/** * C preprocessor enumeration of the boards supported by the AP_HAL. * This list exists so HAL_BOARD == HAL_BOARD_xxx preprocessor blocks * can be used to exclude HAL boards from the build when appropriate. * It's not an elegant solution but we can improve it in future. */ #pragma once #define HAL_BOARD_SITL 3 #define HAL_BOARD_SMACCM 4 // unused #define HAL_BOARD_PX4 5 // unused #define HAL_BOARD_LINUX 7 #define HAL_BOARD_VRBRAIN 8 #define HAL_BOARD_CHIBIOS 10 #define HAL_BOARD_F4LIGHT 11 // reserved #define HAL_BOARD_ESP32 12 #define HAL_BOARD_QURT 13 #define HAL_BOARD_EMPTY 99 /* Default board subtype is -1 */ #define HAL_BOARD_SUBTYPE_NONE -1 /* HAL Linux sub-types, starting at 1000 */ #define HAL_BOARD_SUBTYPE_LINUX_NONE 1000 #define HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD 1001 #define HAL_BOARD_SUBTYPE_LINUX_PXF 1002 #define HAL_BOARD_SUBTYPE_LINUX_NAVIO 1003 #define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004 #define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005 #define HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006 #define HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 1009 #define HAL_BOARD_SUBTYPE_LINUX_BH 1010 #define HAL_BOARD_SUBTYPE_LINUX_PXFMINI 1012 #define HAL_BOARD_SUBTYPE_LINUX_NAVIO2 1013 #define HAL_BOARD_SUBTYPE_LINUX_DISCO 1014 #define HAL_BOARD_SUBTYPE_LINUX_AERO 1015 #define HAL_BOARD_SUBTYPE_LINUX_DARK 1016 #define HAL_BOARD_SUBTYPE_LINUX_BLUE 1018 #define HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ 1019 #define HAL_BOARD_SUBTYPE_LINUX_EDGE 1020 #define HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ 1021 #define HAL_BOARD_SUBTYPE_LINUX_POCKET 1022 #define HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR 1023 #define HAL_BOARD_SUBTYPE_LINUX_VNAV 1024 #define HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 1025 #define HAL_BOARD_SUBTYPE_LINUX_CANZERO 1026 /* HAL CHIBIOS sub-types, starting at 5000 NOTE!! Do not add more subtypes unless they are really needed. Most boards do not need a subtype defined. It is only needed if we need to use #ifdef'd code to change behaviour */ #define HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 5000 #define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 5001 // #define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 5002 #define HAL_BOARD_SUBTYPE_CHIBIOS_GENERIC 5009 #define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5 5013 // #define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 5016 // #define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 5017 // #define HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51 5018 // #define HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10 5019 // #define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V54 5020 #define HAL_BOARD_SUBTYPE_ESP32_DIY 6001 #define HAL_BOARD_SUBTYPE_ESP32_ICARUS 6002 #define HAL_BOARD_SUBTYPE_ESP32_BUZZ 6003 #define HAL_BOARD_SUBTYPE_ESP32_EMPTY 6004 #define HAL_BOARD_SUBTYPE_ESP32_TOMTE76 6005 #define HAL_BOARD_SUBTYPE_ESP32_NICK 6006 #define HAL_BOARD_SUBTYPE_ESP32_S3DEVKIT 6007 #define HAL_BOARD_SUBTYPE_ESP32_S3EMPTY 6008 /* InertialSensor driver types */ #define HAL_INS_NONE 0 #define HAL_INS_MPU60XX_SPI 2 #define HAL_INS_MPU60XX_I2C 3 #define HAL_INS_HIL_UNUSED 4 // unused #define HAL_INS_VRBRAIN 8 #define HAL_INS_MPU9250_SPI 9 #define HAL_INS_MPU9250_I2C 13 #define HAL_INS_MPU6500 19 #define HAL_INS_INV2_I2C 24 #define HAL_INS_INV2_SPI 25 /* Barometer driver types */ #define HAL_BARO_NONE 0 #define HAL_BARO_HIL_UNUSED 6 // unused #define HAL_BARO_20789_I2C_I2C 