2012-12-11 19:19:52 -04:00
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/**
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2023-10-11 04:41:53 -03:00
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* C preprocessor enumeration of the boards supported by the AP_HAL.
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2012-12-11 19:19:52 -04:00
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* This list exists so HAL_BOARD == HAL_BOARD_xxx preprocessor blocks
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* can be used to exclude HAL boards from the build when appropriate.
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2016-09-16 22:43:32 -03:00
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* It's not an elegant solution but we can improve it in future.
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2012-12-11 19:19:52 -04:00
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*/
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2016-08-30 12:59:12 -03:00
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#pragma once
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2014-07-23 09:23:26 -03:00
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2015-11-01 07:22:15 -04:00
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#define HAL_BOARD_SITL 3
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2016-08-30 12:59:12 -03:00
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#define HAL_BOARD_SMACCM 4 // unused
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2019-02-25 01:13:47 -04:00
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#define HAL_BOARD_PX4 5 // unused
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2013-09-22 03:03:28 -03:00
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#define HAL_BOARD_LINUX 7
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2014-03-31 14:29:33 -03:00
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#define HAL_BOARD_VRBRAIN 8
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2018-01-05 03:07:23 -04:00
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#define HAL_BOARD_CHIBIOS 10
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2019-01-20 20:47:39 -04:00
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#define HAL_BOARD_F4LIGHT 11 // reserved
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2021-10-27 05:06:41 -03:00
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#define HAL_BOARD_ESP32 12
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2018-02-02 16:35:15 -04:00
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#define HAL_BOARD_EMPTY 99
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2012-12-11 19:19:52 -04:00
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2016-08-30 12:59:12 -03:00
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/* Default board subtype is -1 */
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2014-08-13 01:42:52 -03:00
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#define HAL_BOARD_SUBTYPE_NONE -1
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2013-12-30 18:24:43 -04:00
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2016-08-30 12:59:12 -03:00
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/* HAL Linux sub-types, starting at 1000 */
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#define HAL_BOARD_SUBTYPE_LINUX_NONE 1000
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#define HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD 1001
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#define HAL_BOARD_SUBTYPE_LINUX_PXF 1002
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#define HAL_BOARD_SUBTYPE_LINUX_NAVIO 1003
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#define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004
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#define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005
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#define HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006
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2015-11-01 07:22:15 -04:00
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#define HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 1009
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2016-08-30 12:59:12 -03:00
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#define HAL_BOARD_SUBTYPE_LINUX_BH 1010
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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
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#define HAL_BOARD_SUBTYPE_LINUX_AERO 1015
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2016-10-17 14:11:03 -03:00
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#define HAL_BOARD_SUBTYPE_LINUX_DARK 1016
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2016-12-29 10:52:56 -04:00
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#define HAL_BOARD_SUBTYPE_LINUX_BLUE 1018
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2017-08-17 19:41:28 -03:00
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#define HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ 1019
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2017-10-19 06:53:36 -03:00
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#define HAL_BOARD_SUBTYPE_LINUX_EDGE 1020
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2017-10-30 06:03:04 -03:00
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#define HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ 1021
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2017-12-13 15:35:00 -04:00
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#define HAL_BOARD_SUBTYPE_LINUX_POCKET 1022
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2020-01-10 15:16:08 -04:00
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#define HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR 1023
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2021-01-13 17:08:05 -04:00
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#define HAL_BOARD_SUBTYPE_LINUX_VNAV 1024
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2021-09-07 02:09:36 -03:00
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#define HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 1025
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2023-10-22 14:50:57 -03:00
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#define HAL_BOARD_SUBTYPE_LINUX_CANZERO 1026
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2016-08-30 12:59:12 -03:00
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2020-03-13 17:40:20 -03:00
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/* HAL CHIBIOS sub-types, starting at 5000
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NOTE!! Do not add more subtypes unless they are really needed. Most
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boards do not need a subtype defined. It is only needed if we need
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to use #ifdef'd code to change behaviour
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*/
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2018-01-05 03:07:23 -04:00
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#define HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 5000
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#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 5001
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2018-01-10 06:33:57 -04:00
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#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 5002
