mirror of https://github.com/ArduPilot/ardupilot
393 lines
10 KiB
C
393 lines
10 KiB
C
/**
|
|
* C preprocessor enumeration of the boards supported by the AP_HAL.
|
|
* This list exists so HAL_BOARD == HAL_BOARD_xxx preprocessor blocks
|
|
* can be used to exclude HAL boards from the build when appropriate.
|
|
* It's not an elegant solution but we can improve it in future.
|
|
*/
|
|
#pragma once
|
|
|
|
// @LoggerEnum: HAL_BOARD
|
|
#define HAL_BOARD_SITL 3
|
|
// #define HAL_BOARD_SMACCM 4 // unused
|
|
// #define HAL_BOARD_PX4 5 // unused
|
|
#define HAL_BOARD_LINUX 7
|
|
// #define HAL_BOARD_VRBRAIN 8
|
|
#define HAL_BOARD_CHIBIOS 10
|
|
// #define HAL_BOARD_F4LIGHT 11 // reserved
|
|
#define HAL_BOARD_ESP32 12
|
|
#define HAL_BOARD_QURT 13
|
|
#define HAL_BOARD_EMPTY 99
|
|
// @LoggerEnumEnd
|
|
|
|
// @LoggerEnum: HAL_BOARD_SUBTYPE
|
|
/* Default board subtype is -1 */
|
|
#define HAL_BOARD_SUBTYPE_NONE -1
|
|
|
|
/* HAL Linux sub-types, starting at 1000 */
|
|
#define HAL_BOARD_SUBTYPE_LINUX_NONE 1000
|
|
#define HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD 1001
|
|
#define HAL_BOARD_SUBTYPE_LINUX_PXF 1002
|
|
#define HAL_BOARD_SUBTYPE_LINUX_NAVIO 1003
|
|
#define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004
|
|
#define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005
|
|
#define HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006
|
|
#define HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 1009
|
|
#define HAL_BOARD_SUBTYPE_LINUX_BH 1010
|
|
#define HAL_BOARD_SUBTYPE_LINUX_PXFMINI 1012
|
|
#define HAL_BOARD_SUBTYPE_LINUX_NAVIO2 1013
|
|
#define HAL_BOARD_SUBTYPE_LINUX_DISCO 1014
|
|
#define HAL_BOARD_SUBTYPE_LINUX_AERO 1015
|
|
#define HAL_BOARD_SUBTYPE_LINUX_DARK 1016
|
|
#define HAL_BOARD_SUBTYPE_LINUX_BLUE 1018
|
|
#define HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ 1019
|
|
#define HAL_BOARD_SUBTYPE_LINUX_EDGE 1020
|
|
#define HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ 1021
|
|
#define HAL_BOARD_SUBTYPE_LINUX_POCKET 1022
|
|
#define HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR 1023
|
|
#define HAL_BOARD_SUBTYPE_LINUX_VNAV 1024
|
|
#define HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 1025
|
|
#define HAL_BOARD_SUBTYPE_LINUX_CANZERO 1026
|
|
|
|
/* HAL CHIBIOS sub-types, starting at 5000
|
|
|
|
NOTE!! Do not add more subtypes unless they are really needed. Most
|
|
boards do not need a subtype defined. It is only needed if we need
|
|
to use #ifdef'd code to change behaviour
|
|
*/
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 5000
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 5001
|
|
// #define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 5002
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_GENERIC 5009
|
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5 5013
|
|
// #define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V51 5016
|
|
// #define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V52 5017
|
|
// #define HAL_BOARD_SUBTYPE_CHIBIOS_VRUBRAIN_V51 5018
|
|
// #define HAL_BOARD_SUBTYPE_CHIBIOS_VRCORE_V10 5019
|
|
// #define HAL_BOARD_SUBTYPE_CHIBIOS_VRBRAIN_V54 5020
|
|
|
|
#define HAL_BOARD_SUBTYPE_ESP32_DIY 6001
|
|
#define HAL_BOARD_SUBTYPE_ESP32_ICARUS 6002
|
|
#define HAL_BOARD_SUBTYPE_ESP32_BUZZ 6003
|
|
#define HAL_BOARD_SUBTYPE_ESP32_EMPTY 6004
|
|
#define HAL_BOARD_SUBTYPE_ESP32_TOMTE76 6005
|
|
#define HAL_BOARD_SUBTYPE_ESP32_NICK 6006
|
|
#define HAL_BOARD_SUBTYPE_ESP32_S3DEVKIT 6007
|
|
