MCU STM32H7xx STM32H743xx APJ_BOARD_ID 1013 OSCILLATOR_HZ 8000000 FLASH_SIZE_KB 2048 env OPTIMIZE -Os FLASH_RESERVE_START_KB 128 STM32_ST_USE_TIMER 12 define CH_CFG_ST_RESOLUTION 16 PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PD7 SPI1_MOSI SPI1 PC15 IMU1_CS CS PB12 MAX7456_CS CS PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 PB3 SPI3_SCK SPI3 PB4 SPI3_MISO SPI3 PB5 SPI3_MOSI SPI3 PD4 EXT_CS1 CS PE2 EXT_CS2 CS PE11 IMU2_CS CS PE12 SPI4_SCK SPI4 PE13 SPI4_MISO SPI4 PE14 SPI4_MOSI SPI4 PC13 IMU3_CS CS I2C_ORDER I2C2 I2C1 PB6 I2C1_SCL I2C1 PB7 I2C1_SDA I2C1 PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1) PC1 BATT_CURRENT_SENS ADC1 SCALE(1) PA4 BATT2_VOLTAGE_SENS ADC1 SCALE(1) PA7 BATT2_CURRENT_SENS ADC1 SCALE(1) define HAL_BATT_MONITOR_DEFAULT 4 define HAL_BATT_VOLT_PIN 10 define HAL_BATT_CURR_PIN 11 define HAL_BATT2_VOLT_PIN 18 define HAL_BATT2_CURR_PIN 7 define HAL_BATT_VOLT_SCALE 11.0 define HAL_BATT_CURR_SCALE 40.0 define HAL_BATT2_VOLT_SCALE 11.0 PC4 PRESSURE_SENS ADC1 SCALE(2) define HAL_DEFAULT_AIRSPEED_PIN 4 PC5 RSSI_ADC ADC1 define BOARD_RSSI_ANA_PIN 8 define AP_NOTIFY_GPIO_LED_2_ENABLED 1 PE3 LED0 OUTPUT LOW GPIO(90) PE4 LED1 OUTPUT LOW GPIO(91) define HAL_GPIO_A_LED_PIN 91 define HAL_GPIO_B_LED_PIN 90 SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6 OTG2 PA10 USART1_RX USART1 PA9 USART1_TX USART1 PD5 USART2_TX USART2 PD6 USART2_RX USART2 PD9 USART3_RX USART3 PD8 USART3_TX USART3 PB9 UART4_TX UART4 PB8 UART4_RX UART4 PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW PC6 USART6_TX USART6 NODMA PC7 USART6_RX USART6 NODMA ALT(1) PE7 UART7_RX UART7 PE8 UART7_TX UART7 PE10 UART7_CTS UART7 PE9 UART7_RTS UART7 PE0 UART8_RX UART8 PE1 UART8_TX UART8 PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70) PB0 TIM8_CH2N TIM8 PWM(1) GPIO(50) PB1 TIM8_CH3N TIM8 PWM(2) GPIO(51) PA0 TIM5_CH1 TIM5 PWM(3) GPIO(52) PA1 TIM5_CH2 TIM5 PWM(4) GPIO(53) PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54) PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) PE5 TIM15_CH1 TIM15 PWM(11) GPIO(60) PE6 TIM15_CH2 TIM15 PWM(12) GPIO(61) PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) PA15 TIM2_CH1 TIM2 GPIO(32) ALARM PC8 SDMMC1_D0 SDMMC1 PC9 SDMMC1_D1 SDMMC1 PC10 SDMMC1_D2 SDMMC1 PC11 SDMMC1_D3 SDMMC1 PC12 SDMMC1_CK SDMMC1 PD2 SDMMC1_CMD SDMMC1 PD10 PINIO1 OUTPUT GPIO(81) LOW PD11 PINIO2 OUTPUT GPIO(82) LOW DMA_PRIORITY S* define HAL_STORAGE_SIZE 32768 STORAGE_FLASH_PAGE 14 SPIDEV icm42688 SPI1 DEVID1 IMU1_CS MODE3 2*MHZ 16*MHZ SPIDEV mpu6000 SPI1 DEVID1 IMU1_CS MODE3 1*MHZ 4*MHZ SPIDEV icm20602 SPI4 DEVID1 IMU2_CS MODE3 1*MHZ 4*MHZ SPIDEV icm42605 SPI4 DEVID1 IMU3_CS MODE3 2*MHZ 16*MHZ SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ DMA_NOSHARE SPI1* SPI4* SPIDEV pixartflow SPI3 DEVID1 EXT_CS1 MODE3 2*MHZ 2*MHZ define ALLOW_ARM_NO_COMPASS define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 0 define HAL_COMPASS_AUTO_ROT_DEFAULT 2 IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180 IMU Invensensev3 SPI:icm42605 ROTATION_YAW_270 IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_270 IMU Invensense SPI:mpu6000 ROTATION_ROLL_180_YAW_270 define HAL_DEFAULT_INS_FAST_SAMPLE 1 BARO MS56XX I2C:0:0x77 BARO DPS310 I2C:0:0x76 BARO BMP280 I2C:0:0x76 define HAL_OS_FATFS_IO 1 define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin undef ROMFS undef HAL_HAVE_SAFETY_SWITCH undef IMU undef BOOTLOADER_DEV_LIST undef HAL_OS_FATFS_IO undef OSD_ENABLED undef SDMMC1 APJ_BOARD_ID 1013 env AP_PERIPH 1 define HAL_PERIPH_ENABLE_GPS define HAL_PERIPH_ENABLE_MAG define HAL_PERIPH_ENABLE_BARO define HAL_PERIPH_ENABLE_AIRSPEED define HAL_PERIPH_ENABLE_ADSB define HAL_PERIPH_ENABLE_RANGEFINDER define HAL_PERIPH_ENABLE_RC_OUT define HAL_PERIPH_ENABLE_BATTERY define GPS_MAX_RECEIVERS 1 define GPS_MAX_INSTANCES 1 define HAL_COMPASS_MAX_SENSORS 1 define HAL_BARO_ALLOW_INIT_NO_BARO define HAL_AIRSPEED_BUS_DEFAULT 0 define AIRSPEED_MAX_SENSORS 1 define HAL_PERIPH_ADSB_PORT_DEFAULT 3 define HAL_PERIPH_ADSB_BAUD_DEFAULT 0 define HAL_USE_RTC FALSE define AP_SCRIPTING_ENABLED 0 MAIN_STACK 0x2000 PROCESS_STACK 0x6000 define HAL_CAN_DRIVER_DEFAULT 1 define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0 define HAL_MSP_ENABLED 1 define AP_BOOTLOADER_FLASHING_ENABLED 0 define HAL_SERIAL_ESC_COMM_ENABLED 1