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2018-03-01 20:45:39 -04:00
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#define HAL_BOARD_SUBTYPE_CHIBIOS_GENERIC 5009
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2018-05-29 06:40:09 -03:00
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#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5 5013
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2019-01-23 18:06:13 -04:00
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#define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 5016
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#define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 5017
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#define HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51 5018
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2019-01-23 18:08:17 -04:00
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#define HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10 5019
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2019-01-23 18:10:04 -04:00
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#define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V54 5020
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2018-01-05 03:07:23 -04:00
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2021-10-27 05:06:41 -03:00
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#define HAL_BOARD_SUBTYPE_ESP32_DIY 6001
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#define HAL_BOARD_SUBTYPE_ESP32_ICARUS 6002
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#define HAL_BOARD_SUBTYPE_ESP32_BUZZ 6003
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2022-11-30 05:59:45 -04:00
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#define HAL_BOARD_SUBTYPE_ESP32_EMPTY 6004
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2023-05-01 20:27:32 -03:00
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#define HAL_BOARD_SUBTYPE_ESP32_TOMTE76 6005
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2023-05-13 20:52:41 -03:00
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#define HAL_BOARD_SUBTYPE_ESP32_NICK 6006
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2023-05-15 13:50:33 -03:00
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#define HAL_BOARD_SUBTYPE_ESP32_S3DEVKIT 6007
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2021-10-27 05:06:41 -03:00
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2016-08-30 12:59:12 -03:00
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/* InertialSensor driver types */
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2018-02-07 03:22:20 -04:00
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#define HAL_INS_NONE 0
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2016-08-30 12:59:12 -03:00
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#define HAL_INS_MPU60XX_SPI 2
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#define HAL_INS_MPU60XX_I2C 3
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2021-06-09 08:31:35 -03:00
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#define HAL_INS_HIL_UNUSED 4 // unused
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2016-08-30 12:59:12 -03:00
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#define HAL_INS_VRBRAIN 8
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2016-01-20 18:20:35 -04:00
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#define HAL_INS_MPU9250_SPI 9
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2015-09-28 13:49:32 -03:00
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#define HAL_INS_MPU9250_I2C 13
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2017-02-06 19:51:58 -04:00
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#define HAL_INS_MPU6500 19
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2019-02-15 08:03:42 -04:00
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#define HAL_INS_INV2_I2C 24
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#define HAL_INS_INV2_SPI 25
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2016-08-30 12:59:12 -03:00
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/* Barometer driver types */
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2018-02-07 03:22:20 -04:00
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#define HAL_BARO_NONE 0
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2021-06-09 08:31:35 -03:00
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#define HAL_BARO_HIL_UNUSED 6 // unused
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2018-01-19 01:06:22 -04:00
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#define HAL_BARO_20789_I2C_I2C 14
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#define HAL_BARO_20789_I2C_SPI 15
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2018-02-15 00:00:41 -04:00
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#define HAL_BARO_LPS25H_IMU_I2C 17
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2016-08-30 12:59:12 -03:00
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/* Heat Types */
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2015-10-02 06:29:27 -03:00
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#define HAL_LINUX_HEAT_PWM 1
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2016-08-30 12:59:12 -03:00
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/* CPU classes, used to select if CPU intensive algorithms should be used
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* Note that these are only approximate, not exact CPU speeds. */
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2019-09-22 19:51:30 -03:00
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/* 150Mhz: STM32F4 or similar. Assumes:
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2016-08-30 12:59:12 -03:00
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* - hardware floating point
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2019-09-22 19:51:30 -03:00
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* - tens of kilobytes of memory available
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*/
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2016-08-30 12:59:12 -03:00
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#define HAL_CPU_CLASS_150 3
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2019-09-22 19:51:30 -03:00
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2016-08-30 12:59:12 -03:00
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/* GigaHz class: SITL, BeagleBone etc. Assumes megabytes of memory available. */
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#define HAL_CPU_CLASS_1000 4
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2019-09-22 19:51:30 -03:00
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/*
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memory classes, in kbytes. Board must have at least the given amount
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of memory
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*/
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#define HAL_MEM_CLASS_20 1
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#define HAL_MEM_CLASS_64 2
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#define HAL_MEM_CLASS_192 3
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#define HAL_MEM_CLASS_300 4
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#define HAL_MEM_CLASS_500 5
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#define HAL_MEM_CLASS_1000 6
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2016-08-30 12:59:12 -03:00
