#pragma once #define HAL_BOARD_NAME "Linux" #define HAL_CPU_CLASS HAL_CPU_CLASS_1000 #define HAL_MEM_CLASS HAL_MEM_CLASS_1000 #define HAL_OS_POSIX_IO 1 #define HAL_OS_SOCKETS 1 #define HAL_STORAGE_SIZE 16384 #define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE // make sensor selection clearer #define PROBE_IMU_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,GET_I2C_DEVICE(bus, addr),##args)) #define PROBE_IMU_I2C2(driver, bus, addr1, addr2, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.i2c_mgr->get_device(bus, addr1),hal.i2c_mgr->get_device(bus, addr2),##args)) #define PROBE_IMU_SPI(driver, devname, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname),##args)) #define PROBE_IMU_SPI2(driver, devname1, devname2, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname1),hal.spi->get_device(devname2),##args)) #define PROBE_BARO_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(GET_I2C_DEVICE(bus, addr)),##args)) #define PROBE_BARO_SPI(driver, devname, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(hal.spi->get_device(devname)),##args)) #define PROBE_MAG_I2C(driver, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(GET_I2C_DEVICE(bus, addr),##args)) #define PROBE_MAG_SPI(driver, devname, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(hal.spi->get_device(devname),##args)) #define PROBE_MAG_IMU(driver, imudev, imu_instance, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(imu_instance,##args)) #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" #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 HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_270) #else #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_90) #endif #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_GPIO_A_LED_PIN 61 #define HAL_GPIO_B_LED_PIN 48 #define HAL_GPIO_C_LED_PIN 117 #define HAL_GPIO_LED_ON 0 #define HAL_GPIO_LED_OFF 1 #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 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 #define HAL_EXTERNAL_AHRS_DEFAULT 1 #define HAL_SERIAL3_PROTOCOL 36 #define HAL_AIRSPEED_TYPE_DEFAULT 0 #define HAL_GPS_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" #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO #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_GPIO_LED_OFF 0 #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 #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 HAL_GPIO_A_LED_PIN 24 #define HAL_GPIO_B_LED_PIN 25 #define HAL_GPIO_C_LED_PIN 16 #define HAL_GPIO_LED_ON 0 #define HAL_GPIO_LED_OFF 1 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ // 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 #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 HAL_GPIO_A_LED_PIN 69 #define HAL_GPIO_B_LED_PIN 68 #define HAL_GPIO_C_LED_PIN 45 #define HAL_GPIO_LED_ON 0 #define HAL_GPIO_LED_OFF 1 #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 #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611") #define HAL_MAG_PROBE1 PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE) #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) #define HAL_MAG_PROBE2 PROBE_MAG_I2C(AK09916, 1, 0X0c, false, ROTATION_YAW_270) #define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2 #define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 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 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE #define HAL_GPIO_A_LED_PIN 66 #define HAL_GPIO_B_LED_PIN 67 #define HAL_GPIO_LED_ON 1 #define HAL_GPIO_LED_OFF 0 #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 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_GPIO_LED_OFF 0 #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) #define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE) #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 HAL_GPIO_A_LED_PIN 17 #define HAL_GPIO_B_LED_PIN 18 #define HAL_GPIO_C_LED_PIN 22 #define HAL_GPIO_LED_ON 0 #define HAL_GPIO_LED_OFF 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 HAL_GPIO_A_LED_PIN 24 #define HAL_GPIO_B_LED_PIN 25 #define HAL_GPIO_C_LED_PIN 16 #define HAL_GPIO_LED_ON 0 #define HAL_GPIO_LED_OFF 1 #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) #define HAL_MAG_PROBE1 PROBE_MAG_I2C(BMM150, 2, 0x12, ROTATION_NONE) #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 HAL_GPIO_A_LED_PIN 24 #define HAL_GPIO_B_LED_PIN 25 #define HAL_GPIO_C_LED_PIN 16 #define HAL_GPIO_LED_ON 0 #define HAL_GPIO_LED_OFF 1 #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_GPS_TYPE_DEFAULT 9 #define HAL_CAN_DRIVER_DEFAULT 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_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 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_GPIO_LED_OFF 0 #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 #ifndef HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS #define HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS 0x42 #endif #ifndef HAL_OPTFLOW_PX4FLOW_I2C_BUS #define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1 #endif #define HAL_HAVE_BOARD_VOLTAGE 1 #define HAL_HAVE_SAFETY_SWITCH 0 #ifndef HAL_HAVE_SERVO_VOLTAGE #define HAL_HAVE_SERVO_VOLTAGE 0 #endif #ifndef AP_STATEDIR #define HAL_BOARD_STATE_DIRECTORY "/var/lib/ardupilot" #else #define HAL_BOARD_STATE_DIRECTORY AP_STATEDIR #endif #ifndef HAL_BOARD_LOG_DIRECTORY #define HAL_BOARD_LOG_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/logs" #endif #ifndef HAL_BOARD_TERRAIN_DIRECTORY #define HAL_BOARD_TERRAIN_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/terrain" #endif #ifndef HAL_BOARD_STORAGE_DIRECTORY #define HAL_BOARD_STORAGE_DIRECTORY HAL_BOARD_STATE_DIRECTORY #endif #ifndef HAL_BOARD_CAN_IFACE_NAME #define HAL_BOARD_CAN_IFACE_NAME "can0" #endif // if bus masks are not setup above then use these defaults #ifndef HAL_LINUX_I2C_BUS_MASK #define HAL_LINUX_I2C_BUS_MASK 0xFFFF #endif #ifndef HAL_LINUX_I2C_INTERNAL_BUS_MASK #define HAL_LINUX_I2C_INTERNAL_BUS_MASK 0xFFFF #endif #ifndef HAL_LINUX_I2C_EXTERNAL_BUS_MASK #define HAL_LINUX_I2C_EXTERNAL_BUS_MASK 0xFFFF #endif #include #define HAL_Semaphore Linux::Semaphore #include #define HAL_EventHandle AP_HAL::EventHandle #ifndef HAL_HAVE_HARDWARE_DOUBLE #define HAL_HAVE_HARDWARE_DOUBLE 1 #endif #ifndef HAL_WITH_EKF_DOUBLE #define HAL_WITH_EKF_DOUBLE HAL_HAVE_HARDWARE_DOUBLE #endif #ifndef HAL_GYROFFT_ENABLED #define HAL_GYROFFT_ENABLED 0 #endif