mirror of https://github.com/ArduPilot/ardupilot
AP_HAL: Make linux hardware define more readable
This commit is contained in:
Vincent
Andrew Tridgell
parent
3e098df65a
commit
3177d24429
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@ -8,354 +8,354 @@
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
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#define HAL_BOARD_LOG_DIRECTORY "logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
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#define HAL_BOARD_STORAGE_DIRECTORY "."
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#define HAL_INS_DEFAULT HAL_INS_HIL
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#define HAL_BARO_DEFAULT HAL_BARO_HIL
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
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#define HAL_BOARD_LOG_DIRECTORY "logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
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#define HAL_BOARD_STORAGE_DIRECTORY "."
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#define HAL_INS_DEFAULT HAL_INS_HIL
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#define HAL_BARO_DEFAULT HAL_BARO_HIL
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
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#define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_270
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#else
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#define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90
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#endif
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
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#define HAL_COMPASS_HMC5843_I2C_BUS 1
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_GPIO_A_LED_PIN 61
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#define HAL_GPIO_B_LED_PIN 48
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#define HAL_GPIO_C_LED_PIN 117
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
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#define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_270
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#else
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#define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90
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#endif
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
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#define HAL_COMPASS_HMC5843_I2C_BUS 1
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_GPIO_A_LED_PIN 61
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#define HAL_GPIO_B_LED_PIN 48
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#define HAL_GPIO_C_LED_PIN 117
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
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#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
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#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
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#define HAL_INS_MPU60x0_I2C_BUS 2
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#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
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#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
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#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
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#define HAL_BARO_MS5607_I2C_BUS 1
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#define HAL_BARO_MS5607_I2C_ADDR 0x77
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#define HAL_HAVE_IMU_HEATER 1
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#define HAL_IMU_TEMP_DEFAULT 55
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
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#define HAL_LINUX_HEAT_PWM_NUM 6
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#define HAL_LINUX_HEAT_KP 20000
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#define HAL_LINUX_HEAT_KI 6
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#define HAL_LINUX_HEAT_PERIOD_NS 125000
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#define HAL_LINUX_HEAT_TARGET_TEMP 50
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#define BEBOP_CAMV_PWM 9
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#define BEBOP_CAMV_PWM_FREQ 43333333
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
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#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
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#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
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#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
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#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
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#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8
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#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
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#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
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#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
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#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/bebop.parm"
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#define HAL_RCOUT_BEBOP_BLDC_I2C_BUS 1
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#define HAL_RCOUT_BEBOP_BLDC_I2C_ADDR 0x08
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/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
