mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-01 03:04:04 -04:00
6338d10b5f
We will reserve BOARD_FLASH_SIZE for the internal flash on stm32 flash processors, use HAL_PROGRAM_SIZE_LIMIT_KB in the general code base. Notable change here is that boards with external flash will start to get features only available with more than 2MB of program storage
174 lines
4.5 KiB
C
174 lines
4.5 KiB
C
#pragma once
|
|
|
|
#include <hwdef.h>
|
|
|
|
#define HAL_BOARD_NAME "ChibiOS"
|
|
|
|
#ifdef HAL_HAVE_PIXRACER_LED
|
|
#error "use AP_NOTIFY_GPIO_LED_RGB_ENABLED in place of HAL_HAVE_PIXRACER_LED (and rename your pins!)"
|
|
#endif
|
|
|
|
#if HAL_MEMORY_TOTAL_KB >= 1000
|
|
#define HAL_MEM_CLASS HAL_MEM_CLASS_1000
|
|
#elif HAL_MEMORY_TOTAL_KB >= 500
|
|
#define HAL_MEM_CLASS HAL_MEM_CLASS_500
|
|
#elif HAL_MEMORY_TOTAL_KB >= 300
|
|
#define HAL_MEM_CLASS HAL_MEM_CLASS_300
|
|
#elif HAL_MEMORY_TOTAL_KB >= 192
|
|
#define HAL_MEM_CLASS HAL_MEM_CLASS_192
|
|
#elif HAL_MEMORY_TOTAL_KB >= 64
|
|
#define HAL_MEM_CLASS HAL_MEM_CLASS_64
|
|
#else
|
|
#define HAL_MEM_CLASS HAL_MEM_CLASS_20
|
|
#endif
|
|
|
|
// FIXME: BOARD_FLASH_SIZE is not adjusted for flash pages used for
|
|
// storage, for the bootloader sector or for wasted pages (eg. defunct
|
|
// OSD storage page). These all impact the amount of space we have
|
|
// for storing program!
|
|
#ifndef HAL_PROGRAM_SIZE_LIMIT_KB
|
|
#define HAL_PROGRAM_SIZE_LIMIT_KB (BOARD_FLASH_SIZE+EXT_FLASH_SIZE_MB*1024)
|
|
#endif
|
|
|
|
#ifndef HAL_NUM_CAN_IFACES
|
|
#define HAL_NUM_CAN_IFACES 0
|
|
#endif
|
|
|
|
#ifndef HAL_HAVE_BOARD_VOLTAGE
|
|
#define HAL_HAVE_BOARD_VOLTAGE 0
|
|
#endif
|
|
|
|
#ifndef HAL_HAVE_SERVO_VOLTAGE
|
|
#define HAL_HAVE_SERVO_VOLTAGE 0
|
|
#endif
|
|
|
|
#ifdef HAL_GPIO_PIN_SAFETY_IN
|
|
#define HAL_HAVE_SAFETY_SWITCH 1
|
|
#endif
|
|
|
|
#ifndef HAL_HAVE_SAFETY_SWITCH
|
|
#define HAL_HAVE_SAFETY_SWITCH 0
|
|
#endif
|
|
|
|
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
|
|
|
|
#ifndef HAL_WITH_IO_MCU
|
|
#define HAL_WITH_IO_MCU 0
|
|
#endif
|
|
|
|
#ifndef HAL_WITH_RAMTRON
|
|
#define HAL_WITH_RAMTRON 0
|
|
#endif
|
|
|
|
#ifndef HAL_WITH_EKF_DOUBLE
|
|
#define HAL_WITH_EKF_DOUBLE HAL_HAVE_HARDWARE_DOUBLE
|
|
#endif
|
|
|
|
#ifdef __cplusplus
|
|
// allow for static semaphores
|
|
#include <AP_HAL_ChibiOS/Semaphores.h>
|
|
#define HAL_Semaphore ChibiOS::Semaphore
|
|
#define HAL_BinarySemaphore ChibiOS::BinarySemaphore
|
|
#endif
|
|
|
|
/* string names for well known SPI devices */
|
|
#define HAL_BARO_MS5611_NAME "ms5611"
|
|
#ifndef HAL_BARO_MS5611_SPI_INT_NAME
|
|
#define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int"
|
|
#endif
|
|
#define HAL_BARO_MS5611_SPI_EXT_NAME "ms5611_ext"
|
|
#define HAL_BARO_LPS22H_NAME "lps22h"
|
|
#define HAL_BARO_BMP280_NAME "bmp280"
|
|
|
|
#define HAL_INS_MPU60x0_NAME "mpu6000"
|
|
