mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: Support for 3DR Control Zero H7 OEM rev G
Co-authored-by: Alexis Guijarro <totonzx@gmail.com> Co-authored-by: Andy Piper <github@andypiper.com>
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# 3DR (mRo) Control Zero H7 OEM Flight Controller revision G
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The Control Zero H7 OEM revision G is a flight controller produced by [3DR (mRo)](https://store.3dr.com/control-zero-h7-oem-g/).
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![3DR Control Zero H7 OEM rev G - Top](https://vddwxegfxugwzpfnrrlp.supabase.co/storage/v1/object/public/Website-CDN/autopilot-img/CZOEM_revG_front.JPG)
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![3DR Control Zero H7 OEM rev G - Bottom](https://vddwxegfxugwzpfnrrlp.supabase.co/storage/v1/object/public/Website-CDN/autopilot-img/CZOEM_revG_back.JPG?t=2024-03-08T20%3A18%3A49.140Z)
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![3DR Control Zero H7 OEM rev G - Top w/ case](https://vddwxegfxugwzpfnrrlp.supabase.co/storage/v1/object/public/Website-CDN/autopilot-img/CZOEM_revG_case_front.JPG?t=2024-03-08T20%3A18%3A57.128Z)
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![3DR Control Zero H7 OEM rev G - Bottomi w/ case](https://vddwxegfxugwzpfnrrlp.supabase.co/storage/v1/object/public/Website-CDN/autopilot-img/CZOEM_revG_case.jpg?t=2024-03-08T20%3A18%3A52.750Z)
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## Features
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Processor
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STM32H743IIK6 32-bit Processor
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Sensors
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BMI088 6DOF
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ICM20602 6DOF
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ICM20948 9DOF
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DPS368 Baro
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Power
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External Power Supply
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Logic level at 3.3V
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Interfaces
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Bottom Connectors: 36pin front and 40pin back Samtec FTM-118-02-x and FTM-120-02-x
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8x PWM / IO - DMA capable
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1x RC Input
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5x UARTs (2x with hardware flow control)
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2x CAN
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1x SPI
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3x I2C
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SWD via TC2030 header
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SDCARD Socket
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Memory
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FRAM (256KB)
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Miscellaneous
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Onboard 3 color LED
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Buzzer
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Safety Button
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### Uncased Weight and Dimensions
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Weight: 3.66g (13.oz)
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Width: 20mm (.79in)
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Length: 34mm (1.34in)
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*Case sold separately*
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## Changelog
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- M10059C - Initial Release
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- M10059G adds external power supply and TCXO.
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## Pinout
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![Control Zero H7 OEM revision G pinout](https://vddwxegfxugwzpfnrrlp.supabase.co/storage/v1/object/public/Website-CDN/pinouts/czoem_pinout_revG_topview.png)
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## UART Mapping
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- SERIAL0 -> USB1, for GCS connection
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- SERIAL1 -> USART2 (TELEM 1) DMA Enabled
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- SERIAL2 -> USART3 (TELEM 2) DMA Enabled
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- SERIAL3 -> UART4 (GPS) DMA Enabled
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- SERIAL4 -> UART8 (GPS 2) DMA Enabled
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- SERIAL5 -> UART7 (DEBUG) DMA Enabled
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- SERIAL6 -> USART6 (Additional USART) DMA Enabled
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- SERIAL7 -> USB2, MAVLink interface
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## RC Input
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RC input is configured on the RC_IN pin. These are the supported RC input protocols:
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Spektrum DSM / DSM2 / DSM-X® Satellite compatible input and binding.
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Futaba S.BUS® & S.BUS2® compatible input.
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Graupner SUMD. Yuneec ST24.
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## Analog Inputs
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The Control Zero H7 OEM revision G has 4 ADC inputs:
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- ADC1 Pin11 -> RSSI IN
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- ADC1 Pin14 -> Battery Voltage
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- ADC1 Pin15 -> Battery Current
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- ADC1 Pin18 -> 5V Sensor
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## PWM Output
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The Control Zero H7 OEM revision G supports up to 8 PWM outputs. All DShot and BiDirDShot capable.
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The PWM outputs are distributed in 3 groups:
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- PWM 1-4 in group 1
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- PWM 5-6 in group 4
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- PWM 7-8 in group 8
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Channels within the same group must use only one output rate. If any channel is using DShot or BiDirDShot the rest of the group will use the said output type.
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## Power Supply
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This board requires a 5V, 1 Amps power supply.
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## Battery Monitoring
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This board has a built-in voltage and current sensors. The following settings need to be present already on the board to work with a Power Zero Module (M10077):
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- BATT_MONITOR 4
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- BATT_VOLT_PIN 14
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- BATT_CURR_PIN 15
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- BATT_VOLT_SCALE 15.3
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- BATT_CURR_SCALE 50.0
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*Other Power Module needs to be adjusted accordingly*
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## Build
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`./waf configure --board=3DRControlZeroG`
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`./waf copter` (check ArduPilot's docs for more info about the available targets)
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The compiled binary will be located in `build/3DRControlZeroG/bin/arducopter.apj`.
