/* * This file is free software: you can redistribute it and/or modify it * under the terms of the GNU General Public License as published by the * Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This file is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. * See the GNU General Public License for more details. * * You should have received a copy of the GNU General Public License along * with this program. If not, see . */ #pragma once // 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_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)) //------------------------------------ //#define CONFIG_HAL_BOARD 12 //#define HAL_BOARD_ESP32 12 //INS choices: #define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI //#define HAL_INS_MPU9250_NAME "MPU9250" // or this: //#define HAL_INS_DEFAULT HAL_INS_ICM20XXX_I2C //#define HAL_INS_ICM20XXX_I2C_BUS 0 //#define HAL_INS_ICM20XXX_I2C_ADDR (0x68) // BARO choices: #define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI #define HAL_BARO_BMP280_NAME "BMP280" // or one of these: //#define HAL_BARO_DEFAULT HAL_BARO_MS5837_I2C // or: GPIO 34 //#define HAL_BARO_ANALOG_PIN (6) // MAG/COMPASS choices: //#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 // or others: //#define HAL_COMPASS_ICM20948_I2C_ADDR (0x68) //#define HAL_COMPASS_AK09916_I2C_BUS 0 //#define HAL_COMPASS_AK09916_I2C_ADDR (0x0C) //#define HAL_COMPASS_MAX_SENSORS 3 // IMU probing: //#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensensev2, 0, 0x68, ROTATION_YAW_270) // MAG/COMPASS probing: //#define HAL_MAG_PROBE_LIST ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948_I2C(0, ROTATION_NONE)); // BARO probing: //#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 0, 0x77) // allow boot without a baro #define HAL_BARO_ALLOW_INIT_NO_BARO 1 // ADC is available on lots of pints on the esp32, but adc2 cant co-exist with wifi we choose to allow ADC on : //#define HAL_DISABLE_ADC_DRIVER 1 #define TRUE 1 #define HAL_USE_ADC TRUE // the pin number, the gain/multiplier associated with it, the ardupilot name for the pin in parameter/s. // // two different pin numbering schemes, both are ok, but only one at a time: #define HAL_ESP32_ADC_PINS_OPTION1 {\ {ADC1_GPIO35_CHANNEL, 11, 1},\ {ADC1_GPIO34_CHANNEL, 11, 2},\ {ADC1_GPIO39_CHANNEL, 11, 3},\ {ADC1_GPIO36_CHANNEL, 11, 4}\ } #define HAL_ESP32_ADC_PINS_OPTION2 {\ {ADC1_GPIO35_CHANNEL, 11, 35},\ {ADC1_GPIO34_CHANNEL, 11, 34},\ {ADC1_GPIO39_CHANNEL, 11, 39},\ {ADC1_GPIO36_CHANNEL, 11, 36}\ } // pick one: //#define HAL_ESP32_ADC_PINS HAL_ESP32_ADC_PINS_OPTION1 #define HAL_ESP32_ADC_PINS HAL_ESP32_ADC_PINS_OPTION2 #define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1 #define HAL_INS_MPU9250_NAME "mpu9250" // uncommenting one or more of these will give more console debug in certain areas.. //#define INSEDEBUG 1 //#define STORAGEDEBUG 1 //#define SCHEDDEBUG 1 //#define FSDEBUG 1 //#define BUSDEBUG 1 #define HAL_INS_PROBE_LIST PROBE_IMU_SPI( Invensense, HAL_INS_MPU9250_NAME, ROTATION_NONE) //#define HAL_INS_PROBE_LIST PROBE_IMU_SPI( Invensense, HAL_INS_MPU9250_NAME, ROTATION_ROLL_180) #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280") // 2 use udp, 1 use tcp... for udp,client needs to connect as UDPCL in missionplanner etc to 192.168.4.1 port 14550 #define HAL_ESP32_WIFI 1 // tip: if u are ok getting mavlink-over-tcp or mavlink-over-udp and want to disable mavlink-over-serial-usb //then set ardupilot parameter SERIAL0_PROTOCOL = 0 and reboot. // u also will/may want.. //LOG_BACKEND_TYPE 1 //LOG_DISARMED 1 //SERIAL0_PROTOCOL 0 // see boards.py #ifndef ENABLE_HEAP #define ENABLE_HEAP 1 #endif #define WIFI_SSID "ardupilot123" #define WIFI_PWD "ardupilot123" //RCOUT which pins are used? #define HAL_ESP32_RCOUT { GPIO_NUM_25,GPIO_NUM_27, GPIO_NUM_33, GPIO_NUM_32, GPIO_NUM_22, GPIO_NUM_21 } // SPI BUS setup, including gpio, dma, etc // note... we use 'vspi' for the bmp280 and mpu9250 #define HAL_ESP32_SPI_BUSES \ {.host=VSPI_HOST, .dma_ch=1, .mosi=GPIO_NUM_23, .miso=GPIO_NUM_19, .sclk=GPIO_NUM_18} // tip: VSPI_HOST is an alternative name for esp's SPI3 //#define HAL_ESP32_SPI_BUSES {} // SPI per-device setup, including speeds, etc. #define HAL_ESP32_SPI_DEVICES \ {.name= "bmp280", .bus=0, .device=0, .cs=GPIO_NUM_26, .mode = 3, .lspeed=1*MHZ, .hspeed=1*MHZ}, \ {.name="mpu9250", .bus=0, .device=1, .cs=GPIO_NUM_5, .mode = 0, .lspeed=2*MHZ, .hspeed=8*MHZ} //#define HAL_ESP32_SPI_DEVICES {} //I2C bus list #define HAL_ESP32_I2C_BUSES \ {.port=I2C_NUM_0, .sda=GPIO_NUM_13, .scl=GPIO_NUM_12, .speed=400*KHZ, .internal=true} //#define HAL_ESP32_I2C_BUSES {} // using this embty block appears to cause crashes? // rcin on what pin? #define HAL_ESP32_RCIN GPIO_NUM_4 //HARDWARE UARTS #define HAL_ESP32_UART_DEVICES \ {.port=UART_NUM_0, .rx=GPIO_NUM_3, .tx=GPIO_NUM_1 },{.port=UART_NUM_1, .rx=GPIO_NUM_16, .tx=GPIO_NUM_17 } #define HAVE_FILESYSTEM_SUPPORT 1 // Do u want to use mmc or spi mode for the sd card, this is board specific , // as mmc uses specific pins but is quicker, #define HAL_ESP32_SDMMC 1 // and spi is more flexible pinouts.... dont forget vspi/hspi should be selected to NOT conflict with SPI_BUSES above //#define HAL_ESP32_SDSPI {.host=VSPI_HOST, .dma_ch=2, .mosi=GPIO_NUM_2, .miso=GPIO_NUM_15, .sclk=GPIO_NUM_14, .cs=GPIO_NUM_21} #define HAL_ESP32_SDCARD 1 #define LOGGER_MAVLINK_SUPPORT 1 #define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS" #define HAL_BOARD_TERRAIN_DIRECTORY "/SDCARD/APM/TERRAIN" #define HAL_BOARD_STORAGE_DIRECTORY "/SDCARD/APM/STORAGE" #define HAL_OS_POSIX_IO 1 // this becomes the default value for the ardupilot param LOG_BACKEND_TYPE, which most ppl want to be 1, for log-to-flash // setting to 2 means log-over-mavlink to a companion computer etc. #define HAL_LOGGING_BACKENDS_DEFAULT 1