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Merge pull request #449 from rosflight/ptt/pass_by_structure
Ptt/pass by structure
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‎.gitignore‎

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@@ -33,9 +33,20 @@ scripts/parameter-descriptions.md
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*.cxxflags
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# STM32Cube
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.cproject*
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.mxproject*
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*.launch
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.project*
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.settings/
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config_*/
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#.cproject*
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#.mxproject*
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#*.launch
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#.project*
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#.settings/
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#config_*/
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#test_build
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#varmint_build
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#pixracer_pro_build
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#STM32H743IIKX_FLASH.ld
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#STM32H753VIHX_FLASH.ld
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#build/
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#*/Debug/
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#cmake_install.cmake
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#varmint_11x/
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#varmint_11x_test/
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#varmint_12x/

‎.gitmodules‎

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[submodule "comms/mavlink/v1.0"]
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path = comms/mavlink/v1.0
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url = https://github.com/rosflight/mavlink_c_library.git
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[submodule "boards/varmint_h7"]
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path = boards/varmint_h7
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url = https://github.com/rosflight/varmint_h7.git
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[submodule "lib/eigen"]
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path = lib/eigen
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url = https://gitlab.com/libeigen/eigen.git

‎CMakeLists.txt‎

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### project settings ###
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# Building the projects:
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# mkdir varmint_build && cd varmint_build && cmake .. -DBOARD_TO_BUILD=varmint && make -j
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# mkdir pixracer_pro_build && cd pixracer_pro_build && cmake .. -DBOARD_TO_BUILD=pixracer_pro && make -j
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#
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# alternate for make -j above is cmake --build . -j (note only one .)
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# make -j OR cmake --build . -j
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# to clean:
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# make clean -j OR make --build . --target clean -j
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#
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# unit test:
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# build:
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# mkdir test_build && cd test_build && cmake .. -DBOARD_TO_BUILD=test -DCMAKE_BUILD_TYPE=Release && make -j
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# test:
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# ./test/unit_tests
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cmake_minimum_required(VERSION 3.8)
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project(rosflight_firmware C CXX ASM)
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lib
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comms/mavlink
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comms/mavlink/v1.0
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comms/mavlink/v1.0/common
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)
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file(GLOB_RECURSE ROSFLIGHT_SOURCES

‎boards/varmint_h7‎

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This file was deleted.

‎boards/varmint_h7/.clang-format‎

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# ROS2 code style standards
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# https://docs.ros.org/en/humble/The-ROS2-Project/Contributing/Code-Style-Language-Versions.html#id3
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BasedOnStyle: LLVM
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AccessModifierOffset: -2
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AlignAfterOpenBracket: Align
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AlignConsecutiveAssignments: None
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AlignOperands: DontAlign
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AllowAllArgumentsOnNextLine: false
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AllowAllConstructorInitializersOnNextLine: false
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AllowAllParametersOfDeclarationOnNextLine: false
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AllowShortBlocksOnASingleLine: Always
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AllowShortCaseLabelsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: All
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AllowShortIfStatementsOnASingleLine: AllIfsAndElse
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AllowShortLambdasOnASingleLine: All
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AllowShortLoopsOnASingleLine: true
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AlwaysBreakAfterReturnType: None
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AlwaysBreakTemplateDeclarations: Yes
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BreakBeforeBraces: Custom
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BraceWrapping:
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AfterCaseLabel: false
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AfterClass: true
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AfterControlStatement: Never
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AfterEnum: true
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AfterFunction: true
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AfterNamespace: true
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AfterStruct: true
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AfterUnion: true
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BeforeCatch: false
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BeforeElse: false
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IndentBraces: false
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SplitEmptyFunction: false
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SplitEmptyRecord: true
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BreakBeforeBinaryOperators: NonAssignment
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BreakBeforeTernaryOperators: true
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BreakConstructorInitializers: BeforeComma
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BreakInheritanceList: BeforeColon
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ColumnLimit: 120
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CompactNamespaces: false
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ContinuationIndentWidth: 2
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IndentCaseLabels: true
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IndentPPDirectives: None
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IndentWidth: 2
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KeepEmptyLinesAtTheStartOfBlocks: true
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MaxEmptyLinesToKeep: 1
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NamespaceIndentation: None
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ObjCSpaceAfterProperty: false
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ObjCSpaceBeforeProtocolList: false
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PointerAlignment: Middle
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ReflowComments: false
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SpaceAfterCStyleCast: true
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SpaceAfterLogicalNot: false
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SpaceAfterTemplateKeyword: false
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SpaceBeforeAssignmentOperators: true
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SpaceBeforeCpp11BracedList: false
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SpaceBeforeCtorInitializerColon: true
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SpaceBeforeInheritanceColon: true
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SpaceBeforeParens: ControlStatements
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SpaceBeforeRangeBasedForLoopColon: true
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SpaceInEmptyParentheses: false
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SpacesBeforeTrailingComments: 1
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SpacesInAngles: false
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SpacesInCStyleCastParentheses: false
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SpacesInContainerLiterals: false
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SpacesInParentheses: false
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SpacesInSquareBrackets: false
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TabWidth: 2
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UseTab: Never

