mirror of https://github.com/ArduPilot/ardupilot
AP_HAL: Split the AP_HAL_Boards.h header into per board sub headers for legibility
This commit is contained in:
Andy Little
Lucas De Marchi
parent
841828541d
commit
4b2eedac05
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@ -122,422 +122,17 @@
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/* DEFINITIONS FOR BOARDS */
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#define HAL_BOARD_NAME "SITL"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
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#define HAL_OS_POSIX_IO 1
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#define HAL_OS_SOCKETS 1
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#define HAL_STORAGE_SIZE 16384
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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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_PARAM_DEFAULTS_PATH "etc/defaults.parm"
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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_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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#include <AP_HAL/board/sitl.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#define HAL_BOARD_NAME "PX4"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_150
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#define HAL_OS_POSIX_IO 1
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#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/fs/microsd/APM/TERRAIN"
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#define HAL_PARAM_DEFAULTS_PATH "/etc/defaults.parm"
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#define HAL_INS_DEFAULT HAL_INS_PX4
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#define HAL_BARO_DEFAULT HAL_BARO_PX4
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_PX4
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#define HAL_SERIAL0_BAUD_DEFAULT 115200
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V1
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#define HAL_STORAGE_SIZE 8192
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#else
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V2
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#define HAL_STORAGE_SIZE 16384
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#define HAL_HAVE_IMU_HEATER 1 // for Pixhawk2
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#define HAL_IMU_TEMP_DEFAULT -1 // disabled
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#endif
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#define HAL_GPIO_A_LED_PIN 27
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#define HAL_GPIO_B_LED_PIN 26
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#define HAL_GPIO_C_LED_PIN 25
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#include <AP_HAL/board/px4.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#define HAL_BOARD_NAME "Linux"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
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#define HAL_OS_POSIX_IO 1
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#define HAL_OS_SOCKETS 1
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#define HAL_STORAGE_SIZE 16384
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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_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_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
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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/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
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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 "/etc/arducopter/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 3.6 um, 2x binning in each direction
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* 240x240 crop rescaled to 64x64 */
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64))
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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/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
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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_AIRSPEED_MS4515DO_I2C_BUS 1
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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 "/etc/arduplane/disco.parm"
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/* focal length 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 (2.5 / (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_ARMING_COMPASS_OFFSETS_MAX 2200
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
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#define HAL_INS_MPU60x0_NAME "mpu6000"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
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#define HAL_BARO_MS5611_I2C_BUS 10
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
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/* Internal and external compasses */
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
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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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/* ELP-USBFHD01M-L21
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* focal length 2.1 mm, pixel size 3 um
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* 240x240 crop rescaled to 64x64 */
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (3.0 / (2.1 * 2.0 * 240 / 64))
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
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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_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
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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_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_GPIO_A_LED_PIN 16
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#define HAL_GPIO_B_LED_PIN 16
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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
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_RASPILOT
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#define HAL_INS_MPU60x0_NAME "mpu6000"
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#define HAL_INS_LSM9DS0_G_NAME "lsm9ds0_g"
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#define HAL_INS_LSM9DS0_A_NAME "lsm9ds0_am"
