diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h index 060a985317..46a74615c3 100644 --- a/libraries/AP_HAL/board/linux.h +++ b/libraries/AP_HAL/board/linux.h @@ -8,354 +8,354 @@ #define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE -#define HAL_BOARD_LOG_DIRECTORY "logs" -#define HAL_BOARD_TERRAIN_DIRECTORY "terrain" -#define HAL_BOARD_STORAGE_DIRECTORY "." -#define HAL_INS_DEFAULT HAL_INS_HIL -#define HAL_BARO_DEFAULT HAL_BARO_HIL -#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL + #define HAL_BOARD_LOG_DIRECTORY "logs" + #define HAL_BOARD_TERRAIN_DIRECTORY "terrain" + #define HAL_BOARD_STORAGE_DIRECTORY "." + #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_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD -#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF -#define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_270 -#else -#define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90 -#endif -#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 -#define HAL_COMPASS_HMC5843_I2C_BUS 1 -#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E -#define HAL_GPIO_A_LED_PIN 61 -#define HAL_GPIO_B_LED_PIN 48 -#define HAL_GPIO_C_LED_PIN 117 -#define HAL_GPIO_LED_ON LOW -#define HAL_GPIO_LED_OFF HIGH + #define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI + #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF + #define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_270 + #else + #define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90 + #endif + #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 + #define HAL_COMPASS_HMC5843_I2C_BUS 1 + #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E + #define HAL_GPIO_A_LED_PIN 61 + #define HAL_GPIO_B_LED_PIN 48 + #define HAL_GPIO_C_LED_PIN 117 + #define HAL_GPIO_LED_ON LOW + #define HAL_GPIO_LED_OFF HIGH #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP -#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs" -#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain" -#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot" -#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C -#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270 -#define HAL_INS_MPU60x0_I2C_BUS 2 -#define HAL_INS_MPU60x0_I2C_ADDR 0x68 -#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C -#define HAL_COMPASS_AK8963_I2C_BUS 1 -#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d -#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C -#define HAL_BARO_MS5607_I2C_BUS 1 -#define HAL_BARO_MS5607_I2C_ADDR 0x77 -#define HAL_HAVE_IMU_HEATER 1 -#define HAL_IMU_TEMP_DEFAULT 55 -#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM -#define HAL_LINUX_HEAT_PWM_NUM 6 -#define HAL_LINUX_HEAT_KP 20000 -#define HAL_LINUX_HEAT_KI 6 -#define HAL_LINUX_HEAT_PERIOD_NS 125000 -#define HAL_LINUX_HEAT_TARGET_TEMP 50 -#define BEBOP_CAMV_PWM 9 -#define BEBOP_CAMV_PWM_FREQ 43333333 -#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0" -#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0" -#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320 -#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240 -#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64 -#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64 -#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240 -#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240 -#define HAL_OPTFLOW_ONBOARD_NBUFS 8 -#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4 -#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30 -#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000 -#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/bebop.parm" -#define HAL_RCOUT_BEBOP_BLDC_I2C_BUS 1 -#define HAL_RCOUT_BEBOP_BLDC_I2C_ADDR 0x08 -/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction - * 240x240 crop rescaled to 64x64 */ -#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64)) -#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0 -#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP + #define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs" + #define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain" + #define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot" + #define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C + #define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270 + #define HAL_INS_MPU60x0_I2C_BUS 2 + #define HAL_INS_MPU60x0_I2C_ADDR 0x68 + #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C + #define HAL_COMPASS_AK8963_I2C_BUS 1 + #define HAL_COMPASS_AK8963_I2C_ADDR 0x0d + #define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C + #define HAL_BARO_MS5607_I2C_BUS 1 + #define HAL_BARO_MS5607_I2C_ADDR 0x77 + #define HAL_HAVE_IMU_HEATER 1 + #define HAL_IMU_TEMP_DEFAULT 55 + #define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM + #define HAL_LINUX_HEAT_PWM_NUM 6 + #define HAL_LINUX_HEAT_KP 20000 + #define HAL_LINUX_HEAT_KI 6 + #define HAL_LINUX_HEAT_PERIOD_NS 125000 + #define HAL_LINUX_HEAT_TARGET_TEMP 50 + #define BEBOP_CAMV_PWM 9 + #define BEBOP_CAMV_PWM_FREQ 43333333 + #define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0" + #define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0" + #define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320 + #define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240 + #define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64 + #define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64 + #define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240 + #define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240 + #define HAL_OPTFLOW_ONBOARD_NBUFS 8 + #define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4 + #define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30 + #define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000 + #define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/bebop.parm" + #define HAL_RCOUT_BEBOP_BLDC_I2C_BUS 1 + #define HAL_RCOUT_BEBOP_BLDC_I2C_ADDR 0x08 + /* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction + * 240x240 crop rescaled to 64x64 */ + #define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64)) + #define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0 + #define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO -#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs" -#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain" -#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot" -#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C -#define