mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
49d08ba72a
Minlure is a port of ArduPilot to Minnow Board connected to daughter board. Very few of those were produced and nobody is flying with it. It served its purpose and all the the improvements to ArduPilot remain regardless of it not being supported anymore. Now it's just adding maintenance work with no clear benefit, so pull the plug.
385 lines
15 KiB
C
385 lines
15 KiB
C
#pragma once
|
|
|
|
#define HAL_BOARD_NAME "Linux"
|
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
|
|
#define HAL_OS_POSIX_IO 1
|
|
#define HAL_OS_SOCKETS 1
|
|
#define HAL_STORAGE_SIZE 16384
|
|
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
|
|
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
|
|
#define HAL_BOARD_LOG_DIRECTORY "logs"
|
|
#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
|
|
#define HAL_BOARD_STORAGE_DIRECTORY "."
|
|
#define HAL_INS_DEFAULT HAL_INS_HIL
|
|
#define HAL_BARO_DEFAULT HAL_BARO_HIL
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
|
|
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
|
|
#define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_270
|
|
#else
|
|
#define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90
|
|
#endif
|
|
#define HAL_INS_MPU9250_NAME "mpu9250"
|
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
|
#define HAL_BARO_MS5611_NAME "ms5611"
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
|
|
#define HAL_COMPASS_HMC5843_I2C_BUS 1
|
|
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
|
#define HAL_GPIO_A_LED_PIN 61
|
|
#define HAL_GPIO_B_LED_PIN 48
|
|
#define HAL_GPIO_C_LED_PIN 117
|
|
#define HAL_GPIO_LED_ON LOW
|
|
#define HAL_GPIO_LED_OFF HIGH
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
|
|
#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
|
|
#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
|
|
#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
|
|
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
|
|
#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
|
|
#define HAL_INS_MPU60x0_I2C_BUS 2
|
|
#define HAL_INS_MPU60x0_I2C_ADDR 0x68
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
|
|
#define HAL_COMPASS_AK8963_I2C_BUS 1
|
|
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
|
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
|
|
#define HAL_BARO_MS5607_I2C_BUS 1
|
|
#define HAL_BARO_MS5607_I2C_ADDR 0x77
|
|
#define HAL_HAVE_IMU_HEATER 1
|
|
#define HAL_IMU_TEMP_DEFAULT 55
|
|
#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
|
|
#define HAL_LINUX_HEAT_PWM_NUM 6
|
|
#define HAL_LINUX_HEAT_KP 20000
|
|
#define HAL_LINUX_HEAT_KI 6
|
|
#define HAL_LINUX_HEAT_PERIOD_NS 125000
|
|
#define HAL_LINUX_HEAT_TARGET_TEMP 50
|
|
#define BEBOP_CAMV_PWM 9
|
|
#define BEBOP_CAMV_PWM_FREQ 43333333
|
|
#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
|
|
#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
|
|
#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
|
|
#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
|
|
#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
|
|
#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
|
|
#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
|
|
#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
|
|
#define HAL_OPTFLOW_ONBOARD_NBUFS 8
|
|
#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
|
|
#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
|
|
#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
|
|
#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/bebop.parm"
|
|
#define HAL_RCOUT_BEBOP_BLDC_I2C_BUS 1
|
|
#define HAL_RCOUT_BEBOP_BLDC_I2C_ADDR 0x08
|
|
/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
|
|
* 240x240 crop rescaled to 64x64 */
|
|
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
|
|
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
|
|
#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
|
|
#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
|
|
#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
|
|
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
|
|
#define HAL_INS_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_90
|
|
#define HAL_INS_MPU60x0_I2C_BUS 2
|
|
#define HAL_INS_MPU60x0_I2C_ADDR 0x68
