From 3a8d3c38e7c03ffd855568cac7e25dd451f3b20e Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 9 Jun 2021 21:31:35 +1000 Subject: [PATCH] AP_HAL: remove HIL support --- libraries/AP_HAL/AP_HAL_Boards.h | 6 +++--- libraries/AP_HAL/board/empty.h | 6 +++--- libraries/AP_HAL/board/linux.h | 12 ++++++------ libraries/AP_HAL/board/sitl.h | 6 +++--- 4 files changed, 15 insertions(+), 15 deletions(-) diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h index bad3423567..7bd5c1565a 100644 --- a/libraries/AP_HAL/AP_HAL_Boards.h +++ b/libraries/AP_HAL/AP_HAL_Boards.h @@ -62,7 +62,7 @@ #define HAL_INS_NONE 0 #define HAL_INS_MPU60XX_SPI 2 #define HAL_INS_MPU60XX_I2C 3 -#define HAL_INS_HIL 4 +#define HAL_INS_HIL_UNUSED 4 // unused #define HAL_INS_VRBRAIN 8 #define HAL_INS_MPU9250_SPI 9 #define HAL_INS_MPU9250_I2C 13 @@ -73,14 +73,14 @@ /* Barometer driver types */ #define HAL_BARO_NONE 0 -#define HAL_BARO_HIL 6 +#define HAL_BARO_HIL_UNUSED 6 // unused #define HAL_BARO_20789_I2C_I2C 14 #define HAL_BARO_20789_I2C_SPI 15 #define HAL_BARO_LPS25H_IMU_I2C 17 /* Compass driver types */ #define HAL_COMPASS_NONE 0 -#define HAL_COMPASS_HIL 3 +#define HAL_COMPASS_HIL_UNUSED 3 // unused /* Heat Types */ #define HAL_LINUX_HEAT_PWM 1 diff --git a/libraries/AP_HAL/board/empty.h b/libraries/AP_HAL/board/empty.h index bc2b680d3e..b2843afa7c 100644 --- a/libraries/AP_HAL/board/empty.h +++ b/libraries/AP_HAL/board/empty.h @@ -5,9 +5,9 @@ #define HAL_MEM_CLASS HAL_MEM_CLASS_192 #define HAL_STORAGE_SIZE 16384 #define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE -#define HAL_INS_DEFAULT HAL_INS_HIL -#define HAL_BARO_DEFAULT HAL_BARO_HIL -#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL +#define HAL_INS_DEFAULT HAL_INS_NONE +#define HAL_BARO_DEFAULT HAL_BARO_NONE +#define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE #define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE #define HAL_HAVE_BOARD_VOLTAGE 1 diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h index 7e32c2669f..af2e1ad352 100644 --- a/libraries/AP_HAL/board/linux.h +++ b/libraries/AP_HAL/board/linux.h @@ -27,9 +27,9 @@ #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_INS_DEFAULT HAL_INS_NONE + #define HAL_BARO_DEFAULT HAL_BARO_NONE + #define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_270) @@ -157,9 +157,9 @@ #define HAL_GPIO_LED_OFF 1 #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 + #define HAL_INS_DEFAULT HAL_INS_NONE + #define HAL_BARO_DEFAULT HAL_BARO_NONE + #define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE // only external compasses #define HAL_PROBE_EXTERNAL_I2C_COMPASSES #define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE diff --git a/libraries/AP_HAL/board/sitl.h b/libraries/AP_HAL/board/sitl.h index 7d45decf1b..54764e2fc1 100644 --- a/libraries/AP_HAL/board/sitl.h +++ b/libraries/AP_HAL/board/sitl.h @@ -43,9 +43,9 @@ #define HAL_BOARD_LOG_DIRECTORY "logs" #define HAL_BOARD_TERRAIN_DIRECTORY "terrain" #define HAL_PARAM_DEFAULTS_PATH nullptr -#define HAL_INS_DEFAULT HAL_INS_HIL -#define HAL_BARO_DEFAULT HAL_BARO_HIL -#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL +#define HAL_INS_DEFAULT HAL_INS_NONE +#define HAL_BARO_DEFAULT HAL_BARO_NONE +#define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE #define HAL_GPIO_A_LED_PIN 61 #define HAL_GPIO_B_LED_PIN 48 #define HAL_GPIO_C_LED_PIN 117