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* 240x240 crop rescaled to 64x64 */
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
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#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP
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#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
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#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
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#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
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#define HAL_INS_MPU60x0_I2C_BUS 2
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#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
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#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
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#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
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#define HAL_BARO_MS5607_I2C_BUS 1
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#define HAL_BARO_MS5607_I2C_ADDR 0x77
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#define HAL_HAVE_IMU_HEATER 1
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#define HAL_IMU_TEMP_DEFAULT 55
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
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#define HAL_LINUX_HEAT_PWM_NUM 6
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#define HAL_LINUX_HEAT_KP 20000
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#define HAL_LINUX_HEAT_KI 6
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#define HAL_LINUX_HEAT_PERIOD_NS 125000
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#define HAL_LINUX_HEAT_TARGET_TEMP 50
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#define BEBOP_CAMV_PWM 9
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#define BEBOP_CAMV_PWM_FREQ 43333333
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
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#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
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#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
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#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
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#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
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#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8
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#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
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#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
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#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
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#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/bebop.parm"
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#define HAL_RCOUT_BEBOP_BLDC_I2C_BUS 1
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#define HAL_RCOUT_BEBOP_BLDC_I2C_ADDR 0x08
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/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
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* 240x240 crop rescaled to 64x64 */
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
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#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
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#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
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#define HAL_INS_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_90
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#define HAL_INS_MPU60x0_I2C_BUS 2
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#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
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#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
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#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
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#define HAL_BARO_MS5607_I2C_BUS 1
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#define HAL_BARO_MS5607_I2C_ADDR 0x77
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
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#define HAL_LINUX_HEAT_PWM_NUM 10
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#define HAL_LINUX_HEAT_KP 20000
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#define HAL_LINUX_HEAT_KI 6
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#define HAL_LINUX_HEAT_PERIOD_NS 125000
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#define HAL_LINUX_HEAT_TARGET_TEMP 50
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#define BEBOP_CAMV_PWM 9
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#define BEBOP_CAMV_PWM_FREQ 43333333
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
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#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
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#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
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#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
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#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
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#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8
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#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
