mirror of https://github.com/ArduPilot/ardupilot
267 lines
7.1 KiB
C
267 lines
7.1 KiB
C
/**
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* C preprocesor enumeration of the boards supported by the AP_HAL.
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* This list exists so HAL_BOARD == HAL_BOARD_xxx preprocessor blocks
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* can be used to exclude HAL boards from the build when appropriate.
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* It's not an elegant solution but we can improve it in future.
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*/
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#pragma once
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#define HAL_BOARD_SITL 3
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#define HAL_BOARD_SMACCM 4 // unused
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#define HAL_BOARD_PX4 5 // unused
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#define HAL_BOARD_LINUX 7
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#define HAL_BOARD_VRBRAIN 8
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#define HAL_BOARD_CHIBIOS 10
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#define HAL_BOARD_F4LIGHT 11 // reserved
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#define HAL_BOARD_EMPTY 99
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/* Default board subtype is -1 */
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#define HAL_BOARD_SUBTYPE_NONE -1
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/* HAL Linux sub-types, starting at 1000 */
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#define HAL_BOARD_SUBTYPE_LINUX_NONE 1000
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#define HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD 1001
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#define HAL_BOARD_SUBTYPE_LINUX_PXF 1002
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#define HAL_BOARD_SUBTYPE_LINUX_NAVIO 1003
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#define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004
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#define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005
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#define HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006
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#define HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 1009
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#define HAL_BOARD_SUBTYPE_LINUX_BH 1010
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#define HAL_BOARD_SUBTYPE_LINUX_PXFMINI 1012
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#define HAL_BOARD_SUBTYPE_LINUX_NAVIO2 1013
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#define HAL_BOARD_SUBTYPE_LINUX_DISCO 1014
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#define HAL_BOARD_SUBTYPE_LINUX_AERO 1015
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#define HAL_BOARD_SUBTYPE_LINUX_DARK 1016
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#define HAL_BOARD_SUBTYPE_LINUX_BLUE 1018
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#define HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ 1019
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#define HAL_BOARD_SUBTYPE_LINUX_EDGE 1020
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#define HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ 1021
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#define HAL_BOARD_SUBTYPE_LINUX_POCKET 1022
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#define HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR 1023
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#define HAL_BOARD_SUBTYPE_LINUX_VNAV 1024
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/* HAL CHIBIOS sub-types, starting at 5000
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NOTE!! Do not add more subtypes unless they are really needed. Most
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boards do not need a subtype defined. It is only needed if we need
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to use #ifdef'd code to change behaviour
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*/
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#define HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 5000
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#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 5001
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#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 5002
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#define HAL_BOARD_SUBTYPE_CHIBIOS_GENERIC 5009
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#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5 5013
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#define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 5016
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#define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 5017
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#define HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51 5018
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#define HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10 5019
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#define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V54 5020
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/* InertialSensor driver types */
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#define HAL_INS_NONE 0
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#define HAL_INS_MPU60XX_SPI 2
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#define HAL_INS_MPU60XX_I2C 3
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#define HAL_INS_HIL_UNUSED 4 // unused
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#define HAL_INS_VRBRAIN 8
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#define HAL_INS_MPU9250_SPI 9
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#define HAL_INS_MPU9250_I2C 13
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#define HAL_INS_MPU6500 19
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#define HAL_INS_INV2_I2C 24
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#define HAL_INS_INV2_SPI 25
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/* Barometer driver types */
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#define HAL_BARO_NONE 0
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#define HAL_BARO_HIL_UNUSED 6 // unused
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#define HAL_BARO_20789_I2C_I2C 14
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#define HAL_BARO_20789_I2C_SPI 15
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#define HAL_BARO_LPS25H_IMU_I2C 17
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/* Compass driver types */
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#define HAL_COMPASS_NONE 0
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#define HAL_COMPASS_HIL_UNUSED 3 // unused
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/* Heat Types */
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#define HAL_LINUX_HEAT_PWM 1
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/* CPU classes, used to select if CPU intensive algorithms should be used
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* Note that these are only approximate, not exact CPU speeds. */
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/* 150Mhz: STM32F4 or similar. Assumes:
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* - hardware floating point
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* - tens of kilobytes of memory available
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*/
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#define HAL_CPU_CLASS_150 3
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/* GigaHz class: SITL, BeagleBone etc. Assumes megabytes of memory available. */
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#define HAL_CPU_CLASS_1000 4
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/*
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memory classes, in kbytes. Board must have at least the given amount
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of memory
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*/
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#define HAL_MEM_CLASS_20 1
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#define HAL_MEM_CLASS_64 2
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#define HAL_MEM_CLASS_192 3
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#define HAL_MEM_CLASS_300 4
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#define HAL_MEM_CLASS_500 5
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#define HAL_MEM_CLASS_1000 6
