mirror of https://github.com/ArduPilot/ardupilot
279 lines
9.5 KiB
C
279 lines
9.5 KiB
C
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#ifndef __AP_HAL_BOARDS_H__
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#define __AP_HAL_BOARDS_H__
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/**
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* C preprocesor 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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* Its not an elegant solution but we cant get too fancy if we want to
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* work with the Arduino mk and IDE builds without too much modification.
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*/
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#define HAL_BOARD_APM1 1
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#define HAL_BOARD_APM2 2
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#define HAL_BOARD_AVR_SITL 3
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#define HAL_BOARD_SMACCM 4 // unused
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#define HAL_BOARD_PX4 5
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#define HAL_BOARD_FLYMAPLE 6
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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_EMPTY 99
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// default board subtype is -1
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#define HAL_BOARD_SUBTYPE_NONE -1
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/**
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HAL Linux sub-types, starting at 1000
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*/
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#define HAL_BOARD_SUBTYPE_LINUX_NONE 1000
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#define HAL_BOARD_SUBTYPE_LINUX_ERLE 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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/**
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HAL PX4 sub-types, starting at 2000
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*/
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#define HAL_BOARD_SUBTYPE_PX4_V1 2000
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#define HAL_BOARD_SUBTYPE_PX4_V2 2001
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/**
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HAL AVR sub-types, starting at 3000
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*/
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#define HAL_BOARD_SUBTYPE_AVR_APM1 3000
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#define HAL_BOARD_SUBTYPE_AVR_APM2 3001
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/**
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HAL VRBRAIN sub-types, starting at 4000
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*/
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#define HAL_BOARD_SUBTYPE_VRBRAIN_V45 4000
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#define HAL_BOARD_SUBTYPE_VRBRAIN_V51 4001
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#define HAL_BOARD_SUBTYPE_VRBRAIN_V52 4002
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#define HAL_BOARD_SUBTYPE_VRUBRAIN_V51 4003
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#define HAL_BOARD_SUBTYPE_VRUBRAIN_V52 4004
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// InertialSensor driver types
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#define HAL_INS_OILPAN 1
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#define HAL_INS_MPU6000 2
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#define HAL_INS_HIL 3
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#define HAL_INS_PX4 4
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#define HAL_INS_FLYMAPLE 5
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#define HAL_INS_L3G4200D 6
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#define HAL_INS_VRBRAIN 7
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#define HAL_INS_MPU9250 8
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#define HAL_INS_L3GD20 9
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// barometer driver types
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#define HAL_BARO_BMP085 1
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#define HAL_BARO_MS5611 2
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#define HAL_BARO_MS5611_SPI 3
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#define HAL_BARO_PX4 4
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#define HAL_BARO_HIL 5
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#define HAL_BARO_VRBRAIN 6
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// compass driver types
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#define HAL_COMPASS_HMC5843 1
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#define HAL_COMPASS_PX4 2
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#define HAL_COMPASS_HIL 3
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#define HAL_COMPASS_VRBRAIN 4
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#define HAL_COMPASS_AK8963 5
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/**
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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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*/
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#define HAL_CPU_CLASS_16 1 // 16Mhz, AVR2560 or similar
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#define HAL_CPU_CLASS_75 2 // 75Mhz, Flymaple or similar
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#define HAL_CPU_CLASS_150 3 // 150Mhz, PX4 or similar, assumes
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// hardware floating point. Assumes tens
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// of kilobytes of memory available
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#define HAL_CPU_CLASS_1000 4 // GigaHz class, SITL, BeagleBone etc,
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// assumes megabytes of memory available
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/**
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operating system features:
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HAL implementations may define the following extra feature defines
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to 1 if available
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HAL_OS_POSIX_IO : has posix-like filesystem IO
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*/
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/*
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define AP_HAL_BOARD_DRIVER to the right hal type for this
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board. This prevents us having a mess of ifdefs in every example
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sketch
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*/
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_APM1
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#define HAL_BOARD_NAME "APM 1"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_16
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#define HAL_STORAGE_SIZE 4096
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#define HAL_INS_DEFAULT HAL_INS_OILPAN
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#define HAL_BARO_DEFAULT HAL_BARO_BMP085
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
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#ifndef CONFIG_HAL_BOARD_SUBTYPE
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_AVR_APM1
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#endif
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_APM2
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#define HAL_BOARD_NAME "APM 2"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_16
