mirror of https://github.com/ArduPilot/ardupilot
261 lines
5.5 KiB
Plaintext
261 lines
5.5 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for the HolybroV6C hardware
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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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# 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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# USB setup
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USB_VENDOR 0x3162 # ONLY FOR USE BY Holybro
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USB_PRODUCT 0x0053
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USB_STRING_MANUFACTURER "Holybro"
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# board ID for firmware load
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APJ_BOARD_ID 56
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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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SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 USART3 OTG2
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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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PE7 UART7_RX UART7
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PE9 UART7_RTS UART7 LOW PULLDOWN
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PE10 UART7_CTS UART7
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# telem2
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PC12 UART5_TX UART5
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PD2 UART5_RX UART5
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PC8 UART5_RTS UART5 LOW PULLDOWN
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PC9 UART5_CTS UART5
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# GPS1
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PB6 USART1_TX USART1
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PA10 USART1_RX USART1
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# GPS2
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PE1 UART8_TX UART8
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PE0 UART8_RX UART8
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# uart2 telem3
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PD5 USART2_TX USART2
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PA3 USART2_RX USART2
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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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# 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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PB1 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
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PA2 BATT2_CURRENT_SENS ADC1 SCALE(1)
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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_BATT_VOLT_SCALE 18.18
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define HAL_BATT_CURR_SCALE 36.36
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PA4 VDD_5V_SENS ADC1 SCALE(2)
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# SPI1 - IMUs
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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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PC13 ICM42688_CS CS
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PC14 BMI055_G_CS CS
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PC15 BMI055_A_CS CS
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PE4 BMI055_DRDY_A INPUT
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PE5 BMI055_DRDY_G INPUT
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PE6 ICM42688_DRDY INPUT
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# SPI2 - FRAM
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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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PD4 FRAM_CS CS
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# PWM output pins
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PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50)
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PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51)
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PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52)
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PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)
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PD14 TIM4_CH3 TIM4 PWM(5) GPIO(54)
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PD15 TIM4_CH4 TIM4 PWM(6) GPIO(55)
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PA0 TIM5_CH1 TIM5 PWM(7) GPIO(56)
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PA1 TIM5_CH2 TIM5 PWM(8) GPIO(57)
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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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PB5 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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PB7 I2C1_SDA I2C1
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PB8 I2C1_SCL I2C1
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# I2C2, GPS2+MAG
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PB10 I2C2_SCL I2C2
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PB11 I2C2_SDA I2C2
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# I2C4 internal
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PD12 I2C4_SCL I2C4
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PD13 I2C4_SDA I2C4
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# order of I2C buses
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I2C_ORDER I2C4 I2C1 I2C2
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define HAL_I2C_INTERNAL_MASK 1
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# this board is tight on DMA channels. To allow for more UART DMA we
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# disable DMA on I2C. This also prevents a problem with DMA on I2C
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# interfering with IMUs
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# heater
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PB9 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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# power enable pins
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PB2 VDD_3V3_SENSORS1_EN OUTPUT HIGH
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# start peripheral power off, then enable after init
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# this prevents a problem with radios that use RTS for
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# bootloader hold
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PC10 nVDD_5V_HIPOWER_EN OUTPUT HIGH
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PE2 nVDD_5V_PERIPH_EN OUTPUT HIGH
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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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PE3 VDD_5V_PERIPH_nOC INPUT PULLUP
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PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
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PA15 VDD_BRICK_nVALID INPUT PULLUP
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PB12 VDD_BRICK2_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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PB3 SDMMC2_D2 SDMMC2
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PB4 SDMMC2_D3 SDMMC2
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define FATFS_HAL_DEVICE SDCD2
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# LEDs
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PD10 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH
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PD11 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH
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# setup for BoardLED2
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define HAL_GPIO_A_LED_PIN 90
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define HAL_GPIO_B_LED_PIN 92
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define HAL_GPIO_LED_ON 0
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# ID pins
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PE12 HW_VER_REV_DRIVE OUTPUT LOW
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# PC0 HW_REV_SENS ADC1 SCALE(1)
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# PC1 HW_VER_SENS ADC1 SCALE(1)
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# PWM output for buzzer
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PB0 TIM3_CH3 TIM3 GPIO(77) ALARM
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# barometers
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BARO MS56XX I2C:0:0x76
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BARO MS56XX I2C:0:0x77
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BARO BMP388 I2C:0:0x77
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# prototypes may have no baro
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define HAL_BARO_ALLOW_INIT_NO_BARO 1
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# compass
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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COMPASS IST8310 I2C:0:0x0C false ROTATION_NONE
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# compensate for magnetic field generated by the heater on 6C IST8310
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define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xc,0xa),Vector3f(17,14,0)}
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# we need to stop the probe of an IST8310 as an internal compass with PITCH_180
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define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
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# SPI devices
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SPIDEV bmi055_g SPI1 DEVID1 BMI055_G_CS MODE3 10*MHZ 10*MHZ
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SPIDEV bmi055_a SPI1 DEVID2 BMI055_A_CS MODE3 10*MHZ 10*MHZ
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SPIDEV icm42688 SPI1 DEVID3 ICM42688_CS MODE3 2*MHZ 8*MHZ
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SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
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# 2 IMUs
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IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90
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IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_PITCH_180
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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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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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# 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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ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_f103_lowpolh.bin
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# enable support for dshot on iomcu
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ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
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define HAL_WITH_IO_MCU_DSHOT 1
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