AP_HAL_Linux: add and use linux_hwdef.py

like chibios_hwdef.py - but for Linux

libraries/AP_HAL_Linux/hwdef/aero/hwdef.dat

@@ -0,0 +1,5 @@
+# Intel Aero board
+
+define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS1"
+
+define HAL_NUM_CAN_IFACES 1

libraries/AP_HAL_Linux/hwdef/bbbmini/hwdef.dat

@@ -0,0 +1,11 @@
+# BeagleBoneBlue mini
+
+define AP_NOTIFY_GPIO_LED_3_ENABLED 1
+define HAL_GPIO_A_LED_PIN 69
+define HAL_GPIO_B_LED_PIN 68
+define HAL_GPIO_C_LED_PIN 45
+
+define HAL_BUZZER_PIN 11
+define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
+define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
+define HAL_NUM_CAN_IFACES 1

libraries/AP_HAL_Linux/hwdef/bebop/hwdef.dat

@@ -0,0 +1,46 @@
+# Parrot Bebop multirotor
+
+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"
+
+# Heater support
+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
+
+# in-built optical flow support:
+define OPTICAL_FLOW_TYPE_DEFAULT Type::BEBOP
+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::Type::BEBOP

libraries/AP_HAL_Linux/hwdef/bhat/hwdef.dat

@@ -0,0 +1,11 @@
+#  Board from 2016?!
+
+define AP_NOTIFY_GPIO_LED_3_ENABLED 1
+define HAL_GPIO_A_LED_PIN        17
+define HAL_GPIO_B_LED_PIN        18
+define HAL_GPIO_C_LED_PIN        22
+
+define AP_NOTIFY_RCOUTPUTRGBLED_LED_ENABLED 1
+define HAL_RCOUT_RGBLED_RED      13
+define HAL_RCOUT_RGBLED_GREEN    14
+define HAL_RCOUT_RGBLED_BLUE     15

libraries/AP_HAL_Linux/hwdef/blue/hwdef.dat

@@ -0,0 +1,12 @@
+# BeagleBone Blue
+
+define AP_NOTIFY_GPIO_LED_2_ENABLED 1
+define HAL_GPIO_A_LED_PIN 66
+define HAL_GPIO_B_LED_PIN 67
+define HAL_GPIO_LED_ON    1
+
+define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
+
+define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 1
+
+define HAL_NUM_CAN_IFACES 1

libraries/AP_HAL_Linux/hwdef/canzero/hwdef.dat

@@ -0,0 +1,17 @@
+# mRo CanZero support
+
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+define HAL_NUM_CAN_IFACES 1
+define HAL_CAN_DRIVER_DEFAULT 1
+
+define AP_NOTIFY_GPIO_LED_3_ENABLED 1
+define HAL_GPIO_A_LED_PIN        22
+define HAL_GPIO_B_LED_PIN        27
+define HAL_GPIO_C_LED_PIN        6
+
+define HAL_BOARD_LOG_DIRECTORY "/home/pi/ardupilot/logs"
+define HAL_BOARD_TERRAIN_DIRECTORY "/home/pi/ardupilot/terrain"
+define HAL_BOARD_STORAGE_DIRECTORY "/home/pi/ardupilot"
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 0

libraries/AP_HAL_Linux/hwdef/dark/hwdef.dat

@@ -0,0 +1,6 @@
+# ancient unknown board?
+
+define AP_NOTIFY_GPIO_LED_3_ENABLED 1
+define HAL_GPIO_A_LED_PIN        24
+define HAL_GPIO_B_LED_PIN        25
+define HAL_GPIO_C_LED_PIN        16

libraries/AP_HAL_Linux/hwdef/disco/hwdef.dat

@@ -0,0 +1,48 @@
+# Parrot Disco fixed-wing
+
+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"
+
+# heater support:
+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
+
+# in-built optical flow support:
+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::Type::BEBOP
+define HAL_GPIO_SCRIPT "/data/ftp/internal_000/ardupilot/gpio.sh"
+
+define AP_NOTIFY_DISCO_LED_ENABLED 1

