ardupilot/libraries/AP_HAL/AP_HAL_Boards.h

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#pragma once
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/**
* C preprocesor enumeration of the boards supported by the AP_HAL.
* This list exists so HAL_BOARD == HAL_BOARD_xxx preprocessor blocks
* can be used to exclude HAL boards from the build when appropriate.
* Its not an elegant solution but we can improve it in future.
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*/
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#define HAL_BOARD_SITL 3
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#define HAL_BOARD_SMACCM 4 // unused
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#define HAL_BOARD_PX4 5
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#define HAL_BOARD_LINUX 7
#define HAL_BOARD_VRBRAIN 8
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#define HAL_BOARD_QURT 9
#define HAL_BOARD_EMPTY 99
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// default board subtype is -1
#define HAL_BOARD_SUBTYPE_NONE -1
/**
HAL Linux sub-types, starting at 1000
*/
#define HAL_BOARD_SUBTYPE_LINUX_NONE 1000
#define HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD 1001
#define HAL_BOARD_SUBTYPE_LINUX_PXF 1002
#define HAL_BOARD_SUBTYPE_LINUX_NAVIO 1003
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#define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004
#define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005
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#define HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006
#define HAL_BOARD_SUBTYPE_LINUX_RASPILOT 1007
#define HAL_BOARD_SUBTYPE_LINUX_MINLURE 1008
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#define HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 1009
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#define HAL_BOARD_SUBTYPE_LINUX_BH 1010
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#define HAL_BOARD_SUBTYPE_LINUX_QFLIGHT 1011
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#define HAL_BOARD_SUBTYPE_LINUX_PXFMINI 1012
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#define HAL_BOARD_SUBTYPE_LINUX_NAVIO2 1013
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#define HAL_BOARD_SUBTYPE_LINUX_DISCO 1014
/**
HAL PX4 sub-types, starting at 2000
*/
#define HAL_BOARD_SUBTYPE_PX4_V1 2000
#define HAL_BOARD_SUBTYPE_PX4_V2 2001
/**
HAL VRBRAIN sub-types, starting at 4000
*/
#define HAL_BOARD_SUBTYPE_VRBRAIN_V45 4000
#define HAL_BOARD_SUBTYPE_VRBRAIN_V51 4001
#define HAL_BOARD_SUBTYPE_VRBRAIN_V52 4002
#define HAL_BOARD_SUBTYPE_VRUBRAIN_V51 4003
#define HAL_BOARD_SUBTYPE_VRUBRAIN_V52 4004
#define HAL_BOARD_SUBTYPE_VRCORE_V10 4005
#define HAL_BOARD_SUBTYPE_VRBRAIN_V54 4006
// InertialSensor driver types
#define HAL_INS_MPU60XX_SPI 2
#define HAL_INS_MPU60XX_I2C 3
#define HAL_INS_HIL 4
#define HAL_INS_PX4 5
#define HAL_INS_L3G4200D 7
#define HAL_INS_VRBRAIN 8
#define HAL_INS_MPU9250_SPI 9
#define HAL_INS_L3GD20 10
#define HAL_INS_LSM9DS0 11
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#define HAL_INS_RASPILOT 12
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#define HAL_INS_MPU9250_I2C 13
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#define HAL_INS_BH 14
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#define HAL_INS_QFLIGHT 15
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#define HAL_INS_QURT 16
#define HAL_INS_BBBMINI 17
// barometer driver types
#define HAL_BARO_BMP085 1
#define HAL_BARO_MS5611_I2C 2
#define HAL_BARO_MS5611_SPI 3
#define HAL_BARO_MS5607_I2C 4
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#define HAL_BARO_PX4 5
#define HAL_BARO_HIL 6
#define HAL_BARO_VRBRAIN 7
#define HAL_BARO_MS5637_I2C 8
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#define HAL_BARO_QFLIGHT 9
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#define HAL_BARO_QURT 10
// compass driver types
#define HAL_COMPASS_HMC5843 1
#define HAL_COMPASS_PX4 2
#define HAL_COMPASS_HIL 3
#define HAL_COMPASS_VRBRAIN 4
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#define HAL_COMPASS_AK8963_MPU9250 5
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#define HAL_COMPASS_AK8963_I2C 6
#define HAL_COMPASS_HMC5843_MPU6000 7
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#define HAL_COMPASS_RASPILOT 8
#define HAL_COMPASS_AK8963_MPU9250_I2C 9
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#define HAL_COMPASS_BH 10
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#define HAL_COMPASS_QFLIGHT 11
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#define HAL_COMPASS_QURT 12
#define HAL_COMPASS_BBBMINI 13
#define HAL_COMPASS_NAVIO2 14
#define HAL_COMPASS_NAVIO 15
// Heat Types
#define HAL_LINUX_HEAT_PWM 1
/**
CPU classes, used to select if CPU intensive algorithms should be used
Note that these are only approximate, not exact CPU speeds.
