### FFT Bin Example Setup

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/DSP/html/arm_fft_bin_example_f32_8c-example.html

This snippet shows the setup for the FFT bin example, including buffer declarations and global variables for FFT configuration. It defines the input and output buffer sizes and FFT parameters like size, ifftFlag, and doBitReverse.

```c
#include "arm_math.h"
#include "arm_const_structs.h"

#define TEST_LENGTH_SAMPLES 2048

/* External Input and Output buffer Declarations for FFT Bin Example */
extern float32_t testInput_f32_10khz[TEST_LENGTH_SAMPLES];
static float32_t testOutput[TEST_LENGTH_SAMPLES/2];

/* Global variables for FFT Bin Example */
uint32_t fftSize = 1024;
uint32_t ifftFlag = 0;
uint32_t doBitReverse = 1;

/* Reference index at which max energy of bin ocuurs */
uint32_t refIndex = 213, testIndex = 0;
```

--------------------------------

### Install Example Dependencies

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/DSP/PythonWrapper/README.md

Install necessary Python packages (NumPy, SciPy, Matplotlib) within the activated virtual environment to run the example scripts.

```bash
> pip install numpy
> pip install scipy
> pip install matplotlib
```

--------------------------------

### MPU Configuration Example

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Core/html/group__mpu__functions.html

Example demonstrating how to configure MPU Region 0 with specific attributes and enable the MPU. This setup protects the region starting at 0x08000000 with a size of 1MB.

```c
void main()
{
// Set Region 0
ARM_MPU_SetRegionEx(0UL, 0x08000000UL, MPU_RASR(0UL, ARM_MPU_AP_FULL, 0UL, 0UL, 1UL, 1UL, 0x00UL, ARM_MPU_REGION_SIZE_1MB));
ARM_MPU_Enable(0);

// Execute application code that is access protected by the MPU

```

--------------------------------

### Initialize WiFi Bypass Example

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Driver/html/group__wifi__bypass__gr.html

Example demonstrating the initialization of the WiFi driver and retrieval of its capabilities. This setup is a prerequisite for configuring bypass mode.

```c
extern ARM_DRIVER_WIFI Driver_WiFi0;

static ARM_DRIVER_WIFI *wifi;
static ARM_ETH_MAC_ADDR own_mac_address;

static void wifi_notify (uint32_t event, ,void *arg) {
  switch (event) {
    :
  }
}

void initialize_wifi_bypass (void) {
  ARM_WIFI_CAPABILITIES capabilities;
  wifi = &Driver_WiFi0;
  capabilities = wifi->GetCapabilities ();

```

--------------------------------

### RTOS Kernel Initialization and Start Example (C)

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/RTOS2/html/group__CMSIS__RTOS__KernelCtrl.html

Demonstrates the typical sequence for initializing the RTOS kernel, creating a main application thread, and starting the scheduler. Ensure SystemCoreClockUpdate() is called before kernel initialization.

```c
/*----------------------------------------------------------------------------
* Application main thread
*---------------------------------------------------------------------------*/
void app_main (void *argument) {
// ...
for (;;)
{
}
}

int main (void) {
// System Initialization
SystemCoreClockUpdate();
// ...
osKernelInitialize(); // Initialize CMSIS-RTOS
osThreadNew(app_main, NULL, NULL); // Create application main thread
osKernelStart(); // Start thread execution
for (;;)
{
}
}
```

--------------------------------

### Setup and Create Message Queue Example

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/RTOS/html/group__CMSIS__RTOS__Message.html

Demonstrates the steps to set up and create a message queue. First, define the queue using osMessageQDef, then declare an ID, and finally create the queue using osMessageCreate.

```c
osMessageQDef(message_q, 5, uint32_t); // Declare a message queue
osMessageQId (message_q_id); // Declare an ID for the message queue
message_q_id = osMessageCreate(osMessageQ(message_q), NULL);
```

--------------------------------

### Flash Driver Initialization and Operation Example

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Driver/html/group__flash__interface__gr.html

Demonstrates a typical setup sequence for the Flash driver, including initialization with a callback, power control, data reading, and uninitialization. It utilizes CMSIS-RTOS2 for thread management and event signaling.

```c
#include "Driver_Flash.h"

#include "cmsis_os2.h" // ARM::CMSIS:RTOS2:Keil RTX5

/* Flash driver instance */
extern ARM_DRIVER_FLASH Driver_Flash0;

static ARM_DRIVER_FLASH *flashDev = &Driver_Flash0;

/* CMSIS-RTOS2 Thread Id */
osThreadId_t Flash_Thread_Id;

/* Flash signal event */
void Flash_Callback(uint32_t event)
{
    if (event & ARM_FLASH_EVENT_READY) {
        /* The read/program/erase operation is completed */
        osThreadFlagsSet(Flash_Thread_Id, 1U);
    }
    if (event & ARM_FLASH_EVENT_ERROR) {
        /* The read/program/erase operation is completed with errors */
        /* Call debugger or replace with custom error handling */
        __breakpoint(0);
    }
}

/* CMSIS-RTOS2 Thread */
void Flash_Thread (void *argument)
{
    /* Query drivers capabilities */
    const ARM_FLASH_CAPABILITIES capabilities = flashDev->GetCapabilities();

    /* Initialize Flash device */
    if (capabilities.event_ready) {
        flashDev->Initialize (&Flash_Callback);
    } else {
        flashDev->Initialize (NULL);
    }

    /* Power-on Flash device */
    flashDev->PowerControl (ARM_POWER_FULL);

    /* Read data taking data_width into account */
    uint8_t buf[256U];
    flashDev->ReadData (0x1000U, buf, sizeof(buf)>>capabilities.data_width);

    /* Wait operation to be completed */
    if (capabilities.event_ready) {
        osThreadFlagsWait (1U, osFlagsWaitAny, 100U);
    } else {
        osDelay(100U);
    }

    /* Switch off gracefully */
    flashDev->PowerControl (ARM_POWER_OFF);
    flashDev->Uninitialize ();
}
```