libraries/AP_HAL_Linux/hwdef/edge/hwdef.dat

@@ -0,0 +1,26 @@
+# Emlid Edge board
+
+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_NUM_CAN_IFACES 1
+
+# heater support
+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
+
+# default to DroneCAN GPS:
+define HAL_GPS1_TYPE_DEFAULT 9
+
+define HAL_CAN_DRIVER_DEFAULT 1
+
+# this looks suspect:
+define AP_NOTIFY_RCOUTPUTRGBLEDINVERTED_LED_ENABLED 1
+
+define AP_RCPROTOCOL_EMLID_RCIO_ENABLED 1

libraries/AP_HAL_Linux/hwdef/erleboard/hwdef.dat

@@ -0,0 +1,6 @@
+# board from Erle robotics
+
+define AP_NOTIFY_GPIO_LED_3_ENABLED 1
+define HAL_GPIO_A_LED_PIN        61
+define HAL_GPIO_B_LED_PIN        48
+define HAL_GPIO_C_LED_PIN        117

libraries/AP_HAL_Linux/hwdef/erlebrain2/hwdef.dat

@@ -0,0 +1,6 @@
+# Erle Robotics Brain 2
+
+define AP_NOTIFY_GPIO_LED_3_ENABLED 1
+define HAL_GPIO_A_LED_PIN        24
+define HAL_GPIO_B_LED_PIN        25
+define HAL_GPIO_C_LED_PIN        16

libraries/AP_HAL_Linux/hwdef/linux/hwdef.dat

@@ -0,0 +1,7 @@
+# hwdef for generic Linux configuration option, eg. running on your laptop
+
+define HAL_BOARD_LOG_DIRECTORY "logs"
+define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
+define HAL_BOARD_STORAGE_DIRECTORY "."
+define HAL_INS_DEFAULT HAL_INS_NONE
+define HAL_BARO_DEFAULT HAL_BARO_NONE

libraries/AP_HAL_Linux/hwdef/navigator/hwdef.dat

@@ -0,0 +1,8 @@
+# BlueRobotics Navigator
+
+# I2C6 is the only i2c one exposed on a header
+define HAL_LINUX_I2C_EXTERNAL_BUS_MASK 1 << 6
+
+# We don't want any probing on the internal buses
+define HAL_LINUX_I2C_INTERNAL_BUS_MASK 0
+define AP_NOTIFY_NAVIGATOR_LED_ENABLED 1

libraries/AP_HAL_Linux/hwdef/navigator64/hwdef.dat

@@ -0,0 +1 @@
+include ../navigator/hwdef.dat

libraries/AP_HAL_Linux/hwdef/navio/hwdef.dat

@@ -0,0 +1,7 @@
+# Emlid NaviO
+
+define AP_NOTIFY_GPIO_LED_3_ENABLED 1
+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 1

libraries/AP_HAL_Linux/hwdef/navio2/hwdef.dat

@@ -0,0 +1,5 @@
+# Emlid NaviO2
+
+define HAL_HAVE_SERVO_VOLTAGE 1
+define AP_NOTIFY_SYSFS_LED_ENABLED 1
+define AP_RCPROTOCOL_EMLID_RCIO_ENABLED 1

libraries/AP_HAL_Linux/hwdef/obal/hwdef.dat

@@ -0,0 +1,17 @@
+# Open Board Architecture for Linux
+
+define HAL_BOARD_LOG_DIRECTORY "/home/pi/ardupilot/logs"
+define HAL_BOARD_TERRAIN_DIRECTORY "/home/pi/ardupilot/terrain"
+define HAL_BOARD_STORAGE_DIRECTORY "/home/pi/ardupilot"
+define HAL_PARAM_DEFAULTS_PATH "/home/pi/ardupilot.parm"
+
+define AP_NOTIFY_GPIO_LED_3_ENABLED 1
+define HAL_GPIO_A_LED_PIN        27 // You can choose between 27,22,4,12
+define HAL_GPIO_C_LED_PIN        22 // You can choose between 27,22,4,12
+define HAL_GPIO_B_LED_PIN        4 // You can choose between 27,22,4,12
+define HAL_GPIO_LED_ON           1
+
+define HAL_BUZZER_PIN                12 // You can choose between 27,22,4,12
+define OBAL_ALLOW_ADC                1
+
+define HAL_BOARD_SUBTYPE_LINUX_OBAL_V1_MPU_9250_SPI 1