*/
#define HAL_CPU_CLASS_16 1 // DEPRECATED: 16Mhz, AVR2560 or similar
#define HAL_CPU_CLASS_150 3 // 150Mhz, PX4 or similar, assumes
// hardware floating point. Assumes tens
// of kilobytes of memory available
#define HAL_CPU_CLASS_1000 4 // GigaHz class, SITL, BeagleBone etc,
// assumes megabytes of memory available
/**
operating system features:
HAL implementations may define the following extra feature defines
to 1 if available
HAL_OS_POSIX_IO : has posix-like filesystem IO
HAL_OS_SOCKETS : has posix-like sockets
*/
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#define HAL_BOARD_NAME "SITL"
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
#define HAL_OS_POSIX_IO 1
#define HAL_OS_SOCKETS 1
#define HAL_STORAGE_SIZE 16384
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#define HAL_BOARD_LOG_DIRECTORY "logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
#define HAL_PARAM_DEFAULTS_PATH "etc/defaults.parm"
#define HAL_INS_DEFAULT HAL_INS_HIL
#define HAL_BARO_DEFAULT HAL_BARO_HIL
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#define HAL_GPIO_A_LED_PIN 61
#define HAL_GPIO_B_LED_PIN 48
#define HAL_GPIO_C_LED_PIN 117
#define HAL_GPIO_LED_ON LOW
#define HAL_GPIO_LED_OFF HIGH
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#define HAL_BOARD_NAME "PX4"
#define HAL_CPU_CLASS HAL_CPU_CLASS_150
#define HAL_OS_POSIX_IO 1
#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
#define HAL_BOARD_TERRAIN_DIRECTORY "/fs/microsd/APM/TERRAIN"
#define HAL_PARAM_DEFAULTS_PATH "/etc/defaults.parm"
#define HAL_INS_DEFAULT HAL_INS_PX4
#define HAL_BARO_DEFAULT HAL_BARO_PX4
#define HAL_COMPASS_DEFAULT HAL_COMPASS_PX4
#define HAL_SERIAL0_BAUD_DEFAULT 115200
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V1
#define HAL_STORAGE_SIZE 8192
#else
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V2
#define HAL_STORAGE_SIZE 16384
#define HAL_HAVE_IMU_HEATER 1 // for Pixhawk2
#define HAL_IMU_TEMP_DEFAULT -1 // disabled
#endif
#define HAL_GPIO_A_LED_PIN 27
#define HAL_GPIO_B_LED_PIN 26
#define HAL_GPIO_C_LED_PIN 25
#define HAL_GPIO_LED_ON LOW
#define HAL_GPIO_LED_OFF HIGH
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#define HAL_BOARD_NAME "Linux"
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
#define HAL_OS_POSIX_IO 1
#define HAL_OS_SOCKETS 1
#define HAL_STORAGE_SIZE 16384
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
#define HAL_BOARD_LOG_DIRECTORY "logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
#define HAL_INS_DEFAULT HAL_INS_HIL
#define HAL_BARO_DEFAULT HAL_BARO_HIL
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_GPIO_A_LED_PIN 61
#define HAL_GPIO_B_LED_PIN 48
#define HAL_GPIO_C_LED_PIN 117
#define HAL_GPIO_LED_ON LOW
#define HAL_GPIO_LED_OFF HIGH
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
#define HAL_INS_MPU60x0_I2C_BUS 2
#define HAL_INS_MPU60x0_I2C_ADDR 0x68
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
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#define HAL_COMPASS_AK8963_I2C_BUS 1
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
#define HAL_BARO_MS5607_I2C_BUS 1
#define HAL_BARO_MS5607_I2C_ADDR 0x77
#define HAL_HAVE_IMU_HEATER 1
#define HAL_IMU_TEMP_DEFAULT 55
#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
#define HAL_LINUX_HEAT_PWM_NUM 6
#define HAL_LINUX_HEAT_KP 20000
#define HAL_LINUX_HEAT_KI 6
#define HAL_LINUX_HEAT_PERIOD_NS 125000
#define HAL_LINUX_HEAT_TARGET_TEMP 50
#define BEBOP_CAMV_PWM 9
#define BEBOP_CAMV_PWM_FREQ 43333333
#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8
#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
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#define HAL_PARAM_DEFAULTS_PATH "/etc/arducopter/bebop.parm"
#define HAL_RCOUT_BEBOP_BLDC_I2C_BUS 1
#define HAL_RCOUT_BEBOP_BLDC_I2C_ADDR 0x08
/* focal length 3.6 um, 2x binning in each direction
* 240x240 crop rescaled to 64x64 */
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64))
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
