AP_HAL: add and use linux_hwdef.py

like chibios_hwdef.py - but for Linux

libraries/AP_HAL/board/linux.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <hwdef.h>
+
 #define HAL_BOARD_NAME "Linux"
 #define HAL_CPU_CLASS HAL_CPU_CLASS_1000
 #define HAL_MEM_CLASS HAL_MEM_CLASS_1000
@@ -22,15 +24,8 @@
 #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))
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
-    #define HAL_BOARD_LOG_DIRECTORY "logs"
+    // nothing to do here
-    #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
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
-    #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
-    #define AP_NOTIFY_TONEALARM_ENABLED 1
-    #endif
     #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
       #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_270)
     #else
@@ -39,140 +34,41 @@
     #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 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
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
-    #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"
     #define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_YAW_270)
     #define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(AK8963, 1, 0x0d, ROTATION_NONE)
     #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607)
-    #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 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
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
-    // linux SBC with VectorNav AHRS
+    // nothing to do here
-    #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
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
-    #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"
     #define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_PITCH_180_YAW_90)
     #define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(AK8963, 1, 0x0d, ROTATION_NONE)
     #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607)
-    #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 "/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
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_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
     #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
     #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
     #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
     #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
-    #define HAL_HAVE_SERVO_VOLTAGE 1
     #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
     #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
     #define HAL_MAG_PROBE1 PROBE_MAG_SPI(LSM9DS1, "lsm9ds1_m",  ROTATION_ROLL_180)
     #define HAL_MAG_PROBE2 PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
     #define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2
     #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
-    #define AP_NOTIFY_SYSFS_LED_ENABLED 1
-    #define AP_RCPROTOCOL_EMLID_RCIO_ENABLED 1
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
     #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
     #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 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
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
-    // Stub the sensors out for now, at least we can build and run
+    // nothing to do here
-    #define HAL_INS_DEFAULT HAL_INS_NONE
-    #define HAL_BARO_DEFAULT HAL_BARO_NONE
-    // only external compasses
-    #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
     #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
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
-    #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_INS_PROBE1 PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
     #define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu9250ext", ROTATION_NONE)
     #define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
@@ -181,9 +77,6 @@
     #define HAL_MAG_PROBE2 PROBE_MAG_IMU(AK8963, mpu9250, 1, ROTATION_NONE)
     #define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2
     #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
-    #define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
-    #define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
-    #define HAL_NUM_CAN_IFACES 1
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
     #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "icm20602", ROTATION_ROLL_180_YAW_270)
     #define HAL_MAG_PROBE1 PROBE_MAG_SPI(MMC5XX3, "mmc5983", false, ROTATION_YAW_180)
@@ -192,37 +85,16 @@
     #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 1, 0x76); PROBE_BARO_I2C(BMP388, 1, 0x76)
     #define HAL_BARO_EXTERNAL_BUS_DEFAULT 6
     #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
-    // 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
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_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_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_NONE)
     #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 2, 0x76)
     #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU_I2C(AK8963, mpu9250, 2, 0x0c, ROTATION_NONE)
     #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
-    #define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
-    #define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 1
-    #define HAL_NUM_CAN_IFACES 1
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
-    #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_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
     #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")
     #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
     #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
-    #define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
-    #define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
-    #define HAL_NUM_CAN_IFACES 1
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
     #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
     #define HAL_INS_PROBE1 PROBE_IMU_I2C(Invensense, 1, 0x69, ROTATION_NONE)
@@ -230,23 +102,11 @@
     #define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
     #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
     #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
-    #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
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
     #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
     #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 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
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
     #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(BMI160, "bmi160")
     #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 2, 0x76)
@@ -254,95 +114,31 @@
     #define HAL_MAG_PROBE2 PROBE_MAG_I2C(HMC5843, 4, 0x1e, true, ROTATION_NONE)
     #define HAL_MAG_PROBE3 PROBE_MAG_I2C(IST8310, 4, 0x0e, true, ROTATION_PITCH_180_YAW_90)
     #define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2; HAL_MAG_PROBE3
-    #define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS1"
-    #define HAL_NUM_CAN_IFACES 1
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
     #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(MS56XX, 1, 0x77)
-    #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
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
-    #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_INS_PROBE1 PROBE_IMU_SPI(Invensense, "mpu60x0", ROTATION_YAW_90)
     #define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu60x0ext", ROTATION_YAW_90)
     #define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
     #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
     // only external compasses
     #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
-    #define HAL_NUM_CAN_IFACES 1
-    #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
-    #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
+        //#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(QMC5883L, 1, 0x0d,true ,  ROTATION_NONE)
-
-    
-    #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
-
 #else
     #error "no Linux board subtype set"
 #endif

libraries/AP_HAL/hwdef/scripts/hwdef.py

@@ -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