mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-28 18:53:57 -04:00
6338d10b5f
We will reserve BOARD_FLASH_SIZE for the internal flash on stm32 flash processors, use HAL_PROGRAM_SIZE_LIMIT_KB in the general code base. Notable change here is that boards with external flash will start to get features only available with more than 2MB of program storage
124 lines
3.5 KiB
C
124 lines
3.5 KiB
C
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <GCS_MAVLink/GCS_config.h>
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#ifndef AP_GPS_ENABLED
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#define AP_GPS_ENABLED 1
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#endif
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#if AP_GPS_ENABLED
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/**
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maximum number of GPS instances available on this platform. If more
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than 1 then redundant sensors may be available
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*/
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#ifndef GPS_MAX_RECEIVERS
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#define GPS_MAX_RECEIVERS 2 // maximum number of physical GPS sensors allowed - does not include virtual GPS created by blending receiver data
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#endif
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#if !defined(GPS_MAX_INSTANCES)
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#if GPS_MAX_RECEIVERS > 1
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#define GPS_MAX_INSTANCES (GPS_MAX_RECEIVERS + 1) // maximum number of GPS instances including the 'virtual' GPS created by blending receiver data
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#else
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#define GPS_MAX_INSTANCES 1
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#endif // GPS_MAX_RECEIVERS > 1
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#endif // GPS_MAX_INSTANCES
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#if GPS_MAX_RECEIVERS <= 1 && GPS_MAX_INSTANCES > 1
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#error "GPS_MAX_INSTANCES should be 1 for GPS_MAX_RECEIVERS <= 1"
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#endif
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#endif
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#ifndef AP_GPS_BACKEND_DEFAULT_ENABLED
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#define AP_GPS_BACKEND_DEFAULT_ENABLED AP_GPS_ENABLED
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#endif
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#if !defined(AP_GPS_BLENDED_ENABLED) && defined(GPS_MAX_INSTANCES)
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#define AP_GPS_BLENDED_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && GPS_MAX_INSTANCES > GPS_MAX_RECEIVERS
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#endif
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#ifndef AP_GPS_BLENDED_ENABLED
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#define AP_GPS_BLENDED_ENABLED 0
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#endif
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#if AP_GPS_BLENDED_ENABLED
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#define GPS_BLENDED_INSTANCE GPS_MAX_RECEIVERS // the virtual blended GPS is always the highest instance (2)
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#endif
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#ifndef AP_GPS_DRONECAN_ENABLED
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#define AP_GPS_DRONECAN_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS
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#endif
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#ifndef AP_GPS_ERB_ENABLED
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#define AP_GPS_ERB_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_GSOF_ENABLED
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#define AP_GPS_GSOF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_MAV_ENABLED
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#define AP_GPS_MAV_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED
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#endif
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#ifndef HAL_MSP_GPS_ENABLED
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#define HAL_MSP_GPS_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED && HAL_MSP_SENSORS_ENABLED
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#endif
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#ifndef AP_GPS_NMEA_ENABLED
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#define AP_GPS_NMEA_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_NMEA_UNICORE_ENABLED
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#define AP_GPS_NMEA_UNICORE_ENABLED AP_GPS_NMEA_ENABLED
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#endif
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#ifndef AP_GPS_NOVA_ENABLED
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#define AP_GPS_NOVA_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_SBF_ENABLED
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#define AP_GPS_SBF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_SBP_ENABLED
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#define AP_GPS_SBP_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_SBP2_ENABLED
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#define AP_GPS_SBP2_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_SIRF_ENABLED
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#define AP_GPS_SIRF_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_UBLOX_ENABLED
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#define AP_GPS_UBLOX_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_GPS_RTCM_DECODE_ENABLED
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#define AP_GPS_RTCM_DECODE_ENABLED HAL_PROGRAM_SIZE_LIMIT_KB > 1024
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#endif
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#ifndef HAL_GPS_COM_PORT_DEFAULT
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#define HAL_GPS_COM_PORT_DEFAULT 1
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#endif
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#ifndef AP_GPS_GPS_RAW_INT_SENDING_ENABLED
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#define AP_GPS_GPS_RAW_INT_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED
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#endif
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#ifndef AP_GPS_GPS2_RAW_SENDING_ENABLED
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#define AP_GPS_GPS2_RAW_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1
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#endif
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#ifndef AP_GPS_GPS_RTK_SENDING_ENABLED
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#define AP_GPS_GPS_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && (AP_GPS_SBF_ENABLED || AP_GPS_ERB_ENABLED)
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#endif
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#ifndef AP_GPS_GPS2_RTK_SENDING_ENABLED
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#define AP_GPS_GPS2_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1 && (AP_GPS_SBF_ENABLED || AP_GPS_ERB_ENABLED)
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#endif
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