mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-10 01:48:29 -04:00
3428cbf993
allow more than one type of ESC for dshot commands add support for checks around active ESCs allow dshot alarm to be disabled allow prioritized dshot commands
128 lines
3.1 KiB
C
128 lines
3.1 KiB
C
#pragma once
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#include <hwdef.h>
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#include <hal.h>
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#define HAL_BOARD_NAME "ChibiOS"
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#if HAL_MEMORY_TOTAL_KB >= 1000
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#define HAL_MEM_CLASS HAL_MEM_CLASS_1000
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#elif HAL_MEMORY_TOTAL_KB >= 500
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#define HAL_MEM_CLASS HAL_MEM_CLASS_500
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#elif HAL_MEMORY_TOTAL_KB >= 300
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#define HAL_MEM_CLASS HAL_MEM_CLASS_300
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#elif HAL_MEMORY_TOTAL_KB >= 192
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#define HAL_MEM_CLASS HAL_MEM_CLASS_192
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#elif HAL_MEMORY_TOTAL_KB >= 64
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#define HAL_MEM_CLASS HAL_MEM_CLASS_64
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#else
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#define HAL_MEM_CLASS HAL_MEM_CLASS_20
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#endif
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#ifndef HAL_GPIO_LED_ON
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#define HAL_GPIO_LED_ON 0
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#endif
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#ifndef HAL_GPIO_LED_OFF
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#define HAL_GPIO_LED_OFF 1
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#endif
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#ifndef HAL_NUM_CAN_IFACES
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#define HAL_NUM_CAN_IFACES 0
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#endif
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#ifndef HAL_HAVE_BOARD_VOLTAGE
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#define HAL_HAVE_BOARD_VOLTAGE 0
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#endif
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#ifndef HAL_HAVE_SERVO_VOLTAGE
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#define HAL_HAVE_SERVO_VOLTAGE 0
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#endif
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#ifdef HAL_GPIO_PIN_SAFETY_IN
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#define HAL_HAVE_SAFETY_SWITCH 1
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#endif
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#ifndef HAL_HAVE_SAFETY_SWITCH
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#define HAL_HAVE_SAFETY_SWITCH 0
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#endif
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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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// allow for static semaphores
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#include <AP_HAL_ChibiOS/Semaphores.h>
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#define HAL_Semaphore ChibiOS::Semaphore
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#include <AP_HAL/EventHandle.h>
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#define HAL_EventHandle AP_HAL::EventHandle
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/* string names for well known SPI devices */
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#define HAL_BARO_MS5611_NAME "ms5611"
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#ifndef HAL_BARO_MS5611_SPI_INT_NAME
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#define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int"
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#endif
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#define HAL_BARO_MS5611_SPI_EXT_NAME "ms5611_ext"
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#define HAL_BARO_LPS22H_NAME "lps22h"
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#define HAL_BARO_BMP280_NAME "bmp280"
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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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// allow for short names overridden in hwdef.dat
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#ifndef CHIBIOS_SHORT_BOARD_NAME
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#define CHIBIOS_SHORT_BOARD_NAME CHIBIOS_BOARD_NAME
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#endif
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#ifndef CONFIG_HAL_BOARD_SUBTYPE
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// allow for generic boards
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_GENERIC
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#endif
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// we support RC serial for BLHeli pass-thru
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#ifndef HAL_SUPPORT_RCOUT_SERIAL
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#define HAL_SUPPORT_RCOUT_SERIAL !defined(HAL_BUILD_AP_PERIPH)
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#endif
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#ifndef HAL_DSHOT_ALARM
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#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
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#define HAL_DSHOT_ALARM 1
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#else
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#define HAL_DSHOT_ALARM 0
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#endif
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#endif
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// by default assume first I2C bus is internal
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#ifndef HAL_I2C_INTERNAL_MASK
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#define HAL_I2C_INTERNAL_MASK 1
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#endif
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// put all storage of files under /APM directory
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#ifndef HAL_BOARD_STORAGE_DIRECTORY
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#define HAL_BOARD_STORAGE_DIRECTORY "/APM"
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#endif
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