From 5c5ddc9d4a1013cd64730dc22e83b5c5e833b6f8 Mon Sep 17 00:00:00 2001 From: Gustavo Jose de Sousa Date: Tue, 30 Aug 2016 12:59:12 -0300 Subject: [PATCH] AP_HAL: reformat AP_HAL_Boards.h The definitions for each board haven't been reformatted here. They need a little more thinking on how to format them in order to provide better readability. --- libraries/AP_HAL/AP_HAL_Boards.h | 189 +++++++++++++++---------------- 1 file changed, 91 insertions(+), 98 deletions(-) diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h index c23c4fc081..9b820c176c 100644 --- a/libraries/AP_HAL/AP_HAL_Boards.h +++ b/libraries/AP_HAL/AP_HAL_Boards.h @@ -1,132 +1,125 @@ -#pragma once - /** * C preprocesor enumeration of the boards supported by the AP_HAL. * This list exists so HAL_BOARD == HAL_BOARD_xxx preprocessor blocks * can be used to exclude HAL boards from the build when appropriate. * Its not an elegant solution but we can improve it in future. */ +#pragma once #define HAL_BOARD_SITL 3 -#define HAL_BOARD_SMACCM 4 // unused +#define HAL_BOARD_SMACCM 4 // unused #define HAL_BOARD_PX4 5 #define HAL_BOARD_LINUX 7 #define HAL_BOARD_VRBRAIN 8 #define HAL_BOARD_QURT 9 -#define HAL_BOARD_EMPTY 99 +#define HAL_BOARD_EMPTY 99 -// default board subtype is -1 +/* Default board subtype is -1 */ #define HAL_BOARD_SUBTYPE_NONE -1 -/** - HAL Linux sub-types, starting at 1000 - */ -#define HAL_BOARD_SUBTYPE_LINUX_NONE 1000 -#define HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD 1001 -#define HAL_BOARD_SUBTYPE_LINUX_PXF 1002 -#define HAL_BOARD_SUBTYPE_LINUX_NAVIO 1003 -#define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004 -#define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005 -#define HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006 -#define HAL_BOARD_SUBTYPE_LINUX_RASPILOT 1007 -#define HAL_BOARD_SUBTYPE_LINUX_MINLURE 1008 +/* HAL Linux sub-types, starting at 1000 */ +#define HAL_BOARD_SUBTYPE_LINUX_NONE 1000 +#define HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD 1001 +#define HAL_BOARD_SUBTYPE_LINUX_PXF 1002 +#define HAL_BOARD_SUBTYPE_LINUX_NAVIO 1003 +#define HAL_BOARD_SUBTYPE_LINUX_ZYNQ 1004 +#define HAL_BOARD_SUBTYPE_LINUX_BBBMINI 1005 +#define HAL_BOARD_SUBTYPE_LINUX_BEBOP 1006 +#define HAL_BOARD_SUBTYPE_LINUX_RASPILOT 1007 +#define HAL_BOARD_SUBTYPE_LINUX_MINLURE 1008 #define HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 1009 -#define HAL_BOARD_SUBTYPE_LINUX_BH 1010 -#define HAL_BOARD_SUBTYPE_LINUX_QFLIGHT 1011 -#define HAL_BOARD_SUBTYPE_LINUX_PXFMINI 1012 -#define HAL_BOARD_SUBTYPE_LINUX_NAVIO2 1013 -#define HAL_BOARD_SUBTYPE_LINUX_DISCO 1014 -#define HAL_BOARD_SUBTYPE_LINUX_AERO 