#define HAL_BOARD_SUBTYPE_ESP32_S3EMPTY 6008
|
|
// @LoggerEnumEnd
|
|
|
|
/* InertialSensor driver types */
|
|
#define HAL_INS_NONE 0
|
|
#define HAL_INS_MPU60XX_SPI 2
|
|
#define HAL_INS_MPU60XX_I2C 3
|
|
#define HAL_INS_HIL_UNUSED 4 // unused
|
|
#define HAL_INS_VRBRAIN 8
|
|
#define HAL_INS_MPU9250_SPI 9
|
|
#define HAL_INS_MPU9250_I2C 13
|
|
#define HAL_INS_MPU6500 19
|
|
#define HAL_INS_INV2_I2C 24
|
|
#define HAL_INS_INV2_SPI 25
|
|
|
|
|
|
/* Barometer driver types */
|
|
#define HAL_BARO_NONE 0
|
|
#define HAL_BARO_HIL_UNUSED 6 // unused
|
|
#define HAL_BARO_20789_I2C_I2C 14
|
|
#define HAL_BARO_20789_I2C_SPI 15
|
|
#define HAL_BARO_LPS25H_IMU_I2C 17
|
|
|
|
/* Heat Types */
|
|
#define HAL_LINUX_HEAT_PWM 1
|
|
|
|
/* CPU classes, used to select if CPU intensive algorithms should be used
|
|
* Note that these are only approximate, not exact CPU speeds. */
|
|
|
|
/* 150Mhz: STM32F4 or similar. Assumes:
|
|
* - hardware floating point
|
|
* - tens of kilobytes of memory available
|
|
*/
|
|
#define HAL_CPU_CLASS_150 3
|
|
|
|
/* GigaHz class: SITL, BeagleBone etc. Assumes megabytes of memory available. */
|
|
#define HAL_CPU_CLASS_1000 4
|
|
|
|
|
|
/*
|
|
memory classes, in kbytes. Board must have at least the given amount
|
|
of memory
|
|
*/
|
|
#define HAL_MEM_CLASS_20 1
|
|
#define HAL_MEM_CLASS_64 2
|
|
#define HAL_MEM_CLASS_192 3
|
|
#define HAL_MEM_CLASS_300 4
|
|
#define HAL_MEM_CLASS_500 5
|
|
#define HAL_MEM_CLASS_1000 6
|
|
|
|
/* Operating system features
|
|
*
|
|
* HAL implementations may define the following extra feature defines to 1 if
|
|
* available:
|
|
*
|
|
* - HAL_OS_POSIX_IO : has posix-like filesystem IO
|
|
* - HAL_OS_SOCKETS : has posix-like sockets */
|
|
|
|
/* DEFINITIONS FOR BOARDS */
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
#include <AP_HAL/board/sitl.h>
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
|
#include <AP_HAL/board/linux.h>
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
|
|
#include <AP_HAL/board/empty.h>
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
|
#include <AP_HAL/board/chibios.h>
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_ESP32
|
|
#include <AP_HAL/board/esp32.h>
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_QURT
|
|
#include <AP_HAL/board/qurt.h>
|
|
#else
|
|
#error "Unknown CONFIG_HAL_BOARD type"
|
|
#endif
|
|
|
|
#ifndef CONFIG_HAL_BOARD_SUBTYPE
|
|
#error "No CONFIG_HAL_BOARD_SUBTYPE set"
|
|
#endif
|
|
|
|
#ifndef HAL_OS_SOCKETS
|
|
#define HAL_OS_SOCKETS 0
|
|
#endif
|
|
|
|
#ifndef HAL_PARAM_DEFAULTS_PATH
|
|
#define HAL_PARAM_DEFAULTS_PATH nullptr
|
|
#endif
|
|
|
|
#ifndef HAL_HAVE_IMU_HEATER
|
|
#define HAL_HAVE_IMU_HEATER 0
|
|
#endif
|
|
|
|
#ifndef HAL_NUM_CAN_IFACES
|
|
#define HAL_NUM_CAN_IFACES 0
|
|
#endif
|
|
|
|
#ifndef HAL_WITH_IO_MCU
|
|
#define HAL_WITH_IO_MCU 0
|
|
#endif
|
|
|
|
#ifndef HAL_WITH_IO_MCU_BIDIR_DSHOT
|
|
#define HAL_WITH_IO_MCU_BIDIR_DSHOT 0
|
|
#endif
|
|
|
|
#ifndef HAL_WITH_IO_MCU_DSHOT
|
|
#define HAL_WITH_IO_MCU_DSHOT HAL_WITH_IO_MCU_BIDIR_DSHOT
|
|
#endif
|
|
|
|
#ifndef HAL_REQUIRES_BDSHOT_SUPPORT
|
|
#define HAL_REQUIRES_BDSHOT_SUPPORT (defined(HAL_WITH_BIDIR_DSHOT) || HAL_WITH_IO_MCU_BIDIR_DSHOT)
|
|
#endif
|
|
|
|
// support for Extended DShot Telemetry v2 is enabled only if any kind of such telemetry
|
|
// can in principle arrive, either from servo outputs or from IOMCU
|
|
|
|
// if not desired, set to 0 - and if IOMCU has bidirectional DShot enabled, recompile it too,
|
|
// otherwise the communication to IOMCU breaks!
