mirror of https://github.com/ArduPilot/ardupilot
409 lines
15 KiB
C
409 lines
15 KiB
C
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#ifndef __AP_HAL_BOARDS_H__
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#define __AP_HAL_BOARDS_H__
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/**
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* C preprocesor enumeration of the boards supported by the AP_HAL.
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* This list exists so HAL_BOARD == HAL_BOARD_xxx preprocessor blocks
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* can be used to exclude HAL boards from the build when appropriate.
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* Its not an elegant solution but we can improve it in future.
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*/
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#define HAL_BOARD_SITL 3
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#define HAL_BOARD_SMACCM 4 // unused
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#define HAL_BOARD_PX4 5
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#define HAL_BOARD_FLYMAPLE 6
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#define HAL_BOARD_LINUX 7
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#define HAL_BOARD_VRBRAIN 8
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#define HAL_BOARD_QURT 9
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#define HAL_BOARD_EMPTY 99
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// default board subtype is -1
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#define HAL_BOARD_SUBTYPE_NONE -1
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/**
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HAL Linux sub-types, starting at 1000
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*/
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#define HAL_BOARD_SUBTYPE_LINUX_NONE 1000
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#define HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD 1001
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#define HAL_BOARD_SUBTYPE_LINUX_PXF 1002
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#define HAL_BOARD_SUBTYPE_LINUX_NAVIO 1003
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#define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004
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#define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005
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#define HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006
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#define HAL_BOARD_SUBTYPE_LINUX_RASPILOT 1007
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#define HAL_BOARD_SUBTYPE_LINUX_MINLURE 1008
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#define HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 1009
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#define HAL_BOARD_SUBTYPE_LINUX_BH 1010
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#define HAL_BOARD_SUBTYPE_LINUX_QFLIGHT 1011
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/**
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HAL PX4 sub-types, starting at 2000
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*/
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#define HAL_BOARD_SUBTYPE_PX4_V1 2000
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#define HAL_BOARD_SUBTYPE_PX4_V2 2001
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/**
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HAL VRBRAIN sub-types, starting at 4000
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*/
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#define HAL_BOARD_SUBTYPE_VRBRAIN_V45 4000
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#define HAL_BOARD_SUBTYPE_VRBRAIN_V51 4001
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#define HAL_BOARD_SUBTYPE_VRBRAIN_V52 4002
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#define HAL_BOARD_SUBTYPE_VRUBRAIN_V51 4003
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#define HAL_BOARD_SUBTYPE_VRUBRAIN_V52 4004
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// InertialSensor driver types
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#define HAL_INS_MPU60XX_SPI 2
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#define HAL_INS_MPU60XX_I2C 3
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#define HAL_INS_HIL 4
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#define HAL_INS_PX4 5
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#define HAL_INS_FLYMAPLE 6
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#define HAL_INS_L3G4200D 7
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#define HAL_INS_VRBRAIN 8
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#define HAL_INS_MPU9250 9
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#define HAL_INS_L3GD20 10
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#define HAL_INS_LSM9DS0 11
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#define HAL_INS_RASPILOT 12
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#define HAL_INS_MPU9250_I2C 13
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#define HAL_INS_BH 14
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#define HAL_INS_QFLIGHT 15
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#define HAL_INS_QURT 16
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// barometer driver types
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#define HAL_BARO_BMP085 1
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#define HAL_BARO_MS5611 2
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#define HAL_BARO_MS5611_SPI 3
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#define HAL_BARO_MS5607 4
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#define HAL_BARO_PX4 5
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#define HAL_BARO_HIL 6
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#define HAL_BARO_VRBRAIN 7
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#define HAL_BARO_MS5637_I2C 8
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#define HAL_BARO_QFLIGHT 9
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#define HAL_BARO_QURT 10
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// compass driver types
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#define HAL_COMPASS_HMC5843 1
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#define HAL_COMPASS_PX4 2
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#define HAL_COMPASS_HIL 3
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#define HAL_COMPASS_VRBRAIN 4
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#define HAL_COMPASS_AK8963_MPU9250 5
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#define HAL_COMPASS_AK8963_I2C 6
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#define HAL_COMPASS_HMC5843_MPU6000 7
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#define HAL_COMPASS_RASPILOT 8
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#define HAL_COMPASS_AK8963_MPU9250_I2C 9
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#define HAL_COMPASS_BH 10
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#define HAL_COMPASS_QFLIGHT 11
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#define HAL_COMPASS_QURT 12
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// Heat Types
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#define HAL_LINUX_HEAT_PWM 1
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/**
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CPU classes, used to select if CPU intensive algorithms should be used
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Note that these are only approximate, not exact CPU speeds.
