mirror of https://github.com/ArduPilot/ardupilot
109 lines
2.8 KiB
C++
109 lines
2.8 KiB
C++
#pragma once
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#include <AP_HAL_QURT/AP_HAL_QURT_Main.h>
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#define HAL_BOARD_NAME "QURT"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
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#define HAL_MEM_CLASS HAL_MEM_CLASS_1000
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#define HAL_STORAGE_SIZE 32768
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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// only include if compiling C++ code
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#ifdef __cplusplus
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#include <AP_HAL_QURT/Semaphores.h>
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#define HAL_Semaphore QURT::Semaphore
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#define HAL_BinarySemaphore QURT::BinarySemaphore
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#endif
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#ifndef HAL_HAVE_HARDWARE_DOUBLE
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#define HAL_HAVE_HARDWARE_DOUBLE 0
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#endif
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#ifndef HAL_WITH_EKF_DOUBLE
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#define HAL_WITH_EKF_DOUBLE HAL_HAVE_HARDWARE_DOUBLE
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#endif
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#ifndef HAL_GYROFFT_ENABLED
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#define HAL_GYROFFT_ENABLED 0
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#endif
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/*
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disable features for initial port
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*/
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#define HAL_HAVE_BOARD_VOLTAGE 0
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#define HAL_HAVE_SERVO_VOLTAGE 0
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#define HAL_HAVE_SAFETY_SWITCH 0
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#define HAL_WITH_MCU_MONITORING 0
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#define HAL_USE_QUADSPI 0
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#define HAL_WITH_DSP 0
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#define HAL_CANFD_SUPPORTED 0
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#define HAL_NUM_CAN_IFACES 0
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#define AP_CRASHDUMP_ENABLED 0
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#define HAL_ENABLE_DFU_BOOT 0
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#define HAL_LOGGING_MAVLINK_ENABLED 0
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#define HAL_LOGGING_FILESYSTEM_ENABLED 1
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#define AP_FILESYSTEM_POSIX_HAVE_UTIME 0
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#define AP_FILESYSTEM_POSIX_HAVE_FSYNC 0
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#define AP_FILESYSTEM_POSIX_HAVE_STATFS 0
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#define AP_FILESYSTEM_HAVE_DIRENT_DTYPE 0
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#define AP_FILESYSTEM_POSIX_MAP_FILENAME_ALLOC 1
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#define AP_FILESYSTEM_POSIX_MAP_FILENAME_BASEDIR "/data"
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#define HAL_BOARD_STORAGE_DIRECTORY "APM"
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#define HAL_BOARD_LOG_DIRECTORY "APM/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "APM/terrain"
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#define SCRIPTING_DIRECTORY "APM/scripts"
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/*
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a defaults file for this vehicle
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*/
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#ifndef HAL_PARAM_DEFAULTS_PATH
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// this is an absolute path, as required by AP_Param
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#define HAL_PARAM_DEFAULTS_PATH AP_FILESYSTEM_POSIX_MAP_FILENAME_BASEDIR "/APM/defaults.parm"
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#endif
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#define USE_LIBC_REALLOC 1
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#define HAL_WITH_ESC_TELEM 1
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/*
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battery monitoring setup, comes in via ESCs
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*/
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#define HAL_BATT_VOLT_PIN 1
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#define HAL_BATT_CURR_PIN 2
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#define HAL_BATT_MONITOR_DEFAULT 4
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#define HAL_BATT_VOLT_SCALE 1
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#define HAL_BATT_CURR_SCALE 1
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/*
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compass list
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*/
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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 HAL_MAG_PROBE_LIST PROBE_MAG_I2C(QMC5883L, 0, 0x0d, true, ROTATION_NONE)
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/*
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barometer list
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*/
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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 HAL_BARO_PROBE_LIST PROBE_BARO_I2C(ICP101XX, 2, 0x63)
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/*
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IMU list
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*/
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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 HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensensev3, "INV3", ROTATION_NONE)
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/*
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bring in missing standard library functions
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*/
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#include <AP_HAL_QURT/replace.h>
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#define DEFAULT_SERIAL4_PROTOCOL 23 // RC input
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