1015 +#define HAL_BOARD_SUBTYPE_LINUX_BH 1010 +#define HAL_BOARD_SUBTYPE_LINUX_QFLIGHT 1011 +#define HAL_BOARD_SUBTYPE_LINUX_PXFMINI 1012 +#define HAL_BOARD_SUBTYPE_LINUX_NAVIO2 1013 +#define HAL_BOARD_SUBTYPE_LINUX_DISCO 1014 +#define HAL_BOARD_SUBTYPE_LINUX_AERO 1015 -/** - HAL PX4 sub-types, starting at 2000 - */ -#define HAL_BOARD_SUBTYPE_PX4_V1 2000 -#define HAL_BOARD_SUBTYPE_PX4_V2 2001 +/* HAL PX4 sub-types, starting at 2000 */ +#define HAL_BOARD_SUBTYPE_PX4_V1 2000 +#define HAL_BOARD_SUBTYPE_PX4_V2 2001 -/** - HAL VRBRAIN sub-types, starting at 4000 - */ -#define HAL_BOARD_SUBTYPE_VRBRAIN_V45 4000 -#define HAL_BOARD_SUBTYPE_VRBRAIN_V51 4001 -#define HAL_BOARD_SUBTYPE_VRBRAIN_V52 4002 -#define HAL_BOARD_SUBTYPE_VRUBRAIN_V51 4003 -#define HAL_BOARD_SUBTYPE_VRUBRAIN_V52 4004 -#define HAL_BOARD_SUBTYPE_VRCORE_V10 4005 -#define HAL_BOARD_SUBTYPE_VRBRAIN_V54 4006 +/* HAL VRBRAIN sub-types, starting at 4000 */ +#define HAL_BOARD_SUBTYPE_VRBRAIN_V45 4000 +#define HAL_BOARD_SUBTYPE_VRBRAIN_V51 4001 +#define HAL_BOARD_SUBTYPE_VRBRAIN_V52 4002 +#define HAL_BOARD_SUBTYPE_VRUBRAIN_V51 4003 +#define HAL_BOARD_SUBTYPE_VRUBRAIN_V52 4004 +#define HAL_BOARD_SUBTYPE_VRCORE_V10 4005 +#define HAL_BOARD_SUBTYPE_VRBRAIN_V54 4006 -// InertialSensor driver types -#define HAL_INS_MPU60XX_SPI 2 -#define HAL_INS_MPU60XX_I2C 3 -#define HAL_INS_HIL 4 -#define HAL_INS_PX4 5 -#define HAL_INS_L3G4200D 7 -#define HAL_INS_VRBRAIN 8 +/* InertialSensor driver types */ +#define HAL_INS_MPU60XX_SPI 2 +#define HAL_INS_MPU60XX_I2C 3 +#define HAL_INS_HIL 4 +#define HAL_INS_PX4 5 +#define HAL_INS_L3G4200D 7 +#define HAL_INS_VRBRAIN 8 #define HAL_INS_MPU9250_SPI 9 -#define HAL_INS_L3GD20 10 -#define HAL_INS_LSM9DS0 11 -#define HAL_INS_RASPILOT 12 +#define HAL_INS_L3GD20 10 +#define HAL_INS_LSM9DS0 11 +#define HAL_INS_RASPILOT 12 #define HAL_INS_MPU9250_I2C 13 #define HAL_INS_BH 14 -#define HAL_INS_QFLIGHT 15 -#define HAL_INS_QURT 16 -#define HAL_INS_BBBMINI 17 -#define HAL_INS_AERO 18 +#define HAL_INS_QFLIGHT 15 +#define HAL_INS_QURT 16 +#define HAL_INS_BBBMINI 17 +#define HAL_INS_AERO 18 -// barometer driver types -#define HAL_BARO_BMP085 1 -#define HAL_BARO_MS5611_I2C 2 -#define HAL_BARO_MS5611_SPI 3 -#define HAL_BARO_MS5607_I2C 4 -#define HAL_BARO_PX4 5 -#define HAL_BARO_HIL 6 -#define HAL_BARO_VRBRAIN 7 -#define HAL_BARO_MS5637_I2C 8 -#define HAL_BARO_QFLIGHT 9 -#define HAL_BARO_QURT 10 +/* Barometer driver types */ +#define HAL_BARO_BMP085 1 +#define HAL_BARO_MS5611_I2C 2 +#define HAL_BARO_MS5611_SPI 3 +#define HAL_BARO_MS5607_I2C 4 +#define HAL_BARO_PX4 5 +#define HAL_BARO_HIL 6 +#define HAL_BARO_VRBRAIN 7 +#define HAL_BARO_MS5637_I2C 