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/* Operating system features
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*
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* HAL implementations may define the following extra feature defines to 1 if
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* available:
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*
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* - HAL_OS_POSIX_IO : has posix-like filesystem IO
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* - HAL_OS_SOCKETS : has posix-like sockets */
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/* DEFINITIONS FOR BOARDS */
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2013-12-30 18:24:43 -04:00
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2015-11-03 09:46:29 -04:00
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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2016-09-24 07:42:22 -03:00
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#include <AP_HAL/board/sitl.h>
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2013-09-22 03:03:28 -03:00
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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2016-09-24 07:42:22 -03:00
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#include <AP_HAL/board/linux.h>
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2012-12-23 16:30:50 -04:00
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#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
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2016-09-24 07:42:22 -03:00
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#include <AP_HAL/board/empty.h>
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2014-03-31 14:29:33 -03:00
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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2016-09-24 07:42:22 -03:00
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#include <AP_HAL/board/vrbrain.h>
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2018-01-05 03:07:23 -04:00
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#include <AP_HAL/board/chibios.h>
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2021-10-27 05:06:41 -03:00
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#elif CONFIG_HAL_BOARD == HAL_BOARD_ESP32
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#include <AP_HAL/board/esp32.h>
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2012-12-18 05:04:20 -04:00
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#else
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#error "Unknown CONFIG_HAL_BOARD type"
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#endif
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2014-08-13 01:42:52 -03:00
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#ifndef CONFIG_HAL_BOARD_SUBTYPE
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#error "No CONFIG_HAL_BOARD_SUBTYPE set"
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#endif
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2016-02-24 10:30:36 -04:00
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#ifndef HAL_OS_SOCKETS
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#define HAL_OS_SOCKETS 0
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#endif
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2016-01-06 18:09:09 -04:00
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#ifndef HAL_PARAM_DEFAULTS_PATH
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2016-10-30 02:24:21 -03:00
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#define HAL_PARAM_DEFAULTS_PATH nullptr
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2016-01-06 18:09:09 -04:00
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#endif
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2016-06-15 05:00:55 -03:00
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#ifndef HAL_HAVE_IMU_HEATER
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#define HAL_HAVE_IMU_HEATER 0
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#endif
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2016-07-25 17:00:02 -03:00
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2020-05-31 09:12:02 -03:00
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#ifndef HAL_NUM_CAN_IFACES
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#define HAL_NUM_CAN_IFACES 0
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2016-12-10 03:01:49 -04:00
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#endif
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2018-03-11 11:47:40 -03:00
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#ifndef HAL_RCINPUT_WITH_AP_RADIO
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#define HAL_RCINPUT_WITH_AP_RADIO 0
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#endif
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2018-01-30 15:42:04 -04:00
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#ifndef HAL_WITH_IO_MCU
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#define HAL_WITH_IO_MCU 0
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#endif
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2023-06-21 18:42:25 -03:00
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#ifndef HAL_WITH_IO_MCU_DSHOT
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#define HAL_WITH_IO_MCU_DSHOT 0
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#endif
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2017-01-27 00:52:51 -04:00
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// this is used as a general mechanism to make a 'small' build by
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// dropping little used features. We use this to allow us to keep
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// FMUv2 going for as long as possible
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#ifndef HAL_MINIMIZE_FEATURES
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#define HAL_MINIMIZE_FEATURES 0
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#endif
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2018-01-05 03:07:23 -04:00
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2019-08-09 13:04:00 -03:00
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#ifndef BOARD_FLASH_SIZE
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#define BOARD_FLASH_SIZE 2048
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#endif
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2022-06-27 04:07:48 -03:00
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#ifndef HAL_GYROFFT_ENABLED
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#define HAL_GYROFFT_ENABLED (BOARD_FLASH_SIZE > 1024)
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2019-08-09 13:04:00 -03:00
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#endif
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2022-06-27 04:07:48 -03:00
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// enable AP_GyroFFT library only if required:
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#ifndef HAL_WITH_DSP
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#define HAL_WITH_DSP HAL_GYROFFT_ENABLED
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2019-08-09 13:04:00 -03:00
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#endif
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2018-01-05 03:07:23 -04:00
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#ifndef HAL_OS_FATFS_IO
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#define HAL_OS_FATFS_IO 0