‎boards/varmint_h7/.gitignore‎

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# STM32Cube
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#.cproject*
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#.mxproject*
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#*.launch
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#.project*
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#.settings/
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config_*/
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test_build
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varmint_build
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pixracer_pro_build
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STM32H743IIKX_FLASH.ld
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STM32H753VIHX_FLASH.ld
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build/
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*/Debug/
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cmake_install.cmake
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varmint_11x/
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varmint_11x_test/
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varmint_12x/

‎boards/varmint_h7/LICENSE‎

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BSD 3-Clause License
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Copyright (c) 2024, AeroVironment Inc.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎boards/varmint_h7/README.md‎

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[![Build Varmint 10X](https://github.com/rosflight/varmint_h7/actions/workflows/build_varmint_10X.yml/badge.svg)](https://github.com/rosflight/varmint_h7/actions/workflows/build_varmint_10X.yml) [![Build Pixracer Pro](https://github.com/rosflight/varmint_h7/actions/workflows/build_pixracer_pro.yml/badge.svg)](https://github.com/rosflight/varmint_h7/actions/workflows/build_pixracer_pro.yml)
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# Varmint H7
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This repository contains a board implementation of the [ROSflight firmware](https://github.com/rosflight/rosflight_firmware) for AeroVironment's Varmint FCU package, a STM32H753 based flight controller with a NVIDIA Jetson Orin NX on board. It also has an implementation for 3DR's [PixRacer Pro](https://docs.3dr.com/autopilots/pixracer-pro/) autopilot, which has a very similar configuration to the Varmint board.
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This code is based off of a [STM32cubeMX](https://www.st.com/en/development-tools/stm32cubemx.html) project, which enables quick configuration of the H7 processor. STM32cubeMX works by generating code for the configuration specified by the STM32cubeMX software. The generated code contains sections of "BEGIN USER CODE" and "END USER CODE" that the developer can then add their code inside. User code inside of these sections will persist between reconfigurations of the H7, while anything outside will be overwritten.
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This repository can be compiled as a standalone project or as a submodule of the firmware. Standalone compilation is only used for testing, as none of the ROSflight firmware functionality is included. When compiling with the firmware repository, use the CMakeLists.txt file found in the root of the firmware repo.

‎boards/varmint_h7/common/AL94_USB_Composite/AL94.I-CUBE-USBD-COMPOSITE_conf.h‎

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/**
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******************************************************************************
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* File Name : AL94.I-CUBE-USBD-COMPOSITE_conf.h
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* Description : This file provides code for the configuration
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* of the AL94.I-CUBE-USBD-COMPOSITE_conf.h instances.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __AL94__I_CUBE_USBD_COMPOSITE_CONF__H__
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#define __AL94__I_CUBE_USBD_COMPOSITE_CONF__H__
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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/**
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MiddleWare name : AL94.I-CUBE-USBD-COMPOSITE.1.0.3
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MiddleWare fileName : ./AL94.I-CUBE-USBD-COMPOSITE_conf.h
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MiddleWare version :
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*/
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/*---------- _USBD_USE_HS -----------*/
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//#define _USBD_USE_HS false
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/*---------- _USBD_USE_CDC_ACM -----------*/
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#define _USBD_USE_CDC_ACM true
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/*---------- _USBD_CDC_ACM_COUNT -----------*/
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#define _USBD_CDC_ACM_COUNT 2
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/*---------- _USBD_USE_CDC_RNDIS -----------*/
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#define _USBD_USE_CDC_RNDIS false
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/*---------- _USBD_USE_CDC_ECM -----------*/
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#define _USBD_USE_CDC_ECM false
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/*---------- _USBD_USE_HID_MOUSE -----------*/
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#define _USBD_USE_HID_MOUSE false
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/*---------- _USBD_USE_HID_KEYBOARD -----------*/
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#define _USBD_USE_HID_KEYBOARD false
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/*---------- _USBD_USE_HID_CUSTOM -----------*/
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#define _USBD_USE_HID_CUSTOM false
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/*---------- _USBD_USE_UAC_MIC -----------*/
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#define _USBD_USE_UAC_MIC false
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/*---------- _USBD_USE_UAC_SPKR -----------*/
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#define _USBD_USE_UAC_SPKR false
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/*---------- _USBD_USE_UVC -----------*/
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#define _USBD_USE_UVC false
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/*---------- _USBD_USE_MSC -----------*/
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#define _USBD_USE_MSC false
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/*---------- _USBD_USE_DFU -----------*/
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#define _USBD_USE_DFU false
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/*---------- _USBD_USE_PRNTR -----------*/
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#define _USBD_USE_PRNTR false
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/*---------- _STM32F1_DEVICE -----------*/
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#define _STM32F1_DEVICE false
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#ifdef __cplusplus
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}
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#endif
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#endif /*__ AL94__I_CUBE_USBD_COMPOSITE_CONF__H_H */
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/**
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* @}
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*/
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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