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#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
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#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
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#define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1
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#define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08
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#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/disco.parm"
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/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
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* 240x240 crop rescaled to 64x64 */
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
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// the disco has challenges with its magnetic setup
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#define AP_COMPASS_OFFSETS_MAX_DEFAULT 2200
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#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP
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#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
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#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
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#define HAL_INS_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_90
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#define HAL_INS_MPU60x0_I2C_BUS 2
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#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
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#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
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#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
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#define HAL_BARO_MS5607_I2C_BUS 1
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#define HAL_BARO_MS5607_I2C_ADDR 0x77
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
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#define HAL_LINUX_HEAT_PWM_NUM 10
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#define HAL_LINUX_HEAT_KP 20000
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#define HAL_LINUX_HEAT_KI 6
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#define HAL_LINUX_HEAT_PERIOD_NS 125000
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#define HAL_LINUX_HEAT_TARGET_TEMP 50
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#define BEBOP_CAMV_PWM 9
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#define BEBOP_CAMV_PWM_FREQ 43333333
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
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#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
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#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
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#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
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#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
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#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8
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#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
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#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
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#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
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#define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1
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#define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08
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#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/disco.parm"
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/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
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* 240x240 crop rescaled to 64x64 */
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
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// the disco has challenges with its magnetic setup
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#define AP_COMPASS_OFFSETS_MAX_DEFAULT 2200
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#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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#define HAL_GPIO_A_LED_PIN 0
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#define HAL_GPIO_B_LED_PIN 1
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#define HAL_GPIO_C_LED_PIN 2
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#define HAL_GPIO_LED_ON HIGH
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#define HAL_GPIO_LED_OFF LOW
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
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#define HAL_BARO_MS5611_I2C_BUS 1
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO
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/* HMC5843 can be an external compass */
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#define HAL_COMPASS_HMC5843_I2C_BUS 1
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_GPIO_A_LED_PIN 0
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#define HAL_GPIO_B_LED_PIN 1
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#define HAL_GPIO_C_LED_PIN 2
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#define HAL_GPIO_LED_ON HIGH
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#define HAL_GPIO_LED_OFF LOW
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