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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_RASPILOT
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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_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
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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
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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// Stub the sensors out for now, at least we can build and run
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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_BBBMINI
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_BBBMINI
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_INS_MPU9250_NAME_EXT "mpu9250ext"
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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_BBBMINI
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/* HMC5843 can be an external compass */
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#define HAL_COMPASS_HMC5843_I2C_BUS 2
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
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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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/* ELP-USBFHD01M-L21
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* focal length 2.1 mm, pixel size 3 um
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* 240x240 crop rescaled to 64x64 */
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (3.0 / (2.1 * 2.0 * 240 / 64))
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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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_INS_DEFAULT HAL_INS_BH
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_INS_MPU60x0_I2C_BUS 1
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#define HAL_INS_MPU60x0_I2C_ADDR 0x69
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_BH
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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 17
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#define HAL_GPIO_B_LED_PIN 18
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#define HAL_GPIO_C_LED_PIN 22
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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_RCOUT_RGBLED_RED 13
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#define HAL_RCOUT_RGBLED_GREEN 14
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#define HAL_RCOUT_RGBLED_BLUE 15
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_QFLIGHT
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#define HAL_BARO_DEFAULT HAL_BARO_QFLIGHT
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_QFLIGHT
|
||||
#define HAL_LINUX_UARTS_ON_TIMER_THREAD 1
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
||||
#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_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#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
|
||||
#else
|
||||
#error "no Linux board subtype set"
|
||||
#endif
|
||||
|
||||
#ifndef HAL_COMPASS_DEFAULT
|
||||
#define HAL_COMPASS_DEFAULT -1
|
||||
#endif
|
||||
|
||||
#ifndef HAL_LINUX_UARTS_ON_TIMER_THREAD
|
||||
#define HAL_LINUX_UARTS_ON_TIMER_THREAD 0
|
||||
#endif
|
||||
|
||||
#ifndef HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS
|
||||
#define HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS 0x42
|
||||
#endif
|
||||
|
||||
#ifndef HAL_OPTFLOW_PX4FLOW_I2C_BUS
|
||||
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
|
||||
#endif
|
||||
|
||||
#include <AP_HAL/board/linux.h>
|
||||
#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
|
||||
#define HAL_BOARD_NAME "EMPTY"
|
||||
#define HAL_CPU_CLASS HAL_CPU_CLASS_16
|
||||
#define HAL_STORAGE_SIZE 4096
|
||||
#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 CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
|
||||
|
||||
#include <AP_HAL/board/empty.h>
|
||||
#elif CONFIG_HAL_BOARD == HAL_BOARD_QURT
|
||||
#define AP_HAL_BOARD_DRIVER AP_HAL_QURT
|
||||
#define HAL_BOARD_NAME "QURT"
|
||||
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
|
||||
#define HAL_STORAGE_SIZE 16384
|
||||
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
|
||||
#define HAL_INS_DEFAULT HAL_INS_QURT
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_QURT
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_QURT
|
||||
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/dev/fs/logs"
|
||||
#define HAL_OS_POSIX_IO 1
|
||||
#define HAL_SERIAL0_BAUD_DEFAULT 115200
|
||||
|
||||
#include <AP_HAL/board/qurt.h>
|
||||
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
|
||||
#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_SERIAL0_BAUD_DEFAULT 115200
|
||||
#if defined(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_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
|
||||
#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 HIGH
|
||||
#define HAL_GPIO_LED_OFF LOW
|
||||
#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
|
||||
|
||||
#include <AP_HAL/board/vrbrain.h>
|
||||
#else
|
||||
#error "Unknown CONFIG_HAL_BOARD type"
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -0,0 +1,11 @@
|
|||
#pragma once
|
||||
|
||||
#define HAL_BOARD_NAME "EMPTY"
|
||||
#define HAL_CPU_CLASS HAL_CPU_CLASS_16
|
||||
#define HAL_STORAGE_SIZE 4096
|
||||
#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 CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
|
||||
|
||||
|
|
@ -0,0 +1,306 @@
|
|||
#pragma once
|
||||
|
||||
#define HAL_BOARD_NAME "Linux"
|
||||
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
|
||||
#define HAL_OS_POSIX_IO 1
|
||||
#define HAL_OS_SOCKETS 1
|
||||
#define HAL_STORAGE_SIZE 16384
|
||||
#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_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_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
||||
#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/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
|
||||
#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 "/etc/arducopter/bebop.parm"
|
||||
#define HAL_RCOUT_BEBOP_BLDC_I2C_BUS 1
|
||||
#define HAL_RCOUT_BEBOP_BLDC_I2C_ADDR 0x08
|
||||
/* focal length 3.6 um, 2x binning in each direction
|
||||
* 240x240 crop rescaled to 64x64 */
|
||||
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
|
||||
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64))
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
|
||||
