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AP_HAL: doesn't need these subsystems 

ESP32: disabled can on esp32 for now

ESP32: disable airspeed sensors on esp32buzz

ESP32: disable a bunch of compasss types and subsystems so it doesn't try to probe for all

of the compases on boot, as its super slow.

turned off a bunch of Plane stuff that an esp32 user isn't likely to need
compass

scr

comp

a

c
This commit is contained in:
David Buzz 2023-05-02 09:29:44 +10:00 committed by Peter Barker
parent 8da8163967
commit acd1f48ed3
1 changed files with 39 additions and 0 deletions
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39
libraries/AP_HAL/board/esp32.h
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@ -16,6 +16,8 @@
#define HAL_BOARD_NAME "ESP32" #define HAL_BOARD_NAME "ESP32"
#define HAL_CPU_CLASS HAL_CPU_CLASS_150 #define HAL_CPU_CLASS HAL_CPU_CLASS_150
#define HAL_WITH_DRONECAN 0 #define HAL_WITH_DRONECAN 0
#define HAL_WITH_UAVCAN 0
#define HAL_MAX_CAN_PROTOCOL_DRIVERS 0
#define HAL_HAVE_SAFETY_SWITCH 0 #define HAL_HAVE_SAFETY_SWITCH 0
#define HAL_HAVE_BOARD_VOLTAGE 0 #define HAL_HAVE_BOARD_VOLTAGE 0
#define HAL_HAVE_SERVO_VOLTAGE 0 #define HAL_HAVE_SERVO_VOLTAGE 0
@ -34,6 +36,9 @@
#define HAL_NUM_CAN_IFACES 0 #define HAL_NUM_CAN_IFACES 0
#define HAL_MEM_CLASS HAL_MEM_CLASS_192 #define HAL_MEM_CLASS HAL_MEM_CLASS_192
// disable uncommon stuff that we'd otherwise get
#define HAL_EXTERNAL_AHRS_ENABLED 0
#define HAL_GENERATOR_ENABLED 0
#define __LITTLE_ENDIAN 1234 #define __LITTLE_ENDIAN 1234
#define __BYTE_ORDER __LITTLE_ENDIAN #define __BYTE_ORDER __LITTLE_ENDIAN
@ -65,3 +70,37 @@
#define CONFIG_ESP32_WIFI_TX_BA_WIN 0 #define CONFIG_ESP32_WIFI_TX_BA_WIN 0
#define CONFIG_ESP32_WIFI_RX_BA_WIN 0 #define CONFIG_ESP32_WIFI_RX_BA_WIN 0
// turn off all the compasses by default..
#ifndef AP_COMPASS_BACKEND_DEFAULT_ENABLED
#define AP_COMPASS_BACKEND_DEFAULT_ENABLED 0
#endif
// disble temp cal of gyros by default
#define HAL_INS_TEMPERATURE_CAL_ENABLE 0
//turn off a bunch of advanced plane scheduler table things. see ArduPlane.cpp
#define AP_ADVANCEDFAILSAFE_ENABLED 0
#define AP_ICENGINE_ENABLED 0
#define AP_OPTICALFLOW_ENABLED 0
#define AP_RPM_ENABLED 0
#define AP_AIRSPEED_AUTOCAL_ENABLE 0
#define HAL_MOUNT_ENABLED 0
#define AP_CAMERA_ENABLED 0
#define HAL_SOARING_ENABLED 0
#define AP_TERRAIN_AVAILABLE 0
#define HAL_ADSB_ENABLED 0
#define HAL_BUTTON_ENABLED 0
#define AP_GRIPPER_ENABLED 0
#define AP_LANDINGGEAR_ENABLED 0
// disable avoid-fence-follow in copter, these all kinda need each other, so its all or none.
#define AC_AVOID_ENABLED 0
#define AP_FENCE_ENABLED 0
#define MODE_FOLLOW_ENABLED 0
#define AC_OAPATHPLANNER_ENABLED 0
// other big things..
#define HAL_QUADPLANE_ENABLED 0
#define HAL_GYROFFT_ENABLED 0