APJ_BOARD_ID 1083 DMA_NOSHARE SPI1* SPI4* USART6* FLASH_RESERVE_START_KB 128 FLASH_SIZE_KB 2048 I2C_ORDER I2C3 I2C2 I2C1 IOMCU_UART USART6 MCU STM32H7xx STM32H743xx OSCILLATOR_HZ 24000000 PA0 UART4_TX UART4 PA1 UART4_RX UART4 NODMA OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD PA15 TIM2_CH1 TIM2 GPIO(77) ALARM PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) PA3 BATT_CURRENT_SENS ADC1 SCALE(1) PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 PA8 I2C3_SCL I2C3 PA9 VBUS INPUT OPENDRAIN PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 PB12 CAN2_RX CAN2 PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 PB2 VDD_BRICK_nVALID INPUT PULLUP PB3 LED_GREEN OUTPUT OPENDRAIN GPIO(12) HIGH PB4 LED_RED OUTPUT OPENDRAIN GPIO(11) HIGH PB5 LED_BLUE OUTPUT OPENDRAIN GPIO(13) HIGH PB7 VDD_BRICK2_nVALID INPUT PULLUP PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 PC13 ICM20649_CS CS PC14 BARO_CS CS PC6 USART6_TX USART6 PC7 USART6_RX USART6 PC9 I2C3_SDA I2C3 PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 PD10 FRAM_CS CS PD11 USART3_CTS USART3 PD12 USART3_RTS USART3 PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) PD2 SDCARD_CS CS PD5 USART2_TX USART2 PD6 USART2_RX USART2 PD7 BARO_EXT_CS CS PD8 USART3_TX USART3 PD9 USART3_RX USART3 PE0 UART8_RX UART8 PE1 UART8_TX UART8 NODMA PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51) PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) #PE15 VDD_5V_PERIPH_nOC INPUT PULLUP PE15 GPIO_CAN_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72) PE2 SPI4_SCK SPI4 PE3 VDD_3V3_SENSORS_EN OUTPUT LOW PE4 ICM42688_CS CS SPEED_VERYLOW PE5 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 PE7 UART7_RX UART7 PE8 UART7_TX UART7 PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) PA4 BMI088_A_CS CS PC2 BMI088_G_CS CS ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2 SPIDEV bmi088_a SPI4 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi088_g SPI4 DEVID3 BMI088_G_CS MODE3 10*MHZ 10*MHZ SPIDEV icm42688 SPI4 DEVID2 ICM42688_CS MODE3 2*MHZ 8*MHZ SPIDEV icm20649 SPI4 DEVID2 ICM20649_CS MODE3 2*MHZ 8*MHZ SPIDEV ms5611 SPI1 DEVID5 BARO_CS MODE3 20*MHZ 20*MHZ SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV sdcard SPI2 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180 IMU Invensensev2 SPI:icm20649 ROTATION_ROLL_180 IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180 IMU Invensensev3 SPI:icm42688_ext ROTATION_NONE COMPASS MMC5XX3 I2C:0:0x30 false ROTATION_ROLL_180 BARO MS56XX SPI:ms5611 BARO MS56XX SPI:ms5611_ext #define AP_IOMCU_FORCE_ENABLE_HEATER 1 define HAL_BATT_CURR_PIN 15 define HAL_BATT_CURR_SCALE 24.0 define HAL_BATT_VOLT_PIN 14 define HAL_BATT_VOLT_SCALE 18.0 define HAL_BOARD_LOG_DIRECTORY "/PDRL/LOGS" define HAL_BOARD_TERRAIN_DIRECTORY "/PDRL/TERRAIN" define HAL_DEFAULT_INS_FAST_SAMPLE 7 define HAL_EKF_IMU_MASK_DEFAULT 7 define HAL_GPIO_A_LED_PIN 11 define HAL_GPIO_B_LED_PIN 13 define HAL_GPIO_C_LED_PIN 12 define HAL_GPIO_LED_OFF 1 define HAL_GPIO_LED_ON 0 define HAL_GPIO_PWM_VOLT_3v3 1 define HAL_GPIO_PWM_VOLT_PIN 3 #define HAL_HAVE_IMU_HEATER 1 define HAL_HAVE_PIXRACER_LED define HAL_HAVE_SAFETY_SWITCH 1 #define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xe,0xa),Vector3f(0,2,-19)} define HAL_I2C_INTERNAL_MASK 1 define HAL_IMUHEAT_I_DEFAULT 0.07 define HAL_IMUHEAT_P_DEFAULT 50 define HAL_IMU_TEMP_DEFAULT 45 define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5 define HAL_OS_FATFS_IO 1 define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_STORAGE_SIZE 32768 define HAL_STORAGE_SIZE 32768 define HAL_WITH_RAMTRON 1 env OPTIMIZE -O2 undef AP_FEATURE_SBUS_OUT