|
|
#ifndef AP_EXTENDED_DSHOT_TELEM_V2_ENABLED
|
|
#define AP_EXTENDED_DSHOT_TELEM_V2_ENABLED HAL_REQUIRES_BDSHOT_SUPPORT
|
|
#endif
|
|
|
|
#ifndef BOARD_FLASH_SIZE
|
|
#define BOARD_FLASH_SIZE 2048
|
|
#endif
|
|
|
|
#ifndef HAL_GYROFFT_ENABLED
|
|
#define HAL_GYROFFT_ENABLED (BOARD_FLASH_SIZE > 1024)
|
|
#endif
|
|
|
|
// enable AP_GyroFFT library only if required:
|
|
#ifndef HAL_WITH_DSP
|
|
#define HAL_WITH_DSP HAL_GYROFFT_ENABLED
|
|
#endif
|
|
|
|
#ifndef HAL_OS_FATFS_IO
|
|
#define HAL_OS_FATFS_IO 0
|
|
#endif
|
|
|
|
#ifndef HAL_BARO_DEFAULT
|
|
#define HAL_BARO_DEFAULT HAL_BARO_NONE
|
|
#endif
|
|
|
|
#ifndef HAL_INS_DEFAULT
|
|
#define HAL_INS_DEFAULT HAL_INS_NONE
|
|
#endif
|
|
|
|
#ifndef HAL_GPS1_TYPE_DEFAULT
|
|
#define HAL_GPS1_TYPE_DEFAULT 1
|
|
#endif
|
|
|
|
#ifndef HAL_CAN_DRIVER_DEFAULT
|
|
#define HAL_CAN_DRIVER_DEFAULT 0
|
|
#endif
|
|
|
|
#ifndef HAL_MAX_CAN_PROTOCOL_DRIVERS
|
|
#define HAL_MAX_CAN_PROTOCOL_DRIVERS HAL_NUM_CAN_IFACES
|
|
#endif
|
|
|
|
#ifndef HAL_CANMANAGER_ENABLED
|
|
#define HAL_CANMANAGER_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS > 0)
|
|
#endif
|
|
|
|
#ifndef HAL_ENABLE_DRONECAN_DRIVERS
|
|
#define HAL_ENABLE_DRONECAN_DRIVERS HAL_CANMANAGER_ENABLED
|
|
#endif
|
|
|
|
#ifndef AP_TEST_DRONECAN_DRIVERS
|
|
#define AP_TEST_DRONECAN_DRIVERS 0
|
|
#endif
|
|
|
|
#ifdef HAVE_LIBDL
|
|
#define AP_MODULE_SUPPORTED 1
|
|
#else
|
|
#define AP_MODULE_SUPPORTED 0
|
|
#endif
|
|
|
|
#ifndef HAL_SUPPORT_RCOUT_SERIAL
|
|
#define HAL_SUPPORT_RCOUT_SERIAL 0
|
|
#endif
|
|
|
|
#ifndef HAL_FORWARD_OTG2_SERIAL
|
|
#define HAL_FORWARD_OTG2_SERIAL 0
|
|
#endif
|
|
|
|
#ifndef HAL_HAVE_DUAL_USB_CDC
|
|
#define HAL_HAVE_DUAL_USB_CDC 0
|
|
#endif
|
|
|
|
#ifndef AP_CAN_SLCAN_ENABLED
|
|
#if HAL_NUM_CAN_IFACES && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
|
#define AP_CAN_SLCAN_ENABLED 1
|
|
#else
|
|
#define AP_CAN_SLCAN_ENABLED 0
|
|
#endif
|
|
#endif
|
|
|
|
#ifndef USE_LIBC_REALLOC
|
|
#define USE_LIBC_REALLOC 1
|
|
#endif
|
|
|
|
#ifndef AP_HAL_SHARED_DMA_ENABLED
|
|
#define AP_HAL_SHARED_DMA_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef HAL_ENABLE_THREAD_STATISTICS
|
|
#define HAL_ENABLE_THREAD_STATISTICS 0
|
|
#endif
|
|
|
|
#ifndef AP_STATS_ENABLED
|
|
#define AP_STATS_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef HAL_WITH_MCU_MONITORING
|
|
#define HAL_WITH_MCU_MONITORING 0
|
|
#endif
|
|
|
|
#ifndef AP_CRASHDUMP_ENABLED
|
|
#define AP_CRASHDUMP_ENABLED 0
|
|
#endif
|
|
|
|
#ifndef AP_SIGNED_FIRMWARE
|
|
#define AP_SIGNED_FIRMWARE 0
|
|
#endif
|
|
|
|
#ifndef HAL_DSHOT_ALARM_ENABLED
|
|
#define HAL_DSHOT_ALARM_ENABLED 0
|
|
#endif
|
|
|
|
#ifndef HAL_DSHOT_ENABLED
|
|
