mirror of https://github.com/ArduPilot/ardupilot
183 lines
7.1 KiB
C++
183 lines
7.1 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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// make sensor selection clearer
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#define PROBE_IMU_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,GET_I2C_DEVICE(bus, addr),##args))
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#define PROBE_IMU_SPI(driver, devname, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname),##args))
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#define PROBE_IMU_SPI2(driver, devname1, devname2, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname1),hal.spi->get_device(devname2),##args))
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#define PROBE_BARO_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(GET_I2C_DEVICE(bus, addr)),##args))
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#define PROBE_BARO_SPI(driver, devname, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(hal.spi->get_device(devname)),##args))
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#define PROBE_MAG_I2C(driver, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(GET_I2C_DEVICE(bus, addr),##args))
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#define PROBE_MAG_SPI(driver, devname, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(hal.spi->get_device(devname),##args))
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#define PROBE_MAG_IMU(driver, imudev, imu_instance, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(imu_instance,##args))
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#define PROBE_MAG_IMU_I2C(driver, imudev, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(GET_I2C_DEVICE(bus,addr),##args))
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//------------------------------------
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//#define CONFIG_HAL_BOARD 12
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//#define HAL_BOARD_ESP32 12
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//INS choices:
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
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//#define HAL_INS_MPU9250_NAME "MPU9250"
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// or this:
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//#define HAL_INS_DEFAULT HAL_INS_ICM20XXX_I2C
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//#define HAL_INS_ICM20XXX_I2C_BUS 0
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//#define HAL_INS_ICM20XXX_I2C_ADDR (0x68)
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// BARO choices:
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#define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
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#define HAL_BARO_BMP280_NAME "BMP280"
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// or one of these:
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//#define HAL_BARO_DEFAULT HAL_BARO_MS5837_I2C
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// or: GPIO 34
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//#define HAL_BARO_ANALOG_PIN (6)
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// MAG/COMPASS choices:
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// or others:
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//#define HAL_COMPASS_ICM20948_I2C_ADDR (0x68)
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//#define HAL_COMPASS_AK09916_I2C_BUS 0
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//#define HAL_COMPASS_AK09916_I2C_ADDR (0x0C)
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//#define HAL_COMPASS_MAX_SENSORS 3
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// IMU probing:
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//#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensensev2, 0, 0x68, ROTATION_YAW_270)
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// MAG/COMPASS probing:
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//#define HAL_MAG_PROBE_LIST ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948_I2C(0, ROTATION_NONE));
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// BARO probing:
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//#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 0, 0x77)
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// allow boot without a baro
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#define HAL_BARO_ALLOW_INIT_NO_BARO 1
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// ADC is available on lots of pints on the esp32, but adc2 cant co-exist with wifi we choose to allow ADC on :
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//#define HAL_DISABLE_ADC_DRIVER 1
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#define TRUE 1
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#define HAL_USE_ADC TRUE
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// the pin number, the gain/multiplier associated with it, the ardupilot name for the pin in parameter/s.
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//
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// two different pin numbering schemes, both are ok, but only one at a time:
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#define HAL_ESP32_ADC_PINS_OPTION1 {\
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{ADC1_GPIO35_CHANNEL, 11, 1},\
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{ADC1_GPIO34_CHANNEL, 11, 2},\
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{ADC1_GPIO39_CHANNEL, 11, 3},\
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{ADC1_GPIO36_CHANNEL, 11, 4}\
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}
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#define HAL_ESP32_ADC_PINS_OPTION2 {\
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{ADC1_GPIO35_CHANNEL, 11, 35},\
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{ADC1_GPIO34_CHANNEL, 11, 34},\
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{ADC1_GPIO39_CHANNEL, 11, 39},\
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{ADC1_GPIO36_CHANNEL, 11, 36}\
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}
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// pick one:
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//#define HAL_ESP32_ADC_PINS HAL_ESP32_ADC_PINS_OPTION1
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#define HAL_ESP32_ADC_PINS HAL_ESP32_ADC_PINS_OPTION2
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1
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#define HAL_INS_MPU9250_NAME "mpu9250"
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// uncommenting one or more of these will give more console debug in certain areas..
