mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: hwdef for MambaH743v4
support BMI270 on MambaH743v4 and increase flash SPI clock add bi-directional dshot to MambaH743 add README and pinout for MambaH743
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Andy Piper
Peter Barker
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# MambaH743v4 Flight Controller
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The MambaH743v4 is a flight controller produced by [Diatone](https://www.diatoneusa.com/).
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## Features
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- MCU - STM32H743 32-bit processor running at 480 MHz
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- IMU - Dual MPU6000 (Version A) or BMI270 (Version B)
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- Barometer - DPS280
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- OSD - AT7456E
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- Onboard Flash: 1GBit
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- 8x UARTs
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- 9x PWM Outputs (8 Motor Output, 1 LED)
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- Battery input voltage: 2S-6S
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- BEC 3.3V 0.5A
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- BEC 5V 3A
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- BEC 5V 3A
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- BEC 9V 3A
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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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- SERIAL0 -> USB
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- SERIAL1 -> UART1 (RX/SBUS, DMA-enabled)
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- SERIAL2 -> UART2
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- SERIAL3 -> UART3
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- SERIAL4 -> UART4 (GPS, DMA-enabled)
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- SERIAL5 -> UART5 (SPort)
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- SERIAL6 -> UART6 (ESC Telemetry)
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- SERIAL7 -> UART7 (GPS, DMA-enabled)
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## RC Input
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RC input is configured on the R1 (UART1_RX) pin. It supports all serial RC
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protocols. For protocols requiring half-duplex serial to transmit
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telemetry (such as FPort) you should setup SERIAL6 as an RC input serial port,
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with half-duplex, pin-swap and inversion enabled.
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## FrSky Telemetry
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FrSky Telemetry is supported using the T5 pin (UART5 transmit). You need to set the following parameters to enable support for FrSky S.PORT
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- SERIAL5_PROTOCOL 10
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- SERIAL5_OPTIONS 7
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## OSD Support
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The MambaH743v4 supports OSD using OSD_TYPE 1 (MAX7456 driver).
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## PWM Output
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The MambaH743v4 supports up to 9 PWM outputs. The pads for motor output
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M1 to M8 are provided on both the motor connectors and on separate pads, plus
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M9 on a separate pad for LED strip or another PWM output.
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The PWM is in 4 groups:
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- PWM 1-4 in group1
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- PWM 5,6 in group2
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- PWM 7,8 in group3
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- PWM 9 in group4
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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. Channels 1-8 support bi-directional dshot.
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## Battery Monitoring
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The board has a builting voltage and current sensor. The current
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sensor can read up to 130 Amps. The voltage sensor can handle up 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 11
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- BATT_CURR_PIN 13
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- BATT_VOLT_MULT 11.1
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- BATT_AMP_PERVLT 64
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## Compass
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The MambaH743v4 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
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## Loading 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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# setup for LEDs on chan9
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SERVO9_FUNCTION 120
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NTF_LED_TYPES 257
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# hw definition file for processing by chibios_pins.py
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# for Diatone MambaH743 mk4 bootloader
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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 1073
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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 2048
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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 384
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STORAGE_FLASH_PAGE 1
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1
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# PA10 IO-debug-console
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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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PE3 BUZZER OUTPUT LOW PULLDOWN
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PE5 LED_BOOTLOADER OUTPUT LOW
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define HAL_LED_ON 1
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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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# Add CS pins to ensure they are high in bootloader
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PA15 FLASH_CS CS
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PB12 MAX7456_CS CS
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PA4 MPU6000_CS CS
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PE11 MPU6000_2_CS CS
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# hw definition file for processing by chibios_pins.py
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# for Diatone MambaH743 mk4 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 1073
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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MCU_CLOCKRATE_MHZ 480
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FLASH_SIZE_KB 2048
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# ChibiOS system timer
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STM32_ST_USE_TIMER 12
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define CH_CFG_ST_RESOLUTION 16
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# leave 1 sectors free
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FLASH_RESERVE_START_KB 384
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# use last 2 pages for flash storage
