ardupilot/libraries/AP_HAL/AP_HAL_Boards.h

330 lines
9.0 KiB
C

/**
* 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.
* It's not an elegant solution but we can improve it in future.
*/
#pragma once
#define HAL_BOARD_SITL 3
#define HAL_BOARD_SMACCM 4 // unused
#define HAL_BOARD_PX4 5 // unused
#define HAL_BOARD_LINUX 7
#define HAL_BOARD_VRBRAIN 8
#define HAL_BOARD_CHIBIOS 10
#define HAL_BOARD_F4LIGHT 11 // reserved
#define HAL_BOARD_ESP32 12
#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_ERLEBRAIN2 1009
#define HAL_BOARD_SUBTYPE_LINUX_BH 1010
#define HAL_BOARD_SUBTYPE_LINUX_PXFMINI 1012
#define HAL_BOARD_SUBTYPE_LINUX_NAVIO2 1013
#define HAL_BOARD_SUBTYPE_LINUX_DISCO 1014
#define HAL_BOARD_SUBTYPE_LINUX_AERO 1015
#define HAL_BOARD_SUBTYPE_LINUX_DARK 1016
#define HAL_BOARD_SUBTYPE_LINUX_BLUE 1018
#define HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ 1019
#define HAL_BOARD_SUBTYPE_LINUX_EDGE 1020
#define HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ 1021
#define HAL_BOARD_SUBTYPE_LINUX_POCKET 1022
#define HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR 1023
#define HAL_BOARD_SUBTYPE_LINUX_VNAV 1024
#define HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 1025
/* HAL CHIBIOS sub-types, starting at 5000
NOTE!! Do not add more subtypes unless they are really needed. Most
boards do not need a subtype defined. It is only needed if we need
to use #ifdef'd code to change behaviour
*/
#define HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 5000
#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 5001
#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 5002
#define HAL_BOARD_SUBTYPE_CHIBIOS_GENERIC 5009
#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5 5013
#define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 5016
#define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 5017
#define HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51 5018
#define HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10 5019
#define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V54 5020
#define HAL_BOARD_SUBTYPE_ESP32_DIY 6001
#define HAL_BOARD_SUBTYPE_ESP32_ICARUS 6002
#define HAL_BOARD_SUBTYPE_ESP32_BUZZ 6003
#define HAL_BOARD_SUBTYPE_ESP32_EMPTY 6004
/* InertialSensor driver types */
#define HAL_INS_NONE 0
#define HAL_INS_MPU60XX_SPI 2
#define HAL_INS_MPU60XX_I2C 3
#define HAL_INS_HIL_UNUSED 4 // unused
#define HAL_INS_VRBRAIN 8
#define HAL_INS_MPU9250_SPI 9
#define HAL_INS_MPU9250_I2C 13
#define HAL_INS_MPU6500 19
#define HAL_INS_INV2_I2C 24
#define HAL_INS_INV2_SPI 25
/* Barometer driver types */
#define HAL_BARO_NONE 0
#define HAL_BARO_HIL_UNUSED 6 // unused
#define HAL_BARO_20789_I2C_I2C 14
#define HAL_BARO_20789_I2C_SPI 15
#define HAL_BARO_LPS25H_IMU_I2C 17
/* 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. */
/* 150Mhz: STM32F4 or similar. Assumes:
* - hardware floating point
* - tens of kilobytes of memory available
*/
#define HAL_CPU_CLASS_150 3
/* GigaHz class: SITL, BeagleBone etc. Assumes megabytes of memory available. */
#define HAL_CPU_CLASS_1000 4
/*
memory classes, in kbytes. Board must have at least the given amount
of memory
*/
#define HAL_MEM_CLASS_20 1
#define HAL_MEM_CLASS_64 2
#define HAL_MEM_CLASS_192 3
#define HAL_MEM_CLASS_300 4
#define HAL_MEM_CLASS_500 5
#define HAL_MEM_CLASS_1000 6
/* 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 */
/* DEFINITIONS FOR BOARDS */
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <AP_HAL/board/sitl.h>
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <AP_HAL/board/linux.h>
#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
#include <AP_HAL/board/empty.h>
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include <AP_HAL/board/vrbrain.h>
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include <AP_HAL/board/chibios.h>
#elif CONFIG_HAL_BOARD == HAL_BOARD_ESP32
#include <AP_HAL/board/esp32.h>
#else
#error "Unknown CONFIG_HAL_BOARD type"
#endif
#ifndef CONFIG_HAL_BOARD_SUBTYPE
#error "No CONFIG_HAL_BOARD_SUBTYPE set"
#endif
#ifndef HAL_OS_POSIX_IO
#define HAL_OS_POSIX_IO 0
#endif
#ifndef HAL_OS_SOCKETS
#define HAL_OS_SOCKETS 0
#endif
