mirror of https://github.com/ArduPilot/ardupilot
217 lines
5.0 KiB
Plaintext
217 lines
5.0 KiB
Plaintext
# hw definition file for processing by chibios_pins.py
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# for Holybro KakuteH7-WING
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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 1105
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# crystal frequency, setup to use external oscillator (16Mhz)
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OSCILLATOR_HZ 16000000
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FLASH_SIZE_KB 2048
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env OPTIMIZE -Os
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# bootloader takes first sector
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FLASH_RESERVE_START_KB 128
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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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# USB
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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 IMU1 (BMI088)
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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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PC8 BMI088_A_CS CS
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PC9 BMI088_G_CS CS
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PD11 DRDY1_BMI088_ACC INPUT
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PD10 DRDY2_BMI088_GYRO INPUT
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# SPI2 for MAX7456 OSD
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PB12 MAX7456_CS CS
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PD3 SPI2_SCK SPI2
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PC2 SPI2_MISO SPI2
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PC3 SPI2_MOSI SPI2
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#SPI3 for IMU1 (ICM42688)
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PC10 SPI3_SCK SPI3
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PC11 SPI3_MISO SPI3
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PC12 SPI3_MOSI SPI3
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PE12 ICM42688_CS CS
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PE15 DRDY1_ICM42688 INPUT
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# three I2C bus
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I2C_ORDER I2C4 I2C1 I2C2
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# I2C4 (BMP280 BARO)
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PD12 I2C4_SCL I2C4
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PD13 I2C4_SDA I2C4
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# I2C1
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PB8 I2C1_SCL I2C1
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PB7 I2C1_SDA I2C1
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# I2C2
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# ADC
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PC5 BATT_VOLTAGE_SENS ADC1 SCALE(1)
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PC4 BATT_CURRENT_SENS ADC1 SCALE(1)
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PA3 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
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PA2 BATT2_CURRENT_SENS ADC1 SCALE(1)
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define HAL_BATT_MONITOR_DEFAULT 4
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define HAL_BATT_VOLT_PIN 8
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define HAL_BATT_CURR_PIN 4
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define HAL_BATT2_VOLT_PIN 15
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define HAL_BATT2_CURR_PIN 14
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define HAL_BATT_VOLT_SCALE 18.18
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define HAL_BATT_CURR_SCALE 36.6
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define HAL_BATT2_VOLT_SCALE 11.0
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PC0 RSSI_ADC ADC1
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define BOARD_RSSI_ANA_PIN 10
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# LED
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# green LED1 marked as B/E
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# blue LED0 marked as ACT
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define AP_NOTIFY_GPIO_LED_2_ENABLED 1
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PC15 LED0 OUTPUT LOW GPIO(90) # blue
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PC14 LED1 OUTPUT LOW GPIO(91) # red
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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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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 UART7 USART2 USART1 USART3 UART5 USART6 UART8 OTG2
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# USART1 (GPS1, SERIAL3)
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PA10 USART1_RX USART1
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PB6 USART1_TX USART1
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# USART2 (TELEM2, SERIAL2)
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PD5 USART2_TX USART2
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PD6 USART2_RX USART2
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# USART3 (GPS2, SERIAL4)
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3
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# UART5 (USER, SERIAL5)
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PB13 UART5_TX UART5
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PD2 UART5_RX UART5
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# USART6 (RC input), SERIAL6
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PC7 TIM8_CH2 TIM8 RCININT PULLDOWN LOW
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PC6 USART6_TX USART6 NODMA
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# as an alternative config setup the RX6 pin as a uart. This allows
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# for bi-directional UART based receiver protocols such as FPort
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# without any extra hardware
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PC7 USART6_RX USART6 NODMA ALT(1)
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# UART7 (TELEM1, SERIAL1)
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7
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PE10 UART7_CTS UART7
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PE9 UART7_RTS UART7
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define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MAVLink2
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# UART8 (USER, SERIAL7)
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PE0 UART8_RX UART8
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PE1 UART8_TX UART8
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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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# Motors
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PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50) BIDIR
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PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51)
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PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52) BIDIR
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PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)
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PD14 TIM4_CH3 TIM4 PWM(5) GPIO(54) BIDIR
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PD15 TIM4_CH4 TIM4 PWM(6) GPIO(55)
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PA0 TIM5_CH1 TIM5 PWM(7) GPIO(56) BIDIR
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PA1 TIM5_CH2 TIM5 PWM(8) GPIO(57)
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PE5 TIM15_CH1 TIM15 PWM(9) GPIO(58)
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PE6 TIM15_CH2 TIM15 PWM(10) GPIO(59)
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PB5 TIM3_CH2 TIM3 PWM(11) GPIO(60) NODMA
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PB0 TIM3_CH3 TIM3 PWM(12) GPIO(61) NODMA
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PB1 TIM3_CH4 TIM3 PWM(13) GPIO(62) NODMA
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PA15 TIM2_CH1 TIM2 PWM(14) GPIO(63) NODMA
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# Beeper
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#PB9 TIM17_CH1 TIM17 GPIO(77) ALARM
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PB9 BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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# microSD support
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PB14 SDMMC2_D0 SDMMC2
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PB15 SDMMC2_D1 SDMMC2
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PB3 SDMMC2_D2 SDMMC2
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PB4 SDMMC2_D3 SDMMC2
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PC1 SDMMC2_CK SDMMC2
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PD7 SDMMC2_CMD SDMMC2
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define FATFS_HAL_DEVICE SDCD2
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# GPIOs 81:CAM SELECT,82:9V SWITCH,83: USER1,84:USER2
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PC13 PINIO1 OUTPUT GPIO(81) LOW
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PE3 PINIO2 OUTPUT GPIO(82) HIGH
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PD4 PINIO3 OUTPUT GPIO(83) LOW
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PE4 PINIO4 OUTPUT GPIO(84) LOW
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#Power Control and Status
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PA9 VBUS_VALID INPUT
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PB2 VDD_3V3_SENSORS_EN OUTPUT HIGH
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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PE2 VDD_BRICK_nVALID INPUT FLOAT
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define HAL_STORAGE_SIZE 32768
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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 14
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# spi devices
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SPIDEV bmi088_a SPI1 DEVID1 BMI088_A_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi088_g SPI1 DEVID2 BMI088_G_CS MODE3 10*MHZ 10*MHZ
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SPIDEV icm42688 SPI3 DEVID1 ICM42688_CS MODE3 2*MHZ 8*MHZ
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SPIDEV osd SPI2 DEVID3 MAX7456_CS MODE0 10*MHZ 10*MHZ
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DMA_NOSHARE SPI1* SPI3* TIM4* TIM5*
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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 1
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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# One IMU (orientation needs to be determined)
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IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270
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IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
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# BMP280 integrated on I2C4 bus
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BARO BMP280 I2C:0:0x76
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define HAL_OS_FATFS_IO 1
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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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NODMA I2C*
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define STM32_I2C_USE_DMA FALSE
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