--------------------------------

### Install Programs with Make

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Middlewares/Third_Party/LibJPEG/install.txt

Use 'make install' to install executable files and man pages to standard locations. It's recommended to first run 'make -n install' to preview the installation targets.

```bash
make install
```

```bash
make -n install
```

--------------------------------

### Start Vagrant Virtual Machine

Source: https://github.com/inavflight/inav/blob/master/docs/development/Building in Vagrant.md

Initiates the Vagrant virtual machine. The first run may take longer due to base image downloads and setup.

```bash
vagrant up
```

--------------------------------

### Define Example Project Structure

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Pack/html/cp_SWComponents.html

Example projects are defined within an <examples> section. Each <example> element specifies a name, documentation file, folder, description, target board, and project environment.

```xml
<examples>
    <example name="MyDevBoard Example" doc="Abstract.txt" folder="MyPackExample">
    <description>CMSIS-RTOS based example</description>
    <board name="MyDevBoard" vendor="MyVendor"/>
    <project>
    <environment name="uv" load="MyPackExample.uvprojx"/>
    </project>
    <attributes>
    <component Cclass="CMSIS" Cgroup="Core"/>
    <component Cclass="Device" Cgroup="Startup"/>
    <component Cclass="CMSIS" Cgroup="RTOS"/>
    <component Cclass="MyVariant" Cgroup="MyGroup"/>
    </attributes>
    </example>
</examples>
```

--------------------------------

### Floating-Point Convolution Example Setup

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/DSP/html/arm_convolution_example_f32_8c-example.html

This section declares the necessary buffers for input signals A and B, and the output buffer for the convolution result. It also defines constants for block size and a small delta value for comparisons.

```c
#include "arm_math.h"
#include "math_helper.h"

/* ----------------------------------------------------------------------
* Defines each of the tests performed
* ------------------------------------------------------------------- */

#define MAX_BLOCKSIZE 128

#define DELTA (0.000001f)

#define SNR_THRESHOLD 90

/* ----------------------------------------------------------------------
* Declare I/O buffers
* ------------------------------------------------------------------- */

float32_t Ak[MAX_BLOCKSIZE]; /* Input A */
float32_t Bk[MAX_BLOCKSIZE]; /* Input B */
float32_t AxB[MAX_BLOCKSIZE * 2]; /* Output */
```

--------------------------------

### I2C Master Mode Initialization and Event Handling

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Driver/html/group__i2c__interface__gr.html

Example demonstrating the setup and event handling for I2C in Master mode. It includes driver initialization, event callback registration, and basic event checking.

```c
#include "Driver_I2C.h"

#define EEPROM_I2C_ADDR 0x51 /* EEPROM I2C address */

/* I2C driver instance */
extern ARM_DRIVER_I2C Driver_I2C0;

static ARM_DRIVER_I2C *I2Cdrv = &Driver_I2C0;

static volatile uint32_t I2C_Event;

/* I2C Signal Event function callback */
void I2C_SignalEvent (uint32_t event) {
/* Save received events */
I2C_Event |= event;
/* Optionally, user can define specific actions for an event */
if (event & ARM_I2C_EVENT_TRANSFER_INCOMPLETE) {
/* Less data was transferred than requested */
}

```

--------------------------------

### Example Generator with Project Files

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Pack/html/pdsc_generators_pg.html

Defines a generator (e.g., STM32CubeMX) and lists the source and header files required for the project setup. This is used to specify files generated by a tool that are part of the project.

```xml
<generators>

<generator id="STM32CubeMX" Gvendor="STMicroelectronics" Gtool="STM32CubeMX" version="4.10.0">

<description>STM32CubeMX Environment</description>

<select Dname="STM32F746NGHx" Dvendor="STMicroelectronics:13"/>

<command>$SMDK/CubeMX/STM32CubeMXLauncher</command>

<workingDir>$PRTE/Device/STM32F746NGHx</workingDir>

<project_files>

<file category="source" name="STCubeGenerated/Src/main.c" />

<file category="header" name="STCubeGenerated/Inc/stm32f7xx_it.h"/>

<file category="source" name="STCubeGenerated/Src/stm32f7xx_it.c"/>

</project_files>

</generator>

</generators>
```

--------------------------------

### EraseChip Function Example

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Pack/html/algorithmFunc.html

Deletes the entire Flash memory content. This function is invoked when 'Erase Full Chip' is selected in the Flash Download Setup. It enables mass erase, starts the erase operation, and waits for completion.

```c
int EraseChip (void) {

FLASH->CR |= FLASH_MER; // Mass Erase Enabled

FLASH->CR |= FLASH_STRT; // Start Erase

while (FLASH->SR & FLASH_BSY) {

IWDG->KR = 0xAAAA; // Reload IWDG

}

FLASH->CR &= ~FLASH_MER; // Mass Erase Disabled

return (0); // Done

}
```

--------------------------------

### Build Example Target (Linux)

Source: https://github.com/inavflight/inav/blob/master/docs/development/Building in Docker.md

Example of running the build script for a specific target, MATEKF405SE.

```bash
./build.sh MATEKF405SE
```

--------------------------------

### Build Date Field Example

Source: https://github.com/inavflight/inav/blob/master/docs/development/msp/README.md

Example of an MSP message field for a character array representing the build date, with its size defined by a preprocessor macro.

```json
{
    "name": "buildDate",
    "ctype": "char",
    "desc": "Build date string (e.g., \"Dec 31 2023\").",
    "array": true,
    "array_size": 11,
    "array_size_define": "BUILD_DATE_LENGTH",
    "units": ""
}
```

--------------------------------

### Get iNav CLI settings containing 'rth'

Source: https://github.com/inavflight/inav/wiki/iNav-CLI-variables

Use the 'get' command with a keyword to list settings that contain the specified word. For example, 'get rth' lists all settings related to 'rth'.

```bash
get rth
```

