ardupilot/libraries/AP_HAL/AP_HAL_Boards.h

314 lines
11 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_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
// 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
/**
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
*/
/*
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
#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 AP_HAL_BOARD_DRIVER AP_HAL_AVR_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 AP_HAL_BOARD_DRIVER AP_HAL_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 AP_HAL_BOARD_DRIVER AP_HAL_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 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
#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 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
#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
#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 AP_HAL_BOARD_DRIVER AP_HAL_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 AP_HAL_BOARD_DRIVER AP_HAL_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__