mirror of https://github.com/ArduPilot/ardupilot
351 lines
17 KiB
C++
351 lines
17 KiB
C++
#pragma once
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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_POSIX_IO 1
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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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// make sensor selection clearer
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#define PROBE_IMU_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,GET_I2C_DEVICE(bus, addr),##args))
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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 PROBE_IMU_SPI2(driver, devname1, devname2, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname1),hal.spi->get_device(devname2),##args))
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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 PROBE_BARO_SPI(driver, devname, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(hal.spi->get_device(devname)),##args))
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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 PROBE_MAG_SPI(driver, devname, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(hal.spi->get_device(devname),##args))
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#define PROBE_MAG_IMU(driver, imudev, imu_instance, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(imu_instance,##args))
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#define PROBE_MAG_IMU_I2C(driver, imudev, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(GET_I2C_DEVICE(bus,addr),##args))
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
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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_BOARD_STORAGE_DIRECTORY "."
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#define HAL_INS_DEFAULT HAL_INS_HIL
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#define HAL_BARO_DEFAULT HAL_BARO_HIL
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_270)
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#else
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_90)
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#endif
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define HAL_GPIO_A_LED_PIN 61
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#define HAL_GPIO_B_LED_PIN 48
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#define HAL_GPIO_C_LED_PIN 117
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#define HAL_GPIO_LED_ON 0
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#define HAL_GPIO_LED_OFF 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
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#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
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#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_YAW_270)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(AK8963, 1, 0x0d, ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607)
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#define HAL_HAVE_IMU_HEATER 1
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#define HAL_IMU_TEMP_DEFAULT 55
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
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#define HAL_LINUX_HEAT_PWM_NUM 6
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#define HAL_LINUX_HEAT_KP 20000
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#define HAL_LINUX_HEAT_KI 6
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#define HAL_LINUX_HEAT_PERIOD_NS 125000
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#define HAL_LINUX_HEAT_TARGET_TEMP 50
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#define BEBOP_CAMV_PWM 9
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#define BEBOP_CAMV_PWM_FREQ 43333333
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
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#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
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#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
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#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
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#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
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#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8
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#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
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#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
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#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
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#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/bebop.parm"
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#define HAL_RCOUT_BEBOP_BLDC_I2C_BUS 1
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#define HAL_RCOUT_BEBOP_BLDC_I2C_ADDR 0x08
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/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
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* 240x240 crop rescaled to 64x64 */
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
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#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
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#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
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#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_PITCH_180_YAW_90)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(AK8963, 1, 0x0d, ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607)
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
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#define HAL_LINUX_HEAT_PWM_NUM 10
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#define HAL_LINUX_HEAT_KP 20000
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#define HAL_LINUX_HEAT_KI 6
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#define HAL_LINUX_HEAT_PERIOD_NS 125000
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#define HAL_LINUX_HEAT_TARGET_TEMP 50
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#define BEBOP_CAMV_PWM 9
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#define BEBOP_CAMV_PWM_FREQ 43333333
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
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#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
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#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
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#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
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#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
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#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8
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#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
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#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
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#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
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#define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1
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#define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08
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#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/disco.parm"
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/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
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* 240x240 crop rescaled to 64x64 */
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
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// the disco has challenges with its magnetic setup
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#define AP_COMPASS_OFFSETS_MAX_DEFAULT 2200
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#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP
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#define HAL_GPIO_SCRIPT "/data/ftp/internal_000/ardupilot/gpio.sh"
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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#define HAL_GPIO_A_LED_PIN 0
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#define HAL_GPIO_B_LED_PIN 1
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#define HAL_GPIO_C_LED_PIN 2
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#define HAL_GPIO_LED_ON 1
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#define HAL_GPIO_LED_OFF 0
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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#define HAL_HAVE_SERVO_VOLTAGE 1
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#define HAL_MAG_PROBE1 PROBE_MAG_SPI(LSM9DS1, "lsm9ds1_m", ROTATION_ROLL_180)
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#define HAL_MAG_PROBE2 PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define HAL_GPIO_A_LED_PIN 24
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#define HAL_GPIO_B_LED_PIN 25
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#define HAL_GPIO_C_LED_PIN 16
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#define HAL_GPIO_LED_ON 0
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#define HAL_GPIO_LED_OFF 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
