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2e464a53c2
ardupilot/libraries/AP_HAL/AP_HAL_Boards.h
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations 
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
2015-10-21 09:16:07 +11:00

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#ifndef __AP_HAL_BOARDS_H__
#define __AP_HAL_BOARDS_H__
/**
* C preprocesor enumeration of the boards supported by the AP_HAL.
* This list exists so HAL_BOARD == HAL_BOARD_xxx preprocessor blocks
* can be used to exclude HAL boards from the build when appropriate.
* Its not an elegant solution but we cant get too fancy if we want to
* work with the Arduino mk and IDE builds without too much modification.
*/
#define HAL_BOARD_APM1 1
#define HAL_BOARD_APM2 2
#define HAL_BOARD_SITL 3
#define HAL_BOARD_SMACCM 4 // unused
#define HAL_BOARD_PX4 5
#define HAL_BOARD_FLYMAPLE 6
#define HAL_BOARD_LINUX 7
#define HAL_BOARD_VRBRAIN 8
#define HAL_BOARD_EMPTY 99
// default board subtype is -1
#define HAL_BOARD_SUBTYPE_NONE -1
/**
HAL Linux sub-types, starting at 1000
*/
#define HAL_BOARD_SUBTYPE_LINUX_NONE 1000
#define HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD 1001
#define HAL_BOARD_SUBTYPE_LINUX_PXF 1002
#define HAL_BOARD_SUBTYPE_LINUX_NAVIO 1003
#define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004
#define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005
#define HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006
#define HAL_BOARD_SUBTYPE_LINUX_RASPILOT 1007
/**
HAL PX4 sub-types, starting at 2000
*/
#define HAL_BOARD_SUBTYPE_PX4_V1 2000
#define HAL_BOARD_SUBTYPE_PX4_V2 2001
/**
HAL AVR sub-types, starting at 3000
*/
#define HAL_BOARD_SUBTYPE_AVR_APM1 3000
#define HAL_BOARD_SUBTYPE_AVR_APM2 3001
/**
HAL VRBRAIN sub-types, starting at 4000
*/
#define HAL_BOARD_SUBTYPE_VRBRAIN_V45 4000
#define HAL_BOARD_SUBTYPE_VRBRAIN_V51 4001
#define HAL_BOARD_SUBTYPE_VRBRAIN_V52 4002
#define HAL_BOARD_SUBTYPE_VRUBRAIN_V51 4003
#define HAL_BOARD_SUBTYPE_VRUBRAIN_V52 4004
// InertialSensor driver types
#define HAL_INS_OILPAN 1
#define HAL_INS_MPU60XX_SPI 2
#define HAL_INS_MPU60XX_I2C 3
#define HAL_INS_HIL 4
#define HAL_INS_PX4 5
#define HAL_INS_FLYMAPLE 6
#define HAL_INS_L3G4200D 7
#define HAL_INS_VRBRAIN 8
#define HAL_INS_MPU9250 9
#define HAL_INS_L3GD20 10
#define HAL_INS_LSM9DS0 11
#define HAL_INS_RASPILOT 12
// barometer driver types
#define HAL_BARO_BMP085 1
#define HAL_BARO_MS5611 2
#define HAL_BARO_MS5611_SPI 3
#define HAL_BARO_MS5607 4
#define HAL_BARO_PX4 5
#define HAL_BARO_HIL 6
#define HAL_BARO_VRBRAIN 7
#define HAL_BARO_MS5637_I2C 8
// compass driver types
#define HAL_COMPASS_HMC5843 1
#define HAL_COMPASS_PX4 2
#define HAL_COMPASS_HIL 3
#define HAL_COMPASS_VRBRAIN 4
#define HAL_COMPASS_AK8963_MPU9250 5
#define HAL_COMPASS_AK8963_I2C 6
#define HAL_COMPASS_HMC5843_MPU6000 7
#define HAL_COMPASS_RASPILOT 8
// Heat Types
#define HAL_LINUX_HEAT_PWM 1
/**
CPU classes, used to select if CPU intensive algorithms should be used
Note that these are only approximate, not exact CPU speeds.
*/
#define HAL_CPU_CLASS_16 1 // 16Mhz, AVR2560 or similar
#define HAL_CPU_CLASS_75 2 // 75Mhz, Flymaple or similar
#define HAL_CPU_CLASS_150 3 // 150Mhz, PX4 or similar, assumes
// hardware floating point. Assumes tens
// of kilobytes of memory available
#define HAL_CPU_CLASS_1000 4 // GigaHz class, SITL, BeagleBone etc,
// assumes megabytes of memory available
/**
operating system features:
HAL implementations may define the following extra feature defines
to 1 if available
HAL_OS_POSIX_IO : has posix-like filesystem IO
HAL_OS_SOCKETS : has posix-like sockets
*/
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
#define HAL_BOARD_NAME "APM 1"
#define HAL_CPU_CLASS HAL_CPU_CLASS_16
#define HAL_STORAGE_SIZE 4096
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#define HAL_INS_DEFAULT HAL_INS_OILPAN
#define HAL_BARO_DEFAULT HAL_BARO_BMP085
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
#ifndef CONFIG_HAL_BOARD_SUBTYPE
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_AVR_APM1
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define HAL_BOARD_NAME "APM 2"
#define HAL_CPU_CLASS HAL_CPU_CLASS_16
#define HAL_STORAGE_SIZE 4096
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
#ifdef APM2_BETA_HARDWARE
#define HAL_BARO_DEFAULT HAL_BARO_BMP085
#else
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#endif
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
#ifndef CONFIG_HAL_BOARD_SUBTYPE
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_AVR_APM2
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
#define HAL_BOARD_NAME "SITL"
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
#define HAL_OS_POSIX_IO 1
#define HAL_OS_SOCKETS 1
#define HAL_STORAGE_SIZE 16384
#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 "etc/defaults.parm"
#define HAL_INS_DEFAULT HAL_INS_HIL
#define HAL_BARO_DEFAULT HAL_BARO_HIL
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
#define HAL_BOARD_NAME "FLYMAPLE"
#define HAL_CPU_CLASS HAL_CPU_CLASS_75
#define HAL_STORAGE_SIZE 4096
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#define HAL_INS_DEFAULT HAL_INS_FLYMAPLE
#define HAL_BARO_DEFAULT HAL_BARO_BMP085
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
#define HAL_SERIAL0_BAUD_DEFAULT 115200
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
#define HAL_BOARD_NAME "PX4"
#define HAL_CPU_CLASS HAL_CPU_CLASS_150
#define HAL_OS_POSIX_IO 1
#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
#define HAL_BOARD_TERRAIN_DIRECTORY "/fs/microsd/APM/TERRAIN"
#define HAL_PARAM_DEFAULTS_PATH "/etc/defaults.parm"
#define HAL_INS_DEFAULT HAL_INS_PX4
#define HAL_BARO_DEFAULT HAL_BARO_PX4
#define HAL_COMPASS_DEFAULT HAL_COMPASS_PX4
#define HAL_SERIAL0_BAUD_DEFAULT 115200
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V1
#define HAL_STORAGE_SIZE 8192
#else
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V2
#define HAL_STORAGE_SIZE 16384
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#define HAL_BOARD_NAME "Linux"
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
#define HAL_OS_POSIX_IO 1
#define HAL_OS_SOCKETS 1
#define HAL_STORAGE_SIZE 16384
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
#define HAL_BOARD_LOG_DIRECTORY "logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
#define HAL_INS_DEFAULT HAL_INS_HIL
#define HAL_BARO_DEFAULT HAL_BARO_HIL
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU9250
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
#define HAL_INS_MPU60XX_I2C_BUS 2
#define HAL_INS_MPU60XX_I2C_ADDR 0x68
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
#define HAL_INS_AK8963_I2C_BUS 1
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
#define HAL_BARO_MS5607_I2C_BUS 1
#define HAL_BARO_MS5607_I2C_ADDR 0x77
#define HAL_BARO_DEFAULT HAL_BARO_MS5607
#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
#define HAL_LINUX_HEAT_PWM_SYSFS_DIR "/sys/class/pwm/pwm_6"
#define HAL_LINUX_HEAT_KP 20000
#define HAL_LINUX_HEAT_KI 6
#define HAL_LINUX_HEAT_PERIOD_NS 125000
#define HAL_LINUX_HEAT_TARGET_TEMP 50
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU9250
#define HAL_BARO_DEFAULT HAL_BARO_MS5611
#define HAL_BARO_MS5611_I2C_BUS 0
#define HAL_BARO_MS5611_I2C_ADDR 0x77
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_RASPILOT
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_COMPASS_DEFAULT HAL_COMPASS_RASPILOT
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
// Stub the sensors out for now, at least we can build and run
#define HAL_INS_DEFAULT HAL_INS_HIL
#define HAL_BARO_DEFAULT HAL_BARO_HIL
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
#define HAL_INS_DEFAULT HAL_INS_MPU9250
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
#else
#error "no Linux board subtype set"
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
#define HAL_BOARD_NAME "EMPTY"
#define HAL_CPU_CLASS HAL_CPU_CLASS_16
#define HAL_STORAGE_SIZE 4096
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#define HAL_INS_DEFAULT HAL_INS_HIL
#define HAL_BARO_DEFAULT HAL_BARO_HIL
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#define HAL_BOARD_NAME "VRBRAIN"
#define HAL_CPU_CLASS HAL_CPU_CLASS_150
#define HAL_OS_POSIX_IO 1
#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
#define HAL_BOARD_TERRAIN_DIRECTORY "/fs/microsd/APM/TERRAIN"
#define HAL_INS_DEFAULT HAL_INS_VRBRAIN
#define HAL_BARO_DEFAULT HAL_BARO_VRBRAIN
#define HAL_COMPASS_DEFAULT HAL_COMPASS_VRBRAIN
#define HAL_SERIAL0_BAUD_DEFAULT 115200
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V45
#define HAL_STORAGE_SIZE 8192
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V51
#define HAL_STORAGE_SIZE 16384
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V52
#define HAL_STORAGE_SIZE 16384
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRUBRAIN_V51
#define HAL_STORAGE_SIZE 8192
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRUBRAIN_V52
#define HAL_STORAGE_SIZE 8192
#else
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
#define HAL_STORAGE_SIZE 8192
#endif
#else
#error "Unknown CONFIG_HAL_BOARD type"
#endif
#ifndef CONFIG_HAL_BOARD_SUBTYPE
#error "No CONFIG_HAL_BOARD_SUBTYPE set"
#endif
#endif // __AP_HAL_BOARDS_H__
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