mirror of https://github.com/ArduPilot/ardupilot
61 lines
2.2 KiB
C
61 lines
2.2 KiB
C
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#define HAL_ESP32_BOARD_NAME "esp32-icarus"
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#define HAL_INS_DEFAULT AP_FEATURE_BOARD_DETECT
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#define HAL_INS_MPU60x0_NAME "MPU6000"
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#define TRUE 1
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#define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
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#define HAL_BARO_BMP280_BUS 0
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#define HAL_BARO_BMP280_I2C_ADDR (0x76)
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#define ALLOW_ARM_NO_COMPASS
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#define HAL_ESP32_SDCARD //after enabled, uncomment one of below
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#define HAL_ESP32_SDMMC
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//#define HAL_ESP32_SDSPI {.host=VSPI_HOST, .dma_ch=2, .mosi=GPIO_NUM_2, .miso=GPIO_NUM_15, .sclk=GPIO_NUM_26, .cs=GPIO_NUM_21}
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#define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS"
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#define HAL_BOARD_STORAGE_DIRECTORY "/SDCARD/APM/STORAGE"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/SDCARD/APM/TERRAIN"
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#define HAL_ESP32_WIFI 1
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#define HAL_ESP32_NO_MAVLINK_0 1
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#define HAL_ESP32_RCIN GPIO_NUM_36
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#define HAL_ESP32_RCOUT {GPIO_NUM_9, GPIO_NUM_10, GPIO_NUM_27, GPIO_NUM_13, GPIO_NUM_22, GPIO_NUM_21}
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#define HAL_ESP32_SPI_BUSES \
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{.host=VSPI_HOST, .dma_ch=1, .mosi=GPIO_NUM_23, .miso=GPIO_NUM_19, .sclk=GPIO_NUM_18}
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#define HAL_ESP32_SPI_DEVICES \
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{.name="MPU6000", .bus=0, .device=1, .cs=GPIO_NUM_5, .mode=0, .lspeed=1*MHZ, .hspeed=6*MHZ}
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#define HAL_ESP32_I2C_BUSES \
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{.port=I2C_NUM_0, .sda=GPIO_NUM_26, .scl=GPIO_NUM_25, .speed=400*KHZ, .internal=false}
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#define HAL_ESP32_UART_DEVICES \
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{.port=UART_NUM_0, .rx=GPIO_NUM_3 , .tx=GPIO_NUM_1 },\
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{.port=UART_NUM_1, .rx=GPIO_NUM_34, .tx=GPIO_NUM_32},\
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{.port=UART_NUM_2, .rx=GPIO_NUM_35, .tx=GPIO_NUM_33}
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#define HAL_DISABLE_ADC_DRIVER 1
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#define HAL_USE_ADC 0
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#define HAL_ESP32_RMT_RX_PIN_NUMBER 36
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