mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-01 03:04:04 -04:00
145 lines
3.3 KiB
C
145 lines
3.3 KiB
C
#pragma once
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#include <hwdef.h>
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#define HAL_BOARD_NAME "Linux"
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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_OS_SOCKETS 1
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#define HAL_STORAGE_SIZE 16384
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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// FIXME: use of this define should go away:
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#ifndef CONFIG_HAL_BOARD_SUBTYPE
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_LINUX_NONE
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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#ifndef HAL_PROGRAM_SIZE_LIMIT_KB
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#define HAL_PROGRAM_SIZE_LIMIT_KB 4096
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#endif // HAL_PROGRAM_SIZE_LIMIT_KB
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#ifndef HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS
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#define HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS 0x42
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#endif
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#ifndef HAL_OPTFLOW_PX4FLOW_I2C_BUS
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
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#endif
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#define HAL_HAVE_BOARD_VOLTAGE 1
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#define HAL_HAVE_SAFETY_SWITCH 0
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#ifndef HAL_HAVE_SERVO_VOLTAGE
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#define HAL_HAVE_SERVO_VOLTAGE 0
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#endif
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#ifndef AP_STATEDIR
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#define HAL_BOARD_STATE_DIRECTORY "/var/lib/ardupilot"
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#else
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#define HAL_BOARD_STATE_DIRECTORY AP_STATEDIR
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#endif
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#ifndef HAL_BOARD_LOG_DIRECTORY
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#define HAL_BOARD_LOG_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/logs"
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#endif
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#ifndef HAL_BOARD_TERRAIN_DIRECTORY
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#define HAL_BOARD_TERRAIN_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/terrain"
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#endif
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#ifndef HAL_BOARD_STORAGE_DIRECTORY
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#define HAL_BOARD_STORAGE_DIRECTORY HAL_BOARD_STATE_DIRECTORY
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#endif
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#ifndef HAL_BOARD_CAN_IFACE_NAME
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#define HAL_BOARD_CAN_IFACE_NAME "can0"
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#endif
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// if bus masks are not setup above then use these defaults
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#ifndef HAL_LINUX_I2C_BUS_MASK
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#define HAL_LINUX_I2C_BUS_MASK 0xFFFF
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#endif
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#ifndef HAL_LINUX_I2C_INTERNAL_BUS_MASK
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#define HAL_LINUX_I2C_INTERNAL_BUS_MASK 0xFFFF
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#endif
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#ifndef HAL_LINUX_I2C_EXTERNAL_BUS_MASK
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#define HAL_LINUX_I2C_EXTERNAL_BUS_MASK 0xFFFF
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#endif
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// only include if compiling C++ code
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#ifdef __cplusplus
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#include <AP_HAL_Linux/Semaphores.h>
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#define HAL_Semaphore Linux::Semaphore
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#define HAL_BinarySemaphore Linux::BinarySemaphore
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#endif
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#ifndef HAL_HAVE_HARDWARE_DOUBLE
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#define HAL_HAVE_HARDWARE_DOUBLE 1
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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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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
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// we can use virtual CAN on native builds
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#define HAL_LINUX_USE_VIRTUAL_CAN 1
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#else
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#define HAL_LINUX_USE_VIRTUAL_CAN 0
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#endif
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#ifndef HAL_OS_POSIX_IO
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#define HAL_OS_POSIX_IO 1
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#endif
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#ifndef HAL_INS_RATE_LOOP
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#define HAL_INS_RATE_LOOP 1
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#endif
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#ifndef HAL_LINUX_GPIO_AERO_ENABLED
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#define HAL_LINUX_GPIO_AERO_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_BBB_ENABLED
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#define HAL_LINUX_GPIO_BBB_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_BEBOP_ENABLED
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#define HAL_LINUX_GPIO_BEBOP_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_DISCO_ENABLED
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#define HAL_LINUX_GPIO_DISCO_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_EDGE_ENABLED
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#define HAL_LINUX_GPIO_EDGE_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_NAVIGATOR_ENABLED
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#define HAL_LINUX_GPIO_NAVIGATOR_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_NAVIO_ENABLED
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#define HAL_LINUX_GPIO_NAVIO_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_NAVIO2_ENABLED
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#define HAL_LINUX_GPIO_NAVIO2_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_RPI_ENABLED
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#define HAL_LINUX_GPIO_RPI_ENABLED 0
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#endif
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#ifndef HAL_LINUX_GPIO_SYSFS_ENABLED
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#define HAL_LINUX_GPIO_SYSFS_ENABLED 0
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#endif
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