mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-28 18:53:57 -04:00
203 lines
7.5 KiB
C++
203 lines
7.5 KiB
C++
#pragma once
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#include <hwdef.h>
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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_MEM_CLASS HAL_MEM_CLASS_1000
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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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// make sensor selection clearer
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#define PROBE_IMU_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,GET_I2C_DEVICE(bus, addr),##args))
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#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))
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#define PROBE_IMU_SPI(driver, devname, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname),##args))
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#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))
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#define PROBE_BARO_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(GET_I2C_DEVICE(bus, addr)),##args))
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#define PROBE_BARO_SPI(driver, devname, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(hal.spi->get_device(devname)),##args))
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#define PROBE_MAG_I2C(driver, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(GET_I2C_DEVICE(bus, addr),##args))
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#define PROBE_MAG_SPI(driver, devname, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(hal.spi->get_device(devname),##args))
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#define PROBE_MAG_IMU(driver, imudev, imu_instance, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(imu_instance,##args))
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#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))
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
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// nothing to do here
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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_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
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// nothing to do here
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
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// nothing to do here
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 1, 0x76); PROBE_BARO_I2C(BMP388, 1, 0x76)
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#define HAL_BARO_EXTERNAL_BUS_DEFAULT 6
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 2, 0x76)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 2, 0x76)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP085, 1, 0x77)
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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 BOARD_FLASH_SIZE
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#define BOARD_FLASH_SIZE 4096
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#endif
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#ifndef HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS
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#define HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS 0x42
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#endif
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#ifndef HAL_OPTFLOW_PX4FLOW_I2C_BUS
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
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#endif
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#define HAL_HAVE_BOARD_VOLTAGE 1
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#define HAL_HAVE_SAFETY_SWITCH 0
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#ifndef HAL_HAVE_SERVO_VOLTAGE
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#define HAL_HAVE_SERVO_VOLTAGE 0
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#endif
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#ifndef AP_STATEDIR
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#define HAL_BOARD_STATE_DIRECTORY "/var/lib/ardupilot"
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#else
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#define HAL_BOARD_STATE_DIRECTORY AP_STATEDIR
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#endif
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#ifndef HAL_BOARD_LOG_DIRECTORY
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#define HAL_BOARD_LOG_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/logs"
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#endif
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#ifndef HAL_BOARD_TERRAIN_DIRECTORY
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#define HAL_BOARD_TERRAIN_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/terrain"
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#endif
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#ifndef HAL_BOARD_STORAGE_DIRECTORY
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#define HAL_BOARD_STORAGE_DIRECTORY HAL_BOARD_STATE_DIRECTORY
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#endif
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#ifndef HAL_BOARD_CAN_IFACE_NAME
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#define HAL_BOARD_CAN_IFACE_NAME "can0"
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#endif
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// if bus masks are not setup above then use these defaults
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#ifndef HAL_LINUX_I2C_BUS_MASK
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#define HAL_LINUX_I2C_BUS_MASK 0xFFFF
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#endif
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#ifndef HAL_LINUX_I2C_INTERNAL_BUS_MASK
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#define HAL_LINUX_I2C_INTERNAL_BUS_MASK 0xFFFF
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#endif
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#ifndef HAL_LINUX_I2C_EXTERNAL_BUS_MASK
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#define HAL_LINUX_I2C_EXTERNAL_BUS_MASK 0xFFFF
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#endif
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// only include if compiling C++ code
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#ifdef __cplusplus
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#include <AP_HAL_Linux/Semaphores.h>
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#define HAL_Semaphore Linux::Semaphore
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#define HAL_BinarySemaphore Linux::BinarySemaphore
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#endif
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#ifndef HAL_HAVE_HARDWARE_DOUBLE
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#define HAL_HAVE_HARDWARE_DOUBLE 1
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#endif
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#ifndef HAL_WITH_EKF_DOUBLE
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#define HAL_WITH_EKF_DOUBLE HAL_HAVE_HARDWARE_DOUBLE
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#endif
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#ifndef HAL_GYROFFT_ENABLED
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#define HAL_GYROFFT_ENABLED 0
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#endif
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
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// we can use virtual CAN on native builds
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#define HAL_LINUX_USE_VIRTUAL_CAN 1
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#else
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#define HAL_LINUX_USE_VIRTUAL_CAN 0
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#endif
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#ifndef HAL_OS_POSIX_IO
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#define HAL_OS_POSIX_IO 1
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#endif
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#ifndef HAL_INS_RATE_LOOP
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#define HAL_INS_RATE_LOOP 1
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#endif
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#ifndef HAL_LINUX_GPIO_AERO_ENABLED
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#define HAL_LINUX_GPIO_AERO_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_BBB_ENABLED
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#define HAL_LINUX_GPIO_BBB_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_BEBOP_ENABLED
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#define HAL_LINUX_GPIO_BEBOP_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_DISCO_ENABLED
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#define HAL_LINUX_GPIO_DISCO_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_EDGE_ENABLED
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#define HAL_LINUX_GPIO_EDGE_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_NAVIGATOR_ENABLED
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#define HAL_LINUX_GPIO_NAVIGATOR_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_NAVIO_ENABLED
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#define HAL_LINUX_GPIO_NAVIO_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_NAVIO2_ENABLED
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#define HAL_LINUX_GPIO_NAVIO2_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_RPI_ENABLED
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#define HAL_LINUX_GPIO_RPI_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_SYSFS_ENABLED
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#define HAL_LINUX_GPIO_SYSFS_ENABLED 0
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#endif
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