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//#define INSEDEBUG 1
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//#define STORAGEDEBUG 1
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//#define SCHEDDEBUG 1
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//#define FSDEBUG 1
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//#define BUSDEBUG 1
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI( Invensense, HAL_INS_MPU9250_NAME, ROTATION_NONE)
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//#define HAL_INS_PROBE_LIST PROBE_IMU_SPI( Invensense, HAL_INS_MPU9250_NAME, ROTATION_ROLL_180)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")
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// 2 use udp, 1 use tcp... for udp,client needs to connect as UDPCL in missionplanner etc to 192.168.4.1 port 14550
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#define HAL_ESP32_WIFI 1
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// tip: if u are ok getting mavlink-over-tcp or mavlink-over-udp and want to disable mavlink-over-serial-usb
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//then set ardupilot parameter SERIAL0_PROTOCOL = 0 and reboot.
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// u also will/may want..
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//LOG_BACKEND_TYPE 1
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//LOG_DISARMED 1
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//SERIAL0_PROTOCOL 0
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// see boards.py
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#ifndef ENABLE_HEAP
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#define ENABLE_HEAP 1
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#endif
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#define WIFI_SSID "ardupilot123"
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#define WIFI_PWD "ardupilot123"
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//RCOUT which pins are used?
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#define HAL_ESP32_RCOUT { GPIO_NUM_25,GPIO_NUM_27, GPIO_NUM_33, GPIO_NUM_32, GPIO_NUM_22, GPIO_NUM_21 }
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// SPI BUS setup, including gpio, dma, etc
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// note... we use 'vspi' for the bmp280 and mpu9250
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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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// tip: VSPI_HOST is an alternative name for esp's SPI3
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//#define HAL_ESP32_SPI_BUSES {}
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// SPI per-device setup, including speeds, etc.
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#define HAL_ESP32_SPI_DEVICES \
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{.name= "bmp280", .bus=0, .device=0, .cs=GPIO_NUM_26, .mode = 3, .lspeed=1*MHZ, .hspeed=1*MHZ}, \
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{.name="mpu9250", .bus=0, .device=1, .cs=GPIO_NUM_5, .mode = 0, .lspeed=2*MHZ, .hspeed=8*MHZ}
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//#define HAL_ESP32_SPI_DEVICES {}
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//I2C bus list
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#define HAL_ESP32_I2C_BUSES \
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{.port=I2C_NUM_0, .sda=GPIO_NUM_13, .scl=GPIO_NUM_12, .speed=400*KHZ, .internal=true}
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//#define HAL_ESP32_I2C_BUSES {} // using this embty block appears to cause crashes?
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// rcin on what pin?
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#define HAL_ESP32_RCIN GPIO_NUM_4
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//HARDWARE UARTS
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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 },{.port=UART_NUM_1, .rx=GPIO_NUM_16, .tx=GPIO_NUM_17 }
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#define HAVE_FILESYSTEM_SUPPORT 1
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// Do u want to use mmc or spi mode for the sd card, this is board specific ,
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// as mmc uses specific pins but is quicker,
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#define HAL_ESP32_SDMMC 1
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// and spi is more flexible pinouts.... dont forget vspi/hspi should be selected to NOT conflict with SPI_BUSES above
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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_14, .cs=GPIO_NUM_21}
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#define HAL_ESP32_SDCARD 1
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#define LOGGER_MAVLINK_SUPPORT 1
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#define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/SDCARD/APM/TERRAIN"
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#define HAL_BOARD_STORAGE_DIRECTORY "/SDCARD/APM/STORAGE"
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#define HAL_OS_POSIX_IO 1
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// this becomes the default value for the ardupilot param LOG_BACKEND_TYPE, which most ppl want to be 1, for log-to-flash
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// setting to 2 means log-over-mavlink to a companion computer etc.
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#define HAL_LOGGING_BACKENDS_DEFAULT 1
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