywoo
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DMA_PRIORITY USART1* TIM1* TIM3*
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DMA_NOSHARE SPI1_TX SPI1_RX TIM1_CH2 TIM3_CH3
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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# enable logging to dataflash
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define HAL_LOGGING_DATAFLASH
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# spi devices
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SPIDEV dataflash SPI1 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ
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SPIDEV osd SPI2 DEVID2 AT7456E_CS MODE0 10*MHZ 10*MHZ
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SPIDEV mpu6000 SPI4 DEVID4 MPU6000_CS MODE3 1*MHZ 4*MHZ
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# no built-in compass and no external I2C so no compass
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define ALLOW_ARM_NO_COMPASS
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define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
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define HAL_I2C_INTERNAL_MASK 0
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# one IMU
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IMU Invensense SPI:mpu6000 ROTATION_YAW_180
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# one BARO
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BARO BMP280 I2C:0:0x76
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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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define BOARD_PWM_COUNT_DEFAULT 10
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define STM32_PWM_USE_ADVANCED TRUE
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# FFT option (disabled by default)
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# define HAL_WITH_DSP 1
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# define AC_OAPATHPLANNER_ENABLED 0
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# EK2 options (disabled by default)
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# define HAL_NAVEKF2_AVAILABLE 1
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# define HAL_NAVEKF3_AVAILABLE 0
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