mirror of https://github.com/ArduPilot/ardupilot
185 lines
5.8 KiB
C
185 lines
5.8 KiB
C
/**
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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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* 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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#define HAL_BOARD_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_LINUX 7
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#define HAL_BOARD_VRBRAIN 8
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#define HAL_BOARD_QURT 9
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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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/* 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_RASPILOT 1007
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#define HAL_BOARD_SUBTYPE_LINUX_MINLURE 1008
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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_QFLIGHT 1011
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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_URUS 1017
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#define HAL_BOARD_SUBTYPE_LINUX_BLUE 1018
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/* HAL PX4 sub-types, starting at 2000 */
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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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#define HAL_BOARD_SUBTYPE_PX4_V4 2002
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#define HAL_BOARD_SUBTYPE_PX4_V3 2003
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#define HAL_BOARD_SUBTYPE_PX4_AEROFC_V1 2004
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/* HAL VRBRAIN sub-types, starting at 4000 */
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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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#define HAL_BOARD_SUBTYPE_VRCORE_V10 4005
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#define HAL_BOARD_SUBTYPE_VRBRAIN_V54 4006
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/* InertialSensor driver types */
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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 4
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#define HAL_INS_PX4 5
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#define HAL_INS_L3G4200D 7
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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_L3GD20 10
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#define HAL_INS_LSM9DS0 11
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#define HAL_INS_RASPILOT 12
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#define HAL_INS_MPU9250_I2C 13
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#define HAL_INS_BH 14
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#define HAL_INS_QFLIGHT 15
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#define HAL_INS_QURT 16
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#define HAL_INS_BBBMINI 17
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#define HAL_INS_AERO 18
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#define HAL_INS_MPU6500 19
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/* Barometer driver types */
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#define HAL_BARO_BMP085 1
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#define HAL_BARO_MS5611_I2C 2
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#define HAL_BARO_MS5611_SPI 3
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#define HAL_BARO_MS5607_I2C 4
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#define HAL_BARO_PX4 5
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#define HAL_BARO_HIL 6
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#define HAL_BARO_VRBRAIN 7
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#define HAL_BARO_MS5637_I2C 8
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#define HAL_BARO_QFLIGHT 9
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#define HAL_BARO_QURT 10
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#define HAL_BARO_BMP280_I2C 11
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#define HAL_BARO_BMP280_SPI 12
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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_MPU9250 5
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#define HAL_COMPASS_AK8963_I2C 6
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#define HAL_COMPASS_HMC5843_MPU6000 7
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#define HAL_COMPASS_RASPILOT 8
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#define HAL_COMPASS_AK8963_MPU9250_I2C 9
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#define HAL_COMPASS_BH 10
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#define HAL_COMPASS_QFLIGHT 11
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#define HAL_COMPASS_QURT 12
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#define HAL_COMPASS_BBBMINI 13
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#define HAL_COMPASS_NAVIO2 14
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#define HAL_COMPASS_NAVIO 15
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#define HAL_COMPASS_AERO 16
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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: PX4 or similar. Assumes:
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* - hardware floating point
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* - tens of kilobytes of memory available */
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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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/* 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_PX4
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#include <AP_HAL/board/px4.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_QURT
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#include <AP_HAL/board/qurt.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#include <AP_HAL/board/vrbrain.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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#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_OS_SOCKETS
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#define HAL_OS_SOCKETS 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_RANGEFINDER_LIGHTWARE_I2C_BUS
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 1
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#endif
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#ifndef HAL_COMPASS_HMC5843_I2C_ADDR
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
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#endif
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#ifndef HAL_WITH_UAVCAN
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#define HAL_WITH_UAVCAN 0
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#endif
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// this is used as a general mechanism to make a 'small' build by
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// dropping little used features. We use this to allow us to keep
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// FMUv2 going for as long as possible
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#ifndef HAL_MINIMIZE_FEATURES
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#define HAL_MINIMIZE_FEATURES 0
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#endif
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