mirror of https://github.com/ArduPilot/ardupilot
132 lines
3.2 KiB
C
132 lines
3.2 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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#ifndef HAL_WITH_EKF_DOUBLE
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#define HAL_WITH_EKF_DOUBLE HAL_HAVE_HARDWARE_DOUBLE
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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) && HAL_USE_PWM == TRUE
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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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