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
121 lines
3.0 KiB
C++
121 lines
3.0 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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#ifndef HAL_PROGRAM_SIZE_LIMIT_KB
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#define HAL_PROGRAM_SIZE_LIMIT_KB 2048
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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_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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#ifndef HAL_OS_POSIX_IO
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#define HAL_OS_POSIX_IO 1
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#endif
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#define HAL_OS_LITTLEFS_IO 0
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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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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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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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