mirror of https://github.com/ArduPilot/ardupilot
109 lines
2.9 KiB
C
109 lines
2.9 KiB
C
|
#pragma once
|
||
|
|
|
||
|
|
#include <AP_HAL_QURT/AP_HAL_QURT_Main.h>
|
||
|
|
|
||
|
|
#define HAL_BOARD_NAME "QURT"
|
||
|
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
|
||
|
|
#define HAL_MEM_CLASS HAL_MEM_CLASS_1000
|
||
|
|
#define HAL_STORAGE_SIZE 32768
|
||
|
|
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
|
||
|
|
|
||
|
|
// only include if compiling C++ code
|
||
|
|
#ifdef __cplusplus
|
||
|
|
#include <AP_HAL_QURT/Semaphores.h>
|
||
|
|
#define HAL_Semaphore QURT::Semaphore
|
||
|
|
#define HAL_BinarySemaphore QURT::BinarySemaphore
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef HAL_HAVE_HARDWARE_DOUBLE
|
||
|
|
#define HAL_HAVE_HARDWARE_DOUBLE 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef HAL_WITH_EKF_DOUBLE
|
||
|
|
#define HAL_WITH_EKF_DOUBLE HAL_HAVE_HARDWARE_DOUBLE
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifndef HAL_GYROFFT_ENABLED
|
||
|
|
#define HAL_GYROFFT_ENABLED 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/*
|
||
|
|
disable features for initial port
|
||
|
|
*/
|
||
|
|
#define HAL_HAVE_BOARD_VOLTAGE 0
|
||
|
|
#define HAL_HAVE_SERVO_VOLTAGE 0
|
||
|
|
#define HAL_HAVE_SAFETY_SWITCH 0
|
||
|
|
#define HAL_WITH_MCU_MONITORING 0
|
||
|
|
#define HAL_USE_QUADSPI 0
|
||
|
|
#define HAL_WITH_DSP 0
|
||
|
|
|
||
|
|
#define HAL_CANFD_SUPPORTED 0
|
||
|
|
#define HAL_NUM_CAN_IFACES 0
|
||
|
|
|
||
|
|
#define AP_CRASHDUMP_ENABLED 0
|
||
|
|
#define HAL_ENABLE_DFU_BOOT 0
|
||
|
|
|
||
|
|
|
||
|
|
#define HAL_LOGGING_MAVLINK_ENABLED 0
|
||
|
|
|
||
|
|
#define HAL_LOGGING_FILESYSTEM_ENABLED 1
|
||
|
|
|
||
|
|
#define AP_FILESYSTEM_POSIX_HAVE_UTIME 0
|
||
|
|
#define AP_FILESYSTEM_POSIX_HAVE_FSYNC 0
|
||
|
|
#define AP_FILESYSTEM_POSIX_HAVE_STATFS 0
|
||
|
|
#define AP_FILESYSTEM_HAVE_DIRENT_DTYPE 0
|
||
|
|
|
||
|
|
#define AP_FILESYSTEM_POSIX_MAP_FILENAME_ALLOC 1
|
||
|
|
#define AP_FILESYSTEM_POSIX_MAP_FILENAME_BASEDIR "/data"
|
||
|
|
#define HAL_BOARD_STORAGE_DIRECTORY "APM"
|
||
|
|
#define HAL_BOARD_LOG_DIRECTORY "APM/logs"
|
||
|
|
#define HAL_BOARD_TERRAIN_DIRECTORY "APM/terrain"
|
||
|
|
|
||
|
|
#define SCRIPTING_DIRECTORY "APM/scripts"
|
||
|
|
|
||
|
|
/*
|
||
|
|
a defaults file for this vehicle
|
||
|
|
*/
|
||
|
|
#ifndef HAL_PARAM_DEFAULTS_PATH
|
||
|
|
// this is an absolute path, as required by AP_Param
|
||
|
|
#define HAL_PARAM_DEFAULTS_PATH AP_FILESYSTEM_POSIX_MAP_FILENAME_BASEDIR "/APM/defaults.parm"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#define USE_LIBC_REALLOC 1
|
||
|
|
|
||
|
|
#define HAL_WITH_ESC_TELEM 1
|
||
|
|
|
||
|
|
/*
|
||
|
|
battery monitoring setup, comes in via ESCs
|
||
|
|
*/
|
||
|
|
#define HAL_BATT_VOLT_PIN 1
|
||
|
|
#define HAL_BATT_CURR_PIN 2
|
||
|
|
#define HAL_BATT_MONITOR_DEFAULT 4
|
||
|
|
#define HAL_BATT_VOLT_SCALE 1
|
||
|
|
#define HAL_BATT_CURR_SCALE 1
|
||
|
|
|
||
|
|
/*
|
||
|
|
compass list
|
||
|
|
*/
|
||
|
|
#define PROBE_MAG_I2C(driver, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(GET_I2C_DEVICE(bus, addr),##args))
|
||
|
|
#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(QMC5883L, 0, 0x0d, false, ROTATION_PITCH_180_YAW_90)
|
||
|
|
|
||
|
|
/*
|
||
|
|
barometer list
|
||
|
|
*/
|
||
|
|
#define PROBE_BARO_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(GET_I2C_DEVICE(bus, addr)),##args))
|
||
|
|
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(ICP101XX, 3, 0x63)
|
||
|
|
|
||
|
|
/*
|
||
|
|
IMU list
|
||
|
|
*/
|
||
|
|
#define PROBE_IMU_SPI(driver, devname, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname),##args))
|
||
|
|
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensensev3, "INV3", ROTATION_ROLL_180)
|
||
|
|
|
||
|
|
/*
|
||
|
|
bring in missing standard library functions
|
||
|
|
*/
|
||
|
|
#include <AP_HAL_QURT/replace.h>
|
||
|
|
|
||
|
|
#define DEFAULT_SERIAL4_PROTOCOL 23 // RC input
|