mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-01 03:04:04 -04:00
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
420 lines
11 KiB
C
420 lines
11 KiB
C
/**
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* C preprocessor 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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// @LoggerEnum: HAL_BOARD
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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_ESP32 12
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#define HAL_BOARD_QURT 13
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#define HAL_BOARD_EMPTY 99
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// @LoggerEnumEnd
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// @LoggerEnum: HAL_BOARD_SUBTYPE
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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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#define HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 1025
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#define HAL_BOARD_SUBTYPE_LINUX_CANZERO 1026
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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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#define HAL_BOARD_SUBTYPE_ESP32_DIY 6001
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#define HAL_BOARD_SUBTYPE_ESP32_ICARUS 6002
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#define HAL_BOARD_SUBTYPE_ESP32_BUZZ 6003
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#define HAL_BOARD_SUBTYPE_ESP32_EMPTY 6004
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#define HAL_BOARD_SUBTYPE_ESP32_TOMTE76 6005
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#define HAL_BOARD_SUBTYPE_ESP32_NICK 6006
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#define HAL_BOARD_SUBTYPE_ESP32_S3DEVKIT 6007
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#define HAL_BOARD_SUBTYPE_ESP32_S3EMPTY 6008
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// @LoggerEnumEnd
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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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/* 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_CHIBIOS
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#include <AP_HAL/board/chibios.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_ESP32
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#include <AP_HAL/board/esp32.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_QURT
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#include <AP_HAL/board/qurt.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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// HAL_PROGRAM_SIZE_LIMIT_KB is the amount of space we have for
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// instructions. on ChibiOS this is the sum of onboard and external
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// flash. BOARD_FLASH_SIZE is reserved for use in the HAL backends
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// (usually only ChibiOS) and should not be used in general code.
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#ifndef HAL_PROGRAM_SIZE_LIMIT_KB
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#error HAL_PROGRAM_SIZE_LIMIT_KB must be defined
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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_OS_POSIX_IO
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#define HAL_OS_POSIX_IO 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_NUM_CAN_IFACES
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#define HAL_NUM_CAN_IFACES 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_WITH_IO_MCU_BIDIR_DSHOT
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#define HAL_WITH_IO_MCU_BIDIR_DSHOT 0
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#endif
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#ifndef HAL_WITH_IO_MCU_DSHOT
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#define HAL_WITH_IO_MCU_DSHOT HAL_WITH_IO_MCU_BIDIR_DSHOT
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#endif
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#ifndef HAL_REQUIRES_BDSHOT_SUPPORT
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#define HAL_REQUIRES_BDSHOT_SUPPORT (defined(HAL_WITH_BIDIR_DSHOT) || HAL_WITH_IO_MCU_BIDIR_DSHOT)
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#endif
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#ifndef AP_NOTIFY_TONEALARM_ENABLED
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#define AP_NOTIFY_TONEALARM_ENABLED 0
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#endif
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// support for Extended DShot Telemetry v2 is enabled only if any kind of such telemetry
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// can in principle arrive, either from servo outputs or from IOMCU
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// if not desired, set to 0 - and if IOMCU has bidirectional DShot enabled, recompile it too,
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// otherwise the communication to IOMCU breaks!
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#ifndef AP_EXTENDED_DSHOT_TELEM_V2_ENABLED
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#define AP_EXTENDED_DSHOT_TELEM_V2_ENABLED HAL_REQUIRES_BDSHOT_SUPPORT
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#endif
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#ifndef HAL_GYROFFT_ENABLED
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#define HAL_GYROFFT_ENABLED (HAL_PROGRAM_SIZE_LIMIT_KB > 1024)
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#endif
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// enable AP_GyroFFT library only if required:
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#ifndef HAL_WITH_DSP
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#define HAL_WITH_DSP HAL_GYROFFT_ENABLED
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#endif
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#ifndef AP_HAL_UARTDRIVER_ENABLED
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#define AP_HAL_UARTDRIVER_ENABLED 1
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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_OS_LITTLEFS_IO
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#define HAL_OS_LITTLEFS_IO 0
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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_GPS1_TYPE_DEFAULT
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#define HAL_GPS1_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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#define HAL_MAX_CAN_PROTOCOL_DRIVERS HAL_NUM_CAN_IFACES
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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)
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#endif
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#ifndef HAL_ENABLE_DRONECAN_DRIVERS
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#define HAL_ENABLE_DRONECAN_DRIVERS HAL_CANMANAGER_ENABLED
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#endif
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#ifndef AP_TEST_DRONECAN_DRIVERS
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#define AP_TEST_DRONECAN_DRIVERS 0
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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_FORWARD_OTG2_SERIAL
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#define HAL_FORWARD_OTG2_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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#ifndef AP_CAN_SLCAN_ENABLED
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#if HAL_NUM_CAN_IFACES && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#define AP_CAN_SLCAN_ENABLED 1
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#else
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#define AP_CAN_SLCAN_ENABLED 0