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#define HAL_BARO_MS5611_I2C_BUS 1
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO
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/* HMC5843 can be an external compass */
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#define HAL_COMPASS_HMC5843_I2C_BUS 1
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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#define HAL_HAVE_SERVO_VOLTAGE 1
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_INS_LSM9DS1_NAME "lsm9ds1"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
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#define HAL_BARO_MS5611_I2C_BUS 1
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO2
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/* HMC5843 can be an external compass */
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#define HAL_COMPASS_HMC5843_I2C_BUS 1
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_HAVE_SERVO_VOLTAGE 1
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_INS_LSM9DS1_NAME "lsm9ds1"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
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#define HAL_BARO_MS5611_I2C_BUS 1
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO2
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/* HMC5843 can be an external compass */
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#define HAL_COMPASS_HMC5843_I2C_BUS 1
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
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#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
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/* HMC5843 can be an external compass */
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#define HAL_COMPASS_HMC5843_I2C_BUS 1
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_GPIO_A_LED_PIN 24
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#define HAL_GPIO_B_LED_PIN 25
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#define HAL_GPIO_C_LED_PIN 16
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
||||
#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
|
||||
#define HAL_INS_MPU9250_NAME "mpu9250"
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
||||
#define HAL_BARO_MS5611_NAME "ms5611"
|
||||
#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
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
|
||||
// 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
|
||||
// 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_OCPOC_ZYNQ
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
||||
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
||||
#define HAL_INS_MPU9250_NAME "mpu9250"
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
||||
#define HAL_BARO_MS5611_NAME "ms5611"
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_OCPOC_ZYNQ
|
||||
/* HMC5843 can be an external compass */
|
||||
#define HAL_COMPASS_HMC5843_I2C_BUS 4
|
||||
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||
#define AP_COMPASS_OFFSETS_MAX_DEFAULT 1000
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
||||
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
||||
#define HAL_INS_MPU9250_NAME "mpu9250"
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
||||
#define HAL_BARO_MS5611_NAME "ms5611"
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_OCPOC_ZYNQ
|
||||
/* HMC5843 can be an external compass */
|
||||
#define HAL_COMPASS_HMC5843_I2C_BUS 4
|
||||
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||
#define AP_COMPASS_OFFSETS_MAX_DEFAULT 1000
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
|
||||
#define HAL_GPIO_A_LED_PIN 69
|
||||
#define HAL_GPIO_B_LED_PIN 68
|
||||
#define HAL_GPIO_C_LED_PIN 45
|
||||
#define HAL_GPIO_LED_ON LOW
|
||||
#define HAL_GPIO_LED_OFF HIGH
|
||||
#define HAL_BUZZER_PIN 11
|
||||
#define HAL_INS_DEFAULT HAL_INS_BBBMINI
|
||||
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
||||
#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_PX4FLOW_I2C_BUS 2
|
||||
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
|
||||
#define HAL_WITH_UAVCAN 1
|
||||
#define HAL_GPIO_A_LED_PIN 69
|
||||
#define HAL_GPIO_B_LED_PIN 68
|
||||
#define HAL_GPIO_C_LED_PIN 45
|
||||
#define HAL_GPIO_LED_ON LOW
|
||||
#define HAL_GPIO_LED_OFF HIGH
|
||||
#define HAL_BUZZER_PIN 11
|
||||
#define HAL_INS_DEFAULT HAL_INS_BBBMINI
|
||||
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
||||
#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_PX4FLOW_I2C_BUS 2
|
||||
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
|
||||
#define HAL_WITH_UAVCAN 1
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
|
||||
#define HAL_GPIO_A_LED_PIN 66
|
||||
#define HAL_GPIO_B_LED_PIN 67
|
||||
#define HAL_GPIO_LED_ON HIGH
|
||||
#define HAL_GPIO_LED_OFF LOW
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_I2C
|
||||
#define HAL_INS_MPU9250_I2C_BUS 2
|
||||
#define HAL_INS_MPU9250_I2C_ADDR 0x68
|
||||
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
|
||||
#define HAL_BARO_BMP280_BUS 2
|
||||
#define HAL_BARO_BMP280_I2C_ADDR 0x76
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250_I2C
|
||||
#define HAL_COMPASS_AK8963_I2C_BUS 2
|
||||
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0C
|
||||
/* HMC5843 can be an external compass */
|
||||
#define HAL_COMPASS_HMC5843_I2C_BUS 1
|
||||
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
|
||||
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 1
|
||||
#define HAL_WITH_UAVCAN 1
|
||||
#define HAL_GPIO_A_LED_PIN 66
|
||||
#define HAL_GPIO_B_LED_PIN 67
|
||||
#define HAL_GPIO_LED_ON HIGH
|
||||
#define HAL_GPIO_LED_OFF LOW
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_I2C
|
||||
#define HAL_INS_MPU9250_I2C_BUS 2
|
||||