--------------------------------

### MSP Protocol Version Field Example

Source: https://github.com/inavflight/inav/blob/master/docs/development/msp/README.md

Example of a simple MSP message field representing the protocol version.

```json
{
    "name": "mspProtocolVersion",
    "ctype": "uint8_t",
    "units": "",
    "desc": "MSP Protocol version (`MSP_PROTOCOL_VERSION`, typically 0)."
}
```

--------------------------------

### Firmware Chunk Field Example

Source: https://github.com/inavflight/inav/blob/master/docs/development/msp/README.md

Example of an MSP message field for an array of unsigned 8-bit integers, where the array length is indeterminate.

```json
{
    "name": "firmwareChunk",
    "ctype": "uint8_t",
    "desc": "Chunk of firmware data",
    "array": true,
    "array_size": 0
}
```

--------------------------------

### Example Packages Section

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Pack/html/element_requirements_pg.html

Illustrates how to specify required software packs, including vendor, name, and version range.

```xml
<package xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="PACK.xsd"/>

...

<requirements>

<packages>

<package name="STM32F4xx_DFP" vendor="Keil" version="2.8.0:2.8.0"/>

</packages>

</requirements>

...
```

--------------------------------

### MSP_MAG_CALIBRATION

Source: https://github.com/inavflight/inav/blob/master/docs/development/msp/README.md

Starts the magnetometer calibration procedure. This command will fail if the device is armed.

```APIDOC
## MSP_MAG_CALIBRATION

### Description
Starts the magnetometer calibration procedure.

### Method
MSP

### Endpoint
`MSP_MAG_CALIBRATION (206 / 0xce)`

### Parameters
#### Request Payload
**None**

### Reply Payload
**None**

### Notes
Will fail if armed. Enables the `CALIBRATE_MAG` state flag.
```

--------------------------------

### MSP_ACC_CALIBRATION

Source: https://github.com/inavflight/inav/blob/master/docs/development/msp/README.md

Starts the accelerometer calibration procedure. This command will fail if the device is armed.

```APIDOC
## MSP_ACC_CALIBRATION

### Description
Starts the accelerometer calibration procedure.

### Method
MSP

### Endpoint
`MSP_ACC_CALIBRATION (205 / 0xcd)`

### Parameters
#### Request Payload
**None**

### Reply Payload
**None**

### Notes
Will fail if armed. Calls `accStartCalibration()`.
```

--------------------------------

### Variance Example Setup

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/DSP/html/arm_variance_example_f32_8c-example.html

Defines the maximum block size and a small delta value for floating-point comparisons. These are used in the variance calculation example.

```c
#include <math.h>

#include "arm_math.h"

/* ----------------------------------------------------------------------
 * Defines each of the tests performed
 * ------------------------------------------------------------------- */

#define MAX_BLOCKSIZE 32

#define DELTA (0.000001f)
```

--------------------------------

### System Initialization and Clock Update Example

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Core/html/group__system__init__gr.html

Example demonstrating the usage of SystemCoreClock, SystemInit, and SystemCoreClockUpdate.

```APIDOC
## Code Example

```c
#include "LPC17xx.h"

uint32_t coreClock_1 = 0; /* Variables to store core clock values */

uint32_t coreClock_2 = 0;

int main (void) {

  coreClock_1 = SystemCoreClock; /* Store value of predefined SystemCoreClock */

  SystemCoreClockUpdate(); /* Update SystemCoreClock according to register settings */

  coreClock_2 = SystemCoreClock; /* Store value of calculated SystemCoreClock */

  if (coreClock_2 != coreClock_1) { /* Without changing the clock setting both core clock values should be the same */
    // Error Handling
  }

  while(1);

}
```
```

--------------------------------

### I2C Get Status Example

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Driver/html/group__i2c__interface__gr.html

Retrieves the current status of the I2C interface.

```c
ARM_I2C_STATUS ARM_I2C_GetStatus (void)
```

--------------------------------

### I2C Get Data Count Example

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Driver/html/group__i2c__interface__gr.html

Retrieves the number of bytes transferred during an I2C operation.

```c
int32_t ARM_I2C_GetDataCount (void)
```

--------------------------------

### Example: Working with Memory Pools (C)

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/RTOS/html/group__CMSIS__RTOS__PoolMgmt.html

Demonstrates the steps to declare a data structure, define a memory pool, create it, and allocate a memory block for use.

```c
typedef struct {

 uint32_t length;

 uint32_t width;

 uint32_t height;

 uint32_t weight;

 } properties_t;

[osPoolDef](group__CMSIS__RTOS__PoolMgmt.html#ga87b471d4fe2d5dbd0040708edd52771b)(object_pool, 10, properties_t); // Declare memory pool

osPoolId(object_pool_id); // Memory pool ID

object_pool_id = [osPoolCreate](group__CMSIS__RTOS__PoolMgmt.html#ga34af5c4f4ab38f4138ea7f1f9ece3a1a)([osPool](group__CMSIS__RTOS__PoolMgmt.html#ga5f0b204a82327533d420210125c90697)(object_pool));

properties_t *object_data;

object_data = (properties_t *) [osPoolAlloc](group__CMSIS__RTOS__PoolMgmt.html#gaa0b2994f1a866c19e0d11e6e0d44f543)(object_pool_id);
```

--------------------------------

### Element Text Field Example

Source: https://github.com/inavflight/inav/blob/master/docs/development/msp/README.md

Example of an MSP message field for a character array with an indeterminate length, not null-terminated.

```json
{
    "name": "elementText",
    "ctype": "char",
    "desc": "Static text bytes, not NUL-terminated and not yet sized.",
    "array": true,
    "array_size": 0
}
```

--------------------------------

### Start or Restart a Timer

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/RTOS/html/group__CMSIS__RTOS__TimerMgmt.html