libraries/AP_HAL_Linux/hwdef/pocket/hwdef.dat

@@ -0,0 +1,15 @@
+# PocketPilot
+
+define AP_NOTIFY_GPIO_LED_3_ENABLED 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    1
+
+define HAL_BUZZER_PIN 28
+
+define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
+
+define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
+
+define HAL_NUM_CAN_IFACES 1

libraries/AP_HAL_Linux/hwdef/pxf/hwdef.dat

@@ -0,0 +1,8 @@
+# hwdef for Pixhawk firecape
+
+define AP_NOTIFY_TONEALARM_ENABLED 1
+
+define AP_NOTIFY_GPIO_LED_3_ENABLED 1
+define HAL_GPIO_A_LED_PIN        61
+define HAL_GPIO_B_LED_PIN        48
+define HAL_GPIO_C_LED_PIN        117

libraries/AP_HAL_Linux/hwdef/pxfmini/hwdef.dat

@@ -0,0 +1,6 @@
+# Pixhawk FireCape Mini
+
+define AP_NOTIFY_GPIO_LED_3_ENABLED 1
+define HAL_GPIO_A_LED_PIN        24
+define HAL_GPIO_B_LED_PIN        25
+define HAL_GPIO_C_LED_PIN        16

libraries/AP_HAL_Linux/hwdef/rst_zynq/hwdef.dat

@@ -0,0 +1,3 @@
+# Aerotenna Zynq board
+
+define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0

libraries/AP_HAL_Linux/hwdef/scripts/linux_hwdef.py

@@ -0,0 +1,45 @@
+#!/usr/bin/env python
+'''
+setup board.h for Linux
+
+AP_FLAKE8_CLEAN
+
+'''
+
+import argparse
+import sys
+import os
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../../../libraries/AP_HAL/hwdef/scripts'))
+import hwdef  # noqa:E402
+
+
+class LinuxHWDef(hwdef.HWDef):
+
+    def __init__(self, quiet=False, outdir=None, hwdef=[]):
+        super(LinuxHWDef, self).__init__(quiet=quiet, outdir=outdir, hwdef=hwdef)
+
+    def write_hwdef_header_content(self, f):
+        for d in self.alllines:
+            if d.startswith('define '):
+                f.write('#define %s\n' % d[7:])
+
+
+if __name__ == '__main__':
+
+    parser = argparse.ArgumentParser("linux_hwdef.py")
+    parser.add_argument(
+        '-D', '--outdir', type=str, default="/tmp", help='Output directory')
+    parser.add_argument(
+        'hwdef', type=str, nargs='+', default=None, help='hardware definition file')
+    parser.add_argument(
+        '--quiet', action='store_true', default=False, help='quiet running')
+
+    args = parser.parse_args()
+
+    c = LinuxHWDef(
+        outdir=args.outdir,
+        hwdef=args.hwdef,
+        quiet=args.quiet,
+    )
+    c.run()

libraries/AP_HAL_Linux/hwdef/vnav/hwdef.dat

@@ -0,0 +1,7 @@
+# linux SBC with VectorNav AHRS
+
+define HAL_EXTERNAL_AHRS_DEFAULT 1
+define DEFAULT_SERIAL3_PROTOCOL 36
+define HAL_AIRSPEED_TYPE_DEFAULT 0
+define HAL_GPS1_TYPE_DEFAULT 21
+define HAL_AHRS_EKF_TYPE_DEFAULT 11

libraries/AP_HAL_Linux/hwdef/zynq/hwdef.dat

@@ -0,0 +1,6 @@
+# Stub the sensors out for now, at least we can build and run
+define HAL_INS_DEFAULT HAL_INS_NONE
+define HAL_BARO_DEFAULT HAL_BARO_NONE
+
+# only external compasses
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES