mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-28 18:53:57 -04:00
AP_HAL: add and use linux_hwdef.py
like chibios_hwdef.py - but for Linux
This commit is contained in:
Peter Barker
Peter Barker
parent
d31889854c
commit
7ce9ec2c61
@ -1,5 +1,7 @@
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#pragma once
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#include <hwdef.h>
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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_MEM_CLASS HAL_MEM_CLASS_1000
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@ -22,15 +24,8 @@
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#define PROBE_MAG_IMU_I2C(driver, imudev, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(GET_I2C_DEVICE(bus,addr),##args))
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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_BOARD_STORAGE_DIRECTORY "."
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#define HAL_INS_DEFAULT HAL_INS_NONE
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#define HAL_BARO_DEFAULT HAL_BARO_NONE
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// nothing to do here
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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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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
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#define AP_NOTIFY_TONEALARM_ENABLED 1
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#endif
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_270)
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#else
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@ -39,140 +34,41 @@
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define AP_NOTIFY_GPIO_LED_3_ENABLED 1
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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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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
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#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
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#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_YAW_270)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(AK8963, 1, 0x0d, ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607)
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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 OPTICAL_FLOW_TYPE_DEFAULT Type::BEBOP
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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 "/data/ftp/internal_000/ardupilot/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 2.21mm pixel size 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 (2.21 / (3.6 * 2.0 * 240 / 64))
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
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#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor::Type::BEBOP
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
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// linux SBC with VectorNav AHRS
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#define HAL_EXTERNAL_AHRS_DEFAULT 1
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#define DEFAULT_SERIAL3_PROTOCOL 36
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#define HAL_AIRSPEED_TYPE_DEFAULT 0
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#define HAL_GPS1_TYPE_DEFAULT 21
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#define HAL_AHRS_EKF_TYPE_DEFAULT 11
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// nothing to do here
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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/ardupilot/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
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#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
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#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_PITCH_180_YAW_90)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(AK8963, 1, 0x0d, ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607)
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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 "/data/ftp/internal_000/ardupilot/disco.parm"
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/* focal length 2.21mm pixel size 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 (2.21 / (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_COMPASS_OFFSETS_MAX_DEFAULT 2200
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#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor::Type::BEBOP
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#define HAL_GPIO_SCRIPT "/data/ftp/internal_000/ardupilot/gpio.sh"
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#define AP_NOTIFY_DISCO_LED_ENABLED 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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#define AP_NOTIFY_GPIO_LED_3_ENABLED 1
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#define HAL_GPIO_A_LED_PIN 0
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#define HAL_GPIO_B_LED_PIN 1
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#define HAL_GPIO_C_LED_PIN 2
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#define HAL_GPIO_LED_ON 1
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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#define HAL_HAVE_SERVO_VOLTAGE 1
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#define HAL_MAG_PROBE1 PROBE_MAG_SPI(LSM9DS1, "lsm9ds1_m", ROTATION_ROLL_180)
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#define HAL_MAG_PROBE2 PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define AP_NOTIFY_SYSFS_LED_ENABLED 1
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#define AP_RCPROTOCOL_EMLID_RCIO_ENABLED 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define AP_NOTIFY_GPIO_LED_3_ENABLED 1
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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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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
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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_NONE
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#define HAL_BARO_DEFAULT HAL_BARO_NONE
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// only external compasses
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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// nothing to do here
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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#define AP_NOTIFY_GPIO_LED_3_ENABLED 1
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#define HAL_GPIO_A_LED_PIN 69
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#define HAL_GPIO_B_LED_PIN 68
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#define HAL_GPIO_C_LED_PIN 45
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#define HAL_BUZZER_PIN 11
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#define HAL_INS_PROBE1 PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu9250ext", ROTATION_NONE)
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#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
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@ -181,9 +77,6 @@
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#define HAL_MAG_PROBE2 PROBE_MAG_IMU(AK8963, mpu9250, 1, ROTATION_NONE)
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#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
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#define HAL_NUM_CAN_IFACES 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "icm20602", ROTATION_ROLL_180_YAW_270)
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#define HAL_MAG_PROBE1 PROBE_MAG_SPI(MMC5XX3, "mmc5983", false, ROTATION_YAW_180)
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@ -192,37 +85,16 @@
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 1, 0x76); PROBE_BARO_I2C(BMP388, 1, 0x76)
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#define HAL_BARO_EXTERNAL_BUS_DEFAULT 6
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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// I2C6 is the only i2c one exposed on a header
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#define HAL_LINUX_I2C_EXTERNAL_BUS_MASK 1 << 6
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// We don't want any probing on the internal buses
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#define HAL_LINUX_I2C_INTERNAL_BUS_MASK 0
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#define AP_NOTIFY_NAVIGATOR_LED_ENABLED 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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#define AP_NOTIFY_GPIO_LED_2_ENABLED 1
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#define HAL_GPIO_A_LED_PIN 66
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#define HAL_GPIO_B_LED_PIN 67
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#define HAL_GPIO_LED_ON 1
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#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 2, 0x76)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU_I2C(AK8963, mpu9250, 2, 0x0c, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 1
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#define HAL_NUM_CAN_IFACES 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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#define AP_NOTIFY_GPIO_LED_3_ENABLED 1
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#define HAL_GPIO_A_LED_PIN 59
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#define HAL_GPIO_B_LED_PIN 58
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#define HAL_GPIO_C_LED_PIN 57
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#define HAL_GPIO_LED_ON 1
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#define HAL_BUZZER_PIN 28
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
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#define HAL_NUM_CAN_IFACES 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#define HAL_INS_PROBE1 PROBE_IMU_I2C(Invensense, 1, 0x69, ROTATION_NONE)
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@ -230,23 +102,11 @@
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#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define AP_NOTIFY_GPIO_LED_3_ENABLED 1
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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 AP_NOTIFY_RCOUTPUTRGBLED_LED_ENABLED 1
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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_PXFMINI
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define AP_NOTIFY_GPIO_LED_3_ENABLED 1
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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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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(BMI160, "bmi160")
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 2, 0x76)
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@ -254,95 +114,31 @@
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#define HAL_MAG_PROBE2 PROBE_MAG_I2C(HMC5843, 4, 0x1e, true, ROTATION_NONE)
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#define HAL_MAG_PROBE3 PROBE_MAG_I2C(IST8310, 4, 0x0e, true, ROTATION_PITCH_180_YAW_90)
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#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2; HAL_MAG_PROBE3
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#define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS1"
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#define HAL_NUM_CAN_IFACES 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#define AP_NOTIFY_GPIO_LED_3_ENABLED 1