#define HAL_INS_MPU60x0_I2C_BUS 2
#define HAL_INS_MPU60x0_I2C_ADDR 0x68
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
#define HAL_COMPASS_AK8963_I2C_BUS 1
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
#define HAL_BARO_MS5607_I2C_BUS 1
#define HAL_BARO_MS5607_I2C_ADDR 0x77
#define HAL_AIRSPEED_MS4515DO_I2C_BUS 1
#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
#define HAL_LINUX_HEAT_PWM_NUM 10
#define HAL_LINUX_HEAT_KP 20000
#define HAL_LINUX_HEAT_KI 6
#define HAL_LINUX_HEAT_PERIOD_NS 125000
#define HAL_LINUX_HEAT_TARGET_TEMP 50
#define BEBOP_CAMV_PWM 9
#define BEBOP_CAMV_PWM_FREQ 43333333
#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
#define HAL_OPTFLOW_ONBOARD_NBUFS 8
#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
#define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1
#define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08
#define HAL_PARAM_DEFAULTS_PATH "/etc/arducopter/bebop.parm"
/* focal length 3.6 um, 2x binning in each direction
* 240x240 crop rescaled to 64x64 */
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64))
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
#define HAL_INS_MPU60x0_NAME "mpu6000"
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
#define HAL_BARO_MS5611_I2C_BUS 10
#define HAL_BARO_MS5611_I2C_ADDR 0x77
/* Internal and external compasses */
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8
#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
#define HAL_PARAM_DEFAULTS_PATH "/etc/arducopter/minlure.parm"
/* ELP-USBFHD01M-L21
* focal length 2.1 mm, pixel size 3 um
* 240x240 crop rescaled to 64x64 */
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (3.0 / (2.1 * 2.0 * 240 / 64))
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
#define HAL_BARO_MS5611_I2C_BUS 1
#define HAL_BARO_MS5611_I2C_ADDR 0x77
#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
#define HAL_BARO_MS5611_I2C_BUS 1
#define HAL_BARO_MS5611_I2C_ADDR 0x77
#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO2
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_GPIO_A_LED_PIN 16
#define HAL_GPIO_B_LED_PIN 16
#define HAL_GPIO_C_LED_PIN 16
#define HAL_GPIO_LED_ON LOW
#define HAL_GPIO_LED_OFF HIGH
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_RASPILOT
#define HAL_INS_MPU60x0_NAME "mpu6000"
#define HAL_INS_LSM9DS0_G_NAME "lsm9ds0_g"
#define HAL_INS_LSM9DS0_A_NAME "lsm9ds0_am"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_RASPILOT
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_GPIO_A_LED_PIN 24
#define HAL_GPIO_B_LED_PIN 25
#define HAL_GPIO_C_LED_PIN 16
#define HAL_GPIO_LED_ON LOW
#define HAL_GPIO_LED_OFF HIGH
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
// Stub the sensors out for now, at least we can build and run
#define HAL_INS_DEFAULT HAL_INS_HIL
#define HAL_BARO_DEFAULT HAL_BARO_HIL
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_BBBMINI
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_MPU9250_NAME_EXT "mpu9250ext"
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_COMPASS_DEFAULT HAL_COMPASS_BBBMINI
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 2
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8
#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
/* ELP-USBFHD01M-L21
* focal length 2.1 mm, pixel size 3 um
* 240x240 crop rescaled to 64x64 */
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (3.0 / (2.1 * 2.0 * 240 / 64))
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
#define HAL_BARO_MS5611_I2C_BUS 1
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
#define HAL_INS_DEFAULT HAL_INS_BH
#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_MPU60x0_I2C_BUS 1
#define HAL_INS_MPU60x0_I2C_ADDR 0x69
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_BH
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_GPIO_A_LED_PIN 17
#define HAL_GPIO_B_LED_PIN 18
#define HAL_GPIO_C_LED_PIN 22
#define HAL_GPIO_LED_ON LOW
#define HAL_GPIO_LED_OFF HIGH
#define HAL_RCOUT_RGBLED_RED 13