#define HAL_INS_MPU9250_I2C_ADDR 0x68
|
||||
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
|
||||
#define HAL_BARO_BMP280_BUS 2
|
||||
#define HAL_BARO_BMP280_I2C_ADDR 0x76
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250_I2C
|
||||
#define HAL_COMPASS_AK8963_I2C_BUS 2
|
||||
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0C
|
||||
/* HMC5843 can be an external compass */
|
||||
#define HAL_COMPASS_HMC5843_I2C_BUS 1
|
||||
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
|
||||
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 1
|
||||
#define HAL_WITH_UAVCAN 1
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
|
||||
#define HAL_GPIO_A_LED_PIN 59
|
||||
#define HAL_GPIO_B_LED_PIN 58
|
||||
#define HAL_GPIO_C_LED_PIN 57
|
||||
#define HAL_GPIO_LED_ON HIGH
|
||||
#define HAL_GPIO_LED_OFF LOW
|
||||
#define HAL_BUZZER_PIN 28
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
||||
#define HAL_INS_MPU9250_NAME "mpu9250"
|
||||
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
|
||||
#define HAL_BARO_BMP280_NAME "bmp280"
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
|
||||
/* HMC5843 can be an external compass */
|
||||
#define HAL_COMPASS_HMC5843_I2C_BUS 2
|
||||
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
|
||||
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
|
||||
#define HAL_WITH_UAVCAN 1
|
||||
#define HAL_GPIO_A_LED_PIN 59
|
||||
#define HAL_GPIO_B_LED_PIN 58
|
||||
#define HAL_GPIO_C_LED_PIN 57
|
||||
#define HAL_GPIO_LED_ON HIGH
|
||||
#define HAL_GPIO_LED_OFF LOW
|
||||
#define HAL_BUZZER_PIN 28
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
||||
#define HAL_INS_MPU9250_NAME "mpu9250"
|
||||
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
|
||||
#define HAL_BARO_BMP280_NAME "bmp280"
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
|
||||
/* HMC5843 can be an external compass */
|
||||
#define HAL_COMPASS_HMC5843_I2C_BUS 2
|
||||
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
|
||||
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
|
||||
#define HAL_WITH_UAVCAN 1
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
|
||||
#define HAL_BARO_MS5611_I2C_BUS 1
|
||||
#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
|
||||
#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
|
||||
#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
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
|
||||
#define HAL_BARO_MS5611_I2C_BUS 1
|
||||
#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
|
||||
#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
|
||||
#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
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
||||
#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
|
||||
#define HAL_INS_MPU9250_NAME "mpu9250"
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
||||
#define HAL_BARO_MS5611_NAME "ms5611"
|
||||
#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
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
||||
#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
|
||||
#define HAL_INS_MPU9250_NAME "mpu9250"
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
||||
#define HAL_BARO_MS5611_NAME "ms5611"
|
||||
#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
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
|
||||
#define HAL_INS_DEFAULT HAL_INS_AERO
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
|
||||
#define HAL_BARO_MS5611_I2C_BUS 2
|
||||
#define HAL_BARO_MS5611_I2C_ADDR 0x76
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AERO
|
||||
#define HAL_COMPASS_BMM150_I2C_BUS 2
|
||||
#define HAL_COMPASS_BMM150_I2C_ADDR 0x12
|
||||
#define HAL_COMPASS_IST8310_I2C_BUS 4
|
||||
#define HAL_COMPASS_IST8310_I2C_ADDR 0x0E
|
||||
#define HAL_COMPASS_HMC5843_I2C_BUS 4
|
||||
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||
#define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS1"
|
||||
#define HAL_WITH_UAVCAN 1
|
||||
#define HAL_INS_DEFAULT HAL_INS_AERO
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
|
||||
#define HAL_BARO_MS5611_I2C_BUS 2
|
||||
#define HAL_BARO_MS5611_I2C_ADDR 0x76
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AERO
|
||||
#define HAL_COMPASS_BMM150_I2C_BUS 2
|
||||
#define HAL_COMPASS_BMM150_I2C_ADDR 0x12
|
||||
#define HAL_COMPASS_IST8310_I2C_BUS 4
|
||||
#define HAL_COMPASS_IST8310_I2C_ADDR 0x0E
|
||||
#define HAL_COMPASS_HMC5843_I2C_BUS 4
|
||||
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||
#define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS1"
|
||||
#define HAL_WITH_UAVCAN 1
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
||||
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
||||
#define HAL_INS_MPU9250_NAME "mpu9250"
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_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_BARO_MS5611_USE_TIMER false
|
||||
#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
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
||||
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
||||
#define HAL_INS_MPU9250_NAME "mpu9250"
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_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_BARO_MS5611_USE_TIMER false
|
||||
#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
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/edge/ardupilot/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/edge/ardupilot/terrain"
|
||||
#define HAL_BOARD_STORAGE_DIRECTORY "/edge/ardupilot"
|
||||
#define HAL_INS_DEFAULT HAL_INS_EDGE
|
||||
#define HAL_INS_MPU60x0_NAME "mpu60x0"
|
||||
#define HAL_INS_MPU60x0_NAME_EXT "mpu60x0ext"
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
||||
#define HAL_BARO_MS5611_NAME "ms5611"
|
||||
#define HAL_COMPASS_HMC5843_I2C_BUS 1