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/* Operating system features
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*
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* HAL implementations may define the following extra feature defines to 1 if
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* available:
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*
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* - HAL_OS_POSIX_IO : has posix-like filesystem IO
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* - HAL_OS_SOCKETS : has posix-like sockets */
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/* DEFINITIONS FOR BOARDS */
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <AP_HAL/board/sitl.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <AP_HAL/board/linux.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
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#include <AP_HAL/board/empty.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#include <AP_HAL/board/vrbrain.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#include <AP_HAL/board/chibios.h>
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#else
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#error "Unknown CONFIG_HAL_BOARD type"
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#endif
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#ifndef CONFIG_HAL_BOARD_SUBTYPE
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#error "No CONFIG_HAL_BOARD_SUBTYPE set"
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#endif
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#ifndef HAL_OS_POSIX_IO
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#define HAL_OS_POSIX_IO 0
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#endif
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#ifndef HAL_OS_SOCKETS
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#define HAL_OS_SOCKETS 0
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#endif
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#ifndef HAL_PARAM_DEFAULTS_PATH
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#define HAL_PARAM_DEFAULTS_PATH nullptr
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#endif
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#ifndef HAL_HAVE_IMU_HEATER
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#define HAL_HAVE_IMU_HEATER 0
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#endif
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#ifndef HAL_COMPASS_HMC5843_I2C_ADDR
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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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_RCINPUT_WITH_AP_RADIO
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#define HAL_RCINPUT_WITH_AP_RADIO 0
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#endif
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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_HAVE_GETTIME_SETTIME
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#define HAL_HAVE_GETTIME_SETTIME 0
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#endif
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// this is used as a general mechanism to make a 'small' build by
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// dropping little used features. We use this to allow us to keep
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// FMUv2 going for as long as possible
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#ifndef HAL_MINIMIZE_FEATURES
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#define HAL_MINIMIZE_FEATURES 0
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#endif
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#ifndef BOARD_FLASH_SIZE
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#define BOARD_FLASH_SIZE 2048
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#endif
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#ifndef HAL_WITH_DSP
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || defined(HAL_BOOTLOADER_BUILD) || defined(HAL_BUILD_AP_PERIPH) || BOARD_FLASH_SIZE <= 1024
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#define HAL_WITH_DSP 0
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#else
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#define HAL_WITH_DSP !HAL_MINIMIZE_FEATURES
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#endif
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#endif
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#ifndef HAL_OS_FATFS_IO
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#define HAL_OS_FATFS_IO 0
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#endif
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#ifndef HAL_COMPASS_DEFAULT
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
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#endif
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#ifndef HAL_BARO_DEFAULT
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#define HAL_BARO_DEFAULT HAL_BARO_NONE
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#endif
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#ifndef HAL_INS_DEFAULT
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#define HAL_INS_DEFAULT HAL_INS_NONE
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#endif
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#ifndef HAL_GPS_TYPE_DEFAULT
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#define HAL_GPS_TYPE_DEFAULT 1
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#endif
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#ifndef HAL_CAN_DRIVER_DEFAULT
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#define HAL_CAN_DRIVER_DEFAULT 0
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#endif
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#ifndef HAL_MAX_CAN_PROTOCOL_DRIVERS
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#if defined(HAL_BOOTLOADER_BUILD)
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#define HAL_MAX_CAN_PROTOCOL_DRIVERS 0
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#else
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#define HAL_MAX_CAN_PROTOCOL_DRIVERS HAL_NUM_CAN_IFACES
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#endif
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#endif
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#ifndef HAL_CANMANAGER_ENABLED
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#define HAL_CANMANAGER_ENABLED ((HAL_MAX_CAN_PROTOCOL_DRIVERS > 0) && !defined(HAL_BUILD_AP_PERIPH))
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#endif
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#ifndef HAL_ENABLE_LIBUAVCAN_DRIVERS
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#define HAL_ENABLE_LIBUAVCAN_DRIVERS HAL_CANMANAGER_ENABLED
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#endif
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#ifdef HAVE_LIBDL
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#define AP_MODULE_SUPPORTED 1
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#else
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#define AP_MODULE_SUPPORTED 0
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#endif
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#ifndef HAL_SUPPORT_RCOUT_SERIAL
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#define HAL_SUPPORT_RCOUT_SERIAL 0
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#endif
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#ifndef HAL_HAVE_DUAL_USB_CDC
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#define HAL_HAVE_DUAL_USB_CDC 0
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#endif
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#if HAL_NUM_CAN_IFACES && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#define AP_UAVCAN_SLCAN_ENABLED 1
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#else
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#define AP_UAVCAN_SLCAN_ENABLED 0
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#endif
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#ifndef USE_LIBC_REALLOC
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#define USE_LIBC_REALLOC 1
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#endif
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#ifndef HAL_ENABLE_THREAD_STATISTICS
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#define HAL_ENABLE_THREAD_STATISTICS 0
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#endif
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#ifndef HAL_INS_ENABLED
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#define HAL_INS_ENABLED (!defined(HAL_BUILD_AP_PERIPH))
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#endif
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