#define HAL_RCOUT_RGBLED_GREEN 14
#define HAL_RCOUT_RGBLED_BLUE 15
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_QFLIGHT
#define HAL_BARO_DEFAULT HAL_BARO_QFLIGHT
#define HAL_COMPASS_DEFAULT HAL_COMPASS_QFLIGHT
#define HAL_LINUX_UARTS_ON_TIMER_THREAD 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_GPIO_A_LED_PIN 24
#define HAL_GPIO_B_LED_PIN 25
#define HAL_GPIO_C_LED_PIN 16
#define HAL_GPIO_LED_ON LOW
#define HAL_GPIO_LED_OFF HIGH
#else
#error "no Linux board subtype set"
#endif
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#ifndef HAL_COMPASS_DEFAULT
#define HAL_COMPASS_DEFAULT -1
#endif
#ifndef HAL_LINUX_UARTS_ON_TIMER_THREAD
#define HAL_LINUX_UARTS_ON_TIMER_THREAD 0
#endif
#ifndef HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS
#define HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS 0x42
#endif
#ifndef HAL_OPTFLOW_PX4FLOW_I2C_BUS
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
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#define HAL_BOARD_NAME "EMPTY"
#define HAL_CPU_CLASS HAL_CPU_CLASS_16
#define HAL_STORAGE_SIZE 4096
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#define HAL_INS_DEFAULT HAL_INS_HIL
#define HAL_BARO_DEFAULT HAL_BARO_HIL
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
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#elif CONFIG_HAL_BOARD == HAL_BOARD_QURT
#define AP_HAL_BOARD_DRIVER AP_HAL_QURT
#define HAL_BOARD_NAME "QURT"
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
#define HAL_STORAGE_SIZE 16384
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#define HAL_INS_DEFAULT HAL_INS_QURT
#define HAL_BARO_DEFAULT HAL_BARO_QURT
#define HAL_COMPASS_DEFAULT HAL_COMPASS_QURT
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
#define HAL_BOARD_LOG_DIRECTORY "/dev/fs/logs"
#define HAL_OS_POSIX_IO 1
#define HAL_SERIAL0_BAUD_DEFAULT 115200
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#define HAL_BOARD_NAME "VRBRAIN"
#define HAL_CPU_CLASS HAL_CPU_CLASS_150
#define HAL_OS_POSIX_IO 1
#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
#define HAL_BOARD_TERRAIN_DIRECTORY "/fs/microsd/APM/TERRAIN"
#define HAL_PARAM_DEFAULTS_PATH "/etc/defaults.parm"
#define HAL_INS_DEFAULT HAL_INS_VRBRAIN
#define HAL_BARO_DEFAULT HAL_BARO_VRBRAIN
#define HAL_COMPASS_DEFAULT HAL_COMPASS_VRBRAIN
#define HAL_SERIAL0_BAUD_DEFAULT 115200
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V45
#define HAL_STORAGE_SIZE 8192
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V51
#define HAL_STORAGE_SIZE 16384
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V52
#define HAL_STORAGE_SIZE 16384
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRUBRAIN_V51
#define HAL_STORAGE_SIZE 8192
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRUBRAIN_V52
#define HAL_STORAGE_SIZE 8192
#elif defined(CONFIG_ARCH_BOARD_VRCORE_V10)
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRCORE_V10
#define HAL_STORAGE_SIZE 16384
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V54)
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V54
#define HAL_STORAGE_SIZE 16384
#endif
#define HAL_GPIO_A_LED_PIN 25
#define HAL_GPIO_B_LED_PIN 26
#define HAL_GPIO_C_LED_PIN 27
#define HAL_GPIO_LED_ON HIGH
#define HAL_GPIO_LED_OFF LOW
#define EXTERNAL_LED_GPS 28 // GPS LED - AN10
#define EXTERNAL_LED_ARMED 29 // Armed LED - AN11
#define EXTERNAL_LED_MOTOR1 30 // Motor1 LED - AN8
#define EXTERNAL_LED_MOTOR2 31 // Motor2 LED - AN12
#else
#error "Unknown CONFIG_HAL_BOARD type"
#endif
#ifndef CONFIG_HAL_BOARD_SUBTYPE
#error "No CONFIG_HAL_BOARD_SUBTYPE set"
#endif
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#ifndef HAL_OS_POSIX_IO
#define HAL_OS_POSIX_IO 0
#endif
#ifndef HAL_OS_SOCKETS
#define HAL_OS_SOCKETS 0
#endif
#ifndef HAL_PARAM_DEFAULTS_PATH
#define HAL_PARAM_DEFAULTS_PATH NULL
#endif
#ifndef HAL_HAVE_IMU_HEATER
#define HAL_HAVE_IMU_HEATER 0
#endif
#ifndef HAL_RANGEFINDER_LIGHTWARE_I2C_BUS
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 1
#endif