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
|
|
#define HAL_COMPASS_AK8963_I2C_BUS 1
|
|
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
|
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
|
|
#define HAL_BARO_MS5607_I2C_BUS 1
|
|
#define HAL_BARO_MS5607_I2C_ADDR 0x77
|
|
#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
|
|
#define HAL_LINUX_HEAT_PWM_NUM 10
|
|
#define HAL_LINUX_HEAT_KP 20000
|
|
#define HAL_LINUX_HEAT_KI 6
|
|
#define HAL_LINUX_HEAT_PERIOD_NS 125000
|
|
#define HAL_LINUX_HEAT_TARGET_TEMP 50
|
|
#define BEBOP_CAMV_PWM 9
|
|
#define BEBOP_CAMV_PWM_FREQ 43333333
|
|
#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
|
|
#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
|
|
#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
|
|
#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
|
|
#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
|
|
#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
|
|
#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
|
|
#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
|
|
#define HAL_OPTFLOW_ONBOARD_NBUFS 8
|
|
#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
|
|
#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
|
|
#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
|
|
#define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1
|
|
#define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08
|
|
#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/disco.parm"
|
|
/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
|
|
* 240x240 crop rescaled to 64x64 */
|
|
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
|
|
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
|
|
// the disco has challenges with its magnetic setup
|
|
#define AP_COMPASS_OFFSETS_MAX_DEFAULT 2200
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
|
|
#define HAL_GPIO_A_LED_PIN 0
|
|
#define HAL_GPIO_B_LED_PIN 1
|
|
#define HAL_GPIO_C_LED_PIN 2
|
|
#define HAL_GPIO_LED_ON HIGH
|
|
#define HAL_GPIO_LED_OFF LOW
|
|
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
|
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
|
#define HAL_INS_MPU9250_NAME "mpu9250"
|
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
|
|
#define HAL_BARO_MS5611_I2C_BUS 1
|
|
#define HAL_BARO_MS5611_I2C_ADDR 0x77
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO
|
|
/* HMC5843 can be an external compass */
|
|
#define HAL_COMPASS_HMC5843_I2C_BUS 1
|
|
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
|
|
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
|
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
|
#define HAL_INS_MPU9250_NAME "mpu9250"
|
|
#define HAL_INS_LSM9DS1_NAME "lsm9ds1"
|
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
|
|
#define HAL_BARO_MS5611_I2C_BUS 1
|
|
#define HAL_BARO_MS5611_I2C_ADDR 0x77
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO2
|
|
/* HMC5843 can be an external compass */
|
|
#define HAL_COMPASS_HMC5843_I2C_BUS 1
|
|
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
|
#define HAL_GPIO_A_LED_PIN 16
|
|
#define HAL_GPIO_B_LED_PIN 16
|
|
#define HAL_GPIO_C_LED_PIN 16
|
|
#define HAL_GPIO_LED_ON LOW
|
|
#define HAL_GPIO_LED_OFF HIGH
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
|
|
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
|
#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
|
|
#define HAL_INS_MPU9250_NAME "mpu9250"
|
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
|
#define HAL_BARO_MS5611_NAME "ms5611"
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
|
|
/* HMC5843 can be an external compass */
|
|
#define HAL_COMPASS_HMC5843_I2C_BUS 1
|
|
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
|
#define HAL_GPIO_A_LED_PIN 24
|
|
#define HAL_GPIO_B_LED_PIN 25
|
|
#define HAL_GPIO_C_LED_PIN 16
|
|
#define HAL_GPIO_LED_ON LOW
|
|
#define HAL_GPIO_LED_OFF HIGH
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
|
|
// Stub the sensors out for now, at least we can build and run
|
|
#define HAL_INS_DEFAULT HAL_INS_HIL
|
|
#define HAL_BARO_DEFAULT HAL_BARO_HIL
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
|
|
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
|
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
|
#define HAL_INS_MPU9250_NAME "mpu9250"
