ardupilot/libraries/AP_HAL/board/sitl.h

81 lines
2.0 KiB
C

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