#pragma once

#define HAL_BOARD_NAME "Linux"
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
#define HAL_OS_POSIX_IO 1
#define HAL_OS_SOCKETS 1
#define HAL_STORAGE_SIZE            16384
#define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE

#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
    #define HAL_BOARD_LOG_DIRECTORY "logs"
    #define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
    #define HAL_BOARD_STORAGE_DIRECTORY "."
    #define HAL_INS_DEFAULT HAL_INS_HIL
    #define HAL_BARO_DEFAULT HAL_BARO_HIL
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
    #define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
    #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
        #define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_270
    #else
        #define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90
    #endif
    #define HAL_INS_MPU9250_NAME "mpu9250"
    #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
    #define HAL_BARO_MS5611_NAME "ms5611"
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
    #define HAL_COMPASS_HMC5843_I2C_BUS 1
    #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
    #define HAL_GPIO_A_LED_PIN        61
    #define HAL_GPIO_B_LED_PIN        48
    #define HAL_GPIO_C_LED_PIN        117
    #define HAL_GPIO_LED_ON           LOW
    #define HAL_GPIO_LED_OFF          HIGH
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
    #define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
    #define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
    #define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
    #define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
    #define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
    #define HAL_INS_MPU60x0_I2C_BUS 2
    #define HAL_INS_MPU60x0_I2C_ADDR 0x68
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
    #define HAL_COMPASS_AK8963_I2C_BUS 1
    #define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
    #define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
    #define HAL_BARO_MS5607_I2C_BUS 1
    #define HAL_BARO_MS5607_I2C_ADDR 0x77
    #define HAL_HAVE_IMU_HEATER 1
    #define HAL_IMU_TEMP_DEFAULT 55
    #define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
    #define HAL_LINUX_HEAT_PWM_NUM  6
    #define HAL_LINUX_HEAT_KP 20000
    #define HAL_LINUX_HEAT_KI 6
    #define HAL_LINUX_HEAT_PERIOD_NS 125000
    #define HAL_LINUX_HEAT_TARGET_TEMP 50
    #define BEBOP_CAMV_PWM  9
    #define BEBOP_CAMV_PWM_FREQ 43333333
    #define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
    #define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
    #define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
    #define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
    #define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
    #define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
    #define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
    #define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
    #define HAL_OPTFLOW_ONBOARD_NBUFS 8
    #define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
    #define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
    #define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
    #define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/bebop.parm"
    #define HAL_RCOUT_BEBOP_BLDC_I2C_BUS 1
    #define HAL_RCOUT_BEBOP_BLDC_I2C_ADDR 0x08
    /* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
    * 240x240 crop rescaled to 64x64 */
    #define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
    #define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
    #define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
    #define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
    #define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
    #define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
    #define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
    #define HAL_INS_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_90
    #define HAL_INS_MPU60x0_I2C_BUS 2
    #define HAL_INS_MPU60x0_I2C_ADDR 0x68
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
    #define HAL_COMPASS_AK8963_I2C_BUS 1
    #define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
    #define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C
    #define HAL_BARO_MS5607_I2C_BUS 1
    #define HAL_BARO_MS5607_I2C_ADDR 0x77
    #define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
    #define HAL_LINUX_HEAT_PWM_NUM  10
    #define HAL_LINUX_HEAT_KP 20000
    #define HAL_LINUX_HEAT_KI 6
    #define HAL_LINUX_HEAT_PERIOD_NS 125000
    #define HAL_LINUX_HEAT_TARGET_TEMP 50
    #define BEBOP_CAMV_PWM  9
    #define BEBOP_CAMV_PWM_FREQ 43333333
    #define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
    #define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
    #define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
    #define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
    #define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
    #define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
    #define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
    #define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
    #define HAL_OPTFLOW_ONBOARD_NBUFS 8
    #define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
    #define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
