mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
87 lines
2.2 KiB
C
87 lines
2.2 KiB
C
#pragma once
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#define HAL_BOARD_NAME "ChibiOS"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_150
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#define HAL_GPIO_A_LED_PIN 0
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#define HAL_GPIO_B_LED_PIN 0
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#define HAL_GPIO_C_LED_PIN 0
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#define HAL_HAVE_BOARD_VOLTAGE 0
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#define HAL_HAVE_SAFETY_SWITCH 0
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
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#define HAL_CHIBIOS_ARCH_F412 1
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
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#define HAL_INS_MPU60x0_I2C_BUS 1
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#define HAL_INS_MPU60x0_I2C_ADDR 0x68
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#define HAL_GPIO_RADIO_RESET 1
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#define HAL_GPIO_RADIO_IRQ 2
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#define HAL_RCINPUT_WITH_AP_RADIO 1
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#define STORAGE_FLASH_PAGE 1
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#define HAL_STORAGE_SIZE 8192
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#define HAL_USE_EKF3
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3
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#define HAL_CHIBIOS_ARCH_FMUV3 1
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#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int"
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#define HAL_BARO_MS5611_SPI_EXT_NAME "ms5611_ext"
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#define HAL_INS_MPU60x0_NAME "mpu6000"
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#define HAL_INS_MPU60x0_EXT_NAME "mpu6000_ext"
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#define HAL_INS_LSM9DS0_G_NAME "lsm9ds0_g"
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#define HAL_INS_LSM9DS0_A_NAME "lsm9ds0_am"
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#define HAL_INS_LSM9DS0_EXT_G_NAME "lsm9ds0_ext_g"
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#define HAL_INS_LSM9DS0_EXT_A_NAME "lsm9ds0_ext_am"
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_INS_MPU9250_EXT_NAME "mpu9250_ext"
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#define HAL_INS_MPU6500_NAME "mpu6500"
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#define HAL_INS_ICM20608_NAME "icm20608"
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#define HAL_INS_ICM20608_AM_NAME "icm20608-am"
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#define HAL_INS_ICM20608_EXT_NAME "icm20608_ext"
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#define HAL_COMPASS_HMC5843_NAME "hmc5843"
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#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"
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#define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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#define STORAGE_FLASH_PAGE 22
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#define HAL_STORAGE_SIZE 16384
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// enable access to IO microcontroller
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#define HAL_WITH_IO_MCU 1
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// enable RAMTROM parameter storage
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#define HAL_WITH_RAMTRON 1
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// pixhawk2 cube has an IMU header
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#define HAL_HAVE_IMU_HEATER 1
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// enable FAT filesystem
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#define HAL_OS_FATFS_IO 1
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#ifndef HAL_WITH_IO_MCU
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#define HAL_WITH_IO_MCU 0
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#endif
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#ifndef HAL_WITH_RAMTRON
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#define HAL_WITH_RAMTRON 0
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#endif
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