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#endif
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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 AP_HAL_SHARED_DMA_ENABLED
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#define AP_HAL_SHARED_DMA_ENABLED 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 AP_STATS_ENABLED
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#define AP_STATS_ENABLED 1
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#endif
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#ifndef HAL_WITH_MCU_MONITORING
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#define HAL_WITH_MCU_MONITORING 0
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#endif
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#ifndef AP_CRASHDUMP_ENABLED
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#define AP_CRASHDUMP_ENABLED 0
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#endif
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#ifndef AP_SIGNED_FIRMWARE
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#define AP_SIGNED_FIRMWARE 0
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#endif
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#ifndef HAL_DSHOT_ALARM_ENABLED
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#define HAL_DSHOT_ALARM_ENABLED 0
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#endif
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#ifndef HAL_DSHOT_ENABLED
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#define HAL_DSHOT_ENABLED 1
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#endif
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#ifndef HAL_SERIALLED_ENABLED
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#define HAL_SERIALLED_ENABLED HAL_DSHOT_ENABLED
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#endif
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#ifndef HAL_SERIAL_ESC_COMM_ENABLED
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#define HAL_SERIAL_ESC_COMM_ENABLED 1
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#endif
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#ifndef AP_BOOTLOADER_FLASHING_ENABLED
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#define AP_BOOTLOADER_FLASHING_ENABLED 0
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#endif
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#ifndef HAL_HNF_MAX_FILTERS
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// On an F7 The difference in CPU load between 1 notch and 24 notches is about 2%
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// The difference in CPU load between 1Khz backend and 2Khz backend is about 10%
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// So at 1Khz almost all notch combinations can be supported on F7 and certainly H7
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#if defined(STM32H7) || CONFIG_HAL_BOARD == HAL_BOARD_SITL
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// Enough for a double-notch per motor on an octa using three IMUs and one harmonics
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// plus one static notch with one double-notch harmonics
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#define HAL_HNF_MAX_FILTERS 54
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#elif defined(STM32F7)
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// Enough for a notch per motor on an octa using three IMUs and one harmonics
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// plus one static notch with one harmonics
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#define HAL_HNF_MAX_FILTERS 27
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#else
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// Enough for a notch per motor on an octa quad using two IMUs and one harmonic
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// plus one static notch with one harmonic
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// Or triple-notch per motor on one IMU with one harmonic
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#define HAL_HNF_MAX_FILTERS 24
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#endif
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#endif // HAL_HNF_MAX_FILTERS
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL // allow SITL to have all the CANFD options
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#define HAL_CANFD_SUPPORTED 8
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#elif !defined(HAL_CANFD_SUPPORTED)
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#define HAL_CANFD_SUPPORTED 0
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#endif
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#ifndef HAL_USE_QUADSPI
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#define HAL_USE_QUADSPI 0
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#endif
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#ifndef HAL_USE_OCTOSPI
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#define HAL_USE_OCTOSPI 0
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#endif
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#ifndef __RAMFUNC__
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#define __RAMFUNC__
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#endif
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#ifndef __FASTRAMFUNC__
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#define __FASTRAMFUNC__
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#endif
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#ifndef __EXTFLASHFUNC__
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#define __EXTFLASHFUNC__
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#endif
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// Use __INITFUNC__ to mark functions which are only called once, at
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// boot. On some boards we choose to put such functions into areas of
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// flash memory which are slower than others.
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#ifndef __INITFUNC__
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#define __INITFUNC__ __EXTFLASHFUNC__
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#endif
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#ifndef HAL_ENABLE_DFU_BOOT
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#define HAL_ENABLE_DFU_BOOT 0
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#endif
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#ifndef HAL_ENABLE_SENDING_STATS
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#define HAL_ENABLE_SENDING_STATS HAL_PROGRAM_SIZE_LIMIT_KB >= 256
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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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#elif HAL_GPIO_LED_ON == 0
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#error "Do not specify HAL_GPIO_LED_ON if you are setting it to the default, 0"
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#endif
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#ifdef HAL_GPIO_LED_OFF
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#error "HAL_GPIO_LED_OFF must not be defined, it is implicitly !HAL_GPIO_LED_ON"
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#endif
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#ifndef HAL_WITH_POSTYPE_DOUBLE
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#define HAL_WITH_POSTYPE_DOUBLE HAL_PROGRAM_SIZE_LIMIT_KB > 1024
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#endif
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#ifndef HAL_INS_RATE_LOOP
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#define HAL_INS_RATE_LOOP 0
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#endif
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#define HAL_GPIO_LED_OFF (!HAL_GPIO_LED_ON)
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