#ifndef HAL_PARAM_DEFAULTS_PATH
#define HAL_PARAM_DEFAULTS_PATH nullptr
#endif
#ifndef HAL_HAVE_IMU_HEATER
#define HAL_HAVE_IMU_HEATER 0
#endif
#ifndef HAL_COMPASS_HMC5843_I2C_ADDR
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#endif
#ifndef HAL_NUM_CAN_IFACES
#define HAL_NUM_CAN_IFACES 0
#endif
#ifndef HAL_RCINPUT_WITH_AP_RADIO
#define HAL_RCINPUT_WITH_AP_RADIO 0
#endif
#ifndef HAL_WITH_IO_MCU
#define HAL_WITH_IO_MCU 0
#endif
// this is used as a general mechanism to make a 'small' build by
// dropping little used features. We use this to allow us to keep
// FMUv2 going for as long as possible
#ifndef HAL_MINIMIZE_FEATURES
#define HAL_MINIMIZE_FEATURES 0
#endif
#ifndef BOARD_FLASH_SIZE
#define BOARD_FLASH_SIZE 2048
#endif
#ifndef HAL_GYROFFT_ENABLED
#define HAL_GYROFFT_ENABLED (BOARD_FLASH_SIZE > 1024)
#endif
// enable AP_GyroFFT library only if required:
#ifndef HAL_WITH_DSP
#define HAL_WITH_DSP HAL_GYROFFT_ENABLED
#endif
#ifndef HAL_OS_FATFS_IO
#define HAL_OS_FATFS_IO 0
#endif
#ifndef HAL_BARO_DEFAULT
#define HAL_BARO_DEFAULT HAL_BARO_NONE
#endif
#ifndef HAL_INS_DEFAULT
#define HAL_INS_DEFAULT HAL_INS_NONE
#endif
#ifndef HAL_GPS_TYPE_DEFAULT
#define HAL_GPS_TYPE_DEFAULT 1
#endif
#ifndef HAL_CAN_DRIVER_DEFAULT
#define HAL_CAN_DRIVER_DEFAULT 0
#endif
#ifndef HAL_MAX_CAN_PROTOCOL_DRIVERS
#define HAL_MAX_CAN_PROTOCOL_DRIVERS HAL_NUM_CAN_IFACES
#endif
#ifndef HAL_CANMANAGER_ENABLED
#define HAL_CANMANAGER_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS > 0)
#endif
#ifndef HAL_ENABLE_LIBUAVCAN_DRIVERS
#define HAL_ENABLE_LIBUAVCAN_DRIVERS HAL_CANMANAGER_ENABLED
#endif
#ifndef AP_AIRSPEED_BACKEND_DEFAULT_ENABLED
#define AP_AIRSPEED_BACKEND_DEFAULT_ENABLED 1
#endif
#ifdef HAVE_LIBDL
#define AP_MODULE_SUPPORTED 1
#else
#define AP_MODULE_SUPPORTED 0
#endif
#ifndef HAL_SUPPORT_RCOUT_SERIAL
#define HAL_SUPPORT_RCOUT_SERIAL 0
#endif
#ifndef HAL_HAVE_DUAL_USB_CDC
#define HAL_HAVE_DUAL_USB_CDC 0
#endif
#if HAL_NUM_CAN_IFACES && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#define AP_UAVCAN_SLCAN_ENABLED 1
#else
#define AP_UAVCAN_SLCAN_ENABLED 0
#endif
#ifndef USE_LIBC_REALLOC
#define USE_LIBC_REALLOC 1
#endif
#ifndef AP_HAL_SHARED_DMA_ENABLED
#define AP_HAL_SHARED_DMA_ENABLED 1
#endif
#ifndef HAL_ENABLE_THREAD_STATISTICS
#define HAL_ENABLE_THREAD_STATISTICS 0
#endif
#ifndef AP_STATS_ENABLED
#define AP_STATS_ENABLED (!defined(HAL_BUILD_AP_PERIPH))
#endif
#ifndef HAL_WITH_MCU_MONITORING
#define HAL_WITH_MCU_MONITORING 0
#endif
#ifndef AP_CRASHDUMP_ENABLED
#define AP_CRASHDUMP_ENABLED 0
#endif
#ifndef AP_SIGNED_FIRMWARE
#define AP_SIGNED_FIRMWARE 0
#endif
#ifndef HAL_DSHOT_ALARM_ENABLED
#define HAL_DSHOT_ALARM_ENABLED 0
#endif
#ifndef HAL_HNF_MAX_FILTERS
// On an F7 The difference in CPU load between 1 notch and 24 notches is about 2%
// The difference in CPU load between 1Khz backend and 2Khz backend is about 10%
// So at 1Khz almost all notch combinations can be supported on F7 and certainly H7
#if defined(STM32H7) || CONFIG_HAL_BOARD == HAL_BOARD_SITL
// Enough for a double-notch per motor on an octa using three IMUs and one harmonics
// plus one static notch with one double-notch harmonics
#define HAL_HNF_MAX_FILTERS 54
#elif defined(STM32F7)
// Enough for a notch per motor on an octa using three IMUs and one harmonics
// plus one static notch with one harmonics
#define HAL_HNF_MAX_FILTERS 27
#else
// Enough for a notch per motor on an octa quad using two IMUs and one harmonic
// plus one static notch with one harmonic
#define HAL_HNF_MAX_FILTERS 18
#endif
#endif // HAL_HNF_MAX_FILTERS
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL // allow SITL to have all the CANFD options
#define HAL_CANFD_SUPPORTED 8
#elif !defined(HAL_CANFD_SUPPORTED)
#define HAL_CANFD_SUPPORTED 0
#endif
#ifndef __RAMFUNC__
#define __RAMFUNC__
#endif
#ifndef __FASTRAMFUNC__
#define __FASTRAMFUNC__
#endif
#ifndef HAL_ENABLE_DFU_BOOT
#define HAL_ENABLE_DFU_BOOT 0
#endif
// sanity checks for the configuration. This can't test everything as
// the libraries can do their own definitions - but we can catch some
// things:
#if HAL_MINIMIZE_FEATURES && BOARD_FLASH_SIZE > 1024
#error "2MB board with minimize features?!"
#endif