|
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
|
#define HAL_BARO_MS5611_NAME "ms5611"
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_OCPOC_ZYNQ
|
|
/* HMC5843 can be an external compass */
|
|
#define HAL_COMPASS_HMC5843_I2C_BUS 4
|
|
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
|
#define AP_COMPASS_OFFSETS_MAX_DEFAULT 1000
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
|
|
#define HAL_GPIO_A_LED_PIN 69
|
|
#define HAL_GPIO_B_LED_PIN 68
|
|
#define HAL_GPIO_C_LED_PIN 45
|
|
#define HAL_GPIO_LED_ON LOW
|
|
#define HAL_GPIO_LED_OFF HIGH
|
|
#define HAL_BUZZER_PIN 11
|
|
#define HAL_INS_DEFAULT HAL_INS_BBBMINI
|
|
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
|
#define HAL_INS_MPU9250_NAME "mpu9250"
|
|
#define HAL_INS_MPU9250_NAME_EXT "mpu9250ext"
|
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
|
#define HAL_BARO_MS5611_NAME "ms5611"
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_BBBMINI
|
|
/* HMC5843 can be an external compass */
|
|
#define HAL_COMPASS_HMC5843_I2C_BUS 2
|
|
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
|
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
|
|
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
|
|
#define HAL_GPIO_A_LED_PIN 66
|
|
#define HAL_GPIO_B_LED_PIN 67
|
|
#define HAL_GPIO_C_LED_PIN 67
|
|
#define HAL_GPIO_LED_ON HIGH
|
|
#define HAL_GPIO_LED_OFF LOW
|
|
#define HAL_INS_DEFAULT HAL_INS_MPU9250_I2C
|
|
#define HAL_INS_MPU9250_I2C_BUS 2
|
|
#define HAL_INS_MPU9250_I2C_ADDR 0x68
|
|
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
|
#define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
|
|
#define HAL_BARO_BMP280_BUS 2
|
|
#define HAL_BARO_BMP280_I2C_ADDR 0x76
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250_I2C
|
|
#define HAL_COMPASS_AK8963_I2C_BUS 2
|
|
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0C
|
|
/* HMC5843 can be an external compass */
|
|
#define HAL_COMPASS_HMC5843_I2C_BUS 1
|
|
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
|
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
|
|
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 1
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
|
|
#define HAL_GPIO_A_LED_PIN 59
|
|
#define HAL_GPIO_B_LED_PIN 58
|
|
#define HAL_GPIO_C_LED_PIN 57
|
|
#define HAL_GPIO_LED_ON HIGH
|
|
#define HAL_GPIO_LED_OFF LOW
|
|
#define HAL_BUZZER_PIN 28
|
|
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
|
#define HAL_INS_MPU9250_NAME "mpu9250"
|
|
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
|
#define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
|
|
#define HAL_BARO_BMP280_NAME "bmp280"
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
|
|
/* HMC5843 can be an external compass */
|
|
#define HAL_COMPASS_HMC5843_I2C_BUS 2
|
|
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
|
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
|
|
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
|
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
|
|
#define HAL_BARO_MS5611_I2C_BUS 1
|
|
#define HAL_BARO_MS5611_I2C_ADDR 0x77
|
|
#define HAL_INS_DEFAULT HAL_INS_BH
|
|
#define HAL_INS_MPU9250_NAME "mpu9250"
|
|
#define HAL_INS_MPU60x0_I2C_BUS 1
|
|
#define HAL_INS_MPU60x0_I2C_ADDR 0x69
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_BH
|
|
/* HMC5843 can be an external compass */
|
|
#define HAL_COMPASS_HMC5843_I2C_BUS 1
|
|
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
|
#define HAL_GPIO_A_LED_PIN 17
|
|
#define HAL_GPIO_B_LED_PIN 18
|
|
#define HAL_GPIO_C_LED_PIN 22
|
|
#define HAL_GPIO_LED_ON LOW
|
|
#define HAL_GPIO_LED_OFF HIGH
|
|
#define HAL_RCOUT_RGBLED_RED 13
|
|
#define HAL_RCOUT_RGBLED_GREEN 14
|
|
#define HAL_RCOUT_RGBLED_BLUE 15
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
|
|
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
|
#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
|
|
#define HAL_INS_MPU9250_NAME "mpu9250"
|
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
|
#define HAL_BARO_MS5611_NAME "ms5611"
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
|
|
/* HMC5843 can be an external compass */
|
|
#define HAL_COMPASS_HMC5843_I2C_BUS 1
|
|
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
|
#define HAL_GPIO_A_LED_PIN 24
|
|
