ardupilot/libraries/AP_HAL/board/chibios.h

#pragma once

#include <hwdef.h>
#include <hal.h>

#define HAL_BOARD_NAME "ChibiOS"

#if HAL_MEMORY_TOTAL_KB >= 1000
#define HAL_MEM_CLASS HAL_MEM_CLASS_1000
#elif HAL_MEMORY_TOTAL_KB >= 500
#define HAL_MEM_CLASS HAL_MEM_CLASS_500
#elif HAL_MEMORY_TOTAL_KB >= 300
#define HAL_MEM_CLASS HAL_MEM_CLASS_300
#elif HAL_MEMORY_TOTAL_KB >= 192
#define HAL_MEM_CLASS HAL_MEM_CLASS_192
#elif HAL_MEMORY_TOTAL_KB >= 64
#define HAL_MEM_CLASS HAL_MEM_CLASS_64
#else
#define HAL_MEM_CLASS HAL_MEM_CLASS_20
#endif

#ifndef HAL_GPIO_LED_ON
#define HAL_GPIO_LED_ON           0
#endif
#ifndef HAL_GPIO_LED_OFF
#define HAL_GPIO_LED_OFF          1
#endif

#ifndef HAL_NUM_CAN_IFACES
#define HAL_NUM_CAN_IFACES 0
#endif

#ifndef HAL_HAVE_BOARD_VOLTAGE
#define HAL_HAVE_BOARD_VOLTAGE 0
#endif

#ifndef HAL_HAVE_SERVO_VOLTAGE
#define HAL_HAVE_SERVO_VOLTAGE 0
#endif

#ifdef HAL_GPIO_PIN_SAFETY_IN
#define HAL_HAVE_SAFETY_SWITCH 1
#endif

#ifndef HAL_HAVE_SAFETY_SWITCH
#define HAL_HAVE_SAFETY_SWITCH 0
#endif

#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE

#ifndef HAL_WITH_IO_MCU
#define HAL_WITH_IO_MCU 0
#endif

#ifndef HAL_WITH_RAMTRON
#define HAL_WITH_RAMTRON 0
#endif

// allow for static semaphores
#include <AP_HAL_ChibiOS/Semaphores.h>
#define HAL_Semaphore ChibiOS::Semaphore

#include <AP_HAL/EventHandle.h>
#define HAL_EventHandle AP_HAL::EventHandle

/* string names for well known SPI devices */
#define HAL_BARO_MS5611_NAME "ms5611"
#ifndef HAL_BARO_MS5611_SPI_INT_NAME
#define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int"
#endif
#define HAL_BARO_MS5611_SPI_EXT_NAME "ms5611_ext"
#define HAL_BARO_LPS22H_NAME "lps22h"
#define HAL_BARO_BMP280_NAME "bmp280"

#define HAL_INS_MPU60x0_NAME "mpu6000"
#define HAL_INS_MPU60x0_EXT_NAME "mpu6000_ext"

#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_LIS3MDL_NAME "lis3mdl"

// allow for short names overridden in hwdef.dat
#ifndef CHIBIOS_SHORT_BOARD_NAME
#define CHIBIOS_SHORT_BOARD_NAME CHIBIOS_BOARD_NAME
#endif

#ifndef CONFIG_HAL_BOARD_SUBTYPE
// allow for generic boards
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_GENERIC
#endif

// we support RC serial for BLHeli pass-thru
#ifndef HAL_SUPPORT_RCOUT_SERIAL
#define HAL_SUPPORT_RCOUT_SERIAL !defined(HAL_BUILD_AP_PERIPH)
#endif

#ifndef HAL_DSHOT_ALARM
#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD) && HAL_USE_PWM == TRUE
#define HAL_DSHOT_ALARM 1
#else
#define HAL_DSHOT_ALARM 0
#endif
#endif

// by default assume first I2C bus is internal
#ifndef HAL_I2C_INTERNAL_MASK
#define HAL_I2C_INTERNAL_MASK 1
#endif

// put all storage of files under /APM directory
#ifndef HAL_BOARD_STORAGE_DIRECTORY
#define HAL_BOARD_STORAGE_DIRECTORY "/APM"
#endif