#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_AIRSPEED_MS4515DO_I2C_BUS 1
|
||||
#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 "/etc/arduplane/disco.parm"
|
||||
/* focal length 3.6 um, 2x binning in each direction
|
||||
* 240x240 crop rescaled to 64x64 */
|
||||
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64))
|
||||
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
|
||||
// the disco has challenges with its magnetic setup
|
||||
#define AP_ARMING_COMPASS_OFFSETS_MAX 2200
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
|
||||
#define HAL_INS_MPU60x0_NAME "mpu6000"
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
|
||||
#define HAL_BARO_MS5611_I2C_BUS 10
|
||||
#define HAL_BARO_MS5611_I2C_ADDR 0x77
|
||||
/* Internal and external compasses */
|
||||
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||
#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
|
||||
#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
|
||||
/* ELP-USBFHD01M-L21
|
||||
* focal length 2.1 mm, pixel size 3 um
|
||||
* 240x240 crop rescaled to 64x64 */
|
||||
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (3.0 / (2.1 * 2.0 * 240 / 64))
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
||||
#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_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
||||
#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_NAVIO2
|
||||
/* 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 16
|
||||
#define HAL_GPIO_B_LED_PIN 16
|
||||
#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_RASPILOT
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_RASPILOT
|
||||
#define HAL_INS_MPU60x0_NAME "mpu6000"
|
||||
#define HAL_INS_LSM9DS0_G_NAME "lsm9ds0_g"
|
||||
#define HAL_INS_LSM9DS0_A_NAME "lsm9ds0_am"
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
||||
#define HAL_BARO_MS5611_NAME "ms5611"
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_RASPILOT
|
||||
/* 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_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
||||
#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
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
// 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_BBBMINI
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_BBBMINI
|
||||
#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_ONBOARD_VDEV_PATH "/dev/video0"
|
||||
#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
|
||||
/* ELP-USBFHD01M-L21
|
||||
* focal length 2.1 mm, pixel size 3 um
|
||||
* 240x240 crop rescaled to 64x64 */
|
||||
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (3.0 / (2.1 * 2.0 * 240 / 64))
|
||||
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#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_QFLIGHT
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_QFLIGHT
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_QFLIGHT
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_QFLIGHT
|
||||
#define HAL_LINUX_UARTS_ON_TIMER_THREAD 1
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
||||
#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_BOARD_LOG_DIRECTORY "/var/APM/logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
|
||||
#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
|
||||
#else
|
||||
#error "no Linux board subtype set"
|
||||
#endif
|
||||
|
||||
#ifndef HAL_COMPASS_DEFAULT
|
||||
#define HAL_COMPASS_DEFAULT -1
|
||||
#endif
|
||||
|
||||
#ifndef HAL_LINUX_UARTS_ON_TIMER_THREAD
|
||||
#define HAL_LINUX_UARTS_ON_TIMER_THREAD 0
|
||||
#endif
|
||||
|
||||
#ifndef HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS
|
||||
#define HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS 0x42
|
||||
#endif
|
||||
|
||||
#ifndef HAL_OPTFLOW_PX4FLOW_I2C_BUS
|
||||
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
|
||||
#endif
|
||||
|
||||
|
|
@ -0,0 +1,29 @@
|
|||
#pragma once
|
||||
|
||||
#define HAL_BOARD_NAME "PX4"
|
||||
#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_PX4
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_PX4
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_PX4
|
||||
#define HAL_SERIAL0_BAUD_DEFAULT 115200
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
||||
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V1
|
||||
#define HAL_STORAGE_SIZE 8192
|
||||
#else
|
||||
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V2
|
||||
#define HAL_STORAGE_SIZE 16384
|
||||
#define HAL_HAVE_IMU_HEATER 1 // for Pixhawk2
|
||||
#define HAL_IMU_TEMP_DEFAULT -1 // disabled
|
||||
#endif
|
||||
|
||||
#define HAL_GPIO_A_LED_PIN 27
|
||||
#define HAL_GPIO_B_LED_PIN 26
|
||||
#define HAL_GPIO_C_LED_PIN 25
|
||||
#define HAL_GPIO_LED_ON LOW
|
||||
#define HAL_GPIO_LED_OFF HIGH
|
||||
|
||||
|
|
@ -0,0 +1,15 @@
|
|||
#pragma once
|
||||
|
||||
#define AP_HAL_BOARD_DRIVER AP_HAL_QURT
|
||||
#define HAL_BOARD_NAME "QURT"
|
||||
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
|
||||
#define HAL_STORAGE_SIZE 16384
|
||||
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
|
||||
#define HAL_INS_DEFAULT HAL_INS_QURT
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_QURT
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_QURT
|
||||
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
|
||||
#define HAL_BOARD_LOG_DIRECTORY "/dev/fs/logs"
|
||||
#define HAL_OS_POSIX_IO 1
|
||||
#define HAL_SERIAL0_BAUD_DEFAULT 115200
|
||||
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
#pragma once
|
||||
|
||||
#define HAL_BOARD_NAME "SITL"
|
||||
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
|
||||
#define HAL_OS_POSIX_IO 1
|
||||
#define HAL_OS_SOCKETS 1
|
||||
#define HAL_STORAGE_SIZE 16384
|
||||
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
|
||||
#define HAL_BOARD_LOG_DIRECTORY "logs"
|
||||
#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
|
||||
#define HAL_PARAM_DEFAULTS_PATH "etc/defaults.parm"
|
||||
#define HAL_INS_DEFAULT HAL_INS_HIL
|
||||
#define HAL_BARO_DEFAULT HAL_BARO_HIL
|
||||
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
|
||||
#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
|
||||
|
||||
|
|
@ -0,0 +1,46 @@
|
|||
#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_SERIAL0_BAUD_DEFAULT 115200
|
||||
|
||||
#if defined(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_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
|
||||
#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 HIGH
|
||||
#define HAL_GPIO_LED_OFF LOW
|
||||
#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
|
||||
|
||||
Loading…
Reference in New Issue