HAL_INS_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_90 -#define HAL_INS_MPU60x0_I2C_BUS 2 -#define HAL_INS_MPU60x0_I2C_ADDR 0x68 -#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C -#define HAL_COMPASS_AK8963_I2C_BUS 1 -#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d -#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C -#define HAL_BARO_MS5607_I2C_BUS 1 -#define HAL_BARO_MS5607_I2C_ADDR 0x77 -#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM -#define HAL_LINUX_HEAT_PWM_NUM 10 -#define HAL_LINUX_HEAT_KP 20000 -#define HAL_LINUX_HEAT_KI 6 -#define HAL_LINUX_HEAT_PERIOD_NS 125000 -#define HAL_LINUX_HEAT_TARGET_TEMP 50 -#define BEBOP_CAMV_PWM 9 -#define BEBOP_CAMV_PWM_FREQ 43333333 -#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0" -#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0" -#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320 -#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240 -#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64 -#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64 -#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240 -#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240 -#define HAL_OPTFLOW_ONBOARD_NBUFS 8 -#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4 -#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30 -#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000 -#define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1 -#define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08 -#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/disco.parm" -/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction - * 240x240 crop rescaled to 64x64 */ -#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64)) -#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0 -// the disco has challenges with its magnetic setup -#define AP_COMPASS_OFFSETS_MAX_DEFAULT 2200 -#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP + #define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs" + #define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain" + #define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot" + #define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C + #define HAL_INS_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_90 + #define HAL_INS_MPU60x0_I2C_BUS 2 + #define HAL_INS_MPU60x0_I2C_ADDR 0x68 + #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C + #define HAL_COMPASS_AK8963_I2C_BUS 1 + #define HAL_COMPASS_AK8963_I2C_ADDR 0x0d + #define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C + #define HAL_BARO_MS5607_I2C_BUS 1 + #define HAL_BARO_MS5607_I2C_ADDR 0x77 + #define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM + #define HAL_LINUX_HEAT_PWM_NUM 10 + #define HAL_LINUX_HEAT_KP 20000 + #define HAL_LINUX_HEAT_KI 6 + #define HAL_LINUX_HEAT_PERIOD_NS 125000 + #define HAL_LINUX_HEAT_TARGET_TEMP 50 + #define BEBOP_CAMV_PWM 9 + #define BEBOP_CAMV_PWM_FREQ 43333333 + #define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0" + #define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0" + #define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320 + #define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240 + #define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64 + #define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64 + #define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240 + #define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240 + #define HAL_OPTFLOW_ONBOARD_NBUFS 8 + #define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4 + #define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30 + #define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000 + #define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1 + #define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08 + #define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/disco.parm" + /* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction + * 240x240 crop rescaled to 64x64 */ + #define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64)) + #define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0 + // the disco has challenges with its magnetic setup + #define AP_COMPASS_OFFSETS_MAX_DEFAULT 2200 + #define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO -#define HAL_GPIO_A_LED_PIN 0 -#define HAL_GPIO_B_LED_PIN 1 -#define HAL_GPIO_C_LED_PIN 2 -#define HAL_GPIO_LED_ON HIGH -#define HAL_GPIO_LED_OFF LOW -#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_I2C -#define HAL_BARO_MS5611_I2C_BUS 1 -#define HAL_BARO_MS5611_I2C_ADDR 0x77 -#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO -/* 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 0 + #define HAL_GPIO_B_LED_PIN 1 + #define HAL_GPIO_C_LED_PIN 2 + #define HAL_GPIO_LED_ON HIGH + #define HAL_GPIO_LED_OFF LOW + #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_I2C + #define HAL_BARO_MS5611_I2C_BUS 1 + #define HAL_BARO_MS5611_I2C_ADDR 0x77 + #define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO + /* HMC5843 can be an external compass */ + #define HAL_COMPASS_HMC5843_I2C_BUS 1 + #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 -#define HAL_HAVE_SERVO_VOLTAGE 1 -#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI -#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE -#define HAL_INS_MPU9250_NAME "mpu9250" -#define HAL_INS_LSM9DS1_NAME "lsm9ds1" -#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C -#define HAL_BARO_MS5611_I2C_BUS 1 -#define HAL_BARO_MS5611_I2C_ADDR 0x77 -#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO2 -/* HMC5843 can be an external compass */ -#define HAL_COMPASS_HMC5843_I2C_BUS 1 -#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E + #define HAL_HAVE_SERVO_VOLTAGE 1 + #define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI + #define HAL_INS_DEFAULT_ROTATION ROTATION_NONE + #define HAL_INS_MPU9250_NAME "mpu9250" + #define HAL_INS_LSM9DS1_NAME "lsm9ds1" + #define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C + #define HAL_BARO_MS5611_I2C_BUS 1 + #define HAL_BARO_MS5611_I2C_ADDR 0x77 + #define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO2 + /* HMC5843 can be an external compass */ + #define HAL_COMPASS_HMC5843_I2C_BUS 1 + #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 -#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_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 #define HAL_Semaphore Linux::Semaphore #define HAL_Semaphore_Recursive Linux::Semaphore_Recursive -