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
122 lines
2.9 KiB
C
122 lines
2.9 KiB
C
#pragma once
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#define HAL_BOARD_NAME "SITL"
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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 AP_FLASHSTORAGE_TYPE 3
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#if AP_FLASHSTORAGE_TYPE == 1
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// emulate F1/F3 flash
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#define HAL_STORAGE_SIZE 15360
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#define HAL_FLASH_SECTOR_SIZE 16*1024
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#define HAL_FLASH_MIN_WRITE_SIZE 1
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#define HAL_FLASH_ALLOW_UPDATE 0
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#elif AP_FLASHSTORAGE_TYPE == 2
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// emulate F4/F7 flash
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#define HAL_STORAGE_SIZE 15360
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#define HAL_FLASH_SECTOR_SIZE 16*1024
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#define HAL_FLASH_MIN_WRITE_SIZE 1
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#define HAL_FLASH_ALLOW_UPDATE 1
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#elif AP_FLASHSTORAGE_TYPE == 3
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// emulate H7 flash
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#define HAL_STORAGE_SIZE 16384
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#define HAL_FLASH_SECTOR_SIZE 128*1024
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#define HAL_FLASH_MIN_WRITE_SIZE 32
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#define HAL_FLASH_ALLOW_UPDATE 0
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#endif
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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
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#ifndef HAL_STORAGE_SIZE
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#define HAL_STORAGE_SIZE 32768
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#endif
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#define HAL_BOARD_LOG_DIRECTORY "logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
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#define HAL_PARAM_DEFAULTS_PATH nullptr
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#define HAL_INS_DEFAULT HAL_INS_NONE
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#define HAL_BARO_DEFAULT HAL_BARO_NONE
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// simulated LEDs are disabled by default as they lead to a large
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// amount of SIM_GPIO_MASK mavlink traffic
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// #define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
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#define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 8 // these are set in SIM_PIN_MASK
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#define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 9
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#define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 10
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// #define AP_NOTIFY_GPIO_LED_1_ENABLED 1
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#define AP_NOTIFY_GPIO_LED_A_PIN 8 // these are set in SIM_PIN_MASK
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#define HAL_HAVE_BOARD_VOLTAGE 1
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#define HAL_HAVE_SERVO_VOLTAGE 1
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#define HAL_HAVE_SAFETY_SWITCH 1
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// only include if compiling C++ code
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#ifdef __cplusplus
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// allow for static semaphores
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#include <AP_HAL_SITL/Semaphores.h>
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#define HAL_Semaphore HALSITL::Semaphore
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#define HAL_BinarySemaphore HALSITL::BinarySemaphore
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#endif
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#ifndef HAL_NUM_CAN_IFACES
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#define HAL_NUM_CAN_IFACES 0
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#endif
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#ifndef HAL_BOARD_STORAGE_DIRECTORY
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#define HAL_BOARD_STORAGE_DIRECTORY "."
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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_CAN_DRIVER_DEFAULT
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#define HAL_CAN_DRIVER_DEFAULT 0
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#endif
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#ifndef AP_UART_MONITOR_ENABLED
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#define AP_UART_MONITOR_ENABLED 1
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#endif
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#ifndef AP_FILTER_ENABLED
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#define AP_FILTER_ENABLED 1
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#endif
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#define HAL_SOLO_GIMBAL_ENABLED 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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#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 AP_NOTIFY_TONEALARM_ENABLED
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#define AP_NOTIFY_TONEALARM_ENABLED 1
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#endif
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#ifndef AP_NOTIFY_BUZZER_ENABLED
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#define AP_NOTIFY_BUZZER_ENABLED 1
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#endif
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#define HAL_BATT_VOLT_PIN 13
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#define HAL_BATT_CURR_PIN 12
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#define HAL_BATT_VOLT_SCALE 10.1f
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#define HAL_BATT_CURR_SCALE 17.0f
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#define RELAY1_PIN_DEFAULT 13
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