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// Stub the sensors out for now, at least we can build and run
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#define HAL_INS_DEFAULT HAL_INS_HIL
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#define HAL_BARO_DEFAULT HAL_BARO_HIL
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
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// only external compasses
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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#define HAL_GPIO_A_LED_PIN 69
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#define HAL_GPIO_B_LED_PIN 68
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#define HAL_GPIO_C_LED_PIN 45
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#define HAL_GPIO_LED_ON 0
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#define HAL_GPIO_LED_OFF 1
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#define HAL_BUZZER_PIN 11
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#define HAL_INS_PROBE1 PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu9250ext", ROTATION_NONE)
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#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE1 PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_MAG_PROBE2 PROBE_MAG_IMU(AK8963, mpu9250, 1, ROTATION_NONE)
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#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
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#define HAL_WITH_UAVCAN 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(LSM9DS1, "lsm9ds1_ag", ROTATION_PITCH_180)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_SPI(LSM9DS1, "lsm9ds1_m", ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")
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#define HAL_BATT_CURR_PIN 0
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#define HAL_BATT_CURR_SCALE 1
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#define HAL_BATT_VOLT_PIN 1
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#define HAL_BATT_VOLT_SCALE 1
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#define HAL_RGBLED_RED 24
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#define HAL_RGBLED_GREEN 25
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#define HAL_RGBLED_BLUE 26
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#define HAL_RGBLED_NORMAL_POLARITY false
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
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#define HAL_GPIO_A_LED_PIN 66
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#define HAL_GPIO_B_LED_PIN 67
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#define HAL_GPIO_LED_ON 1
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#define HAL_GPIO_LED_OFF 0
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#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 2, 0x76)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU_I2C(AK8963, mpu9250, 2, 0x0c, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 1
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#define HAL_WITH_UAVCAN 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
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#define HAL_GPIO_A_LED_PIN 59
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#define HAL_GPIO_B_LED_PIN 58
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#define HAL_GPIO_C_LED_PIN 57
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#define HAL_GPIO_LED_ON 1
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#define HAL_GPIO_LED_OFF 0
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#define HAL_BUZZER_PIN 28
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
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#define HAL_WITH_UAVCAN 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#define HAL_INS_PROBE1 PROBE_IMU_I2C(Invensense, 1, 0x69, ROTATION_NONE)
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#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define HAL_GPIO_A_LED_PIN 17
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#define HAL_GPIO_B_LED_PIN 18
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#define HAL_GPIO_C_LED_PIN 22
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#define HAL_GPIO_LED_ON 0
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#define HAL_GPIO_LED_OFF 1
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#define HAL_RCOUT_RGBLED_RED 13
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#define HAL_RCOUT_RGBLED_GREEN 14
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#define HAL_RCOUT_RGBLED_BLUE 15
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define HAL_GPIO_A_LED_PIN 24
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#define HAL_GPIO_B_LED_PIN 25
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#define HAL_GPIO_C_LED_PIN 16
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#define HAL_GPIO_LED_ON 0
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#define HAL_GPIO_LED_OFF 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(BMI160, "bmi160")
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 2, 0x76)
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#define HAL_MAG_PROBE1 PROBE_MAG_I2C(BMM150, 2, 0x12, ROTATION_NONE)
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#define HAL_MAG_PROBE2 PROBE_MAG_I2C(HMC5843, 4, 0x1e, true, ROTATION_NONE)
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#define HAL_MAG_PROBE3 PROBE_MAG_I2C(IST8310, 4, 0x0e, true, ROTATION_PITCH_180_YAW_90)
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#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2; HAL_MAG_PROBE3
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#define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS1"
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#define HAL_WITH_UAVCAN 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
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#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
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#define HAL_GPIO_A_LED_PIN 24
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#define HAL_GPIO_B_LED_PIN 25
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#define HAL_GPIO_C_LED_PIN 16
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#define HAL_GPIO_LED_ON 0
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#define HAL_GPIO_LED_OFF 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
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#define HAL_BOARD_LOG_DIRECTORY "/edge/ardupilot/logs"
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#define HAL_BOARD_TERRAIN_DIRECTORY "/edge/ardupilot/terrain"
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#define HAL_BOARD_STORAGE_DIRECTORY "/edge/ardupilot"
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#define HAL_INS_PROBE1 PROBE_IMU_SPI(Invensense, "mpu60x0", ROTATION_YAW_90)
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#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu60x0ext", ROTATION_YAW_90)
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#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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// only external compasses
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#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
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#define HAL_WITH_UAVCAN 1
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#define HAL_IMU_TEMP_DEFAULT 55
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#define HAL_HAVE_IMU_HEATER 1
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
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#define HAL_LINUX_HEAT_PWM_NUM 15
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#define HAL_LINUX_HEAT_KP 20000
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#define HAL_LINUX_HEAT_KI 6
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#define HAL_LINUX_HEAT_PERIOD_NS 2040816
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#define HAL_GPS_TYPE_DEFAULT 9
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#define HAL_CAN_DRIVER_DEFAULT 1
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
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#define HAL_INS_PROBE_LIST PROBE_IMU_SPI2(Invensense, "rst_g", "rst_a", ROTATION_ROLL_180_YAW_90, ROTATION_ROLL_180_YAW_90)
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#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
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#define HAL_MAG_PROBE_LIST PROBE_MAG_SPI(LIS3MDL, lis3mdl, false, ROTATION_ROLL_180_YAW_90)
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0
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#define HAL_HAVE_GETTIME_SETTIME 1
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#else
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#error "no Linux board subtype set"
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#endif
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#ifndef HAL_COMPASS_DEFAULT
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#define HAL_COMPASS_DEFAULT -1
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#endif
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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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#include <AP_HAL_Linux/Semaphores.h>
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#define HAL_Semaphore Linux::Semaphore
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