mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.0 KiB
C
78 lines
2.0 KiB
C
#pragma once
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#define HAL_BOARD_NAME "SITL"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
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#define HAL_MEM_CLASS HAL_MEM_CLASS_1000
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#define HAL_OS_POSIX_IO 1
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#define HAL_OS_SOCKETS 1
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#define HAL_DSHOT_ALARM 0
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#define HAL_WITH_ESC_TELEM 1
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#define AP_FLASHSTORAGE_TYPE 3
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#if AP_FLASHSTORAGE_TYPE == 1
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// emulate F1/F3 flash
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#define HAL_STORAGE_SIZE 15360
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#define HAL_FLASH_SECTOR_SIZE 16*1024
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#define HAL_FLASH_MIN_WRITE_SIZE 1
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#define HAL_FLASH_ALLOW_UPDATE 0
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#elif AP_FLASHSTORAGE_TYPE == 2
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// emulate F4/F7 flash
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#define HAL_STORAGE_SIZE 15360
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#define HAL_FLASH_SECTOR_SIZE 16*1024
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#define HAL_FLASH_MIN_WRITE_SIZE 1
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#define HAL_FLASH_ALLOW_UPDATE 1
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#elif AP_FLASHSTORAGE_TYPE == 3
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// emulate H7 flash
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#define HAL_STORAGE_SIZE 16384
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#define HAL_FLASH_SECTOR_SIZE 128*1024
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#define HAL_FLASH_MIN_WRITE_SIZE 32
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#define HAL_FLASH_ALLOW_UPDATE 0
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#endif
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#ifndef HAL_STORAGE_SIZE
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#define HAL_STORAGE_SIZE 32768
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#endif
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#define HAL_BOARD_LOG_DIRECTORY "logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
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#define HAL_PARAM_DEFAULTS_PATH nullptr
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#define HAL_INS_DEFAULT HAL_INS_NONE
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#define HAL_BARO_DEFAULT HAL_BARO_NONE
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
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#define HAL_GPIO_A_LED_PIN 61
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#define HAL_GPIO_B_LED_PIN 48
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#define HAL_GPIO_C_LED_PIN 117
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#define HAL_GPIO_LED_ON 0
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#define HAL_GPIO_LED_OFF 1
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#define HAL_HAVE_BOARD_VOLTAGE 1
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#define HAL_HAVE_SERVO_VOLTAGE 1
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#define HAL_HAVE_SAFETY_SWITCH 0
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// allow for static semaphores
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#include <AP_HAL_SITL/Semaphores.h>
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#define HAL_Semaphore HALSITL::Semaphore
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#include <AP_HAL/EventHandle.h>
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#define HAL_EventHandle AP_HAL::EventHandle
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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_BOARD_STORAGE_DIRECTORY
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#define HAL_BOARD_STORAGE_DIRECTORY "."
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#endif
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#ifndef HAL_HAVE_HARDWARE_DOUBLE
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#define HAL_HAVE_HARDWARE_DOUBLE 1
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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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