mirror of https://github.com/ArduPilot/ardupilot
400 lines
9.1 KiB
C
400 lines
9.1 KiB
C
// this file is inserted (by chibios_hwdef.py) into hwdef.h when
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// configuring for AP_Periph builds
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#ifndef AP_SCHEDULER_ENABLED
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#define AP_SCHEDULER_ENABLED 0
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#endif
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#ifndef HAL_LOGGING_ENABLED
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#define HAL_LOGGING_ENABLED 0
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#endif
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#ifndef HAL_GCS_ENABLED
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#define HAL_GCS_ENABLED 0
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#endif
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/*
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AP_Periph doesn't include the SERIAL parameter tree, instead each
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supported serial device type has it's own parameter within AP_Periph
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for which port is used.
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*/
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#define DEFAULT_SERIAL0_PROTOCOL SerialProtocol_None
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#define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_None
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#define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_None
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#define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
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#define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
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#define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_None
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#define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_None
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#define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_None
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#define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_None
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#define DEFAULT_SERIAL9_PROTOCOL SerialProtocol_None
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#ifndef HAL_LOGGING_MAVLINK_ENABLED
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#define HAL_LOGGING_MAVLINK_ENABLED 0
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#endif
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#ifndef AP_MISSION_ENABLED
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#define AP_MISSION_ENABLED 0
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#endif
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#ifndef HAL_RALLY_ENABLED
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#define HAL_RALLY_ENABLED 0
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#endif
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#ifndef HAL_NMEA_OUTPUT_ENABLED
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#define HAL_NMEA_OUTPUT_ENABLED 0
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#endif
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#ifndef HAL_CAN_DEFAULT_NODE_ID
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#define HAL_CAN_DEFAULT_NODE_ID 0
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#endif
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#define PERIPH_FW TRUE
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#define HAL_BUILD_AP_PERIPH
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#ifndef HAL_WATCHDOG_ENABLED_DEFAULT
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#define HAL_WATCHDOG_ENABLED_DEFAULT true
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#endif
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#ifndef AP_FETTEC_ONEWIRE_ENABLED
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#define AP_FETTEC_ONEWIRE_ENABLED 0
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#endif
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#ifndef HAL_TORQEEDO_ENABLED
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#define HAL_TORQEEDO_ENABLED 0
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#endif
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#ifndef AP_KDECAN_ENABLED
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#define AP_KDECAN_ENABLED 0
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#endif
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#ifndef HAL_GENERATOR_ENABLED
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#define HAL_GENERATOR_ENABLED 0
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#endif
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#ifndef HAL_BARO_WIND_COMP_ENABLED
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#define HAL_BARO_WIND_COMP_ENABLED 0
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#endif
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#ifndef HAL_UART_STATS_ENABLED
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#define HAL_UART_STATS_ENABLED (HAL_GCS_ENABLED || HAL_LOGGING_ENABLED)
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#endif
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#ifndef HAL_SUPPORT_RCOUT_SERIAL
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#define HAL_SUPPORT_RCOUT_SERIAL 0
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#endif
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#ifndef AP_AIRSPEED_AUTOCAL_ENABLE
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#define AP_AIRSPEED_AUTOCAL_ENABLE 0
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#endif
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#ifndef AP_STATS_ENABLED
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#define AP_STATS_ENABLED 0
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#endif
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#ifndef AP_VOLZ_ENABLED
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#define AP_VOLZ_ENABLED 0
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#endif
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#ifndef AP_ROBOTISSERVO_ENABLED
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#define AP_ROBOTISSERVO_ENABLED 0
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#endif
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#ifndef AP_SBUSOUTPUT_ENABLED
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#define AP_SBUSOUTPUT_ENABLED 0
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#endif
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// by default an AP_Periph defines as many servo output channels as
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// there are PWM outputs:
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#ifndef NUM_SERVO_CHANNELS
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#ifdef HAL_PWM_COUNT
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#define NUM_SERVO_CHANNELS HAL_PWM_COUNT
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#else
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#define NUM_SERVO_CHANNELS 0
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#endif
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#endif
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#ifndef AP_STATS_ENABLED
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#define AP_STATS_ENABLED 0
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#endif
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#ifndef AP_BATTERY_ESC_ENABLED
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#define AP_BATTERY_ESC_ENABLED 0
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#endif
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#ifndef AP_BATTERY_WATT_MAX_ENABLED
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#define AP_BATTERY_WATT_MAX_ENABLED 0
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#endif
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// disable compass calibrations on periphs; cal is done on the autopilot
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#ifndef COMPASS_CAL_ENABLED
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#define COMPASS_CAL_ENABLED 0
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#endif
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#ifndef COMPASS_MOT_ENABLED
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#define COMPASS_MOT_ENABLED 0
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#endif
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#ifndef COMPASS_LEARN_ENABLED
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#define COMPASS_LEARN_ENABLED 0
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#endif
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#ifndef HAL_EXTERNAL_AHRS_ENABLED
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#define HAL_EXTERNAL_AHRS_ENABLED 0
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#endif
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// disable RC_Channels library:
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#ifndef AP_RC_CHANNEL_ENABLED
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#define AP_RC_CHANNEL_ENABLED 0
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#endif
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#define HAL_CRSF_TELEM_ENABLED 0
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#define AP_GHST_TELEM_ENABLED 0
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#ifndef AP_SERVORELAYEVENTS_ENABLED
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#define AP_SERVORELAYEVENTS_ENABLED 0
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#endif
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#ifndef AP_RELAY_ENABLED
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#define AP_RELAY_ENABLED 0
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#endif
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/*
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* GPS Backends - we selectively turn backends on.