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# H743 has 16 pages of 128k each
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STORAGE_FLASH_PAGE 1
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define HAL_STORAGE_SIZE 32768
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# enable logging to dataflash
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define HAL_LOGGING_DATAFLASH_ENABLED 1
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# one I2C bus
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I2C_ORDER I2C1 I2C2
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7 UART8
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# buzzer
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PE3 BUZZER OUTPUT LOW PULLDOWN GPIO(80)
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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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define HAL_PWM_ALT_ALARM
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# PA10 IO-debug-console
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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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# SPI1 for BMI270 / MPU6000
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PA4 MPU6000_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 MAX7456 OSD
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PB12 MAX7456_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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# SPI3 for flash
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PA15 FLASH_CS CS
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PB2 SPI3_MOSI SPI3
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# SPI4 for MPU6000_2
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PE11 MPU6000_2_CS CS
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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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# I2C1 for baro
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PB6 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# I2C2 for baro
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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PC1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC3 BATT_CURRENT_SENS ADC1 SCALE(1)
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# define default battery setup
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 11
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define HAL_BATT_CURR_PIN 13
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define HAL_BATT_VOLT_SCALE 11.1
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define HAL_BATT_CURR_SCALE 64
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PC2 RSSI_ADC ADC1
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define BOARD_RSSI_ANA_PIN 12
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PE5 LED0 OUTPUT LOW GPIO(90) # blue
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PE4 LED1 OUTPUT LOW GPIO(91) # orange
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define HAL_GPIO_A_LED_PIN 91
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define HAL_GPIO_B_LED_PIN 90
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define HAL_GPIO_LED_OFF 1
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# USART1 (RX / SBUS)
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PA9 USART1_TX USART1
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PA10 USART1_RX USART1
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# USART2
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PD5 USART2_TX USART2 NODMA
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PD6 USART2_RX USART2 NODMA
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# USART3 (VTX)
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PD8 USART3_TX USART3 NODMA
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PD9 USART3_RX USART3 NODMA
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# UART4 (GPS)
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PD1 UART4_TX UART4
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PD0 UART4_RX UART4
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# UART5 (SPORT)
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PC12 UART5_TX UART5 NODMA
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PD2 UART5_RX UART5 NODMA
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# USART6 (ESC Telemetry)
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PC6 USART6_TX USART6 NODMA
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PC7 USART6_RX USART6 NODMA
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# UART7 (GPS)
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PE8 UART7_TX UART7
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PE7 UART7_RX UART7
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PE1 UART8_TX UART8 NODMA
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PE0 UART8_RX UART8 NODMA
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define HAL_SERIAL1_PROTOCOL SerialProtocol_RCIN
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define HAL_SERIAL1_BAUD 115
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define HAL_SERIAL6_PROTOCOL SerialProtocol_ESCTelemetry
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define HAL_SERIAL6_BAUD 115
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# Motors
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PA0 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR
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PA1 TIM5_CH2 TIM5 PWM(2) GPIO(51)
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PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR
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PA3 TIM5_CH4 TIM5 PWM(4) GPIO(53)
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PB0 TIM3_CH3 TIM3 PWM(5) GPIO(54) BIDIR
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PB1 TIM3_CH4 TIM3 PWM(6) GPIO(55)
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PC8 TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR
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PC9 TIM8_CH4 TIM8 PWM(8) GPIO(57)
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# Motor order implies Betaflight/X for standard ESCs
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define HAL_FRAME_TYPE_DEFAULT 12
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# LED strip
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PA8 TIM1_CH1 TIM1 PWM(9) GPIO(58)
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DMA_NOSHARE SPI3* SPI1*
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# spi devices
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SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ
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SPIDEV bmi270 SPI1 DEVID2 MPU6000_CS MODE3 1*MHZ 4*MHZ
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SPIDEV mpu6000_2 SPI4 DEVID4 MPU6000_2_CS MODE3 1*MHZ 4*MHZ
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SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 104*MHZ 104*MHZ
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SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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# Two MPU6000s or one BMI270
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IMU Invensense SPI:mpu6000 ROTATION_YAW_90
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IMU Invensense SPI:mpu6000_2 ROTATION_YAW_180
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IMU BMI270 SPI:bmi270 ROTATION_PITCH_180
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define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25N01GV
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# one BARO
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BARO DPS280 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 STM32_PWM_USE_ADVANCED TRUE
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