mirror of https://github.com/ArduPilot/ardupilot
103 lines
2.5 KiB
C
103 lines
2.5 KiB
C
#pragma once
|
|
|
|
#define HAL_BOARD_NAME "SITL"
|
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
|
|
#define HAL_MEM_CLASS HAL_MEM_CLASS_1000
|
|
#define HAL_OS_SOCKETS 1
|
|
|
|
#define AP_FLASHSTORAGE_TYPE 3
|
|
|
|
#if AP_FLASHSTORAGE_TYPE == 1
|
|
// emulate F1/F3 flash
|
|
#define HAL_STORAGE_SIZE 15360
|
|
#define HAL_FLASH_SECTOR_SIZE 16*1024
|
|
#define HAL_FLASH_MIN_WRITE_SIZE 1
|
|
#define HAL_FLASH_ALLOW_UPDATE 0
|
|
|
|
#elif AP_FLASHSTORAGE_TYPE == 2
|
|
// emulate F4/F7 flash
|
|
#define HAL_STORAGE_SIZE 15360
|
|
#define HAL_FLASH_SECTOR_SIZE 16*1024
|
|
#define HAL_FLASH_MIN_WRITE_SIZE 1
|
|
#define HAL_FLASH_ALLOW_UPDATE 1
|
|
|
|
#elif AP_FLASHSTORAGE_TYPE == 3
|
|
// emulate H7 flash
|
|
#define HAL_STORAGE_SIZE 16384
|
|
#define HAL_FLASH_SECTOR_SIZE 128*1024
|
|
#define HAL_FLASH_MIN_WRITE_SIZE 32
|
|
#define HAL_FLASH_ALLOW_UPDATE 0
|
|
#endif
|
|
|
|
#ifndef BOARD_FLASH_SIZE
|
|
#define BOARD_FLASH_SIZE 4096
|
|
#endif
|
|
|
|
#ifndef HAL_STORAGE_SIZE
|
|
#define HAL_STORAGE_SIZE 32768
|
|
#endif
|
|
|
|
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
|
|
#define HAL_BOARD_LOG_DIRECTORY "logs"
|
|
#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
|
|
#define HAL_PARAM_DEFAULTS_PATH nullptr
|
|
#define HAL_INS_DEFAULT HAL_INS_NONE
|
|
#define HAL_BARO_DEFAULT HAL_BARO_NONE
|
|
|
|
// simulated LEDs are disabled by default as they lead to a large
|
|
// amount of SIM_GPIO_MASK mavlink traffic
|
|
|
|
// #define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
|
|
#define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 8 // these are set in SIM_PIN_MASK
|
|
#define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 9
|
|
#define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 10
|
|
|
|
// #define AP_NOTIFY_GPIO_LED_1_ENABLED 1
|
|
#define AP_NOTIFY_GPIO_LED_A_PIN 8 // these are set in SIM_PIN_MASK
|
|
|
|
#define HAL_HAVE_BOARD_VOLTAGE 1
|
|
#define HAL_HAVE_SERVO_VOLTAGE 1
|
|
#define HAL_HAVE_SAFETY_SWITCH 1
|
|
|
|
// only include if compiling C++ code
|
|
#ifdef __cplusplus
|
|
// allow for static semaphores
|
|
#include <AP_HAL_SITL/Semaphores.h>
|
|
#define HAL_Semaphore HALSITL::Semaphore
|
|
#define HAL_BinarySemaphore HALSITL::BinarySemaphore
|
|
#endif
|
|
|
|
#ifndef HAL_NUM_CAN_IFACES
|
|
#define HAL_NUM_CAN_IFACES 0
|
|
#endif
|
|
|
|
#ifndef HAL_BOARD_STORAGE_DIRECTORY
|
|
#define HAL_BOARD_STORAGE_DIRECTORY "."
|
|
#endif
|
|
|
|
#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_CAN_DRIVER_DEFAULT
|
|
#define HAL_CAN_DRIVER_DEFAULT 0
|
|
#endif
|
|
|
|
#ifndef AP_UART_MONITOR_ENABLED
|
|
#define AP_UART_MONITOR_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_FILTER_ENABLED
|
|
#define AP_FILTER_ENABLED 1
|
|
#endif
|
|
|
|
#define HAL_SOLO_GIMBAL_ENABLED 1
|
|
|
|
#ifndef HAL_INS_RATE_LOOP
|
|
#define HAL_INS_RATE_LOOP 1
|
|
#endif
|