    #define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
    #define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1
    #define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08
    #define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/disco.parm"
    /* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
    * 240x240 crop rescaled to 64x64 */
    #define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
    #define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
    // the disco has challenges with its magnetic setup
    #define AP_COMPASS_OFFSETS_MAX_DEFAULT 2200
    #define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP
    #define HAL_GPIO_SCRIPT "/data/ftp/internal_000/ardupilot/gpio.sh"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
    #define HAL_GPIO_A_LED_PIN 0
    #define HAL_GPIO_B_LED_PIN 1
    #define HAL_GPIO_C_LED_PIN 2
    #define HAL_GPIO_LED_ON HIGH
    #define HAL_GPIO_LED_OFF LOW
    #define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
    #define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
    #define HAL_INS_MPU9250_NAME "mpu9250"
    #define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
    #define HAL_BARO_MS5611_I2C_BUS 1
    #define HAL_BARO_MS5611_I2C_ADDR 0x77
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO
    /* HMC5843 can be an external compass */
    #define HAL_COMPASS_HMC5843_I2C_BUS 1
    #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
    #define HAL_HAVE_SERVO_VOLTAGE 1
    #define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
    #define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
    #define HAL_INS_MPU9250_NAME "mpu9250"
    #define HAL_INS_LSM9DS1_NAME "lsm9ds1"
    #define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
    #define HAL_BARO_MS5611_I2C_BUS 1
    #define HAL_BARO_MS5611_I2C_ADDR 0x77
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO2
    /* HMC5843 can be an external compass */
    #define HAL_COMPASS_HMC5843_I2C_BUS 1
    #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
    #define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
    #define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
    #define HAL_INS_MPU9250_NAME "mpu9250"
    #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
    #define HAL_BARO_MS5611_NAME "ms5611"
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
    /* HMC5843 can be an external compass */
    #define HAL_COMPASS_HMC5843_I2C_BUS 1
    #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
    #define HAL_GPIO_A_LED_PIN        24
    #define HAL_GPIO_B_LED_PIN        25
    #define HAL_GPIO_C_LED_PIN        16
    #define HAL_GPIO_LED_ON           LOW
    #define HAL_GPIO_LED_OFF          HIGH
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
    // Stub the sensors out for now, at least we can build and run
    #define HAL_INS_DEFAULT HAL_INS_HIL
    #define HAL_BARO_DEFAULT HAL_BARO_HIL
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
    #define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
    #define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
    #define HAL_INS_MPU9250_NAME "mpu9250"
    #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
    #define HAL_BARO_MS5611_NAME "ms5611"
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_OCPOC_ZYNQ
    /* HMC5843 can be an external compass */
    #define HAL_COMPASS_HMC5843_I2C_BUS 4
    #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
    #define AP_COMPASS_OFFSETS_MAX_DEFAULT 1000
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
    #define HAL_GPIO_A_LED_PIN 69
    #define HAL_GPIO_B_LED_PIN 68
    #define HAL_GPIO_C_LED_PIN 45
    #define HAL_GPIO_LED_ON LOW
    #define HAL_GPIO_LED_OFF HIGH
    #define HAL_BUZZER_PIN 11
    #define HAL_INS_DEFAULT HAL_INS_BBBMINI
    #define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
    #define HAL_INS_MPU9250_NAME "mpu9250"
    #define HAL_INS_MPU9250_NAME_EXT "mpu9250ext"
    #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
    #define HAL_BARO_MS5611_NAME "ms5611"
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_BBBMINI
    /* HMC5843 can be an external compass */
    #define HAL_COMPASS_HMC5843_I2C_BUS 2
    #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
    #define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
    #define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
    #define HAL_WITH_UAVCAN 1
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
    #define HAL_GPIO_A_LED_PIN 66
    #define HAL_GPIO_B_LED_PIN 67
    #define HAL_GPIO_LED_ON    HIGH
    #define HAL_GPIO_LED_OFF   LOW
    #define HAL_INS_DEFAULT HAL_INS_MPU9250_I2C
    #define HAL_INS_MPU9250_I2C_BUS 2
    #define HAL_INS_MPU9250_I2C_ADDR 0x68
    #define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
    #define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
    #define HAL_BARO_BMP280_BUS 2
    #define HAL_BARO_BMP280_I2C_ADDR 0x76
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250_I2C
    #define HAL_COMPASS_AK8963_I2C_BUS 2
    #define HAL_COMPASS_AK8963_I2C_ADDR 0x0C
    /* HMC5843 can be an external compass */
    #define HAL_COMPASS_HMC5843_I2C_BUS 1
    #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
    #define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
    #define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 1
    #define HAL_WITH_UAVCAN 1
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
