ardupilot/libraries/AP_HAL/board/vrbrain.h

#pragma once

#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_HAVE_GETTIME_SETTIME 1

#ifdef 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_VRBRAIN_V52E)
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V52E
#define HAL_STORAGE_SIZE            8192
#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
#else
#error "Unknown VRBRAIN board type"
#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           1
#define HAL_GPIO_LED_OFF          0
#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
#define HAL_BUZZER_PIN            32

#define HAL_BARO_MS5611_NAME "ms5611"
#define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int"
#define HAL_BARO_MS5611_SPI_EXT_NAME "ms5611_ext"
#define HAL_BARO_MS5611_SPI_IMU_NAME "ms5611_imu"

#define HAL_INS_MPU60x0_NAME "mpu6000"
#define HAL_INS_MPU60x0_EXT_NAME "mpu6000_ext"
#define HAL_INS_MPU60x0_IMU_NAME "mpu6000_imu"

#define HAL_INS_LSM9DS0_G_NAME "lsm9ds0_g"
#define HAL_INS_LSM9DS0_A_NAME "lsm9ds0_am"

#define HAL_INS_LSM9DS0_EXT_G_NAME "lsm9ds0_ext_g"
#define HAL_INS_LSM9DS0_EXT_A_NAME "lsm9ds0_ext_am"

#define HAL_INS_MPU9250_NAME "mpu9250"
#define HAL_INS_MPU9250_EXT_NAME "mpu9250_ext"

#define HAL_INS_MPU6500_NAME "mpu6500"

#define HAL_INS_ICM20608_NAME "icm20608"
#define HAL_INS_ICM20608_AM_NAME "icm20608-am"
#define HAL_INS_ICM20608_EXT_NAME "icm20608_ext"

#define HAL_COMPASS_HMC5843_NAME "hmc5843"
#define HAL_COMPASS_HMC5843_EXT_NAME "hmc5843_ext"
#define HAL_COMPASS_HMC5843_IMU_NAME "hmc5843_imu"
#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"

#ifndef HAL_HAVE_BOARD_VOLTAGE
#define HAL_HAVE_BOARD_VOLTAGE 0
#endif

#ifndef HAL_HAVE_BOARD_VOLTAGE
#define HAL_HAVE_SERVO_VOLTAGE 1
#endif

#ifndef HAL_PX4_HAVE_MTD_SUPPORT
#define HAL_PX4_HAVE_MTD_SUPPORT 1
#endif
#ifndef HAL_PX4_HAVE_PWM_INPUT
#define HAL_PX4_HAVE_PWM_INPUT 1
#endif

#ifndef HAL_HAVE_SAFETY_SWITCH
#define HAL_HAVE_SAFETY_SWITCH 1
#endif

#include <AP_HAL_VRBRAIN/Semaphores.h>
#define HAL_Semaphore VRBRAIN::Semaphore