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## Uploading Firmware
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Any Control Zero H7 OEM revision G has a preloaded Ardupilot bootloader, which allows the user to use a compatible Ground Station software to upload the `.apj` file.
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#Default Parameters for the mRo Control Zero OEM H7
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CAN_P1_DRIVER 1
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CAN_P2_DRIVER 2
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# USB setup
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USB_VENDOR 0x26ac
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USB_PRODUCT 0x1124
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USB_STRING_MANUFACTURER "3DR"
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USB_STRING_PRODUCT "CZOEMrevG"
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# crystal frequency
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OSCILLATOR_HZ 24000000
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define STM32_HSE_BYPASS
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define SMPS_EXT
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# board ID for firmware load
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APJ_BOARD_ID 1124
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FLASH_SIZE_KB 2048
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# bootloader is installed 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 128
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PB11 LED_BOOTLOADER OUTPUT
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PH5 VDD_1V2_CORE_EN OUTPUT HIGH
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# define all 3 to make LED output White.
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PB1 LED_ACTIVITY OUTPUT
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PB3 LED_ACTIVITY2 OUTPUT
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# PB11 LED_ACTIVITY3 OUTPUT
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define HAL_LED_ON 0
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART2
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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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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# Add CS pins to ensure they are high in bootloader
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PC2 ICM_20602_CS CS
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PD7 BARO_CS CS
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PD10 FRAM_CS CS SPEED_VERYLOW NODMA
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PE15 ICM_20948_CS CS
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PF6 BMI088_ACCEL_CS CS
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PF10 BMI088_GYRO_CS CS
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#PG9 EXTERNAL CS
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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 1124
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# crystal frequency
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OSCILLATOR_HZ 24000000
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define STM32_HSE_BYPASS
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define SMPS_EXT
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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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# start on 2th sector (1st sector for bootloader)
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FLASH_RESERVE_START_KB 128
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define HAL_STORAGE_SIZE 32768
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# USB setup
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USB_VENDOR 0x26ac
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USB_PRODUCT 0x1124
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USB_STRING_MANUFACTURER "3DR"
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USB_STRING_PRODUCT "CZOEMrevG"
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PA8 RCC_MCO_1 OUTPUT LOW
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PH5 VDD_1V2_CORE_EN OUTPUT HIGH
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# RC Input set for Interrupt not DMA
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PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW
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# GPIO(70) # also USART6_RX for serial RC
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# Control of Spektrum power pin
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PE4 SPEKTRUM_PWR OUTPUT LOW GPIO(70)
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define HAL_GPIO_SPEKTRUM_PWR 70
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# Spektrum Power is Active High
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define HAL_SPEKTRUM_PWR_ENABLED 0
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# Spektrum RC Input pin, used as GPIO for bind for Satellite Receivers
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PB0 SPEKTRUM_RC INPUT PULLUP GPIO(71)
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define HAL_GPIO_SPEKTRUM_RC 71
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# Order of I2C buses
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I2C_ORDER I2C1 I2C3 I2C4
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# this board has no internal I2C buses so mark them all external
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define HAL_I2C_INTERNAL_MASK 0
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# order of UARTs and suggested uses
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# USART2 TELEM1
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# USART3 TELEM2
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# UART4 GPS
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# UART8 GPS2
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# UART7 DEBUG
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# USART6 RC input (Only RX pin is connected)
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# OTG1 and OTG2 are USB devices (1x physical USB connection enumerated as 2x logical ports)
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SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 USART6 OTG2
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# Another USART, this one for telem1. This one has RTS and CTS lines.
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# USART2 telem1
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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PD3 USART2_CTS USART2
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PD4 USART2_RTS USART2
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# The telem2 USART, with RTS and CTS lines.
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# USART3 telem2
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PD8 USART3_TX USART3
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PD9 USART3_RX USART3
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PD11 USART3_CTS USART3
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PD12 USART3_RTS USART3
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# UART4 GPS
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PA0 UART4_TX UART4
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PA1 UART4_RX UART4
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# UART7
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PE8 UART7_TX UART7 NODMA
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PE7 UART7_RX UART7 NODMA
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# USART6
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PG14 USART6_TX USART6
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PG9 USART6_RX USART6
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PG13 USART6_CTS USART6
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PG12 USART6_RTS USART6
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# UART8 GPS2
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PE1 UART8_TX UART8
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PE0 UART8_RX UART8
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# RSSI Analog Input
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PC1 RSSI_IN ADC1
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# Safety Switch Input
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PC4 SAFETY_IN INPUT PULLDOWN
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define HAL_HAVE_SAFETY_SWITCH 1
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# Battery Analog Sense Pins
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PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
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# Now the VDD sense pin. This is used to sense primary board voltage.
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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# Now setup the default battery pins driver analog pins and default
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# scaling for the power brick (Adjusted for Power Zero - M10077).