    #define HAL_GPIO_A_LED_PIN 59
    #define HAL_GPIO_B_LED_PIN 58
    #define HAL_GPIO_C_LED_PIN 57
    #define HAL_GPIO_LED_ON    HIGH
    #define HAL_GPIO_LED_OFF   LOW
    #define HAL_BUZZER_PIN 28
    #define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
    #define HAL_INS_MPU9250_NAME "mpu9250"
    #define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
    #define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
    #define HAL_BARO_BMP280_NAME "bmp280"
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
    /* HMC5843 can be an external compass */
    #define HAL_COMPASS_HMC5843_I2C_BUS 2
    #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
    #define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
    #define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
    #define HAL_WITH_UAVCAN 1
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
    #define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
    #define HAL_BARO_MS5611_I2C_BUS 1
    #define HAL_BARO_MS5611_I2C_ADDR 0x77
    #define HAL_INS_DEFAULT HAL_INS_BH
    #define HAL_INS_MPU9250_NAME "mpu9250"
    #define HAL_INS_MPU60x0_I2C_BUS 1
    #define HAL_INS_MPU60x0_I2C_ADDR 0x69
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_BH
    /* HMC5843 can be an external compass */
    #define HAL_COMPASS_HMC5843_I2C_BUS 1
    #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
    #define HAL_GPIO_A_LED_PIN        17
    #define HAL_GPIO_B_LED_PIN        18
    #define HAL_GPIO_C_LED_PIN        22
    #define HAL_GPIO_LED_ON           LOW
    #define HAL_GPIO_LED_OFF          HIGH
    #define HAL_RCOUT_RGBLED_RED      13
    #define HAL_RCOUT_RGBLED_GREEN    14
    #define HAL_RCOUT_RGBLED_BLUE     15
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
    #define HAL_INS_DEFAULT           HAL_INS_MPU9250_SPI
    #define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
    #define HAL_INS_MPU9250_NAME "mpu9250"
    #define HAL_BARO_DEFAULT          HAL_BARO_MS5611_SPI
    #define HAL_BARO_MS5611_NAME "ms5611"
    #define HAL_COMPASS_DEFAULT       HAL_COMPASS_AK8963_MPU9250
    /* HMC5843 can be an external compass */
    #define HAL_COMPASS_HMC5843_I2C_BUS 1
    #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
    #define HAL_GPIO_A_LED_PIN        24
    #define HAL_GPIO_B_LED_PIN        25
    #define HAL_GPIO_C_LED_PIN        16
    #define HAL_GPIO_LED_ON           LOW
    #define HAL_GPIO_LED_OFF          HIGH
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
    #define HAL_INS_DEFAULT HAL_INS_AERO
    #define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
    #define HAL_BARO_MS5611_I2C_BUS 2
    #define HAL_BARO_MS5611_I2C_ADDR 0x76
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_AERO
    #define HAL_COMPASS_BMM150_I2C_BUS 2
    #define HAL_COMPASS_BMM150_I2C_ADDR 0x12
    #define HAL_COMPASS_IST8310_I2C_BUS 4
    #define HAL_COMPASS_IST8310_I2C_ADDR 0x0E
    #define HAL_COMPASS_HMC5843_I2C_BUS 4
    #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
    #define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS1"
    #define HAL_WITH_UAVCAN 1
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
    #define HAL_INS_DEFAULT           HAL_INS_MPU9250_SPI
    #define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
    #define HAL_INS_MPU9250_NAME "mpu9250"
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
    #define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
    #define HAL_BARO_MS5611_I2C_BUS 1
    #define HAL_BARO_MS5611_I2C_ADDR 0x77
    #define HAL_BARO_MS5611_USE_TIMER false
    #define HAL_GPIO_A_LED_PIN        24
    #define HAL_GPIO_B_LED_PIN        25
    #define HAL_GPIO_C_LED_PIN        16
    #define HAL_GPIO_LED_ON           LOW
    #define HAL_GPIO_LED_OFF          HIGH
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
    #define HAL_BOARD_LOG_DIRECTORY "/edge/ardupilot/logs"
    #define HAL_BOARD_TERRAIN_DIRECTORY "/edge/ardupilot/terrain"
    #define HAL_BOARD_STORAGE_DIRECTORY "/edge/ardupilot"
    #define HAL_INS_DEFAULT HAL_INS_EDGE
    #define HAL_INS_MPU60x0_NAME "mpu60x0"
    #define HAL_INS_MPU60x0_NAME_EXT "mpu60x0ext"
    #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
    #define HAL_BARO_MS5611_NAME "ms5611"
    #define HAL_COMPASS_HMC5843_I2C_BUS 1
    #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_EDGE
    #define HAL_WITH_UAVCAN 1
    /* HMC5843 can be an external compass */
    #define HAL_COMPASS_HMC5843_I2C_BUS 1
    #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
    #define HAL_IMU_TEMP_DEFAULT 55
    #define HAL_HAVE_IMU_HEATER 1
    #define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
    #define HAL_LINUX_HEAT_PWM_NUM  15
    #define HAL_LINUX_HEAT_KP 20000
    #define HAL_LINUX_HEAT_KI 6
    #define HAL_LINUX_HEAT_PERIOD_NS 2040816
    #define HAL_GPS_TYPE_DEFAULT 9
    #define HAL_CAN_DRIVER_DEFAULT 1
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
    #define HAL_INS_DEFAULT HAL_INS_RST
    #define HAL_INS_DEFAULT_G_ROTATION ROTATION_ROLL_180_YAW_90
    #define HAL_INS_DEFAULT_A_ROTATION ROTATION_ROLL_180_YAW_90
    #define HAL_INS_RST_G_NAME "rst_g"  //gyro
    #define HAL_INS_RST_A_NAME "rst_a"  //accel
    #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
    #define HAL_BARO_MS5611_NAME "ms5611"
    #define HAL_COMPASS_DEFAULT HAL_COMPASS_LIS3MDL
    #define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"
    #define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0