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* Note also that f103-GPS explicitly disables some of these backends.
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*/
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#define AP_GPS_BACKEND_DEFAULT_ENABLED 0
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#ifndef AP_GPS_UBLOX_ENABLED
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#define AP_GPS_UBLOX_ENABLED defined(HAL_PERIPH_ENABLE_GPS)
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#endif
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#ifndef HAL_MSP_GPS_ENABLED
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#define HAL_MSP_GPS_ENABLED defined(HAL_PERIPH_ENABLE_GPS) && HAL_MSP_SENSORS_ENABLED
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#endif
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#ifndef AP_GPS_ERB_ENABLED
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#define AP_GPS_ERB_ENABLED 0
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#endif
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#ifndef AP_GPS_GSOF_ENABLED
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#define AP_GPS_GSOF_ENABLED defined(HAL_PERIPH_ENABLE_GPS)
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#endif
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#ifndef AP_GPS_NMEA_ENABLED
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#define AP_GPS_NMEA_ENABLED 0
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#endif
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#ifndef AP_GPS_SBF_ENABLED
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#define AP_GPS_SBF_ENABLED defined(HAL_PERIPH_ENABLE_GPS)
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#endif
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#ifndef AP_GPS_SBP_ENABLED
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#define AP_GPS_SBP_ENABLED 0
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#endif
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#ifndef AP_GPS_SBP2_ENABLED
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#define AP_GPS_SBP2_ENABLED 0
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#endif
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#ifndef AP_GPS_SIRF_ENABLED
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#define AP_GPS_SIRF_ENABLED 0
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#endif
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#ifndef AP_GPS_MAV_ENABLED
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#define AP_GPS_MAV_ENABLED 0
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#endif
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#ifndef AP_GPS_NOVA_ENABLED
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#define AP_GPS_NOVA_ENABLED defined(HAL_PERIPH_ENABLE_GPS)
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#endif
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#ifndef HAL_SIM_GPS_ENABLED
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#define HAL_SIM_GPS_ENABLED (AP_SIM_ENABLED && defined(HAL_PERIPH_ENABLE_GPS))
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#endif
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/*
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* Airspeed Backends - we selectively turn backends *off*
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*/
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#ifndef AP_AIRSPEED_ANALOG_ENABLED
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#define AP_AIRSPEED_ANALOG_ENABLED 0
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#endif
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// disable various rangefinder backends
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#define AP_RANGEFINDER_ANALOG_ENABLED 0
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#define AP_RANGEFINDER_HC_SR04_ENABLED 0
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#define AP_RANGEFINDER_PWM_ENABLED 0
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// AP_Periph expects ROTATION_NONE
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#ifndef AP_RANGEFINDER_DEFAULT_ORIENTATION
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#define AP_RANGEFINDER_DEFAULT_ORIENTATION ROTATION_NONE
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#endif
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// no CAN manager in AP_Periph:
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#define HAL_CANMANAGER_ENABLED 0
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// SLCAN is off by default:
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#ifndef AP_CAN_SLCAN_ENABLED
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#define AP_CAN_SLCAN_ENABLED 0
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#endif
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// Periphs don't use the FFT library:
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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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// MSP parsing is off by default in AP_Periph:
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#ifndef HAL_MSP_ENABLED
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#define HAL_MSP_ENABLED 0
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#endif
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// periph does not make use of compass scaling or diagonals
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#ifndef AP_COMPASS_DIAGONALS_ENABLED
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#define AP_COMPASS_DIAGONALS_ENABLED 0
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#endif
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// disable various battery monitor backends:
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#ifndef AP_BATTERY_SYNTHETIC_CURRENT_ENABLED
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#define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0
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#endif
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#ifndef AP_BATT_MONITOR_MAX_INSTANCES
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#define AP_BATT_MONITOR_MAX_INSTANCES 1
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#endif
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// Capacity tracking off
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#ifndef AP_BATT_MONITOR_BATTERY_CAPACITY
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#define AP_BATT_MONITOR_BATTERY_CAPACITY 0
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#endif
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#ifndef RANGEFINDER_MAX_INSTANCES
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#define RANGEFINDER_MAX_INSTANCES 1
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#endif
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// by default AP_Periphs don't use INS:
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#ifndef AP_INERTIALSENSOR_ENABLED
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#define AP_INERTIALSENSOR_ENABLED 0
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#endif
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// no fence by default in AP_Periph:
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#ifndef AP_FENCE_ENABLED
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#define AP_FENCE_ENABLED 0
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#endif
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// periph does not save temperature cals etc:
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#ifndef HAL_ENABLE_SAVE_PERSISTENT_PARAMS