#define HAL_INS_MPU60x0_EXT_NAME "mpu6000_ext"
|
|
|
|
#define HAL_INS_LSM9DS0_G_NAME "lsm9ds0_g"
|
|
#define HAL_INS_LSM9DS0_A_NAME "lsm9ds0_am"
|
|
|
|
#define HAL_INS_LSM9DS0_EXT_G_NAME "lsm9ds0_ext_g"
|
|
#define HAL_INS_LSM9DS0_EXT_A_NAME "lsm9ds0_ext_am"
|
|
|
|
#define HAL_INS_MPU9250_NAME "mpu9250"
|
|
#define HAL_INS_MPU9250_EXT_NAME "mpu9250_ext"
|
|
|
|
#define HAL_INS_MPU6500_NAME "mpu6500"
|
|
|
|
#define HAL_INS_ICM20608_NAME "icm20608"
|
|
#define HAL_INS_ICM20608_AM_NAME "icm20608-am"
|
|
#define HAL_INS_ICM20608_EXT_NAME "icm20608_ext"
|
|
|
|
#define HAL_COMPASS_HMC5843_NAME "hmc5843"
|
|
#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"
|
|
|
|
// allow for short names overridden in hwdef.dat
|
|
#ifndef CHIBIOS_SHORT_BOARD_NAME
|
|
#define CHIBIOS_SHORT_BOARD_NAME CHIBIOS_BOARD_NAME
|
|
#endif
|
|
|
|
#ifndef CONFIG_HAL_BOARD_SUBTYPE
|
|
// allow for generic boards
|
|
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_GENERIC
|
|
#endif
|
|
|
|
// we support RC serial for BLHeli pass-thru
|
|
#ifndef HAL_SUPPORT_RCOUT_SERIAL
|
|
#define HAL_SUPPORT_RCOUT_SERIAL 1
|
|
#endif
|
|
|
|
// by default assume first I2C bus is internal
|
|
#ifndef HAL_I2C_INTERNAL_MASK
|
|
#define HAL_I2C_INTERNAL_MASK 1
|
|
#endif
|
|
|
|
// put all storage of files under /APM directory
|
|
#ifndef HAL_BOARD_STORAGE_DIRECTORY
|
|
#define HAL_BOARD_STORAGE_DIRECTORY "/APM"
|
|
#endif
|
|
|
|
#if defined(STM32_WSPI_USE_QUADSPI1) && STM32_WSPI_USE_QUADSPI1
|
|
#define HAL_USE_QUADSPI1 TRUE
|
|
#else
|
|
#define HAL_USE_QUADSPI1 FALSE
|
|
#endif
|
|
#if defined(STM32_WSPI_USE_QUADSPI2) && STM32_WSPI_USE_QUADSPI2
|
|
#define HAL_USE_QUADSPI2 TRUE
|
|
#else
|
|
#define HAL_USE_QUADSPI2 FALSE
|
|
#endif
|
|
#if defined(STM32_WSPI_USE_OCTOSPI1) && STM32_WSPI_USE_OCTOSPI1
|
|
#define HAL_USE_OCTOSPI1 TRUE
|
|
#else
|
|
#define HAL_USE_OCTOSPI1 FALSE
|
|
#endif
|
|
#if defined(STM32_WSPI_USE_OCTOSPI2) && STM32_WSPI_USE_OCTOSPI2
|
|
#define HAL_USE_OCTOSPI2 TRUE
|
|
#else
|
|
#define HAL_USE_OCTOSPI2 FALSE
|
|
#endif
|
|
#define HAL_USE_QUADSPI (HAL_USE_QUADSPI1 || HAL_USE_QUADSPI2)
|
|
#define HAL_USE_OCTOSPI (HAL_USE_OCTOSPI1 || HAL_USE_OCTOSPI2)
|
|
|
|
#ifndef HAL_INS_RATE_LOOP
|
|
#if defined(STM32H7) || defined(STM32F7) || (defined(STM32F4) \
|
|
&& defined(INS_MAX_INSTANCES) && INS_MAX_INSTANCES == 1)
|
|
/* F405 tested successfully with:
|
|
INS_GYRO_RATE = 1 (2kHz)
|
|
SCHED_LOOP_RATE = 200
|
|
FSTRATE_DIV = 2 (1kHz)
|
|
FSTRATE_ENABLE = 1
|
|
SERVO_DSHOT_RATE = 1 (1kHz)*/
|
|
#define HAL_INS_RATE_LOOP 1
|
|
#else
|
|
#define HAL_INS_RATE_LOOP 0
|
|
#endif
|
|
#endif
|
|
|
|
#ifndef AP_NOTIFY_TONEALARM_ENABLED
|
|
#define AP_NOTIFY_TONEALARM_ENABLED ((defined(HAL_PWM_ALARM) || HAL_DSHOT_ALARM_ENABLED))
|
|
#endif
|
|
|
|
#ifndef AP_NOTIFY_BUZZER_ENABLED
|
|
#define AP_NOTIFY_BUZZER_ENABLED 1
|
|
#endif
|