#define HAL_DSHOT_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef HAL_SERIALLED_ENABLED
|
|
#define HAL_SERIALLED_ENABLED HAL_DSHOT_ENABLED
|
|
#endif
|
|
|
|
#ifndef HAL_SERIAL_ESC_COMM_ENABLED
|
|
#define HAL_SERIAL_ESC_COMM_ENABLED 1
|
|
#endif
|
|
|
|
#ifndef AP_BOOTLOADER_FLASHING_ENABLED
|
|
#define AP_BOOTLOADER_FLASHING_ENABLED 0
|
|
#endif
|
|
|
|
#ifndef HAL_HNF_MAX_FILTERS
|
|
// On an F7 The difference in CPU load between 1 notch and 24 notches is about 2%
|
|
// The difference in CPU load between 1Khz backend and 2Khz backend is about 10%
|
|
// So at 1Khz almost all notch combinations can be supported on F7 and certainly H7
|
|
#if defined(STM32H7) || CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
// Enough for a double-notch per motor on an octa using three IMUs and one harmonics
|
|
// plus one static notch with one double-notch harmonics
|
|
#define HAL_HNF_MAX_FILTERS 54
|
|
#elif defined(STM32F7)
|
|
// Enough for a notch per motor on an octa using three IMUs and one harmonics
|
|
// plus one static notch with one harmonics
|
|
#define HAL_HNF_MAX_FILTERS 27
|
|
#else
|
|
// Enough for a notch per motor on an octa quad using two IMUs and one harmonic
|
|
// plus one static notch with one harmonic
|
|
// Or triple-notch per motor on one IMU with one harmonic
|
|
#define HAL_HNF_MAX_FILTERS 24
|
|
#endif
|
|
#endif // HAL_HNF_MAX_FILTERS
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL // allow SITL to have all the CANFD options
|
|
#define HAL_CANFD_SUPPORTED 8
|
|
#elif !defined(HAL_CANFD_SUPPORTED)
|
|
#define HAL_CANFD_SUPPORTED 0
|
|
#endif
|
|
|
|
#ifndef HAL_USE_QUADSPI
|
|
#define HAL_USE_QUADSPI 0
|
|
#endif
|
|
|
|
#ifndef HAL_USE_OCTOSPI
|
|
#define HAL_USE_OCTOSPI 0
|
|
#endif
|
|
|
|
#ifndef __RAMFUNC__
|
|
#define __RAMFUNC__
|
|
#endif
|
|
|
|
#ifndef __FASTRAMFUNC__
|
|
#define __FASTRAMFUNC__
|
|
#endif
|
|
|
|
#ifndef __EXTFLASHFUNC__
|
|
#define __EXTFLASHFUNC__
|
|
#endif
|
|
|
|
#ifndef HAL_ENABLE_DFU_BOOT
|
|
#define HAL_ENABLE_DFU_BOOT 0
|
|
#endif
|
|
|
|
|
|
#ifndef HAL_ENABLE_SENDING_STATS
|
|
#define HAL_ENABLE_SENDING_STATS BOARD_FLASH_SIZE >= 256
|
|
#endif
|
|
|
|
#ifndef HAL_GPIO_LED_ON
|
|
#define HAL_GPIO_LED_ON 0
|
|
#elif HAL_GPIO_LED_ON == 0
|
|
#error "Do not specify HAL_GPIO_LED_ON if you are setting it to the default, 0"
|
|
#endif
|
|
|
|
#ifdef HAL_GPIO_LED_OFF
|
|
#error "HAL_GPIO_LED_OFF must not be defined, it is implicitly !HAL_GPIO_LED_ON"
|
|
#endif
|
|
|
|
#ifndef HAL_WITH_POSTYPE_DOUBLE
|
|
#define HAL_WITH_POSTYPE_DOUBLE BOARD_FLASH_SIZE > 1024
|
|
#endif
|
|
|
|
#ifndef HAL_INS_RATE_LOOP
|
|
#define HAL_INS_RATE_LOOP 0
|
|
#endif
|
|
|
|
#define HAL_GPIO_LED_OFF (!HAL_GPIO_LED_ON)
|