|
||||
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_EDGE
|
||||
#define HAL_WITH_UAVCAN 1
|
||||
/* HMC5843 can be an external compass */
|
||||
#define HAL_COMPASS_HMC5843_I2C_BUS 1
|
||||
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||
#define HAL_IMU_TEMP_DEFAULT 55
|
||||
#define HAL_HAVE_IMU_HEATER 1
|
||||
#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
|
||||
#define HAL_LINUX_HEAT_PWM_NUM 15
|
||||
#define HAL_LINUX_HEAT_KP 20000
|
||||
#define HAL_LINUX_HEAT_KI 6
|
||||
#define HAL_LINUX_HEAT_PERIOD_NS 2040816
|
||||
#define HAL_GPS_TYPE_DEFAULT 9
|
||||
#define HAL_CAN_DRIVER_DEFAULT 1
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/edge/ardupilot/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/edge/ardupilot/terrain"
|
||||
#define HAL_BOARD_STORAGE_DIRECTORY "/edge/ardupilot"
|
||||
#define HAL_INS_DEFAULT HAL_INS_EDGE
|
||||
#define HAL_INS_MPU60x0_NAME "mpu60x0"
|
||||
#define HAL_INS_MPU60x0_NAME_EXT "mpu60x0ext"
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
||||
#define HAL_BARO_MS5611_NAME "ms5611"
|
||||
#define HAL_COMPASS_HMC5843_I2C_BUS 1
|
||||
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_EDGE
|
||||
#define HAL_WITH_UAVCAN 1
|
||||
/* HMC5843 can be an external compass */
|
||||
#define HAL_COMPASS_HMC5843_I2C_BUS 1
|
||||
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||
#define HAL_IMU_TEMP_DEFAULT 55
|
||||
#define HAL_HAVE_IMU_HEATER 1
|
||||
#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
|
||||
#define HAL_LINUX_HEAT_PWM_NUM 15
|
||||
#define HAL_LINUX_HEAT_KP 20000
|
||||
#define HAL_LINUX_HEAT_KI 6
|
||||
#define HAL_LINUX_HEAT_PERIOD_NS 2040816
|
||||
#define HAL_GPS_TYPE_DEFAULT 9
|
||||
#define HAL_CAN_DRIVER_DEFAULT 1
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
|
||||
#define HAL_INS_DEFAULT HAL_INS_RST
|
||||
#define HAL_INS_DEFAULT_G_ROTATION ROTATION_ROLL_180_YAW_90
|
||||
#define HAL_INS_DEFAULT_A_ROTATION ROTATION_ROLL_180_YAW_90
|
||||
#define HAL_INS_RST_G_NAME "rst_g" //gyro
|
||||
#define HAL_INS_RST_A_NAME "rst_a" //accel
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
||||
#define HAL_BARO_MS5611_NAME "ms5611"
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_LIS3MDL
|
||||
#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"
|
||||
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0
|
||||
#define HAL_INS_DEFAULT HAL_INS_RST
|
||||
#define HAL_INS_DEFAULT_G_ROTATION ROTATION_ROLL_180_YAW_90
|
||||
#define HAL_INS_DEFAULT_A_ROTATION ROTATION_ROLL_180_YAW_90
|
||||
#define HAL_INS_RST_G_NAME "rst_g" //gyro
|
||||
#define HAL_INS_RST_A_NAME "rst_a" //accel
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
||||
#define HAL_BARO_MS5611_NAME "ms5611"
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_LIS3MDL
|
||||
#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"
|
||||
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0
|
||||
|
||||
#define HAL_HAVE_GETTIME_SETTIME 1
|
||||
#define HAL_HAVE_GETTIME_SETTIME 1
|
||||
|
||||
#else
|
||||
#error "no Linux board subtype set"
|
||||
#error "no Linux board subtype set"
|
||||
#endif
|
||||
|
||||
#ifndef HAL_COMPASS_DEFAULT
|
||||
#define HAL_COMPASS_DEFAULT -1
|
||||
#define HAL_COMPASS_DEFAULT -1
|
||||
#endif
|
||||
|
||||
#ifndef HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS
|
||||
#define HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS 0x42
|
||||
#define HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS 0x42
|
||||
#endif
|
||||
|
||||
#ifndef HAL_OPTFLOW_PX4FLOW_I2C_BUS
|
||||
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
|
||||
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
|
||||
#endif
|
||||
|
||||
#define HAL_HAVE_BOARD_VOLTAGE 1
|
||||
|
|
@ -363,45 +363,44 @@
|
|||
|
||||
|
||||
#ifndef HAL_HAVE_SERVO_VOLTAGE
|
||||
#define HAL_HAVE_SERVO_VOLTAGE 0
|
||||
#define HAL_HAVE_SERVO_VOLTAGE 0
|
||||
#endif
|
||||
|
||||
#ifndef AP_STATEDIR
|
||||
#define HAL_BOARD_STATE_DIRECTORY "/var/lib/ardupilot"
|
||||
#define HAL_BOARD_STATE_DIRECTORY "/var/lib/ardupilot"
|
||||
#else
|
||||
#define HAL_BOARD_STATE_DIRECTORY AP_STATEDIR
|
||||
#define HAL_BOARD_STATE_DIRECTORY AP_STATEDIR
|
||||
#endif
|
||||
|
||||
#ifndef HAL_BOARD_LOG_DIRECTORY
|
||||
#define HAL_BOARD_LOG_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/logs"
|
||||
#define HAL_BOARD_LOG_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/logs"
|
||||
#endif
|
||||
|
||||
#ifndef HAL_BOARD_TERRAIN_DIRECTORY
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/terrain"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/terrain"
|
||||
#endif
|
||||
|
||||
#ifndef HAL_BOARD_STORAGE_DIRECTORY
|
||||
#define HAL_BOARD_STORAGE_DIRECTORY HAL_BOARD_STATE_DIRECTORY
|
||||
#define HAL_BOARD_STORAGE_DIRECTORY HAL_BOARD_STATE_DIRECTORY
|
||||
#endif
|
||||
|
||||
#ifndef HAL_BOARD_CAN_IFACE_NAME
|
||||
#define HAL_BOARD_CAN_IFACE_NAME "can0"
|
||||
#define HAL_BOARD_CAN_IFACE_NAME "can0"
|
||||
#endif
|
||||
|
||||
// if bus masks are not setup above then use these defaults
|
||||
#ifndef HAL_LINUX_I2C_BUS_MASK
|
||||
#define HAL_LINUX_I2C_BUS_MASK 0xFFFF
|
||||
#define HAL_LINUX_I2C_BUS_MASK 0xFFFF
|
||||
#endif
|
||||
|
||||
#ifndef HAL_LINUX_I2C_INTERNAL_BUS_MASK
|
||||
#define HAL_LINUX_I2C_INTERNAL_BUS_MASK 0xFFFF
|
||||
#define HAL_LINUX_I2C_INTERNAL_BUS_MASK 0xFFFF
|
||||
#endif
|
||||
|
||||
#ifndef HAL_LINUX_I2C_EXTERNAL_BUS_MASK
|
||||
#define HAL_LINUX_I2C_EXTERNAL_BUS_MASK 0xFFFF
|
||||
#define HAL_LINUX_I2C_EXTERNAL_BUS_MASK 0xFFFF
|
||||
#endif
|
||||
|
||||
#include <AP_HAL_Linux/Semaphores.h>
|
||||
#define HAL_Semaphore Linux::Semaphore
|
||||
#define HAL_Semaphore_Recursive Linux::Semaphore_Recursive
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue