mirror of https://github.com/ArduPilot/ardupilot
97 lines
2.8 KiB
C
97 lines
2.8 KiB
C
|
|
#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_AVR_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_EMPTY 99
|
|
|
|
|
|
/**
|
|
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
|
|
*/
|
|
|
|
|
|
/*
|
|
define AP_HAL_BOARD_DRIVER to the right hal type for this
|
|
board. This prevents us having a mess of ifdefs in every example
|
|
sketch
|
|
*/
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
|
|
#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_APM1
|
|
#define HAL_BOARD_NAME "APM 1"
|
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_16
|
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
|
|
#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_APM2
|
|
#define HAL_BOARD_NAME "APM 2"
|
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_16
|
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
|
|
#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_SITL
|
|
#define HAL_BOARD_NAME "SITL"
|
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
|
|
#define HAL_OS_POSIX_IO 1
|
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
|
|
#define AP_HAL_BOARD_DRIVER AP_HAL_FLYMAPLE
|
|
#define HAL_BOARD_NAME "FLYMAPLE"
|
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_75
|
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
#define AP_HAL_BOARD_DRIVER AP_HAL_PX4
|
|
#define HAL_BOARD_NAME "PX4"
|
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_150
|
|
#define HAL_OS_POSIX_IO 1
|
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
|
#define AP_HAL_BOARD_DRIVER AP_HAL_Linux
|
|
#define HAL_BOARD_NAME "Linux"
|
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
|
|
#define HAL_OS_POSIX_IO 1
|
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
|
|
#define AP_HAL_BOARD_DRIVER AP_HAL_Empty
|
|
#define HAL_BOARD_NAME "EMPTY"
|
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_16
|
|
|
|
#else
|
|
#error "Unknown CONFIG_HAL_BOARD type"
|
|
#endif
|
|
|
|
|
|
#endif // __AP_HAL_BOARDS_H__
|
|
|