8 +#define HAL_BARO_QFLIGHT 9 +#define HAL_BARO_QURT 10 -// compass driver types -#define HAL_COMPASS_HMC5843 1 -#define HAL_COMPASS_PX4 2 -#define HAL_COMPASS_HIL 3 -#define HAL_COMPASS_VRBRAIN 4 -#define HAL_COMPASS_AK8963_MPU9250 5 -#define HAL_COMPASS_AK8963_I2C 6 -#define HAL_COMPASS_HMC5843_MPU6000 7 -#define HAL_COMPASS_RASPILOT 8 +/* Compass driver types */ +#define HAL_COMPASS_HMC5843 1 +#define HAL_COMPASS_PX4 2 +#define HAL_COMPASS_HIL 3 +#define HAL_COMPASS_VRBRAIN 4 +#define HAL_COMPASS_AK8963_MPU9250 5 +#define HAL_COMPASS_AK8963_I2C 6 +#define HAL_COMPASS_HMC5843_MPU6000 7 +#define HAL_COMPASS_RASPILOT 8 #define HAL_COMPASS_AK8963_MPU9250_I2C 9 -#define HAL_COMPASS_BH 10 -#define HAL_COMPASS_QFLIGHT 11 -#define HAL_COMPASS_QURT 12 -#define HAL_COMPASS_BBBMINI 13 -#define HAL_COMPASS_NAVIO2 14 -#define HAL_COMPASS_NAVIO 15 -#define HAL_COMPASS_AERO 16 +#define HAL_COMPASS_BH 10 +#define HAL_COMPASS_QFLIGHT 11 +#define HAL_COMPASS_QURT 12 +#define HAL_COMPASS_BBBMINI 13 +#define HAL_COMPASS_NAVIO2 14 +#define HAL_COMPASS_NAVIO 15 +#define HAL_COMPASS_AERO 16 -// Heat Types +/* Heat Types */ #define HAL_LINUX_HEAT_PWM 1 -/** - CPU classes, used to select if CPU intensive algorithms should be used +/* CPU classes, used to select if CPU intensive algorithms should be used + * Note that these are only approximate, not exact CPU speeds. */ - Note that these are only approximate, not exact CPU speeds. - */ -#define HAL_CPU_CLASS_16 1 // DEPRECATED: 16Mhz, AVR2560 or similar -#define HAL_CPU_CLASS_150 3 // 150Mhz, PX4 or similar, assumes - // hardware floating point. Assumes tens - // of kilobytes of memory available -#define HAL_CPU_CLASS_1000 4 // GigaHz class, SITL, BeagleBone etc, - // assumes megabytes of memory available +/* DEPRECATED: 16Mhz: AVR2560 or similar */ +#define HAL_CPU_CLASS_16 1 +/* 150Mhz: PX4 or similar. Assumes: + * - hardware floating point + * - tens of kilobytes of memory available */ +#define HAL_CPU_CLASS_150 3 +/* GigaHz class: SITL, BeagleBone etc. Assumes megabytes of memory available. */ +#define HAL_CPU_CLASS_1000 4 -/** - operating system features: +/* Operating system features + * + * HAL implementations may define the following extra feature defines to 1 if + * available: + * + * - HAL_OS_POSIX_IO : has posix-like filesystem IO + * - HAL_OS_SOCKETS : has posix-like sockets */ - HAL implementations may define the following extra feature defines - to 1 if available - - HAL_OS_POSIX_IO : has posix-like filesystem IO - HAL_OS_SOCKETS : has posix-like sockets - */ +/* DEFINITIONS FOR BOARDS */ #if CONFIG_HAL_BOARD == HAL_BOARD_SITL #define HAL_BOARD_NAME "SITL"