This example shows how to start or restart a timer using osTimerStart. The timer will trigger its callback function after the specified delay in milliseconds. This function cannot be called from an interrupt service routine.

```c
#include "cmsis_os.h"

void Time_Callback (void const *arg) {
  // arg contains &exec
  // called every second after osTimerStart
}

osTimerDef(Timer, Time_Callback);

void TimerStart_example (void) {
  osTimerId id;
  osStatus status;
  uint32_t exec;
  uint32_t timerDelay;

  // Create periodic timer
  exec = 1;
  id = osTimerCreate(osTimer(Timer), osTimerPeriodic, &exec);
  timerDelay = 1000UL;
  status = osTimerStart(id, timerDelay);
  if (status != osOK) {
    // Timer could not be started
  }
}
```

--------------------------------

### CAN Driver Initialization and Configuration Example

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Driver/html/group__can__interface__gr.html

This example demonstrates initializing the CAN driver, configuring its power state, mode, and bitrate. It also shows how to set up time segments for the bit timing.

```c
#include <stdio.h>

#include <string.h>

#include "cmsis_os.h"

#include "Driver_CAN.h"

// CAN Driver Controller selector

#define CAN_CONTROLLER 1 // CAN Controller number

#define _CAN_Driver_(n) Driver_CAN##n

#define CAN_Driver_(n) _CAN_Driver_(n)

extern ARM_DRIVER_CAN CAN_Driver_(CAN_CONTROLLER);

#define ptrCAN (&CAN_Driver_(CAN_CONTROLLER))

uint32_t rx_obj_idx = 0xFFFFFFFFU;

uint8_t rx_data[8];

ARM_CAN_MSG_INFO rx_msg_info;

uint32_t tx_obj_idx = 0xFFFFFFFFU;

uint8_t tx_data[8];

ARM_CAN_MSG_INFO tx_msg_info;

static void Error_Handler (void) { while (1); }

void CAN_SignalUnitEvent (uint32_t event) {}

void CAN_SignalObjectEvent (uint32_t obj_idx, uint32_t event) {

if (obj_idx == rx_obj_idx) { // If receive object event

if (event == ARM_CAN_EVENT_RECEIVE) { // If message was received successfully

if (ptrCAN->MessageRead(rx_obj_idx, &rx_msg_info, rx_data, 8U) > 0U) {

// Read received message

// process received message ...

}

}

}

if (obj_idx == tx_obj_idx) { // If transmit object event

if (event == ARM_CAN_EVENT_SEND_COMPLETE) { // If message was sent successfully

// acknowledge sent message ...

}

}

}

int main (void) {

ARM_CAN_CAPABILITIES can_cap;

ARM_CAN_OBJ_CAPABILITIES can_obj_cap;

int32_t status;

uint32_t i, num_objects;

can_cap = ptrCAN->GetCapabilities (); // Get CAN driver capabilities

num_objects = can_cap.num_objects; // Number of receive/transmit objects

status = ptrCAN->Initialize (CAN_SignalUnitEvent, CAN_SignalObjectEvent); // Initialize CAN driver

if (status != ARM_DRIVER_OK) { Error_Handler(); }

status = ptrCAN->PowerControl (ARM_POWER_FULL); // Power-up CAN controller

if (status != ARM_DRIVER_OK) { Error_Handler(); }

status = ptrCAN->SetMode (ARM_CAN_MODE_INITIALIZATION); // Activate initialization mode

if (status != ARM_DRIVER_OK) { Error_Handler(); }

status = ptrCAN->SetBitrate (ARM_CAN_BITRATE_NOMINAL, // Set nominal bitrate

100000U, // Set bitrate to 100 kbit/s

ARM_CAN_BIT_PROP_SEG(5U) | // Set propagation segment to 5 time quanta

ARM_CAN_BIT_PHASE_SEG1(1U) | // Set phase segment 1 to 1 time quantum (sample point at 87.5% of bit time)


```

--------------------------------

### JSON Example: MSP_API_VERSION Message Definition

Source: https://github.com/inavflight/inav/blob/master/docs/development/msp/README.md

Illustrates the JSON structure for defining an MSP message, specifically MSP_API_VERSION. It includes the message code, MSP version compatibility, and details of the request and reply payloads with their respective data types and descriptions.

```json
"MSP_API_VERSION": {
    "code": 1,
    "mspv": 1,
    "request": null,
    "reply": {
        "payload": [
            {
                "name": "mspProtocolVersion",
                "ctype": "uint8_t",
                "units": "",
                "desc": "MSP Protocol version (`MSP_PROTOCOL_VERSION`, typically 0)."
            },
            {
                "name": "apiVersionMajor",
                "ctype": "uint8_t",
                "units": "",
                "desc": "INAV API Major version (`API_VERSION_MAJOR`)."
            },
            {
                "name": "apiVersionMinor",
                "ctype": "uint8_t",
                "units": "",
                "desc": "INAV API Minor version (`API_VERSION_MINOR`)."
            }
        ],
    },
    "notes": "Used by configurators to check compatibility.",
    "description": "Provides the MSP protocol version and the INAV API version."
},
```

--------------------------------

### Complete Example: yourfeature.c

Source: https://github.com/inavflight/inav/blob/master/docs/development/parameter_groups/README.md

A complete source file example for a feature's parameter group, including registration, reset template, and initialization logic.

```c
#include "yourfeature.h"
#include "config/parameter_group_ids.h"

PG_REGISTER_WITH_RESET_TEMPLATE(
    yourFeatureConfig_t,
    yourFeatureConfig,
    PG_YOUR_FEATURE_CONFIG,
    0
);

PG_RESET_TEMPLATE(yourFeatureConfig_t, yourFeatureConfig,
    .enabled = 1,
    .updateRate = 100,
    .flags = 0
);

void yourFeatureInit(void)
{
    if (!yourFeatureConfig()->enabled) {
        return;
    }
    // Use configuration...
}
```

--------------------------------

### Corrected Incorrect Configuration Example

Source: https://github.com/inavflight/inav/blob/master/docs/Inflight Adjustments.md

