mirror of https://github.com/ArduPilot/ardupilot
262 lines
7.7 KiB
C
262 lines
7.7 KiB
C
/**
|
|
* C preprocesor enumeration of the boards supported by the AP_HAL.
|
|
* This list exists so HAL_BOARD == HAL_BOARD_xxx preprocessor blocks
|
|
* can be used to exclude HAL boards from the build when appropriate.
|
|
* It's not an elegant solution but we can improve it in future.
|
|
*/
|
|
#pragma once
|
|
|
|
#define HAL_BOARD_SITL 3
|
|
#define HAL_BOARD_SMACCM 4 // unused
|
|
#define HAL_BOARD_PX4 5 // unused
|
|
#define HAL_BOARD_LINUX 7
|
|
#define HAL_BOARD_VRBRAIN 8
|
|
#define HAL_BOARD_CHIBIOS 10
|
|
#define HAL_BOARD_F4LIGHT 11 // reserved
|
|
#define HAL_BOARD_EMPTY 99
|
|
|
|
/* Default board subtype is -1 */
|
|
#define HAL_BOARD_SUBTYPE_NONE -1
|
|
|
|
/* HAL Linux sub-types, starting at 1000 */
|
|
#define HAL_BOARD_SUBTYPE_LINUX_NONE 1000
|
|
#define HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD 1001
|
|
#define HAL_BOARD_SUBTYPE_LINUX_PXF 1002
|
|
#define HAL_BOARD_SUBTYPE_LINUX_NAVIO 1003
|
|
#define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004
|
|
#define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005
|
|
#define HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006
|
|
#define HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 1009
|
|
#define HAL_BOARD_SUBTYPE_LINUX_BH 1010
|
|
#define HAL_BOARD_SUBTYPE_LINUX_PXFMINI 1012
|
|
#define HAL_BOARD_SUBTYPE_LINUX_NAVIO2 1013
|
|
#define HAL_BOARD_SUBTYPE_LINUX_DISCO 1014
|
|
#define HAL_BOARD_SUBTYPE_LINUX_AERO 1015
|
|
#define HAL_BOARD_SUBTYPE_LINUX_DARK 1016
|
|
#define HAL_BOARD_SUBTYPE_LINUX_BLUE 1018
|
|
#define HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ 1019
|
|
#define HAL_BOARD_SUBTYPE_LINUX_EDGE 1020
|
|
#define HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ 1021
|
|
#define HAL_BOARD_SUBTYPE_LINUX_POCKET 1022
|
|
|
|
/* HAL CHIBIOS sub-types, starting at 5000 */
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 5000
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 5001
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 5002
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_MINDPXV2 5003
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_SPARKY2 5004
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_REVOMINI 5005
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_MINIPIX 5006
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_CRAZYFLIE2 5007
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF7V2 5008
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_GENERIC 5009
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_F4BY 5010
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF4PRO 5011
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_AIRBOTF4 5012
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5 5013
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_MATEKF405WING 5014
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4PRO 5015