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define HAL_BATT_VOLT_PIN 14
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define HAL_BATT_CURR_PIN 15
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define HAL_BATT_VOLT_SCALE 15.3
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define HAL_BATT_CURR_SCALE 50.0
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#SPI1 ICM_20602 / ICM_20948
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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 FRAM / DPS310
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PB10 SPI2_SCK SPI2
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PB14 SPI2_MISO SPI2
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PB15 SPI2_MOSI SPI2
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#SPI5 BMI088
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PF7 SPI5_SCK SPI5
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PF8 SPI5_MISO SPI5
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PF9 SPI5_MOSI SPI5
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#SPI6 External
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#PG13 SPI6_SCK SPI6
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#PG12 SPI6_MISO SPI6
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#PG14 SPI6_MOSI SPI6
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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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# This input pin is used to detect that power is valid on USB.
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PC0 VBUS_VALID INPUT PULLDOWN
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# Now we define the pins that USB is connected on.
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# PWM output for buzzer
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PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
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# First I2C bus.
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PB8 I2C1_SCL I2C1
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PB9 I2C1_SDA I2C1
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# Second I2C bus.
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PH7 I2C3_SCL I2C3
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PH8 I2C3_SDA I2C3
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# Third I2C bus.
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PB6 I2C4_SCL I2C4
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PB7 I2C4_SDA I2C4
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# microSD card
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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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# CS pins for SPI sensors. The labels for all CS pins need to
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# match the SPI device table later in this file.
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PC2 ICM_20602_CS CS
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PD7 BARO_CS CS
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PD10 FRAM_CS CS SPEED_VERYLOW NODMA
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PE15 ICM_20948_CS CS
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PF6 BMI088_ACCEL_CS CS
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PF10 BMI088_GYRO_CS CS
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#PG9 EXTERNAL CS
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# CAN Busses
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PD0 CAN1_RX CAN1
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PD1 CAN1_TX CAN1
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PB13 CAN2_TX CAN2
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PB12 CAN2_RX CAN2
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# CAN Silent Pins LOW Enable
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PF5 GPIO_CAN_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72)
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# Now we start defining some PWM pins. We also map these pins to GPIO
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# values, so users can set BRD_PWM_COUNT to choose how many of the PWM
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# outputs on the primary MCU are setup as PWM and how many as
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# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs
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# starting at 50.
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PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) BIDIR
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PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
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PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
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PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
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PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) BIDIR
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PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) BIDIR
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PI5 TIM8_CH1 TIM8 PWM(7) GPIO(56) BIDIR
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PI6 TIM8_CH2 TIM8 PWM(8) GPIO(57)
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# This is the invensense 20602 data-ready pin.
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PD15 MPU_DRDY INPUT
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# Power Supply Enable
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PE3 VDD_1V8_3V3_SENSORS_EN OUTPUT HIGH
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# Power Supply Enable 3.3v Periph/Spektrum
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PC5 VDD_3V3_PERIPH_EN OUTPUT HIGH
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# Power flag pins: these tell the MCU the status of the various power
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# supplies that are available. The pin names need to exactly match the
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# names used in AnalogIn.cpp.
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PB5 VDD_BRICK_VALID INPUT PULLDOWN
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SPIDEV dps310 SPI2 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
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SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ
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SPIDEV bmi088_g SPI5 DEVID1 BMI088_GYRO_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_a SPI5 DEVID2 BMI088_ACCEL_CS MODE3 10*MHZ 10*MHZ
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SPIDEV icm20608 SPI1 DEVID2 ICM_20602_CS MODE3 2*MHZ 7*MHZ
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SPIDEV icm20948 SPI1 DEVID1 ICM_20948_CS MODE3 2*MHZ 7*MHZ
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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 (needs a microSD defined via SDMMC).
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define HAL_OS_FATFS_IO 1
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# Control Zero has a TriColor LED, Red, Green, Blue
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define HAL_HAVE_PIXRACER_LED
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# LED setup for PixracerLED driver
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PB11 LED_R OUTPUT HIGH GPIO(0)
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PB1 LED_G OUTPUT HIGH GPIO(1)
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PB3 LED_B OUTPUT HIGH GPIO(2)
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define HAL_GPIO_A_LED_PIN 0
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define HAL_GPIO_B_LED_PIN 1
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define HAL_GPIO_C_LED_PIN 2
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# DMA_PRIORITY SDMMC*
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DMA_NOSHARE SPI1* SPI5*
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# 3 IMUs
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
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IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
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IMU Invensensev2 SPI:icm20948 ROTATION_ROLL_180_YAW_90
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define HAL_DEFAULT_INS_FAST_SAMPLE 7
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# 1 baro
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BARO DPS280 SPI:dps310
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# 1 compass
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||||
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180
|
||||
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
|
@ -86,6 +86,8 @@
|
|||
#define STM32_PWR_CR2 (PWR_CR2_BREN)
|
||||
#ifdef SMPS_PWR
|
||||
#define STM32_PWR_CR3 (PWR_CR3_SMPSEN | PWR_CR3_USB33DEN)
|
||||
#elif defined(SMPS_EXT)
|
||||
#define STM32_PWR_CR3 (PWR_CR3_BYPASS | PWR_CR3_USB33DEN)
|
||||
#else
|
||||
#define STM32_PWR_CR3 (PWR_CR3_LDOEN | PWR_CR3_USB33DEN)
|
||||
#endif
|
||||
|
|
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Reference in New Issue