mirror of https://github.com/ArduPilot/ardupilot
125 lines
3.6 KiB
C
125 lines
3.6 KiB
C
#pragma once
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#define HAL_BOARD_NAME "PX4"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_150
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#define HAL_OS_POSIX_IO 1
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#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/fs/microsd/APM/TERRAIN"
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#define HAL_PARAM_DEFAULTS_PATH "/etc/defaults.parm"
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#define HAL_INS_DEFAULT HAL_INS_PX4
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#define HAL_BARO_DEFAULT HAL_BARO_PX4
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_PX4
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V1
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#define HAL_STORAGE_SIZE 8192
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V2
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#define HAL_STORAGE_SIZE 16384
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#define HAL_HAVE_IMU_HEATER 1 // for Pixhawk2
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#define HAL_IMU_TEMP_DEFAULT -1 // disabled
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#define HAL_WITH_UAVCAN 1
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#define HAL_MINIMIZE_FEATURES 1
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V3)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V3
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#define HAL_STORAGE_SIZE 16384
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#define HAL_HAVE_IMU_HEATER 1 // for Pixhawk2
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#define HAL_IMU_TEMP_DEFAULT -1 // disabled
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#define HAL_WITH_UAVCAN 1
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V4
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#define HAL_STORAGE_SIZE 16384
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#define HAL_WITH_UAVCAN 1
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#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_AEROFC_V1
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#define HAL_STORAGE_SIZE 16384
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#define USE_FLASH_STORAGE 1
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// we don't have any sdcard
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#undef HAL_OS_POSIX_IO
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#else
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#error "Unknown PX4 board type"
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#endif
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#define HAL_GPIO_A_LED_PIN 27
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#define HAL_GPIO_B_LED_PIN 26
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#define HAL_GPIO_C_LED_PIN 25
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#define HAL_GPIO_LED_ON LOW
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#define HAL_GPIO_LED_OFF HIGH
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#define HAL_BARO_MS5611_NAME "ms5611"
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#define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int"
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#define HAL_BARO_MS5611_SPI_EXT_NAME "ms5611_ext"
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#define HAL_INS_MPU60x0_NAME "mpu6000"
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#define HAL_INS_MPU60x0_EXT_NAME "mpu6000_ext"
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#define HAL_INS_LSM9DS0_G_NAME "lsm9ds0_g"
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#define HAL_INS_LSM9DS0_A_NAME "lsm9ds0_am"
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#define HAL_INS_LSM9DS0_EXT_G_NAME "lsm9ds0_ext_g"
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#define HAL_INS_LSM9DS0_EXT_A_NAME "lsm9ds0_ext_am"
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#define HAL_INS_MPU9250_NAME "mpu9250"
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#define HAL_INS_MPU9250_EXT_NAME "mpu9250_ext"
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#define HAL_INS_MPU6500_NAME "mpu6500"
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#define HAL_INS_ICM20608_NAME "icm20608"
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#define HAL_INS_ICM20608_AM_NAME "icm20608-am"
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#define HAL_INS_ICM20608_EXT_NAME "icm20608_ext"
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#define HAL_COMPASS_HMC5843_NAME "hmc5843"
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/* px4fmu-v1 */
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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#define HAL_BARO_MS5611_I2C_ADDR 0x76
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#define HAL_BARO_MS5611_I2C_BUS 0
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#define HAL_HAVE_BOARD_VOLTAGE 0
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#define HAL_PX4_HAVE_PWM_INPUT 0
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#endif
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/* px4fmu-v4 */
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V4
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#define HAL_PX4_HAVE_PX4IO 0
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#endif
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/* aerofc-v1 */
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#ifdef CONFIG_ARCH_BOARD_AEROFC_V1
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#define HAL_BARO_MS5607_I2C_ADDR 0x77
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#define HAL_BARO_MS5607_I2C_BUS 0
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#define HAL_COMPASS_IST8310_I2C_ADDR 0x0E
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#define HAL_COMPASS_IST8310_I2C_BUS 1
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#define HAL_SERIAL0_BAUD_DEFAULT 460800
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#define HAL_HAVE_BOARD_VOLTAGE 0
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#define HAL_HAVE_SAFETY_SWITCH 0
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#define HAL_PX4_HAVE_MTD_SUPPORT 0
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#define HAL_PX4_HAVE_PX4IO 0
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#define HAL_PX4_HAVE_PWM_INPUT 0
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#endif
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/* default values */
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#ifndef HAL_SERIAL0_BAUD_DEFAULT
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#define HAL_SERIAL0_BAUD_DEFAULT 115200
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#endif
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#ifndef HAL_HAVE_BOARD_VOLTAGE
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#define HAL_HAVE_BOARD_VOLTAGE 1
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#endif
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#ifndef HAL_PX4_HAVE_MTD_SUPPORT
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#define HAL_PX4_HAVE_MTD_SUPPORT 1
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#endif
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#ifndef HAL_PX4_HAVE_PX4IO
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#define HAL_PX4_HAVE_PX4IO 1
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#endif
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#ifndef HAL_PX4_HAVE_PWM_INPUT
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#define HAL_PX4_HAVE_PWM_INPUT 1
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#endif
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#ifndef HAL_HAVE_SAFETY_SWITCH
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#define HAL_HAVE_SAFETY_SWITCH 1
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#endif
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