    #define HAL_HAVE_GETTIME_SETTIME 1

#else
    #error "no Linux board subtype set"
#endif

#ifndef HAL_COMPASS_DEFAULT
    #define HAL_COMPASS_DEFAULT -1
#endif

#ifndef HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS
    #define HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS 0x42
#endif

#ifndef HAL_OPTFLOW_PX4FLOW_I2C_BUS
    #define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
#endif

#define HAL_HAVE_BOARD_VOLTAGE 1
#define HAL_HAVE_SAFETY_SWITCH 0


#ifndef HAL_HAVE_SERVO_VOLTAGE
    #define HAL_HAVE_SERVO_VOLTAGE 0
#endif

#ifndef AP_STATEDIR
    #define HAL_BOARD_STATE_DIRECTORY "/var/lib/ardupilot"
#else
    #define HAL_BOARD_STATE_DIRECTORY AP_STATEDIR
#endif

#ifndef HAL_BOARD_LOG_DIRECTORY
    #define HAL_BOARD_LOG_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/logs"
#endif

#ifndef HAL_BOARD_TERRAIN_DIRECTORY
    #define HAL_BOARD_TERRAIN_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/terrain"
#endif

#ifndef HAL_BOARD_STORAGE_DIRECTORY
    #define HAL_BOARD_STORAGE_DIRECTORY HAL_BOARD_STATE_DIRECTORY
#endif

#ifndef HAL_BOARD_CAN_IFACE_NAME
    #define HAL_BOARD_CAN_IFACE_NAME "can0"
#endif

// if bus masks are not setup above then use these defaults
#ifndef HAL_LINUX_I2C_BUS_MASK
    #define HAL_LINUX_I2C_BUS_MASK 0xFFFF
#endif

#ifndef HAL_LINUX_I2C_INTERNAL_BUS_MASK
    #define HAL_LINUX_I2C_INTERNAL_BUS_MASK 0xFFFF
#endif

#ifndef HAL_LINUX_I2C_EXTERNAL_BUS_MASK
    #define HAL_LINUX_I2C_EXTERNAL_BUS_MASK 0xFFFF
#endif

#include <AP_HAL_Linux/Semaphores.h>
#define HAL_Semaphore Linux::Semaphore
#define HAL_Semaphore_Recursive Linux::Semaphore_Recursive