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*/
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#define HAL_CPU_CLASS_16 1 // DEPRECATED: 16Mhz, AVR2560 or similar
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#define HAL_CPU_CLASS_75 2 // 75Mhz, Flymaple or similar
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#define HAL_CPU_CLASS_150 3 // 150Mhz, PX4 or similar, assumes
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// hardware floating point. Assumes tens
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// of kilobytes of memory available
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#define HAL_CPU_CLASS_1000 4 // GigaHz class, SITL, BeagleBone etc,
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// assumes megabytes of memory available
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/**
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operating system features:
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HAL implementations may define the following extra feature defines
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to 1 if available
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HAL_OS_POSIX_IO : has posix-like filesystem IO
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HAL_OS_SOCKETS : has posix-like sockets
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*/
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#define HAL_BOARD_NAME "SITL"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
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#define HAL_OS_POSIX_IO 1
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#define HAL_OS_SOCKETS 1
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#define HAL_STORAGE_SIZE 16384
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#define HAL_BOARD_LOG_DIRECTORY "logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
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#define HAL_PARAM_DEFAULTS_PATH "etc/defaults.parm"
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#define HAL_INS_DEFAULT HAL_INS_HIL
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#define HAL_BARO_DEFAULT HAL_BARO_HIL
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
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#define HAL_GPIO_A_LED_PIN 61
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#define HAL_GPIO_B_LED_PIN 48
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#define HAL_GPIO_C_LED_PIN 117
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#define HAL_BOARD_NAME "FLYMAPLE"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_75
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#define HAL_STORAGE_SIZE 4096
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#define HAL_INS_DEFAULT HAL_INS_FLYMAPLE
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#define HAL_BARO_DEFAULT HAL_BARO_BMP085
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
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#define HAL_SERIAL0_BAUD_DEFAULT 115200
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
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#define HAL_GPIO_A_LED_PIN 13
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#define HAL_GPIO_B_LED_PIN 13
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#define HAL_GPIO_C_LED_PIN 13
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#define HAL_BOARD_NAME "PX4"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_150
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#define HAL_OS_POSIX_IO 1
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#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/fs/microsd/APM/TERRAIN"
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#define HAL_PARAM_DEFAULTS_PATH "/etc/defaults.parm"
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#define HAL_INS_DEFAULT HAL_INS_PX4
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#define HAL_BARO_DEFAULT HAL_BARO_PX4
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_PX4
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#define HAL_SERIAL0_BAUD_DEFAULT 115200
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V1
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#define HAL_STORAGE_SIZE 8192
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#else
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V2
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#define HAL_STORAGE_SIZE 16384
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#endif
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#define HAL_GPIO_A_LED_PIN 27
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#define HAL_GPIO_B_LED_PIN 26
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#define HAL_GPIO_C_LED_PIN 25
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#define HAL_BOARD_NAME "Linux"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
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#define HAL_OS_POSIX_IO 1
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#define HAL_OS_SOCKETS 1
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#define HAL_STORAGE_SIZE 16384
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
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#define HAL_BOARD_LOG_DIRECTORY "logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
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#define HAL_INS_DEFAULT HAL_INS_HIL
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#define HAL_BARO_DEFAULT HAL_BARO_HIL
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU9250
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
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#define HAL_GPIO_A_LED_PIN 61
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#define HAL_GPIO_B_LED_PIN 48
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#define HAL_GPIO_C_LED_PIN 117
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
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#define HAL_INS_MPU60XX_I2C_BUS 2
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#define HAL_INS_MPU60XX_I2C_ADDR 0x68
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
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#define HAL_INS_AK8963_I2C_BUS 1
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#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
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#define HAL_BARO_MS5607_I2C_BUS 1
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#define HAL_BARO_MS5607_I2C_ADDR 0x77
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#define HAL_BARO_DEFAULT HAL_BARO_MS5607
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
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#define HAL_LINUX_HEAT_PWM_NUM 6
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#define HAL_LINUX_HEAT_KP 20000
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#define HAL_LINUX_HEAT_KI 6
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#define HAL_LINUX_HEAT_PERIOD_NS 125000
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#define HAL_LINUX_HEAT_TARGET_TEMP 50
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#define BEBOP_CAMV_PWM 9
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#define BEBOP_CAMV_PWM_FREQ 43333333
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
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#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
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#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
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#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
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#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
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#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8;
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#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
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#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
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#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
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#define HAL_PARAM_DEFAULTS_PATH "/etc/arducopter/bebop.parm"
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/* focal length 3.6 um, 2x binning in each direction
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* 240x240 crop rescaled to 64x64 */
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64))
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611