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 5016
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 5017
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51 5018
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10 5019
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V54 5020
|
|
|
|
/* InertialSensor driver types */
|
|
#define HAL_INS_NONE 0
|
|
#define HAL_INS_MPU60XX_SPI 2
|
|
#define HAL_INS_MPU60XX_I2C 3
|
|
#define HAL_INS_HIL 4
|
|
#define HAL_INS_PX4 5
|
|
#define HAL_INS_L3G4200D 7
|
|
#define HAL_INS_VRBRAIN 8
|
|
#define HAL_INS_MPU9250_SPI 9
|
|
#define HAL_INS_L3GD20 10
|
|
#define HAL_INS_LSM9DS0 11
|
|
#define HAL_INS_MPU9250_I2C 13
|
|
#define HAL_INS_BH 14
|
|
#define HAL_INS_BBBMINI 17
|
|
#define HAL_INS_AERO 18
|
|
#define HAL_INS_MPU6500 19
|
|
#define HAL_INS_EDGE 20
|
|
#define HAL_INS_RST 21
|
|
#define HAL_INS_LSM9DS1 22
|
|
#define HAL_INS_ICM20789_SPI 23
|
|
#define HAL_INS_INV2_I2C 24
|
|
#define HAL_INS_INV2_SPI 25
|
|
|
|
|
|
/* Barometer driver types */
|
|
#define HAL_BARO_NONE 0
|
|
#define HAL_BARO_BMP085 1
|
|
#define HAL_BARO_MS5611_I2C 2
|
|
#define HAL_BARO_MS5611_SPI 3
|
|
#define HAL_BARO_MS5607_I2C 4
|
|
#define HAL_BARO_PX4 5
|
|
#define HAL_BARO_HIL 6
|
|
#define HAL_BARO_VRBRAIN 7
|
|
#define HAL_BARO_MS5637_I2C 8
|
|
#define HAL_BARO_BMP280_I2C 11
|
|
#define HAL_BARO_BMP280_SPI 12
|
|
#define HAL_BARO_LPS25H 13
|
|
#define HAL_BARO_20789_I2C_I2C 14
|
|
#define HAL_BARO_20789_I2C_SPI 15
|
|
#define HAL_BARO_LPS22H_SPI 16
|
|
#define HAL_BARO_LPS25H_IMU_I2C 17
|
|
#define HAL_BARO_FBM320_I2C 18
|
|
#define HAL_BARO_DPS280_I2C 19
|
|
#define HAL_BARO_DPS280_SPI 20
|
|
#define HAL_BARO_LPS22H_I2C 21
|
|
|
|
/* Compass driver types */
|
|
#define HAL_COMPASS_NONE 0
|
|
#define HAL_COMPASS_HMC5843 1
|
|
#define HAL_COMPASS_PX4 2
|
|
#define HAL_COMPASS_HIL 3
|
|
#define HAL_COMPASS_VRBRAIN 4
|
|
#define HAL_COMPASS_AK8963_MPU9250 5
|
|
#define HAL_COMPASS_AK8963_I2C 6
|
|
#define HAL_COMPASS_HMC5843_MPU6000 7
|
|
#define HAL_COMPASS_AK8963_MPU9250_I2C 9
|
|
#define HAL_COMPASS_BH 10
|
|
#define HAL_COMPASS_BBBMINI 13
|
|
#define HAL_COMPASS_NAVIO2 14
|
|
#define HAL_COMPASS_NAVIO 15
|
|
#define HAL_COMPASS_AERO 16
|
|
#define HAL_COMPASS_OCPOC_ZYNQ 17
|
|
#define HAL_COMPASS_EDGE 18
|
|
#define HAL_COMPASS_LIS3MDL 19
|
|
#define HAL_COMPASS_MAG3110 20
|
|
#define HAL_COMPASS_BMM150_I2C 21
|
|
#define HAL_COMPASS_QMC5883L 22
|
|
#define HAL_COMPASS_IST8310 23
|
|
#define HAL_COMPASS_LIS3MDL_I2C 24
|
|
#define HAL_COMPASS_RM3100_SPI 25
|
|
|
|
/* Heat Types */
|
|
#define HAL_LINUX_HEAT_PWM 1
|
|
|
|
/* CPU classes, used to select if CPU intensive algorithms should be used
|
|
* Note that these are only approximate, not exact CPU speeds. */
|
|
|
|
/* 150Mhz: PX4 or similar. Assumes:
|
|
* - hardware floating point
|
|
* - tens of kilobytes of memory available */
|
|
#define HAL_CPU_CLASS_150 3