This example demonstrates a corrected configuration where an 'No changes' range has been added to resolve an issue with an previously incorrect setup. This ensures the entire usable range for the Range Channel is utilized.

```plaintext
adjrange 0 0 3 900 2100 0 3
adjrange 1 0 3 900 2100 4 3
```

--------------------------------

### Nested Repeating Array Example

Source: https://github.com/inavflight/inav/blob/master/docs/development/msp/README.md

Example demonstrating a nested structure where a payload array contains repeating elements, each being a struct.

```json
{
    "repeating": "maxVehicles",
    "payload": [
        {
            "name": "adsbVehicle",
            "ctype": "adsbVehicle_t",
            "desc": "Array of `adsbVehicle_t` Repeated `maxVehicles` times",
            "repeating": "maxVehicles",
            "array": true,
            "array_size": 0,
            "units": ""
        }
    ]
}
```

--------------------------------

### MSP2_INAV_SAFEHOME

Source: https://github.com/inavflight/inav/blob/master/docs/development/msp/README.md

Get or Set configuration for a specific Safe Home location. Requires USE_SAFE_HOME.

```APIDOC
## MSP2_INAV_SAFEHOME (8248 / 0x2038)

### Description
Get or Set configuration for a specific Safe Home location.

### Method
MSP2

### Endpoint
N/A (MSP2 Command)

### Parameters
#### Request Payload
- **safehomeIndex** (uint8_t) - Required - Index of the safe home location (0 to MAX_SAFE_HOMES - 1)

### Request Example
```json
{
  "safehomeIndex": 0
}
```

### Response
#### Success Response
- **safehomeIndex** (uint8_t) - Index requested
- **enabled** (uint8_t) - Boolean: 1 if this safe home is enabled
- **latitude** (int32_t) - Latitude (1e7 deg)
- **longitude** (int32_t) - Longitude (1e7 deg)

### Response Example
```json
{
  "safehomeIndex": 0,
  "enabled": 1,
  "latitude": 480744000,
  "longitude": 116375000
}
```

### Notes
Requires `USE_SAFE_HOME`. Used by `mspFcSafeHomeOutCommand`. See `MSP2_INAV_SET_SAFEHOME` for setting.
```

--------------------------------

### Get Thread Name Example

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/RTOS2/html/group__CMSIS__RTOS__ThreadMgmt.html

Retrieves the name of the currently running thread. Cannot be called from Interrupt Service Routines.

```c
void ThreadGetName_example (void) {
  osThreadId_t thread_id = osThreadGetId();
  const char* name = osThreadGetName(thread_id);
  if (name == NULL) {
    // Failed to get the thread name; not in a thread
  }
}
```

--------------------------------

### Message Queue Example: Sending a Message

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/RTOS/html/group__CMSIS__RTOS__Message.html

This example demonstrates how to allocate memory for a message from a memory pool, set its content, and send it to a message queue. It uses osPoolAlloc to get message memory and osMessagePut to send the message.

```c
#include "cmsis_os.h"

osThreadId tid_thread1;

osThreadId tid_thread2;

typedef struct { 
  float voltage;
  float current;
  int counter;
} T_MEAS;

osPoolDef(mpool, 16, T_MEAS);
osPoolId mpool;

osMessageQDef(MsgBox, 16, &T_MEAS);
osMessageQId MsgBox;

void send_thread (void const *argument);
void recv_thread (void const *argument);

osThreadDef(send_thread, osPriorityNormal, 1, 0);
osThreadDef(recv_thread, osPriorityNormal, 1, 2000);

void send_thread (void const *argument) {
  T_MEAS *mptr;
  mptr = osPoolAlloc(mpool);
  mptr->voltage = 223.72;
  mptr->current = 17.54;
  mptr->counter = 120786;
  osMessagePut(MsgBox, (uint32_t)mptr, osWaitForever);
}
```

--------------------------------

### Create and Start Timers with osTimerCreate and osTimerStart

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/RTOS/html/group__CMSIS__RTOS__TimerMgmt.html

This example demonstrates creating a one-shot timer and a periodic timer using osTimerCreate, and then starting them with specific delays using osTimerStart. The argument passed to the callback function is also shown.

```c
one_shot_id = osTimerCreate(osTimer(one_shot), osTimerOnce, (void *)0); // creates a one-shot timer;
// (void*)0 is passed as an argument to the callback function
periodic_id = osTimerCreate(osTimer(periodic), osTimerPeriodic, (void *)5); // creates a periodic timer;
// (void*)5 is passed as an argument to the callback function
osTimerStart(one_shot_id, 500);
osTimerStart(periodic, 1500);
```

--------------------------------

### Example: Display All Sensors

Source: https://github.com/inavflight/inav/blob/master/docs/Temperature sensors.md

Example output showing configurations for two LM75 sensors and four DS18B20 sensors.

```cli
temp_sensor 0 1 0 -200 600 0
temp_sensor 1 1 1 -200 600 0
temp_sensor 2 2 7c0118681e1cff28 -200 600 0
temp_sensor 3 2 7d01186838f2ff28 -200 600 0
temp_sensor 4 2 210118684001ff28 -200 600 0
temp_sensor 5 2 f801186750c7ff28 -200 600 0
temp_sensor 6 0 0 0 0 
temp_sensor 7 0 0 0 0 
```

--------------------------------

### MSP2_INAV_OPFLOW_CALIBRATION

Source: https://github.com/inavflight/inav/blob/master/docs/development/msp/README.md

Starts the optical flow sensor calibration procedure. This command does not require a request payload and has no reply payload. It requires the USE_OPFLOW feature to be enabled and will fail if the system is armed.

```APIDOC
## MSP2_INAV_OPFLOW_CALIBRATION

### Description
Starts the optical flow sensor calibration procedure.

### Method
MSP2 (Message-based Serial Protocol v2)

### Endpoint
Not applicable (Serial protocol command)

### Parameters
#### Request Payload
None

### Response
#### Success Response
None
```

