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AP_HAL: added the concept of a board subtype, and default sensor types 

this will make the vehicle code much more generic
This commit is contained in:
Andrew Tridgell 2014-07-07 12:02:50 +10:00
parent e2a3a4e45c
commit 5693392838
1 changed files with 73 additions and 9 deletions
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82
libraries/AP_HAL/AP_HAL_Boards.h
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@ -18,10 +18,40 @@
#define HAL_BOARD_FLYMAPLE 6
#define HAL_BOARD_LINUX 7
#define HAL_BOARD_VRBRAIN 8
#define HAL_BOARD_ERLE 9
#define HAL_BOARD_EMPTY 99
/**
HAL Linux sub-types
*/
#define HAL_BOARD_SUBTYPE_LINUX_NONE 0
#define HAL_BOARD_SUBTYPE_LINUX_ERLE 1
#define HAL_BOARD_SUBTYPE_LINUX_PXF 2
// InertialSensor driver types
#define HAL_INS_OILPAN 1
#define HAL_INS_MPU6000 2
#define HAL_INS_HIL 3
#define HAL_INS_PX4 4
#define HAL_INS_FLYMAPLE 5
#define HAL_INS_L3G4200D 6
#define HAL_INS_VRBRAIN 7
#define HAL_INS_MPU9250 8
// barometer driver types
#define HAL_BARO_BMP085 1
#define HAL_BARO_MS5611 2
#define HAL_BARO_MS5611_SPI 3
#define HAL_BARO_PX4 4
#define HAL_BARO_HIL 5
#define HAL_BARO_VRBRAIN 6
// compass driver types
#define HAL_COMPASS_HMC5843 1
#define HAL_COMPASS_PX4 2
#define HAL_COMPASS_HIL 3
#define HAL_COMPASS_VRBRAIN 4
/**
CPU classes, used to select if CPU intensive algorithms should be used
@ -57,6 +87,9 @@
#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_OILPAN
#define HAL_BARO_DEFAULT HAL_BARO_BMP085
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_APM2
@ -64,6 +97,13 @@
#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_MPU6000
#ifdef APM2_BETA_HARDWARE
#define HAL_BARO_DEFAULT HAL_BARO_BMP085
#else
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#endif
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_SITL
@ -72,6 +112,10 @@
#define HAL_OS_POSIX_IO 1
#define HAL_STORAGE_SIZE 4096
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#define HAL_BOARD_LOG_DIRECTORY "logs"
#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 == HAL_BOARD_FLYMAPLE
#define AP_HAL_BOARD_DRIVER AP_HAL_FLYMAPLE
@ -79,6 +123,10 @@
#define HAL_CPU_CLASS HAL_CPU_CLASS_75
#define HAL_STORAGE_SIZE 4096
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#define HAL_INS_DEFAULT HAL_INS_FLYMAPLE
#define HAL_BARO_DEFAULT HAL_BARO_BMP085
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
#define HAL_SERIAL0_BAUD_DEFAULT 115200
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
#define AP_HAL_BOARD_DRIVER AP_HAL_PX4
@ -87,6 +135,11 @@
#define HAL_OS_POSIX_IO 1
#define HAL_STORAGE_SIZE 4096
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
#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
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#define AP_HAL_BOARD_DRIVER AP_HAL_Linux
@ -95,14 +148,17 @@
#define HAL_OS_POSIX_IO 1
#define HAL_STORAGE_SIZE 4096
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#elif CONFIG_HAL_BOARD == HAL_BOARD_ERLE
#define AP_HAL_BOARD_DRIVER AP_HAL_Linux
#define HAL_BOARD_NAME "Erle Linux"
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
#define HAL_OS_POSIX_IO 1
#define HAL_STORAGE_SIZE 4096
#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_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_ERLE
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_INS_DEFAULT HAL_INS_MPU9250
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
#define AP_HAL_BOARD_DRIVER AP_HAL_Empty
@ -110,6 +166,9 @@
#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
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#define AP_HAL_BOARD_DRIVER AP_HAL_VRBRAIN
@ -118,6 +177,11 @@
#define HAL_OS_POSIX_IO 1
#define HAL_STORAGE_SIZE 4096
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
#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
#else
#error "Unknown CONFIG_HAL_BOARD type"