/** * C preprocesor 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_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 /* 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 /* 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 /* Compass driver types */ #define HAL_COMPASS_NONE 0 #define HAL_COMPASS_HIL_UNUSED 3 // unused /* 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 #else #error "Unknown CONFIG_HAL_BOARD type" #endif #ifndef CONFIG_HAL_BOARD_SUBTYPE #error "No CONFIG_HAL_BOARD_SUBTYPE set" #endif #ifndef HAL_OS_POSIX_IO #define HAL_OS_POSIX_IO 0 #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_COMPASS_HMC5843_I2C_ADDR #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E #endif #ifndef HAL_NUM_CAN_IFACES #define HAL_NUM_CAN_IFACES 0 #endif #ifndef HAL_RCINPUT_WITH_AP_RADIO #define HAL_RCINPUT_WITH_AP_RADIO 0 #endif #ifndef HAL_WITH_IO_MCU #define HAL_WITH_IO_MCU 0 #endif #ifndef HAL_HAVE_GETTIME_SETTIME #define HAL_HAVE_GETTIME_SETTIME 0 #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_WITH_DSP #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || defined(HAL_BOOTLOADER_BUILD) || defined(HAL_BUILD_AP_PERIPH) || BOARD_FLASH_SIZE <= 1024 #define HAL_WITH_DSP 0 #else #define HAL_WITH_DSP !HAL_MINIMIZE_FEATURES #endif #endif #ifndef HAL_OS_FATFS_IO #define HAL_OS_FATFS_IO 0 #endif #ifndef HAL_COMPASS_DEFAULT #define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE #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_GPS_TYPE_DEFAULT #define HAL_GPS_TYPE_DEFAULT 1 #endif #ifndef HAL_CAN_DRIVER_DEFAULT #define HAL_CAN_DRIVER_DEFAULT 0 #endif #ifndef HAL_MAX_CAN_PROTOCOL_DRIVERS #if defined(HAL_BOOTLOADER_BUILD) #define HAL_MAX_CAN_PROTOCOL_DRIVERS 0 #else #define HAL_MAX_CAN_PROTOCOL_DRIVERS HAL_NUM_CAN_IFACES #endif #endif #ifndef HAL_CANMANAGER_ENABLED #define HAL_CANMANAGER_ENABLED ((HAL_MAX_CAN_PROTOCOL_DRIVERS > 0) && !defined(HAL_BUILD_AP_PERIPH)) #endif #ifndef HAL_ENABLE_LIBUAVCAN_DRIVERS #define HAL_ENABLE_LIBUAVCAN_DRIVERS HAL_CANMANAGER_ENABLED #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_HAVE_DUAL_USB_CDC #define HAL_HAVE_DUAL_USB_CDC 0 #endif #if HAL_NUM_CAN_IFACES && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS #define AP_UAVCAN_SLCAN_ENABLED 1 #else #define AP_UAVCAN_SLCAN_ENABLED 0 #endif #ifndef USE_LIBC_REALLOC #define USE_LIBC_REALLOC 1 #endif #ifndef HAL_ENABLE_THREAD_STATISTICS #define HAL_ENABLE_THREAD_STATISTICS 0 #endif