--------------------------------

### MQTT Client Initialization and Connection

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Middlewares/Third_Party/LwIP/doc/mqtt_client.txt

Demonstrates how to initialize the MQTT client, either statically or dynamically, and establish a connection to an MQTT server.

```APIDOC
## MQTT Client Initialization and Connection

### Description
This section covers the initial steps required to use the MQTT client, including reserving memory and establishing a connection to the MQTT server.

### Static Allocation
```c
mqtt_client_t static_client;
example_do_connect(&static_client);
```

### Dynamic Allocation
```c
mqtt_client_t *client = mqtt_client_new();
if(client != NULL) {
  example_do_connect(&client);
}
```

### Establishing Connection
```c
void example_do_connect(mqtt_client_t *client)
{
  struct mqtt_connect_client_info_t ci;
  err_t err;
  
  memset(&ci, 0, sizeof(ci));
  ci.client_id = "lwip_test";
  
  err = mqtt_client_connect(client, ip_addr, MQTT_PORT, mqtt_connection_cb, 0, &ci);
  
  if(err != ERR_OK) {
    printf("mqtt_connect return %d\n", err);
  }
}
```

### Checking Connection Status
Use `mqtt_client_is_connected(client)` to check the connection status.
```

--------------------------------

### Retrieve DACR Domain Access Permission Example

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Core_A/html/group__CMSIS__DACR__BITS.html

Example showing how to retrieve the access permission for a specific domain (domain 5) from the DACR. It reads the DACR, applies the mask for the domain, and then shifts the result to get the permission value.

```c
uint32_t domain5 = (__get_DACR() & DACR_D_Msk_(5)) >> DACR_D_Pos_(5);
```

--------------------------------

### Compile Configuration Example

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Pack/html/pdsc_family_pg.html

Demonstrates how to specify header files and preprocessor defines for compilation at different levels (family, sub-family, device). The last occurrence in the hierarchy overrides previous definitions.

```xml
<family Dfamily="STM32F4" Dvendor="STMicroelectronics:13">

...

<compile header="Device/Include/stm32f4xx.h"/>

<subFamily DsubFamily="STM32F407">

...

<compile header="Device/Include/stm32f4xx.h" define="STM32F40XX"/>

<device Dname="STM32F407IG">

<compile header="Device/Include/stm32f4xx.h" define="STM32F407IG"/>

</device>

</subFamily>

</family>
```

--------------------------------

### Linear Interpolation Example Setup and Calculation

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/DSP/html/arm_linear_interp_example_f32_8c-example.html

Initializes the linear interpolation instance and calculates sine values using both linear interpolation and a reference sine function. This snippet is useful for understanding the basic setup and application of the arm_linear_interp_f32 function.

```c
float32_t testOutput[TEST_LENGTH_SAMPLES];
float32_t testLinIntOutput[TEST_LENGTH_SAMPLES];
extern float arm_linear_interep_table[188495];
float32_t snr1;
float32_t snr2;

int32_t main(void)
{
  uint32_t i;
  arm_status status;
  arm_linear_interp_instance_f32 S = {188495, -3.141592653589793238, XSPACING, &arm_linear_interep_table[0]};

  /*------------------------------------------------------------------------------
   * Method 1: Test out Calculated from Cubic Interpolation
   *------------------------------------------------------------------------------*/
  for(i=0; i< TEST_LENGTH_SAMPLES; i++)
  {
    testOutput[i] = arm_sin_f32(testInputSin_f32[i]);
  }

  /*------------------------------------------------------------------------------
   * Method 2: Test out Calculated from Cubic Interpolation and Linear interpolation
   *------------------------------------------------------------------------------*/
  for(i=0; i< TEST_LENGTH_SAMPLES; i++)
  {
    testLinIntOutput[i] = arm_linear_interp_f32(&S, testInputSin_f32[i]);
  }

  /*------------------------------------------------------------------------------
   * SNR calculation for method 1
   *------------------------------------------------------------------------------*/
  snr1 = arm_snr_f32(testRefSinOutput32_f32, testOutput, 2);

  /*------------------------------------------------------------------------------
   * SNR calculation for method 2
   *------------------------------------------------------------------------------*/
  snr2 = arm_snr_f32(testRefSinOutput32_f32, testLinIntOutput, 2);

  return 0;
}
```

--------------------------------

### Environment Configuration Example

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Pack/html/pdsc_family_pg.html

This example shows how to define tool-specific configurations for a device family using the environment element. It includes file paths and control strings specific to a development tool named 'MyConfigTool'.

```xml
<package>

<devices>

<family Dfamily="MySeries" Dvendor="Generic:5">

...

<environment name="MyConfigTool">

<file>MyConfigFile.cfg</file>

<control>MyControlString</control>

...

</environment>

...

</family>

</devices>

</package>
```

--------------------------------

### Graphic Equalizer Example Setup Q31

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/DSP/html/arm_graphic_equalizer_example_q31_8c-example.html

This C code snippet sets up constants and external declarations for an audio graphic equalizer example using Q31 data types. It defines test lengths, block sizes, and buffer configurations.

```c
#include "arm_math.h"
#include "math_helper.h"

/* Length of the overall data in the test */
#define TESTLENGTH 320

/* Block size for the underlying processing */
#define BLOCKSIZE 32

/* Total number of blocks to run */
#define NUMBLOCKS (TESTLENGTH/BLOCKSIZE)

/* Number of 2nd order Biquad stages per filter */
#define NUMSTAGES 2

#define SNR_THRESHOLD_F32 98

/* ------------------------------------------------------------------- */
/* External Declarations for Input and Output buffers */
/* ------------------------------------------------------------------- */

extern float32_t testInput_f32[TESTLENGTH];

static float32_t testOutput[TESTLENGTH];

extern float32_t testRefOutput_f32[TESTLENGTH];

/* ---------------------------------------------------------------------- */
/* Q31 state buffers for Band1, Band2, Band3, Band4, Band5 */
/* ------------------------------------------------------------------- */

static q63_t biquadStateBand1Q31[4 * 2];

