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
142 lines
4.3 KiB
C
142 lines
4.3 KiB
C
#pragma once
|
|
|
|
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_DIY
|
|
#include "esp32diy.h" // Charles
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_BUZZ
|
|
#include "esp32buzz.h" //Buzz
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_ICARUS
|
|
#include "esp32icarus.h" //Alex
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_EMPTY
|
|
#include "esp32empty.h" //wiktor-m
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_TOMTE76
|
|
#include "esp32tomte76.h" //tomte76 on discord
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_NICK
|
|
#include "esp32nick.h" //Nick K. on discord
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_S3DEVKIT
|
|
#include "esp32s3devkit.h" //Nick K. on discord
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_S3EMPTY
|
|
#include "esp32s3empty.h"
|
|
#else
|
|
#error "Invalid CONFIG_HAL_BOARD_SUBTYPE for esp32"
|
|
#endif
|
|
|
|
#define HAL_BOARD_NAME "ESP32"
|
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_150
|
|
#define HAL_WITH_DRONECAN 0
|
|
#define HAL_WITH_UAVCAN 0
|
|
#define HAL_MAX_CAN_PROTOCOL_DRIVERS 0
|
|
#define HAL_HAVE_SAFETY_SWITCH 0
|
|
#define HAL_HAVE_BOARD_VOLTAGE 0
|
|
#define HAL_HAVE_SERVO_VOLTAGE 0
|
|
|
|
#define HAL_WITH_IO_MCU 0
|
|
|
|
#define O_CLOEXEC 0
|
|
#define HAL_STORAGE_SIZE (16384)
|
|
|
|
#ifndef HAL_PROGRAM_SIZE_LIMIT_KB
|
|
#define HAL_PROGRAM_SIZE_LIMIT_KB 2048
|
|
#endif
|
|
|
|
#ifdef __cplusplus
|
|
// allow for static semaphores
|
|
#include <AP_HAL_ESP32/Semaphores.h>
|
|
#define HAL_Semaphore ESP32::Semaphore
|
|
#define HAL_BinarySemaphore ESP32::BinarySemaphore
|
|
#endif
|
|
|
|
#ifndef HAL_HAVE_HARDWARE_DOUBLE
|
|
#define HAL_HAVE_HARDWARE_DOUBLE 0
|
|
#endif
|
|
|
|
#ifndef HAL_WITH_EKF_DOUBLE
|
|
#define HAL_WITH_EKF_DOUBLE HAL_HAVE_HARDWARE_DOUBLE
|
|
#endif
|
|
|
|
#define HAL_NUM_CAN_IFACES 0
|
|
#define HAL_MEM_CLASS HAL_MEM_CLASS_192
|
|
|
|
// disable uncommon stuff that we'd otherwise get
|
|
#define HAL_EXTERNAL_AHRS_ENABLED 0
|
|
#define HAL_GENERATOR_ENABLED 0
|
|
|
|
#define __LITTLE_ENDIAN 1234
|
|
#define __BYTE_ORDER __LITTLE_ENDIAN
|
|
|
|
// ArduPilot uses __RAMFUNC__ to place functions in fast instruction RAM
|
|
#define __RAMFUNC__ IRAM_ATTR
|
|
|
|
|
|
// whenver u get ... error: "xxxxxxx" is not defined, evaluates to 0 [-Werror=undef] just define it below as 0
|
|
#define CONFIG_SPIRAM_ALLOW_BSS_SEG_EXTERNAL_MEMORY 0
|
|
#define XCHAL_ERRATUM_453 0
|
|
//#define CONFIG_FREERTOS_CORETIMER_0 0
|
|
#define CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE 0
|
|
#define CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL 0
|
|
#define CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP 0
|
|
#define CONFIG_FREERTOS_USE_TICKLESS_IDLE 0
|
|
#define CONFIG_SYSVIEW_ENABLE 0
|
|
#define CONFIG_SPI_FLASH_DANGEROUS_WRITE_ALLOWED 0
|
|
#define CONFIG_SPI_FLASH_ENABLE_COUNTERS 0
|
|
#define USE_LIBC_REALLOC 0
|
|
#define CONFIG_LWIP_DHCP_RESTORE_LAST_IP 0
|
|
#define CONFIG_LWIP_STATS 0
|
|
#define CONFIG_LWIP_PPP_SUPPORT 0
|
|
#define CONFIG_LWIP_STATS 0
|
|
//#define CONFIG_ESP32_WIFI_CSI_ENABLED 0
|
|
//#define CONFIG_ESP32_WIFI_NVS_ENABLED 0
|
|
#define CONFIG_NEWLIB_NANO_FORMAT 0
|
|
#define CONFIG_LWIP_IP4_REASSEMBLY 0
|
|
#define CONFIG_LWIP_IP6_REASSEMBLY 0
|
|
#define CONFIG_LWIP_STATS 0
|
|
#define LWIP_COMPAT_SOCKET_INET 0
|
|
#define LWIP_COMPAT_SOCKET_ADDR 0
|
|
//#define CONFIG_ESP32_WIFI_TX_BA_WIN 0
|
|
//#define CONFIG_ESP32_WIFI_RX_BA_WIN 0
|
|
|
|
|
|
// turn off all the compasses by default..
|
|
#ifndef AP_COMPASS_BACKEND_DEFAULT_ENABLED
|
|
#define AP_COMPASS_BACKEND_DEFAULT_ENABLED 0
|
|
#endif
|
|
|
|
// we don't need 32, 16 is enough
|
|
#define NUM_SERVO_CHANNELS 16
|
|
|
|
// disble temp cal of gyros by default
|
|
#define HAL_INS_TEMPERATURE_CAL_ENABLE 0
|
|
|
|
//turn off a bunch of advanced plane scheduler table things. see Plane.cpp
|
|
#define AP_ADVANCEDFAILSAFE_ENABLED 0
|
|
#define AP_ICENGINE_ENABLED 0
|
|
#define AP_OPTICALFLOW_ENABLED 0
|
|
#define AP_RPM_ENABLED 0
|
|
#define AP_AIRSPEED_AUTOCAL_ENABLE 0
|
|
#define HAL_MOUNT_ENABLED 0
|
|
#define AP_CAMERA_ENABLED 0
|
|
#define HAL_SOARING_ENABLED 0
|
|
#define AP_TERRAIN_AVAILABLE 0
|
|
#define HAL_ADSB_ENABLED 0
|
|
#define HAL_BUTTON_ENABLED 0
|
|
#define AP_GRIPPER_ENABLED 0
|
|
#define AP_LANDINGGEAR_ENABLED 0
|
|
|
|
// disable avoid-fence-follow in copter, these all kinda need each other, so its all or none.
|
|
#define AP_AVOIDANCE_ENABLED 0
|
|
#define AP_FENCE_ENABLED 0
|
|
#define MODE_FOLLOW_ENABLED 0
|
|
#define AP_OAPATHPLANNER_ENABLED 0
|
|
|
|
|
|
// other big things..
|
|
#define HAL_QUADPLANE_ENABLED 0
|
|
#define HAL_GYROFFT_ENABLED 0
|
|
|
|
// remove once ESP32 isn't so chronically slow
|
|
#define AP_SCHEDULER_OVERTIME_MARGIN_US 50000UL
|
|
|
|
#ifndef AP_NOTIFY_BUZZER_ENABLED
|
|
#define AP_NOTIFY_BUZZER_ENABLED 1
|
|
#endif
|