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#define HAL_BARO_MS5611_I2C_BUS 1
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843_MPU6000
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU9250
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611
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#define HAL_BARO_MS5611_I2C_BUS 0
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
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#define HAL_GPIO_A_LED_PIN 16
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#define HAL_GPIO_B_LED_PIN 16
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#define HAL_GPIO_C_LED_PIN 16
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_RASPILOT
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_RASPILOT
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU9250
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
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#define HAL_GPIO_A_LED_PIN 24
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#define HAL_GPIO_B_LED_PIN 25
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#define HAL_GPIO_C_LED_PIN 16
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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// Stub the sensors out for now, at least we can build and run
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#define HAL_INS_DEFAULT HAL_INS_HIL
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#define HAL_BARO_DEFAULT HAL_BARO_HIL
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU9250
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
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#define HAL_GPIO_A_LED_PIN 61
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#define HAL_GPIO_B_LED_PIN 48
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#define HAL_GPIO_C_LED_PIN 117
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611
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#define HAL_BARO_MS5611_I2C_BUS 0
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#define HAL_BARO_MS5611_I2C_ADDR 0x77
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#define HAL_INS_DEFAULT HAL_INS_BH
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#define HAL_INS_MPU60XX_I2C_ADDR 0x69
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_BH
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#define HAL_GPIO_A_LED_PIN 17
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#define HAL_GPIO_B_LED_PIN 18
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#define HAL_GPIO_C_LED_PIN 22
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#define HAL_RCOUT_RGBLED_RED 13
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#define HAL_RCOUT_RGBLED_GREEN 14
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#define HAL_RCOUT_RGBLED_BLUE 15
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_QFLIGHT
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#define HAL_BARO_DEFAULT HAL_BARO_QFLIGHT
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_QFLIGHT
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#define HAL_LINUX_UARTS_ON_TIMER_THREAD 1
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#else
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#error "no Linux board subtype set"
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#endif
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#ifndef HAL_LINUX_UARTS_ON_TIMER_THREAD
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#define HAL_LINUX_UARTS_ON_TIMER_THREAD 0
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#endif
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#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
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#define HAL_BOARD_NAME "EMPTY"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_16
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#define HAL_STORAGE_SIZE 4096
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#define HAL_INS_DEFAULT HAL_INS_HIL
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#define HAL_BARO_DEFAULT HAL_BARO_HIL
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
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#elif CONFIG_HAL_BOARD == HAL_BOARD_QURT
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#define AP_HAL_BOARD_DRIVER AP_HAL_QURT
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#define HAL_BOARD_NAME "QURT"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
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#define HAL_STORAGE_SIZE 16384
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#define HAL_INS_DEFAULT HAL_INS_QURT
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#define HAL_BARO_DEFAULT HAL_BARO_QURT
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_QURT
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
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#define HAL_BOARD_LOG_DIRECTORY "/dev/fs/logs"
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#define HAL_OS_POSIX_IO 1
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#define HAL_SERIAL0_BAUD_DEFAULT 115200
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#define HAL_BOARD_NAME "VRBRAIN"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_150
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#define HAL_OS_POSIX_IO 1
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#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/fs/microsd/APM/TERRAIN"
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#define HAL_INS_DEFAULT HAL_INS_VRBRAIN
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#define HAL_BARO_DEFAULT HAL_BARO_VRBRAIN
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_VRBRAIN
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#define HAL_SERIAL0_BAUD_DEFAULT 115200
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#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V45
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#define HAL_STORAGE_SIZE 8192
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#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V51
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#define HAL_STORAGE_SIZE 16384
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#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V52
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#define HAL_STORAGE_SIZE 16384
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#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRUBRAIN_V51
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#define HAL_STORAGE_SIZE 8192
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#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRUBRAIN_V52
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#define HAL_STORAGE_SIZE 8192
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#else
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
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#define HAL_STORAGE_SIZE 8192
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#endif
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#define HAL_GPIO_A_LED_PIN 25
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#define HAL_GPIO_B_LED_PIN 26
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#define HAL_GPIO_C_LED_PIN 27
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#define HAL_GPIO_LED_ON HIGH
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#define HAL_GPIO_LED_OFF LOW
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#define EXTERNAL_LED_GPS 28 // GPS LED - AN10
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#define EXTERNAL_LED_ARMED 29 // Armed LED - AN11
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#define EXTERNAL_LED_MOTOR1 30 // Motor1 LED - AN8
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#define EXTERNAL_LED_MOTOR2 31 // Motor2 LED - AN12
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#else
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#error "Unknown CONFIG_HAL_BOARD type"
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#endif
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#ifndef CONFIG_HAL_BOARD_SUBTYPE
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#error "No CONFIG_HAL_BOARD_SUBTYPE set"
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#endif
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#ifndef HAL_OS_POSIX_IO
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#define HAL_OS_POSIX_IO 0
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#endif
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#endif // __AP_HAL_BOARDS_H__
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