mirror of
https://github.com/ArduPilot/ardupilot
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6338d10b5f
We will reserve BOARD_FLASH_SIZE for the internal flash on stm32 flash processors, use HAL_PROGRAM_SIZE_LIMIT_KB in the general code base. Notable change here is that boards with external flash will start to get features only available with more than 2MB of program storage
138 lines
4.1 KiB
C
138 lines
4.1 KiB
C
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>
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#include <AP_MSP/msp.h>
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#include <AP_AHRS/AP_AHRS_config.h>
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#include <AP_GPS/AP_GPS_config.h>
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#ifndef AP_COMPASS_ENABLED
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#define AP_COMPASS_ENABLED 1
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#endif
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#ifndef AP_COMPASS_DIAGONALS_ENABLED
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#define AP_COMPASS_DIAGONALS_ENABLED 1
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#endif
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#ifndef COMPASS_CAL_ENABLED
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#define COMPASS_CAL_ENABLED AP_COMPASS_ENABLED && AP_AHRS_DCM_ENABLED
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#endif
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#ifndef AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
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#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED AP_COMPASS_ENABLED && AP_GPS_ENABLED && AP_AHRS_ENABLED
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#endif
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#define COMPASS_MAX_SCALE_FACTOR 1.5
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#define COMPASS_MIN_SCALE_FACTOR (1.0/COMPASS_MAX_SCALE_FACTOR)
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// Backend support
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#ifndef AP_COMPASS_BACKEND_DEFAULT_ENABLED
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#define AP_COMPASS_BACKEND_DEFAULT_ENABLED AP_COMPASS_ENABLED
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#endif
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#ifndef AP_COMPASS_EXTERNALAHRS_ENABLED
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#define AP_COMPASS_EXTERNALAHRS_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_EXTERNAL_AHRS_ENABLED)
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#endif
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#ifndef AP_COMPASS_MSP_ENABLED
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#define AP_COMPASS_MSP_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_MSP_SENSORS_ENABLED)
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#endif
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#ifndef AP_COMPASS_SITL_ENABLED
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#define AP_COMPASS_SITL_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED)
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#endif
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#ifndef AP_COMPASS_DRONECAN_ENABLED
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#define AP_COMPASS_DRONECAN_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS)
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#endif
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#ifndef AP_COMPASS_DRONECAN_HIRES_ENABLED
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#define AP_COMPASS_DRONECAN_HIRES_ENABLED 0
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#endif
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// i2c-based compasses:
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#ifndef AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#define AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED AP_COMPASS_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_AK09916_ENABLED
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#define AP_COMPASS_AK09916_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_AK8963_ENABLED
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#define AP_COMPASS_AK8963_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_BMM150_ENABLED
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#define AP_COMPASS_BMM150_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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// this define dictates whether we iterate over the external i2c
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// busses looking for BMM150. Ordinarily this should be true, but
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// SkyViper specifies its BMM150 and thus does not need to probe.
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// This is an interim arrangement until PCNC1 is eliminated as an
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// auto-detect board.
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#ifndef AP_COMPASS_BMM150_DETECT_BACKENDS_ENABLED
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#define AP_COMPASS_BMM150_DETECT_BACKENDS_ENABLED AP_COMPASS_BMM150_ENABLED
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#endif
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#ifndef AP_COMPASS_BMM350_ENABLED
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#define AP_COMPASS_BMM350_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_HMC5843_ENABLED
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#define AP_COMPASS_HMC5843_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_ICM20948_ENABLED
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#define AP_COMPASS_ICM20948_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_IIS2MDC_ENABLED
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#define AP_COMPASS_IIS2MDC_ENABLED 0
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#endif
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#ifndef AP_COMPASS_IST8308_ENABLED
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#define AP_COMPASS_IST8308_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_IST8310_ENABLED
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#define AP_COMPASS_IST8310_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_LIS3MDL_ENABLED
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#define AP_COMPASS_LIS3MDL_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_LSM303D_ENABLED
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#define AP_COMPASS_LSM303D_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_LSM9DS1_ENABLED
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#define AP_COMPASS_LSM9DS1_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_MAG3110_ENABLED
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#define AP_COMPASS_MAG3110_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_MMC3416_ENABLED
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#define AP_COMPASS_MMC3416_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_MMC5XX3_ENABLED
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#define AP_COMPASS_MMC5XX3_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_QMC5883P_ENABLED
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#define AP_COMPASS_QMC5883P_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED && (HAL_PROGRAM_SIZE_LIMIT_KB > 1024)
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#endif
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#ifndef AP_COMPASS_QMC5883L_ENABLED
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#define AP_COMPASS_QMC5883L_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#ifndef AP_COMPASS_RM3100_ENABLED
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#define AP_COMPASS_RM3100_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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