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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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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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#define HAL_BOARD_LOG_DIRECTORY "/edge/ardupilot/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/edge/ardupilot/terrain"
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#define HAL_BOARD_STORAGE_DIRECTORY "/edge/ardupilot"
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#define HAL_INS_PROBE1 PROBE_IMU_SPI(Invensense, "mpu60x0", ROTATION_YAW_90)
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#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu60x0ext", ROTATION_YAW_90)
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#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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// only external compasses
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define HAL_NUM_CAN_IFACES 1
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#define HAL_IMU_TEMP_DEFAULT 55
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#define HAL_HAVE_IMU_HEATER 1
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
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#define HAL_LINUX_HEAT_PWM_NUM 15
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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 2040816
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#define HAL_GPS1_TYPE_DEFAULT 9
|
||||
#define HAL_CAN_DRIVER_DEFAULT 1
|
||||
#define AP_NOTIFY_RCOUTPUTRGBLEDINVERTED_LED_ENABLED 1
|
||||
#define AP_RCPROTOCOL_EMLID_RCIO_ENABLED 1
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
|
||||
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI2(Invensense, "rst_g", "rst_a", ROTATION_ROLL_180_YAW_90, ROTATION_ROLL_180_YAW_90)
|
||||
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
|
||||
#define HAL_MAG_PROBE_LIST PROBE_MAG_SPI(LIS3MDL, lis3mdl, false, ROTATION_ROLL_180_YAW_90)
|
||||
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
|
||||
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
|
||||
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
|
||||
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
|
||||
#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
|
||||
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
|
||||
|
||||
//#define HAL_BARO_ALLOW_INIT_NO_BARO
|
||||
|
||||
// Activate SUB Model Configuratopm
|
||||
#define HAL_BOARD_SUBTYPE_LINUX_OBAL_V1_MPU_9250_SPI
|
||||
|
||||
// Define Notify
|
||||
#define OBAL_NOTIFY_LED
|
||||
|
||||
|
||||
// GY-91 SPI Connection
|
||||
#ifdef HAL_BOARD_SUBTYPE_LINUX_OBAL_V1_MPU_9250_SPI
|
||||
#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 HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
|
||||
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
|
||||
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP085, 1, 0x77)
|
||||
//#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(QMC5883L, 1, 0x0d,true , ROTATION_NONE)
|
||||
|
||||
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef OBAL_NOTIFY_LED
|
||||
#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
|
||||
#endif
|
||||
#define HAL_BUZZER_PIN 12 // You can choose between 27,22,4,12
|
||||
#define OBAL_ALLOW_ADC 1
|
||||
|
||||
//#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(QMC5883L, 1, 0x0d,true , ROTATION_NONE)
|
||||
#else
|
||||
#error "no Linux board subtype set"
|
||||
#endif
|
||||
|
||||
223
libraries/AP_HAL/hwdef/scripts/hwdef.py
Normal file
223
libraries/AP_HAL/hwdef/scripts/hwdef.py
Normal file
@ -0,0 +1,223 @@
|
||||
'''
|
||||
base class for hwdef processing
|
||||
|
||||
AP_FLAKE8_CLEAN
|
||||
'''
|
||||
|
||||
import filecmp
|
||||
import os
|
||||
import re
|
||||
import shlex
|
||||
import sys
|
||||
|
||||
|
||||
class IncludeNotFoundException(Exception):
|
||||
def __init__(self, hwdef, includer):
|
||||
self.hwdef = hwdef
|
||||
self.includer = includer
|
||||
|
||||
|
||||
class HWDef:
|
||||
def __init__(self, quiet=False, outdir=None, hwdef=[]):
|
||||
self.outdir = outdir
|
||||
self.hwdef = hwdef
|
||||
self.quiet = quiet
|
||||
|
||||
# dictionary of all config lines, indexed by first word
|
||||
self.config = {}
|
||||
|
||||
# all config lines in order
|
||||
self.alllines = []
|
||||
|
||||
# allow for extra env vars
|
||||
self.env_vars = {}
|
||||
|
||||
# output lines:
|
||||
self.all_lines = []
|
||||
|
||||
# integer defines
|
||||
self.intdefines = {}
|
||||
|
||||
# boolean indicating whether we have read and processed self.hwdef
|
||||
self.processed_hwdefs = False
|
||||
|
||||
def is_int(self, str):
|
||||
'''check if a string is an integer'''
|
||||
try:
|
||||
int(str)
|
||||
except Exception:
|
||||
return False
|
||||
return True
|
||||
|
||||
def error(self, str):
|
||||
'''show an error and exit'''
|
||||
print("Error: " + str)
|
||||
sys.exit(1)
|
||||
|
||||
def load_file_with_include(self, fname):
|
||||
'''load a file as an array of lines, processing any include lines'''
|
||||
lines = open(fname, 'r').readlines()
|
||||
ret = []
|
||||
for line in lines:
|
||||
if line.startswith("include"):
|
||||
a = shlex.split(line)
|
||||
if len(a) > 1 and a[0] == "include":
|
||||
fname2 = os.path.relpath(os.path.join(os.path.dirname(fname), a[1]))
|
||||
ret.extend(self.load_file_with_include(fname2))
|
||||
continue
|
||||
ret.append(line)
|
||||
return ret
|
||||
|
||||
def get_numeric_board_id(self):
|
||||
'''return a numeric board ID, which may require mapping a string to a
|
||||
number via board_list.txt'''
|
||||
some_id = self.get_config('APJ_BOARD_ID')
|
||||
if some_id.isnumeric():
|
||||
return some_id
|
||||
|
||||
board_types_filename = "board_types.txt"
|
||||
topdir = os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../../..')