14 #define HAL_BARO_20789_I2C_SPI 15 #define HAL_BARO_LPS25H_IMU_I2C 17 /* Heat Types */ #define HAL_LINUX_HEAT_PWM 1 /* CPU classes, used to select if CPU intensive algorithms should be used * Note that these are only approximate, not exact CPU speeds. */ /* 150Mhz: STM32F4 or similar. Assumes: * - hardware floating point * - tens of kilobytes of memory available */ #define HAL_CPU_CLASS_150 3 /* GigaHz class: SITL, BeagleBone etc. Assumes megabytes of memory available. */ #define HAL_CPU_CLASS_1000 4 /* memory classes, in kbytes. Board must have at least the given amount of memory */ #define HAL_MEM_CLASS_20 1 #define HAL_MEM_CLASS_64 2 #define HAL_MEM_CLASS_192 3 #define HAL_MEM_CLASS_300 4 #define HAL_MEM_CLASS_500 5 #define HAL_MEM_CLASS_1000 6 /* Operating system features * * HAL implementations may define the following extra feature defines to 1 if * available: * * - HAL_OS_POSIX_IO : has posix-like filesystem IO * - HAL_OS_SOCKETS : has posix-like sockets */ /* DEFINITIONS FOR BOARDS */ #if CONFIG_HAL_BOARD == HAL_BOARD_SITL #include #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX #include #elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY #include #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #include #elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS #include #elif CONFIG_HAL_BOARD == HAL_BOARD_ESP32 #include #elif CONFIG_HAL_BOARD == HAL_BOARD_QURT #include #else #error "Unknown CONFIG_HAL_BOARD type" #endif #ifndef CONFIG_HAL_BOARD_SUBTYPE #error "No CONFIG_HAL_BOARD_SUBTYPE set" #endif #ifndef HAL_OS_SOCKETS #define HAL_OS_SOCKETS 0 #endif #ifndef HAL_PARAM_DEFAULTS_PATH #define HAL_PARAM_DEFAULTS_PATH nullptr #endif #ifndef HAL_HAVE_IMU_HEATER #define HAL_HAVE_IMU_HEATER 0 #endif #ifndef HAL_NUM_CAN_IFACES #define HAL_NUM_CAN_IFACES 0 #endif #ifndef HAL_WITH_IO_MCU #define HAL_WITH_IO_MCU 0 #endif #ifndef HAL_WITH_IO_MCU_BIDIR_DSHOT #define HAL_WITH_IO_MCU_BIDIR_DSHOT 0 #endif #ifndef HAL_WITH_IO_MCU_DSHOT #define HAL_WITH_IO_MCU_DSHOT HAL_WITH_IO_MCU_BIDIR_DSHOT #endif #ifndef HAL_REQUIRES_BDSHOT_SUPPORT #define HAL_REQUIRES_BDSHOT_SUPPORT (defined(HAL_WITH_BIDIR_DSHOT) || HAL_WITH_IO_MCU_BIDIR_DSHOT) #endif // support for Extended DShot Telemetry v2 is enabled only if any kind of such telemetry // can in principle arrive, either from servo outputs or from IOMCU // if not desired, set to 0 - and if IOMCU has bidirectional DShot enabled, recompile it too, // otherwise the communication to IOMCU breaks! #ifndef AP_EXTENDED_DSHOT_TELEM_V2_ENABLED #define AP_EXTENDED_DSHOT_TELEM_V2_ENABLED HAL_REQUIRES_BDSHOT_SUPPORT #endif // this is used as a general mechanism to make a 'small' build by // dropping little used features. We use this to allow us to keep // FMUv2 going for as long as possible #ifndef HAL_MINIMIZE_FEATURES #define HAL_MINIMIZE_FEATURES 0 #endif #ifndef BOARD_FLASH_SIZE #define BOARD_FLASH_SIZE 2048 #endif #ifndef HAL_GYROFFT_ENABLED #define HAL_GYROFFT_ENABLED (BOARD_FLASH_SIZE > 1024) #endif // enable AP_GyroFFT library only if required: #ifndef HAL_WITH_DSP #define HAL_WITH_DSP HAL_GYROFFT_ENABLED #endif #ifndef HAL_OS_FATFS_IO #define HAL_OS_FATFS_IO 0 #endif #ifndef HAL_BARO_DEFAULT #define HAL_BARO_DEFAULT HAL_BARO_NONE #endif #ifndef HAL_INS_DEFAULT #define HAL_INS_DEFAULT HAL_INS_NONE #endif #ifndef HAL_GPS1_TYPE_DEFAULT #define HAL_GPS1_TYPE_DEFAULT 1 #endif #ifndef HAL_CAN_DRIVER_DEFAULT #define HAL_CAN_DRIVER_DEFAULT 0 #endif #ifndef HAL_MAX_CAN_PROTOCOL_DRIVERS #define HAL_MAX_CAN_PROTOCOL_DRIVERS HAL_NUM_CAN_IFACES #endif #ifndef HAL_CANMANAGER_ENABLED #define