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AP_HAL: ensure we have subtypes for all boards

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This commit is contained in:
Andrew Tridgell 2014-08-13 14:42:52 +10:00
parent 3640ae9cdf
commit f748e07ecf
1 changed files with 40 additions and 8 deletions

48
libraries/AP_HAL/AP_HAL_Boards.h
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@ -20,14 +20,28 @@
#define HAL_BOARD_VRBRAIN 8
#define HAL_BOARD_EMPTY 99
// default board subtype is -1
#define HAL_BOARD_SUBTYPE_NONE -1
/**
HAL Linux sub-types
HAL Linux sub-types, starting at 1000
*/
#define HAL_BOARD_SUBTYPE_LINUX_NONE 0
#define HAL_BOARD_SUBTYPE_LINUX_ERLE 1
#define HAL_BOARD_SUBTYPE_LINUX_PXF 2
#define HAL_BOARD_SUBTYPE_LINUX_NAVIO 3
#define HAL_BOARD_SUBTYPE_LINUX_NONE 1000
#define HAL_BOARD_SUBTYPE_LINUX_ERLE 1001
#define HAL_BOARD_SUBTYPE_LINUX_PXF 1002
#define HAL_BOARD_SUBTYPE_LINUX_NAVIO 1003
/**
HAL PX4 sub-types, starting at 2000
*/
#define HAL_BOARD_SUBTYPE_PX4_V1 2000
#define HAL_BOARD_SUBTYPE_PX4_V2 2001
/**
HAL AVR sub-types, starting at 3000
*/
#define HAL_BOARD_SUBTYPE_AVR_APM1 3000
#define HAL_BOARD_SUBTYPE_AVR_APM2 3001
// InertialSensor driver types
#define HAL_INS_OILPAN 1
@ -92,6 +106,9 @@
#define HAL_INS_DEFAULT HAL_INS_OILPAN
#define HAL_BARO_DEFAULT HAL_BARO_BMP085
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
#ifndef CONFIG_HAL_BOARD_SUBTYPE
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_AVR_APM1
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_APM2
@ -106,13 +123,16 @@
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
#endif
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
#ifndef CONFIG_HAL_BOARD_SUBTYPE
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_AVR_APM2
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_SITL
#define HAL_BOARD_NAME "SITL"
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
#define HAL_OS_POSIX_IO 1
#define HAL_STORAGE_SIZE 4096
#define HAL_STORAGE_SIZE 16384
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#define HAL_BOARD_LOG_DIRECTORY "logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
@ -136,14 +156,19 @@
#define HAL_BOARD_NAME "PX4"
#define HAL_CPU_CLASS HAL_CPU_CLASS_150
#define HAL_OS_POSIX_IO 1
#define HAL_STORAGE_SIZE 4096
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
#define HAL_BOARD_TERRAIN_DIRECTORY "/fs/microsd/APM/TERRAIN"
#define HAL_INS_DEFAULT HAL_INS_PX4
#define HAL_BARO_DEFAULT HAL_BARO_PX4
#define HAL_COMPASS_DEFAULT HAL_COMPASS_PX4
#define HAL_SERIAL0_BAUD_DEFAULT 115200
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V1
#define HAL_STORAGE_SIZE 8192
#else
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V2
#define HAL_STORAGE_SIZE 16384
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#define AP_HAL_BOARD_DRIVER AP_HAL_Linux
@ -169,6 +194,8 @@
#define HAL_INS_DEFAULT HAL_INS_MPU9250
#define HAL_BARO_DEFAULT HAL_BARO_MS5611
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#else
#error "no Linux board subtype set"
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
@ -180,6 +207,7 @@
#define HAL_INS_DEFAULT HAL_INS_HIL
#define HAL_BARO_DEFAULT HAL_BARO_HIL
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#define AP_HAL_BOARD_DRIVER AP_HAL_VRBRAIN
@ -198,5 +226,9 @@
#error "Unknown CONFIG_HAL_BOARD type"
#endif
#ifndef CONFIG_HAL_BOARD_SUBTYPE
#error "No CONFIG_HAL_BOARD_SUBTYPE set"
#endif
#endif // __AP_HAL_BOARDS_H__