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