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#endif
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2018-02-07 03:22:20 -04:00
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#ifndef HAL_BARO_DEFAULT
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#define HAL_BARO_DEFAULT HAL_BARO_NONE
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#endif
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#ifndef HAL_INS_DEFAULT
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#define HAL_INS_DEFAULT HAL_INS_NONE
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#endif
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2018-02-09 19:09:02 -04:00
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2018-02-12 23:08:57 -04:00
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#ifndef HAL_GPS_TYPE_DEFAULT
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#define HAL_GPS_TYPE_DEFAULT 1
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#endif
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#ifndef HAL_CAN_DRIVER_DEFAULT
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#define HAL_CAN_DRIVER_DEFAULT 0
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#endif
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2020-05-31 09:12:02 -03:00
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#ifndef HAL_MAX_CAN_PROTOCOL_DRIVERS
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2020-07-30 14:49:36 -03:00
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#define HAL_MAX_CAN_PROTOCOL_DRIVERS HAL_NUM_CAN_IFACES
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#endif
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2020-05-31 09:12:02 -03:00
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2021-06-20 07:50:20 -03:00
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#ifndef HAL_CANMANAGER_ENABLED
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2022-08-15 03:53:43 -03:00
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#define HAL_CANMANAGER_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS > 0)
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2021-06-20 07:50:20 -03:00
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#endif
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2023-04-08 01:09:10 -03:00
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#ifndef HAL_ENABLE_DRONECAN_DRIVERS
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#define HAL_ENABLE_DRONECAN_DRIVERS HAL_CANMANAGER_ENABLED
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2020-05-31 09:12:02 -03:00
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#endif
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2023-01-09 09:33:30 -04:00
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#ifndef AP_TEST_DRONECAN_DRIVERS
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#define AP_TEST_DRONECAN_DRIVERS 0
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#endif
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2018-02-09 19:09:02 -04:00
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#ifdef HAVE_LIBDL
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#define AP_MODULE_SUPPORTED 1
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#else
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#define AP_MODULE_SUPPORTED 0
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#endif
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2018-04-01 22:15:46 -03:00
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#ifndef HAL_SUPPORT_RCOUT_SERIAL
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#define HAL_SUPPORT_RCOUT_SERIAL 0
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#endif
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2018-02-12 23:08:57 -04:00
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2023-01-19 20:12:17 -04:00
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#ifndef HAL_FORWARD_OTG2_SERIAL
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#define HAL_FORWARD_OTG2_SERIAL 0
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#endif
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2019-07-05 00:28:21 -03:00
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#ifndef HAL_HAVE_DUAL_USB_CDC
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#define HAL_HAVE_DUAL_USB_CDC 0
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#endif
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2019-10-06 02:29:15 -03:00
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2023-04-07 08:09:55 -03:00
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#ifndef AP_CAN_SLCAN_ENABLED
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#if HAL_NUM_CAN_IFACES && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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2023-04-06 21:18:01 -03:00
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#define AP_CAN_SLCAN_ENABLED 1
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2019-10-06 02:29:15 -03:00
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#else
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2023-04-06 21:18:01 -03:00
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#define AP_CAN_SLCAN_ENABLED 0
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2019-10-06 02:29:15 -03:00
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#endif
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2023-04-07 08:09:55 -03:00
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#endif
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2020-03-17 05:47:38 -03:00
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#ifndef USE_LIBC_REALLOC
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#define USE_LIBC_REALLOC 1
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#endif
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2020-12-23 06:41:17 -04:00
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2022-07-14 04:47:42 -03:00
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#ifndef AP_HAL_SHARED_DMA_ENABLED
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#define AP_HAL_SHARED_DMA_ENABLED 1
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#endif
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2020-12-23 06:41:17 -04:00
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#ifndef HAL_ENABLE_THREAD_STATISTICS
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#define HAL_ENABLE_THREAD_STATISTICS 0
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#endif
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2021-06-23 02:22:31 -03:00
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2022-06-03 00:48:03 -03:00
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#ifndef AP_STATS_ENABLED
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2023-03-09 22:14:15 -04:00
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#define AP_STATS_ENABLED 1
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2022-06-03 00:48:03 -03:00
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#endif
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2021-08-22 22:40:20 -03:00
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#ifndef HAL_WITH_MCU_MONITORING
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2022-02-20 23:44:26 -04:00
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#define HAL_WITH_MCU_MONITORING 0
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2021-08-22 22:40:20 -03:00
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#endif
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2021-11-13 18:40:24 -04:00