|
||||
board_types_dirpath = os.path.join(topdir, "Tools", "AP_Bootloader")
|
||||
board_types_filepath = os.path.join(board_types_dirpath, board_types_filename)
|
||||
for line in open(board_types_filepath, 'r'):
|
||||
m = re.match(r"(?P<name>[-\w]+)\s+(?P<board_id>\d+)", line)
|
||||
if m is None:
|
||||
continue
|
||||
if m.group('name') == some_id:
|
||||
return m.group('board_id')
|
||||
|
||||
raise ValueError("Unable to map (%s) to a board ID using %s" %
|
||||
(some_id, board_types_filepath))
|
||||
|
||||
def write_all_lines(self, hwdat):
|
||||
f = open(hwdat, 'w')
|
||||
f.write('\n'.join(self.all_lines))
|
||||
f.close()
|
||||
|
||||
def write_defaulting_define(self, f, name, value):
|
||||
f.write(f"#ifndef {name}\n")
|
||||
f.write(f"#define {name} {value}\n")
|
||||
f.write("#endif\n")
|
||||
|
||||
def write_define(self, f, name, value):
|
||||
f.write(f"#define {name} {value}\n")
|
||||
|
||||
def write_hwdef_header(self, outfilename):
|
||||
'''write hwdef header file'''
|
||||
self.progress("Writing hwdef setup in %s" % outfilename)
|
||||
tmpfile = outfilename + ".tmp"
|
||||
f = open(tmpfile, 'w')
|
||||
|
||||
f.write('''/*
|
||||
generated hardware definitions from hwdef.dat - DO NOT EDIT
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#ifndef TRUE
|
||||
#define TRUE 1
|
||||
#endif
|
||||
|
||||
#ifndef FALSE
|
||||
#define FALSE 0
|
||||
#endif
|
||||
|
||||
''')
|
||||
|
||||
self.write_hwdef_header_content(f)
|
||||
|
||||
f.close()
|
||||
# see if we ended up with the same file, on an unnecessary reconfigure
|
||||
try:
|
||||
if filecmp.cmp(outfilename, tmpfile):
|
||||
self.progress("No change in hwdef.h")
|
||||
os.unlink(tmpfile)
|
||||
return
|
||||
except Exception:
|
||||
pass
|
||||
try:
|
||||
os.unlink(outfilename)
|
||||
except Exception:
|
||||
pass
|
||||
os.rename(tmpfile, outfilename)
|
||||
|
||||
def progress(self, message):
|
||||
if self.quiet:
|
||||
return
|
||||
print(message)
|
||||
|
||||
def process_file(self, filename, depth=0):
|
||||
'''process a hwdef.dat file'''
|
||||
try:
|
||||
f = open(filename, "r")
|
||||
except Exception:
|
||||
self.error("Unable to open file %s" % filename)
|
||||
for line in f.readlines():
|
||||
line = line.split('#')[0] # ensure we discard the comments
|
||||
line = line.strip()
|
||||
if len(line) == 0 or line[0] == '#':
|
||||
continue
|
||||
a = shlex.split(line)
|
||||
if a[0] == "include" and len(a) > 1:
|
||||
include_file = a[1]
|
||||
if include_file[0] != '/':
|
||||
dir = os.path.dirname(filename)
|
||||
include_file = os.path.normpath(
|
||||
os.path.join(dir, include_file))
|
||||
self.progress("Including %s" % include_file)
|
||||
self.process_file(include_file, depth+1)
|
||||
else:
|
||||
self.process_line(line, depth)
|
||||
|
||||
def process_hwdefs(self):
|
||||
for fname in self.hwdef:
|
||||
self.process_file(fname)
|
||||
self.processed_hwdefs = True
|
||||
|
||||
def run(self):
|
||||
# process input file
|
||||
self.process_hwdefs()
|
||||
|
||||
# write out hwdef.h
|
||||
self.write_hwdef_header(os.path.join(self.outdir, "hwdef.h"))
|
||||
|
||||
def process_line(self, line, depth):
|
||||
'''process one line of pin definition file'''
|
||||
self.all_lines.append(line)
|
||||
a = shlex.split(line, posix=False)
|
||||
# keep all config lines for later use
|
||||
self.alllines.append(line)
|
||||
|
||||
if a[0] == 'undef':
|
||||
for u in a[1:]:
|
||||
self.progress("Removing %s" % u)
|
||||
self.config.pop(u, '')
|
||||
self.intdefines.pop(u, '')
|
||||
# also remove all occurences of defines in previous lines if any
|
||||
for line in self.alllines[:]:
|
||||
if line.startswith('define') and u == line.split()[1] or line.startswith('STM32_') and u == line.split()[0]: # noqa
|
||||
self.alllines.remove(line)
|
||||
return
|
||||
|
||||
if a[0] == 'env':
|
||||
self.progress("Adding environment %s" % ' '.join(a[1:]))
|
||||
if len(a[1:]) < 2:
|
||||
self.error("Bad env line for %s" % a[0])
|
||||
name = a[1]
|
||||
value = ' '.join(a[2:])
|
||||
self.env_vars[name] = value
|
||||
|
||||
return
|
||||
|
||||
if a[0] == 'define':
|
||||
# extract numerical defines for processing by other parts of the script
|
||||
result = re.match(r'define\s*([A-Z_0-9]+)\s+([0-9]+)', line)
|
||||
if result:
|
||||
(name, intvalue) = (result.group(1), int(result.group(2)))
|
||||
if name in self.intdefines and self.intdefines[name] == intvalue:
|
||||
msg = f"{name} already in defines with same value"
|
||||
if depth == 0:
|
||||
print(msg)
|
||||
# raise ValueError(msg)
|
||||
|
||||
self.intdefines[name] = intvalue
|
||||
Loading…
Reference in New Issue
Block a user