```

--------------------------------

### Format Drive and Create File Example (C)

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Middlewares/Third_Party/FatFs/doc/en/mkfs.html

This C code snippet shows how to format a drive using f_mkfs, mount it, create a new file with write access, write data to it, and then close and unmount the drive. Ensure the work area is sufficiently sized for optimal performance.

```c
/* Format default drive and create a file */
int main (void)
{
    FATFS fs;
    FIL fil;
    FRESULT res;
    UINT bw;
    BYTE work[_MAX_SS];

    /* Create FAT volume */
    res = f_mkfs("", FM_ANY, 0, work, sizeof work);
    if (res) ...

    /* Register work area */
    f_mount(&fs, "", 0);

    /* Create a file as new */
    res = f_open(&fil, "hello.txt", FA_CREATE_NEW | FA_WRITE);
    if (res) ...

    /* Write a message */
    f_write(&fil, "Hello, World!\r\n", 15, &bw);
    if (bw != 15) ...

    /* Close the file */
    f_close(&fil);

    /* Unregister work area */
    f_mount(0, "", 0);

    ...
```

--------------------------------

### ARM_USBD_GetFrameNumber

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Driver/html/Driver__USBD_8c.html

Get the current USB Frame Number. This function returns the current frame number in the USB SOF (Start of Frame) packet.

```APIDOC
## ARM_USBD_GetFrameNumber

### Description
Get current USB Frame Number.

### Signature
```c
uint16_t ARM_USBD_GetFrameNumber(void)
```

### Returns
Returns the current USB frame number.
```

--------------------------------

### System Initialization and Core Clock Update Example

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Core/html/group__system__init__gr.html

Demonstrates how to use SystemCoreClock, SystemInit, and SystemCoreClockUpdate. It's recommended to call SystemCoreClockUpdate at the beginning of main() to ensure SystemCoreClock reflects the actual system clock speed.

```c
#include "LPC17xx.h"

uint32_t coreClock_1 = 0; /* Variables to store core clock values */

uint32_t coreClock_2 = 0;

int main (void) {

coreClock_1 = SystemCoreClock; /* Store value of predefined SystemCoreClock */

SystemCoreClockUpdate(); /* Update SystemCoreClock according to register settings */

coreClock_2 = SystemCoreClock; /* Store value of calculated SystemCoreClock */

if (coreClock_2 != coreClock_1) { /* Without changing the clock setting both core clock values should be the same */

// Error Handling

}

while(1);

}
```

--------------------------------

### OS_Tick_Setup

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/RTOS2/html/group__CMSIS__RTOS__TickAPI.html

Setup OS Tick timer to generate periodic RTOS Kernel Ticks. The timer should be configured to generate periodic interrupts at the specified frequency. The provided handler function will be called on interrupt. The timer is initialized but not started; OS_Tick_Enable is used to start interrupts.

```APIDOC
## OS_Tick_Setup

### Description
Setup OS Tick timer to generate periodic RTOS Kernel Ticks.

### Parameters
- **freq** (uint32_t) - Required - tick frequency in Hz
- **handler** (IRQHandler_t) - Required - tick IRQ handler

### Returns
- int32_t - 0 on success, -1 on error.

### Notes
The timer should only be initialized and configured but must not be started to create interrupts. The RTOS kernel calls the function [OS_Tick_Enable](group__CMSIS__RTOS__TickAPI.html#ga3e47971bf3a02599d9ecb32208adafec) to start the timer interrupts.
```

--------------------------------

### MSP_RX_CONFIG

Source: https://github.com/inavflight/inav/blob/master/docs/development/msp/README.md

Retrieves receiver configuration settings. This command returns a structured payload containing various parameters related to the receiver's setup, including serial RX provider, channel thresholds, pulse width configurations, and receiver type.

```APIDOC
## MSP_RX_CONFIG (44 / 0x2c)

### Description
Retrieves receiver configuration settings. Some fields are Betaflight compatibility placeholders.

### Request Payload
**None**

### Reply Payload
#### Success Response
- **serialRxProvider** (uint8_t) - Enum `rxSerialReceiverType_e`. Serial RX provider (`rxConfig()->serialrx_provider`).
- **maxCheck** (uint16_t) - PWM - Upper channel value threshold for stick commands (`rxConfig()->maxcheck`)
- **midRc** (uint16_t) - PWM - Center channel value (`PWM_RANGE_MIDDLE`, typically 1500)
- **minCheck** (uint16_t) - PWM - Lower channel value threshold for stick commands (`rxConfig()->mincheck`)
- **spektrumSatBind** (uint8_t) - Count/Flag - Spektrum bind pulses (`rxConfig()->spektrum_sat_bind`). 0 if `USE_SPEKTRUM_BIND` disabled.
- **rxMinUsec** (uint16_t) - PWM - Minimum expected pulse width (`rxConfig()->rx_min_usec`)
- **rxMaxUsec** (uint16_t) - PWM - Maximum expected pulse width (`rxConfig()->rx_max_usec`)
- **bfCompatRcInterpolation** (uint8_t) - - BF compatibility. Always 0
- **bfCompatRcInterpolationInt** (uint8_t) - - BF compatibility. Always 0
- **bfCompatAirModeThreshold** (uint16_t) - - BF compatibility. Always 0
- **reserved1** (uint8_t) - - Reserved/Padding. Always 0
- **reserved2** (uint32_t) - - Reserved/Padding. Always 0
- **reserved3** (uint8_t) - - Reserved/Padding. Always 0
- **bfCompatFpvCamAngle** (uint8_t) - - BF compatibility. Always 0
- **receiverType** (uint8_t) - Enum `rxReceiverType_e` Receiver type (Parallel PWM, PPM, Serial) ('rxConfig()->receiverType')
```