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2022-08-15 04:22:48 -03:00
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#ifndef AP_CRASHDUMP_ENABLED
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#define AP_CRASHDUMP_ENABLED 0
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#endif
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2022-09-02 19:03:29 -03:00
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#ifndef AP_SIGNED_FIRMWARE
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#define AP_SIGNED_FIRMWARE 0
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#endif
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2022-08-15 02:27:28 -03:00
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#ifndef HAL_DSHOT_ALARM_ENABLED
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#define HAL_DSHOT_ALARM_ENABLED 0
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#endif
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2023-05-24 17:41:56 -03:00
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#ifndef HAL_DSHOT_ENABLED
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#define HAL_DSHOT_ENABLED 1
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#endif
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#ifndef HAL_SERIALLED_ENABLED
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#define HAL_SERIALLED_ENABLED HAL_DSHOT_ENABLED
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#endif
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#ifndef HAL_SERIAL_ESC_COMM_ENABLED
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#ifdef DISABLE_SERIAL_ESC_COMM
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#define HAL_SERIAL_ESC_COMM_ENABLED 0
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#else
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#define HAL_SERIAL_ESC_COMM_ENABLED 1
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#endif
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#endif
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2023-10-25 04:43:58 -03:00
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#ifndef AP_BOOTLOADER_FLASHING_ENABLED
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#define AP_BOOTLOADER_FLASHING_ENABLED 0
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#endif
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2021-11-13 18:40:24 -04:00
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#ifndef HAL_HNF_MAX_FILTERS
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// On an F7 The difference in CPU load between 1 notch and 24 notches is about 2%
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// The difference in CPU load between 1Khz backend and 2Khz backend is about 10%
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// So at 1Khz almost all notch combinations can be supported on F7 and certainly H7
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#if defined(STM32H7) || CONFIG_HAL_BOARD == HAL_BOARD_SITL
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// Enough for a double-notch per motor on an octa using three IMUs and one harmonics
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// plus one static notch with one double-notch harmonics
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#define HAL_HNF_MAX_FILTERS 54
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#elif defined(STM32F7)
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// Enough for a notch per motor on an octa using three IMUs and one harmonics
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// plus one static notch with one harmonics
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#define HAL_HNF_MAX_FILTERS 27
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#else
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// Enough for a notch per motor on an octa quad using two IMUs and one harmonic
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// plus one static notch with one harmonic
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2023-09-16 11:45:46 -03:00
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// Or triple-notch per motor on one IMU with one harmonic
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#define HAL_HNF_MAX_FILTERS 24
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2021-11-13 18:40:24 -04:00
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#endif
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2021-05-03 09:53:04 -03:00
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#endif // HAL_HNF_MAX_FILTERS
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2022-03-26 16:41:17 -03:00
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL // allow SITL to have all the CANFD options
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#define HAL_CANFD_SUPPORTED 8
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#elif !defined(HAL_CANFD_SUPPORTED)
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2021-05-03 09:53:04 -03:00
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#define HAL_CANFD_SUPPORTED 0
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2021-11-13 18:40:24 -04:00
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#endif
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2021-09-04 09:01:51 -03:00
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2022-08-17 15:26:58 -03:00
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#ifndef HAL_USE_QUADSPI
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#define HAL_USE_QUADSPI 0
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#endif
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2022-08-29 02:28:37 -03:00
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2022-08-17 15:26:58 -03:00
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#ifndef HAL_USE_OCTOSPI
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#define HAL_USE_OCTOSPI 0
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#endif
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2021-09-04 09:01:51 -03:00
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#ifndef __RAMFUNC__
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#define __RAMFUNC__
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#endif
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#ifndef __FASTRAMFUNC__
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#define __FASTRAMFUNC__
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#endif
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2022-08-18 03:44:11 -03:00
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2023-01-18 00:38:20 -04:00
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#ifndef __EXTFLASHFUNC__
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#define __EXTFLASHFUNC__
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#endif
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2022-08-18 03:44:11 -03:00
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#ifndef HAL_ENABLE_DFU_BOOT
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#define HAL_ENABLE_DFU_BOOT 0
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#endif
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2022-10-11 00:57:05 -03:00
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2023-07-09 01:11:43 -03:00
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#ifndef HAL_ENABLE_SENDING_STATS
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#define HAL_ENABLE_SENDING_STATS BOARD_FLASH_SIZE >= 256
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|
|
#endif
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