|
|
/* GigaHz class: SITL, BeagleBone etc. Assumes megabytes of memory available. */
|
|
#define HAL_CPU_CLASS_1000 4
|
|
|
|
/* Operating system features
|
|
*
|
|
* HAL implementations may define the following extra feature defines to 1 if
|
|
* available:
|
|
*
|
|
* - HAL_OS_POSIX_IO : has posix-like filesystem IO
|
|
* - HAL_OS_SOCKETS : has posix-like sockets */
|
|
|
|
/* DEFINITIONS FOR BOARDS */
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
#include <AP_HAL/board/sitl.h>
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
|
#include <AP_HAL/board/linux.h>
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
|
|
#include <AP_HAL/board/empty.h>
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
|
|
#include <AP_HAL/board/vrbrain.h>
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
|
#include <AP_HAL/board/chibios.h>
|
|
#else
|
|
#error "Unknown CONFIG_HAL_BOARD type"
|
|
#endif
|
|
|
|
#ifndef CONFIG_HAL_BOARD_SUBTYPE
|
|
#error "No CONFIG_HAL_BOARD_SUBTYPE set"
|
|
#endif
|
|
|
|
#ifndef HAL_OS_POSIX_IO
|
|
#define HAL_OS_POSIX_IO 0
|
|
#endif
|
|
|
|
#ifndef HAL_OS_SOCKETS
|
|
#define HAL_OS_SOCKETS 0
|
|
#endif
|
|
|
|
#ifndef HAL_PARAM_DEFAULTS_PATH
|
|
#define HAL_PARAM_DEFAULTS_PATH nullptr
|
|
#endif
|
|
|
|
#ifndef HAL_HAVE_IMU_HEATER
|
|
#define HAL_HAVE_IMU_HEATER 0
|
|
#endif
|
|
|
|
#ifndef HAL_COMPASS_HMC5843_I2C_ADDR
|
|
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
|
#endif
|
|
|
|
#ifndef HAL_WITH_UAVCAN
|
|
#define HAL_WITH_UAVCAN 0
|
|
#endif
|
|
|
|
#ifndef HAL_RCINPUT_WITH_AP_RADIO
|
|
#define HAL_RCINPUT_WITH_AP_RADIO 0
|
|
#endif
|
|
|
|
#ifndef HAL_WITH_IO_MCU
|
|
#define HAL_WITH_IO_MCU 0
|
|
#endif
|
|
|
|
#ifndef HAL_HAVE_GETTIME_SETTIME
|
|
#define HAL_HAVE_GETTIME_SETTIME 0
|
|
#endif
|
|
|
|
// this is used as a general mechanism to make a 'small' build by
|
|
// dropping little used features. We use this to allow us to keep
|
|
// FMUv2 going for as long as possible
|
|
#ifndef HAL_MINIMIZE_FEATURES
|
|
#define HAL_MINIMIZE_FEATURES 0
|
|
#endif
|
|
|
|
#ifndef HAL_OS_FATFS_IO
|
|
#define HAL_OS_FATFS_IO 0
|
|
#endif
|
|
|
|
#ifndef HAL_PX4_HAVE_PX4IO
|
|
#define HAL_PX4_HAVE_PX4IO 0
|
|
#endif
|
|
|
|
#ifndef HAL_COMPASS_DEFAULT
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
|
|
#endif
|
|
|
|
#ifndef HAL_BARO_DEFAULT
|
|
#define HAL_BARO_DEFAULT HAL_BARO_NONE
|
|
#endif
|
|
|
|
#ifndef HAL_INS_DEFAULT
|
|
#define HAL_INS_DEFAULT HAL_INS_NONE
|
|
#endif
|
|
|
|
#ifndef HAL_GPS_TYPE_DEFAULT
|
|
#define HAL_GPS_TYPE_DEFAULT 1
|
|
#endif
|
|
|
|
#ifndef HAL_CAN_DRIVER_DEFAULT
|
|
#define HAL_CAN_DRIVER_DEFAULT 0
|
|
#endif
|
|
|
|
#ifdef HAVE_LIBDL
|
|
#define AP_MODULE_SUPPORTED 1
|
|
#else
|
|
#define AP_MODULE_SUPPORTED 0
|
|
#endif
|
|
|
|
#ifndef HAL_SUPPORT_RCOUT_SERIAL
|
|
#define HAL_SUPPORT_RCOUT_SERIAL 0
|
|
#endif
|
|
|
|
|
|
#ifndef HAL_HAVE_DUAL_USB_CDC
|
|
#define HAL_HAVE_DUAL_USB_CDC 0
|
|
#endif
|