HAL_CANMANAGER_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS > 0) #endif #ifndef HAL_ENABLE_DRONECAN_DRIVERS #define HAL_ENABLE_DRONECAN_DRIVERS HAL_CANMANAGER_ENABLED #endif #ifndef AP_TEST_DRONECAN_DRIVERS #define AP_TEST_DRONECAN_DRIVERS 0 #endif #ifdef HAVE_LIBDL #define AP_MODULE_SUPPORTED 1 #else #define AP_MODULE_SUPPORTED 0 #endif #ifndef HAL_SUPPORT_RCOUT_SERIAL #define HAL_SUPPORT_RCOUT_SERIAL 0 #endif #ifndef HAL_FORWARD_OTG2_SERIAL #define HAL_FORWARD_OTG2_SERIAL 0 #endif #ifndef HAL_HAVE_DUAL_USB_CDC #define HAL_HAVE_DUAL_USB_CDC 0 #endif #ifndef AP_CAN_SLCAN_ENABLED #if HAL_NUM_CAN_IFACES && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS #define AP_CAN_SLCAN_ENABLED 1 #else #define AP_CAN_SLCAN_ENABLED 0 #endif #endif #ifndef USE_LIBC_REALLOC #define USE_LIBC_REALLOC 1 #endif #ifndef AP_HAL_SHARED_DMA_ENABLED #define AP_HAL_SHARED_DMA_ENABLED 1 #endif #ifndef HAL_ENABLE_THREAD_STATISTICS #define HAL_ENABLE_THREAD_STATISTICS 0 #endif #ifndef AP_STATS_ENABLED #define AP_STATS_ENABLED 1 #endif #ifndef HAL_WITH_MCU_MONITORING #define HAL_WITH_MCU_MONITORING 0 #endif #ifndef AP_CRASHDUMP_ENABLED #define AP_CRASHDUMP_ENABLED 0 #endif #ifndef AP_SIGNED_FIRMWARE #define AP_SIGNED_FIRMWARE 0 #endif #ifndef HAL_DSHOT_ALARM_ENABLED #define HAL_DSHOT_ALARM_ENABLED 0 #endif #ifndef HAL_DSHOT_ENABLED #define HAL_DSHOT_ENABLED 1 #endif #ifndef HAL_SERIALLED_ENABLED #define HAL_SERIALLED_ENABLED HAL_DSHOT_ENABLED #endif #ifndef HAL_SERIAL_ESC_COMM_ENABLED #define HAL_SERIAL_ESC_COMM_ENABLED 1 #endif #ifndef AP_BOOTLOADER_FLASHING_ENABLED #define AP_BOOTLOADER_FLASHING_ENABLED 0 #endif #ifndef HAL_HNF_MAX_FILTERS // On an F7 The difference in CPU load between 1 notch and 24 notches is about 2% // The difference in CPU load between 1Khz backend and 2Khz backend is about 10% // So at 1Khz almost all notch combinations can be supported on F7 and certainly H7 #if defined(STM32H7) || CONFIG_HAL_BOARD == HAL_BOARD_SITL // Enough for a double-notch per motor on an octa using three IMUs and one harmonics // plus one static notch with one double-notch harmonics #define HAL_HNF_MAX_FILTERS 54 #elif defined(STM32F7) // Enough for a notch per motor on an octa using three IMUs and one harmonics // plus one static notch with one harmonics #define HAL_HNF_MAX_FILTERS 27 #else // Enough for a notch per motor on an octa quad using two IMUs and one harmonic // plus one static notch with one harmonic // Or triple-notch per motor on one IMU with one harmonic #define HAL_HNF_MAX_FILTERS 24 #endif #endif // HAL_HNF_MAX_FILTERS #if CONFIG_HAL_BOARD == HAL_BOARD_SITL // allow SITL to have all the CANFD options #define HAL_CANFD_SUPPORTED 8 #elif !defined(HAL_CANFD_SUPPORTED) #define HAL_CANFD_SUPPORTED 0 #endif #ifndef HAL_USE_QUADSPI #define HAL_USE_QUADSPI 0 #endif #ifndef HAL_USE_OCTOSPI #define HAL_USE_OCTOSPI 0 #endif #ifndef __RAMFUNC__ #define __RAMFUNC__ #endif #ifndef __FASTRAMFUNC__ #define __FASTRAMFUNC__ #endif #ifndef __EXTFLASHFUNC__ #define __EXTFLASHFUNC__ #endif #ifndef HAL_ENABLE_DFU_BOOT #define HAL_ENABLE_DFU_BOOT 0 #endif #ifndef HAL_ENABLE_SENDING_STATS #define HAL_ENABLE_SENDING_STATS BOARD_FLASH_SIZE >= 256 #endif #ifndef HAL_GPIO_LED_ON #define HAL_GPIO_LED_ON 0 #elif HAL_GPIO_LED_ON == 0 #error "Do not specify HAL_GPIO_LED_ON if you are setting it to the default, 0" #endif #ifdef HAL_GPIO_LED_OFF #error "HAL_GPIO_LED_OFF must not be defined, it is implicitly !HAL_GPIO_LED_ON" #endif #ifndef HAL_WITH_POSTYPE_DOUBLE #define HAL_WITH_POSTYPE_DOUBLE BOARD_FLASH_SIZE > 1024 #endif #define HAL_GPIO_LED_OFF (!HAL_GPIO_LED_ON)