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#define HAL_ENABLE_SAVE_PERSISTENT_PARAMS 0
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#endif
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#ifndef AP_WINCH_ENABLED
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#define AP_WINCH_ENABLED 0
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#endif
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#ifndef AP_VIDEOTX_ENABLED
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#define AP_VIDEOTX_ENABLED 0
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#endif
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#ifndef AP_FRSKY_TELEM_ENABLED
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#define AP_FRSKY_TELEM_ENABLED 0
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#endif
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#ifndef HAL_SPEKTRUM_TELEM_ENABLED
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#define HAL_SPEKTRUM_TELEM_ENABLED 0
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#endif
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#ifndef AP_FILESYSTEM_ROMFS_ENABLED
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#define AP_FILESYSTEM_ROMFS_ENABLED 0
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#endif
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#ifndef NOTIFY_LED_OVERRIDE_DEFAULT
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#define NOTIFY_LED_OVERRIDE_DEFAULT 1 // rgb_source_t::mavlink
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#endif
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#ifndef HAL_PROXIMITY_ENABLED
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#define HAL_PROXIMITY_ENABLED 0
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#endif
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#ifndef AP_SCRIPTING_ENABLED
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#define AP_SCRIPTING_ENABLED 0
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#endif
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#ifndef AP_BATTERY_ESC_TELEM_OUTBOUND_ENABLED
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#define AP_BATTERY_ESC_TELEM_OUTBOUND_ENABLED 0
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#endif
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#define AP_BATTERY_ENABLED defined(HAL_PERIPH_ENABLE_BATTERY)
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#define AP_AHRS_ENABLED defined(HAL_PERIPH_ENABLE_AHRS)
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#define AP_COMPASS_ENABLED defined(HAL_PERIPH_ENABLE_MAG)
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#define AP_BARO_ENABLED defined(HAL_PERIPH_ENABLE_BARO)
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#define AP_GPS_ENABLED 1 // FIXME: should be defined(HAL_PERIPH_ENABLE_GPS)
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#define AP_RPM_ENABLED defined(HAL_PERIPH_ENABLE_RPM)
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#define AP_RCPROTOCOL_ENABLED defined(HAL_PERIPH_ENABLE_RCIN)
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#define AP_RTC_ENABLED defined(HAL_PERIPH_ENABLE_RTC)
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#ifndef AP_BOOTLOADER_ALWAYS_ERASE
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#define AP_BOOTLOADER_ALWAYS_ERASE 1
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#endif
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#ifndef GPS_MOVING_BASELINE
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#define GPS_MOVING_BASELINE 0
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#endif
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#ifndef AP_UART_MONITOR_ENABLED
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#define AP_UART_MONITOR_ENABLED defined(HAL_PERIPH_ENABLE_SERIAL_OPTIONS) || (defined(HAL_PERIPH_ENABLE_GPS) && (GPS_MOVING_BASELINE || BOARD_FLASH_SIZE>=256))
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#endif
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#ifndef HAL_BOARD_LOG_DIRECTORY
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#define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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#endif
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#ifndef HAL_BOARD_TERRAIN_DIRECTORY
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#define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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#endif
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#ifndef HAL_MAVLINK_BINDINGS_ENABLED
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#define HAL_MAVLINK_BINDINGS_ENABLED defined(HAL_PERIPH_ENABLE_ADSB) || HAL_GCS_ENABLED
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#endif
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// for boards other than AP_Periph we are always expecting delays when
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// not initialised. We can't afford that on AP_Periph as you may end
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// up with a bricked node if you write a bad firmware to it.
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#ifndef AP_HAL_CHIBIOS_IN_EXPECTED_DELAY_WHEN_NOT_INITIALISED
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#define AP_HAL_CHIBIOS_IN_EXPECTED_DELAY_WHEN_NOT_INITIALISED 0
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#endif
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#ifndef AP_SERIALLED_ENABLED
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#define AP_SERIALLED_ENABLED 0
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#endif
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#ifndef AP_OPTICALFLOW_ENABLED
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#define AP_OPTICALFLOW_ENABLED 0
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#endif
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#ifndef HAL_BUTTON_ENABLED
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#define HAL_BUTTON_ENABLED 0
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#endif
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#ifndef AP_NOTIFY_SCRIPTING_LED_ENABLED
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#define AP_NOTIFY_SCRIPTING_LED_ENABLED 0
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#endif
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#ifndef AP_PARAM_DYNAMIC_ENABLED
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#define AP_PARAM_DYNAMIC_ENABLED 0
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#endif
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#ifndef HAL_MOUNT_ENABLED
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#define HAL_MOUNT_ENABLED 0
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#endif
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#ifndef AP_CAMERA_ENABLED
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#define AP_CAMERA_ENABLED 0
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#endif
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#ifndef AP_TERRAIN_AVAILABLE
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#define AP_TERRAIN_AVAILABLE 0
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#endif
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#ifndef AP_ICENGINE_ENABLED
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#define AP_ICENGINE_ENABLED 0
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#endif
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#ifndef AP_FILTER_ENABLED
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#define AP_FILTER_ENABLED 0
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#endif
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