--------------------------------

### Example: Using LED Pin as PINIO for VTX/Camera Control

Source: https://github.com/inavflight/inav/blob/master/docs/LED pin PWM.md

Shows a programming tab example for configuring the LED pin as a PINIO output, suitable for controlling devices like VTX or cameras.

```text
# Programming tab example for using the LED pin as a PINIO, such as for turning a VTX or camera on and off
```

--------------------------------

### Initialize and Start RTOS Kernel

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/RTOS/html/group__CMSIS__RTOS__KernelCtrl.html

This example shows the typical structure of a main function that initializes the CMSIS-RTOS kernel, sets up peripherals, creates threads, and then starts the kernel's execution. It requires calling osKernelInitialize() before any other RTOS function and osKernelStart() to begin thread scheduling.

```c
int main (void) {

[osKernelInitialize](group__CMSIS__RTOS__KernelCtrl.html#ga53d078a801022e202e8115c083ece68e) (); // initialize CMSIS-RTOS

// initialize peripherals here

// create 'thread' functions that start executing,

// example: tid_name = osThreadCreate (osThread(name), NULL);

[osKernelStart](group__CMSIS__RTOS__KernelCtrl.html#gaab668ffd2ea76bb0a77ab0ab385eaef2) (); // start thread execution

}
```

--------------------------------

### Example Bridge Initialization

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Middlewares/Third_Party/LwIP/doc/doxygen/output/html/group__bridgeif.html

Illustrates how to set up bridge configuration using BRIDGEIF_INITDATA1 and then add the bridge netif. Note that port netifs should not have IP addresses and their ETHARP flag is removed.

```c
bridgeif_initdata_t mybridge_initdata = BRIDGEIF_INITDATA1(2, 1024, 16, ETH_ADDR(0, 1, 2, 3, 4, 5));
struct netif bridge_netif;
netif_add(&bridge_netif, &my_ip, &my_netmask, &my_gw, &mybridge_initdata, bridgeif_init, tcpip_input);
```

--------------------------------

### XML Memory Region Configuration Example

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Zone/html/xml_memories.html

This XML snippet defines various memory regions including RAM and ROM, specifying their names, start addresses, sizes, access permissions, and security attributes. It also includes an example of a Memory Protection Controller (MPC).

```xml
<resources>

<memories>

<memory name="ExtMem1" start="0x00000000" physical="0x00000000" size="0x00010000" access="rwx" security="" type="RAM" info="External memory 1 / remap" external="true" />

<memory name="Flash_NS" start="0x08000000" size="0x00080000" access="rx" security="" type="ROM" info="Flash Memory (non secure)" />

<mpc name="IOTKIT_MPCSSRAM0" start="0x08000000" size="0x00100000" type="sp" blk_size="0x20000" info="MPC for extended Flash" />

<memory name="Flash_S" start="0x0c000000" physical="0x08001000" size="0x00080000" access="rx" security="c" type="ROM" info="Flash Memory (secure)" />

<memory name="SRAM1_C_NS" start="0x0A000000" size="0x00030000" access="rwx" security="" type="RAM" info="SRAM1 Code (non secure)" />

<memory name="SRAM1_C_S" start="0x0E000000" physical="0x0A000000" size="0x00030000" access="rwx" security="c" type="RAM" info="SRAM1 Code (secure)" />

<memory name="SRAM1_S" start="0x30000000" physical="0x0A000000" size="0x00030000" access="rw" security="s" type="RAM" info="SRAM1 (secure)" />

<memory name="SRAM1_NS" start="0x20000000" physical="0x0A000000" size="0x00030000" access="rw" security="" type="RAM" info="SRAM1 (non secure)" />

<memory name="FMC_Bank1" start="0x60000000" size="0x00000000" access="rw" security="" type="RAM" info="Memory Controller bank 1" />

</memories>

</resources>
```

--------------------------------

### osKernelStart

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/RTOS2/html/group__CMSIS__RTOS__KernelCtrl.html

Starts the RTOS kernel and enables thread switching.

```APIDOC
## osKernelStart

### Description
Starts the RTOS kernel and enables thread switching. This function should be called after all threads have been created.

### Method
`osStatus_t osKernelStart(void)`

### Returns
- `osStatus_t`: Status code indicating the execution status of the function.
```

--------------------------------

### Get USB Frame Number

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Drivers/CMSIS/docs/Driver/html/group__usbh__host__gr.html

Retrieves the current USB frame number. This is a sequential 11-bit number updated with each Start of Frame (SOF) packet.

```c
uint16_t ARM_USBH_GetFrameNumber

(
  void
)
```

--------------------------------

### Load Y4 Mixer Configuration

Source: https://github.com/inavflight/inav/wiki/Legacy-Mixers

Example of loading a Y4 (four-rotor Y-configuration) mixer configuration using the 'mmix' command. This is for a Y4 drone setup.

```cli
# mmix load Y4
mmix 0  1.000  0.000  1.000 -1.000
mmix 1  1.000 -1.000 -1.000  0.000
mmix 2  1.000  0.000  1.000  1.000
mmix 3  1.000  1.000 -1.000  0.000
```

--------------------------------

### Initialize and Partition a Disk Drive

Source: https://github.com/inavflight/inav/blob/master/lib/main/STM32H7/Middlewares/Third_Party/FatFs/doc/en/fdisk.html

Initializes a new disk drive by dividing it into partitions and then creating FAT file systems on these partitions. Ensure that _FS_READOLNY, _USE_MKFS, and _MULTI_PARTITION are enabled.

```c
/* Initialize a brand-new disk drive mapped to physical drive 0 */

DWORD plist[] = {50, 50, 0, 0};  /* Divide drive into two partitions */
BYTE work[_MAX_SS];

f_fdisk(0, plist, work);                    /* Divide physical drive 0 */

f_mkfs("0:", FM_ANY, work, sizeof work);    /* Create FAT volume on the logical drive 0 */
f_mkfs("1:", FM_ANY, work, sizeof work);    /* Create FAT volume on the logical drive 1 */
```