mirror of https://github.com/ArduPilot/ardupilot
94 lines
3.3 KiB
C
94 lines
3.3 KiB
C
#pragma once
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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_PARAM_DEFAULTS_PATH "/etc/defaults.parm"
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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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#ifdef 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_VRBRAIN_V52E)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V52E
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#define HAL_STORAGE_SIZE 8192
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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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#elif defined(CONFIG_ARCH_BOARD_VRCORE_V10)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRCORE_V10
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#define HAL_STORAGE_SIZE 16384
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#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V54)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V54
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#define HAL_STORAGE_SIZE 16384
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#else
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#error "Unknown VRBRAIN board type"
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#endif
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#define HAL_GPIO_A_LED_PIN 25
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#define HAL_GPIO_B_LED_PIN 26
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#define HAL_GPIO_C_LED_PIN 27
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#define HAL_GPIO_LED_ON 1
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#define HAL_GPIO_LED_OFF 0
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#define EXTERNAL_LED_GPS 28 // GPS LED - AN10
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#define EXTERNAL_LED_ARMED 29 // Armed LED - AN11
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#define EXTERNAL_LED_MOTOR1 30 // Motor1 LED - AN8
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#define EXTERNAL_LED_MOTOR2 31 // Motor2 LED - AN12
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#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int"
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#define HAL_BARO_MS5611_SPI_EXT_NAME "ms5611_ext"
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#define HAL_BARO_MS5611_SPI_IMU_NAME "ms5611_imu"
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#define HAL_INS_MPU60x0_NAME "mpu6000"
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#define HAL_INS_MPU60x0_EXT_NAME "mpu6000_ext"
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#define HAL_INS_MPU60x0_IMU_NAME "mpu6000_imu"
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#define HAL_INS_LSM9DS0_G_NAME "lsm9ds0_g"
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#define HAL_INS_LSM9DS0_A_NAME "lsm9ds0_am"
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#define HAL_INS_LSM9DS0_EXT_G_NAME "lsm9ds0_ext_g"
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#define HAL_INS_LSM9DS0_EXT_A_NAME "lsm9ds0_ext_am"
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_INS_MPU9250_EXT_NAME "mpu9250_ext"
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#define HAL_INS_MPU6500_NAME "mpu6500"
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#define HAL_INS_ICM20608_NAME "icm20608"
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#define HAL_INS_ICM20608_AM_NAME "icm20608-am"
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#define HAL_INS_ICM20608_EXT_NAME "icm20608_ext"
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#define HAL_COMPASS_HMC5843_NAME "hmc5843"
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#define HAL_COMPASS_HMC5843_EXT_NAME "hmc5843_ext"
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#define HAL_COMPASS_HMC5843_IMU_NAME "hmc5843_imu"
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#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"
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#ifndef HAL_HAVE_BOARD_VOLTAGE
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#define HAL_HAVE_BOARD_VOLTAGE 0
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#endif
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#ifndef HAL_PX4_HAVE_MTD_SUPPORT
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#define HAL_PX4_HAVE_MTD_SUPPORT 1
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#endif
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#ifndef HAL_PX4_HAVE_PWM_INPUT
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#define HAL_PX4_HAVE_PWM_INPUT 1
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#endif
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#ifndef HAL_HAVE_SAFETY_SWITCH
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#define HAL_HAVE_SAFETY_SWITCH 1
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#endif
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