mirror of https://github.com/ArduPilot/ardupilot
139 lines
5.5 KiB
C++
139 lines
5.5 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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/*
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* This board is tomte76's version of esp32empty.h to work with an aliexpress WROOM32 devkit clone, mpu9255 spi, bmp280 i2c, micro sd on spi2 and NEO M8 clone on UART.
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*/
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#pragma once
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#define HAL_ESP32_BOARD_NAME "esp32-tomte76"
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// CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_ESP32_TOMTE76
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#define TRUE 1
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#define FALSE 0
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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_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_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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//Protocols
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//list of protocols/enum: ardupilot/libraries/AP_SerialManager/AP_SerialManager.h
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//default protocols: ardupilot/libraries/AP_SerialManager/AP_SerialManager.cpp
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//ESP32 serials: AP_HAL_ESP32/HAL_ESP32_Class.cpp
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//#define HAL_SERIAL0_PROTOCOL SerialProtocol_MAVLink2 //A UART0: Always: Console, MAVLink2
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//#define HAL_SERIAL0_BAUD AP_SERIALMANAGER_CONSOLE_BAUD/1000 //115200
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//#define HAL_SERIAL1_PROTOCOL SerialProtocol_MAVLink2 //C WiFi: TCP, UDP, or disable (depends on HAL_ESP32_WIFI)
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//#define HAL_SERIAL1_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000 //57600
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//#define HAL_SERIAL2_PROTOCOL SerialProtocol_GPS //D UART2: Always: MAVLink2 on ESP32
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//#define HAL_SERIAL2_BAUD AP_SERIALMANAGER_GPS_BAUD/1000 //38400
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//#define HAL_SERIAL3_PROTOCOL SerialProtocol_GPS //B UART1: GPS1
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//#define HAL_SERIAL4_BAUD AP_SERIALMANAGER_GPS_BAUD/1000 //38400, Can not define default baudrate here (by config only)
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//#define HAL_SERIAL4_PROTOCOL SerialProtocol_None //E
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//#define HAL_SERIAL4_BAUD AP_SERIALMANAGER_GPS_BAUD/1000 //38400, Can not define default baudrate here (by config only)
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/*#define HAL_SERIAL5_PROTOCOL SerialProtocol_None //F
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#define HAL_SERIAL5_BAUD (115200/1000)
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#define HAL_SERIAL6_PROTOCOL SerialProtocol_None //G
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#define HAL_SERIAL6_BAUD (115200/1000)
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#define HAL_SERIAL7_PROTOCOL SerialProtocol_None //H
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#define HAL_SERIAL7_BAUD (115200/1000)
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#define HAL_SERIAL8_PROTOCOL SerialProtocol_None //I
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#define HAL_SERIAL8_BAUD (115200/1000)
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#define HAL_SERIAL9_PROTOCOL SerialProtocol_None //J
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#define HAL_SERIAL9_BAUD (115200/1000)*/
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//Inertial sensors
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
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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_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_INS_MPU9250_NAME "mpu9250"
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//Baro
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#define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
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#define HAL_BARO_BMP085_NAME "bmp280"
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 0, 0x76)
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//I2C Buses
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#define HAL_ESP32_I2C_BUSES {.port=I2C_NUM_0, .sda=GPIO_NUM_21, .scl=GPIO_NUM_22, .speed=400*KHZ, .internal=true}
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//SPI Buses
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#define HAL_ESP32_SPI_BUSES {.host=VSPI_HOST, .dma_ch=2, .mosi=GPIO_NUM_23, .miso=GPIO_NUM_19, .sclk=GPIO_NUM_18}
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//SPI Devices
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#define HAL_ESP32_SPI_DEVICES {.name="mpu9250", .bus=0, .device=0, .cs=GPIO_NUM_5, .mode = 0, .lspeed=2*MHZ, .hspeed=2*MHZ}
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//RCIN
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#define HAL_ESP32_RCIN GPIO_NUM_36
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//RCOUT
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#define HAL_ESP32_RCOUT { GPIO_NUM_25, GPIO_NUM_27, GPIO_NUM_33, GPIO_NUM_32 }
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//BAROMETER
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#define HAL_BARO_ALLOW_INIT_NO_BARO 1
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//COMPASS
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#define ALLOW_ARM_NO_COMPASS 1
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//WIFI
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#define HAL_ESP32_WIFI 1 //1-TCP, 2-UDP, comment this line = without wifi
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#define WIFI_SSID "ardupilot123"
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#define WIFI_PWD "ardupilot123"
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//UARTs
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#define HAL_ESP32_UART_DEVICES {.port=UART_NUM_0, .rx=GPIO_NUM_3 , .tx=GPIO_NUM_1},\
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{.port=UART_NUM_1, .rx=GPIO_NUM_16, .tx=GPIO_NUM_17}
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//ADC
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#define HAL_DISABLE_ADC_DRIVER 1
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#define HAL_USE_ADC 0
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//LED
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#define BUILD_DEFAULT_LED_TYPE Notify_LED_None
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//RMT pin number
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#define HAL_ESP32_RMT_RX_PIN_NUMBER 4
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//SD CARD
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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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// and spi is more flexible pinouts.... dont forget vspi/hspi should be selected to NOT conflict with HAL_ESP32_SPI_BUSES
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//#define HAL_ESP32_SDCARD //after enabled, uncomment one of below
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//#define HAL_ESP32_SDMMC
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#define HAL_ESP32_SDCARD 1
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#define HAL_ESP32_SDSPI {.host=HSPI_HOST, .dma_ch=1, .mosi=GPIO_NUM_13, .miso=GPIO_NUM_12, .sclk=GPIO_NUM_14, .cs=GPIO_NUM_15}
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#define HAL_OS_POSIX_IO 1
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#define HAL_LOGGING_FILESYSTEM_ENABLED 1
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#define HAL_LOGGING_DATAFLASH_ENABLED 0
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#define HAL_LOGGING_MAVLINK_ENABLED 0
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#define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS"
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#define HAL_BOARD_STORAGE_DIRECTORY "/SDCARD/APM/STORAGE"
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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_LOGGING_BACKENDS_DEFAULT 1
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