#define HAL_GPIO_B_LED_PIN 25
|
|
#define HAL_GPIO_C_LED_PIN 16
|
|
#define HAL_GPIO_LED_ON LOW
|
|
#define HAL_GPIO_LED_OFF HIGH
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
|
|
#define HAL_INS_DEFAULT HAL_INS_AERO
|
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
|
|
#define HAL_BARO_MS5611_I2C_BUS 2
|
|
#define HAL_BARO_MS5611_I2C_ADDR 0x76
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AERO
|
|
#define HAL_COMPASS_BMM150_I2C_BUS 2
|
|
#define HAL_COMPASS_BMM150_I2C_ADDR 0x12
|
|
#define HAL_COMPASS_IST8310_I2C_BUS 4
|
|
#define HAL_COMPASS_IST8310_I2C_ADDR 0x0E
|
|
#define HAL_COMPASS_HMC5843_I2C_BUS 4
|
|
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
|
#define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS1"
|
|
#define HAL_WITH_UAVCAN 1
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
|
|
#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
|
|
#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
|
|
#define HAL_INS_MPU9250_NAME "mpu9250"
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
|
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
|
|
#define HAL_BARO_MS5611_I2C_BUS 1
|
|
#define HAL_BARO_MS5611_I2C_ADDR 0x77
|
|
#define HAL_BARO_MS5611_USE_TIMER false
|
|
#define HAL_GPIO_A_LED_PIN 24
|
|
#define HAL_GPIO_B_LED_PIN 25
|
|
#define HAL_GPIO_C_LED_PIN 16
|
|
#define HAL_GPIO_LED_ON LOW
|
|
#define HAL_GPIO_LED_OFF HIGH
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
|
|
#define HAL_BOARD_LOG_DIRECTORY "/edge/ardupilot/logs"
|
|
#define HAL_BOARD_TERRAIN_DIRECTORY "/edge/ardupilot/terrain"
|
|
#define HAL_BOARD_STORAGE_DIRECTORY "/edge/ardupilot"
|
|
#define HAL_INS_DEFAULT HAL_INS_EDGE
|
|
#define HAL_INS_MPU60x0_NAME "mpu60x0"
|
|
#define HAL_INS_MPU60x0_NAME_EXT "mpu60x0ext"
|
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
|
#define HAL_BARO_MS5611_NAME "ms5611"
|
|
#define HAL_COMPASS_HMC5843_I2C_BUS 1
|
|
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_EDGE
|
|
#define HAL_WITH_UAVCAN 1
|
|
/* HMC5843 can be an external compass */
|
|
#define HAL_COMPASS_HMC5843_I2C_BUS 1
|
|
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
|
|
#define HAL_IMU_TEMP_DEFAULT 55
|
|
#define HAL_HAVE_IMU_HEATER 1
|
|
#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
|
|
#define HAL_LINUX_HEAT_PWM_NUM 15
|
|
#define HAL_LINUX_HEAT_KP 20000
|
|
#define HAL_LINUX_HEAT_KI 6
|
|
#define HAL_LINUX_HEAT_PERIOD_NS 2040816
|
|
#define HAL_GPS_TYPE_DEFAULT 9
|
|
#define HAL_CAN_DRIVER_DEFAULT 1
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
|
|
#define HAL_INS_DEFAULT HAL_INS_RST
|
|
#define HAL_INS_DEFAULT_G_ROTATION ROTATION_ROLL_180_YAW_90
|
|
#define HAL_INS_DEFAULT_A_ROTATION ROTATION_ROLL_180_YAW_90
|
|
#define HAL_INS_RST_G_NAME "rst_g" //gyro
|
|
#define HAL_INS_RST_A_NAME "rst_a" //accel
|
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
|
|
#define HAL_BARO_MS5611_NAME "ms5611"
|
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_LIS3MDL
|
|
#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"
|
|
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0
|
|
|
|
#define HAL_HAVE_GETTIME_SETTIME 1
|
|
|
|
#else
|
|
#error "no Linux board subtype set"
|
|
#endif
|
|
|
|
#ifndef HAL_COMPASS_DEFAULT
|
|
#define HAL_COMPASS_DEFAULT -1
|
|
#endif
|
|
|
|
#ifndef HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS
|
|
#define HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS 0x42
|
|
#endif
|
|
|
|
#ifndef HAL_OPTFLOW_PX4FLOW_I2C_BUS
|
|
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
|
|
#endif
|
|
|
|
#define HAL_HAVE_BOARD_VOLTAGE 1
|
|
#define HAL_HAVE_SAFETY_SWITCH 1
|
|
|
|
#ifndef AP_STATEDIR
|
|
#define HAL_BOARD_STATE_DIRECTORY "/var/lib/ardupilot"
|
|
#else
|
|
#define HAL_BOARD_STATE_DIRECTORY AP_STATEDIR
|
|
#endif
|
|
|
|
#ifndef HAL_BOARD_LOG_DIRECTORY
|
|
#define HAL_BOARD_LOG_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/logs"
|
|
#endif
|
|
|
|
#ifndef HAL_BOARD_TERRAIN_DIRECTORY
|
|
#define HAL_BOARD_TERRAIN_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/terrain"
|
|
#endif
|
|
|
|
#ifndef HAL_BOARD_STORAGE_DIRECTORY
|
|
#define HAL_BOARD_STORAGE_DIRECTORY HAL_BOARD_STATE_DIRECTORY
|
|
#endif
|
|
|
|
#ifndef HAL_BOARD_CAN_IFACE_NAME
|
|
#define HAL_BOARD_CAN_IFACE_NAME "can0"
|
|
#endif
|