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#define HAL_STORAGE_SIZE 4096
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#define HAL_INS_DEFAULT HAL_INS_MPU6000
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#ifdef APM2_BETA_HARDWARE
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#define HAL_BARO_DEFAULT HAL_BARO_BMP085
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#else
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#endif
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
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#ifndef CONFIG_HAL_BOARD_SUBTYPE
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_AVR_APM2
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#endif
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_SITL
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#define HAL_BOARD_NAME "SITL"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
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#define HAL_OS_POSIX_IO 1
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#define HAL_STORAGE_SIZE 16384
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#define HAL_BOARD_LOG_DIRECTORY "logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
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#define HAL_INS_DEFAULT HAL_INS_HIL
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#define HAL_BARO_DEFAULT HAL_BARO_HIL
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
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#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#define AP_HAL_BOARD_DRIVER AP_HAL_FLYMAPLE
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#define HAL_BOARD_NAME "FLYMAPLE"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_75
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#define HAL_STORAGE_SIZE 4096
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#define HAL_INS_DEFAULT HAL_INS_FLYMAPLE
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#define HAL_BARO_DEFAULT HAL_BARO_BMP085
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
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#define HAL_SERIAL0_BAUD_DEFAULT 115200
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#define AP_HAL_BOARD_DRIVER AP_HAL_PX4
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#define HAL_BOARD_NAME "PX4"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_150
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#define HAL_OS_POSIX_IO 1
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#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/fs/microsd/APM/TERRAIN"
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#define HAL_INS_DEFAULT HAL_INS_PX4
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#define HAL_BARO_DEFAULT HAL_BARO_PX4
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_PX4
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#define HAL_SERIAL0_BAUD_DEFAULT 115200
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V1
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#define HAL_STORAGE_SIZE 8192
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#else
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V2
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#define HAL_STORAGE_SIZE 16384
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#endif
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#define AP_HAL_BOARD_DRIVER AP_HAL_Linux
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#define HAL_BOARD_NAME "Linux"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
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#define HAL_OS_POSIX_IO 1
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#define HAL_STORAGE_SIZE 16384
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
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#define HAL_BOARD_LOG_DIRECTORY "logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
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#define HAL_INS_DEFAULT HAL_INS_HIL
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#define HAL_BARO_DEFAULT HAL_BARO_HIL
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU9250
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_INS_DEFAULT HAL_INS_MPU9250
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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// Stub the sensors out for now, at least we can build and run
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#define HAL_INS_DEFAULT HAL_INS_HIL
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#define HAL_BARO_DEFAULT HAL_BARO_HIL
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
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#define HAL_INS_DEFAULT HAL_INS_MPU9250
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963
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#else
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#error "no Linux board subtype set"
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#endif
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#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
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#define AP_HAL_BOARD_DRIVER AP_HAL_Empty
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#define HAL_BOARD_NAME "EMPTY"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_16
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#define HAL_STORAGE_SIZE 4096
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#define HAL_INS_DEFAULT HAL_INS_HIL
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#define HAL_BARO_DEFAULT HAL_BARO_HIL
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#define AP_HAL_BOARD_DRIVER AP_HAL_VRBRAIN
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#define HAL_BOARD_NAME "VRBRAIN"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_150
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#define HAL_OS_POSIX_IO 1
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#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/fs/microsd/APM/TERRAIN"
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#define HAL_INS_DEFAULT HAL_INS_VRBRAIN
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#define HAL_BARO_DEFAULT HAL_BARO_VRBRAIN
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_VRBRAIN
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#define HAL_SERIAL0_BAUD_DEFAULT 115200
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#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V45
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#define HAL_STORAGE_SIZE 8192
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#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V51
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#define HAL_STORAGE_SIZE 16384
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#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V52
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#define HAL_STORAGE_SIZE 16384
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#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRUBRAIN_V51
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#define HAL_STORAGE_SIZE 8192
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#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRUBRAIN_V52
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#define HAL_STORAGE_SIZE 8192
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#else
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
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#define HAL_STORAGE_SIZE 8192
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#endif
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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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#endif // __AP_HAL_BOARDS_H__
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