3428cbf993
allow more than one type of ESC for dshot commands add support for checks around active ESCs allow dshot alarm to be disabled allow prioritized dshot commands
73 lines
1.8 KiB
C
73 lines
1.8 KiB
C
#pragma once
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#define HAL_BOARD_NAME "SITL"
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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_DSHOT_ALARM 0
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#define AP_FLASHSTORAGE_TYPE 3
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#if defined(STORAGE_USE_FLASH) && STORAGE_USE_FLASH==1
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#if AP_FLASHSTORAGE_TYPE == 1
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// emulate F1/F3 flash
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#define HAL_STORAGE_SIZE 15360
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#define HAL_FLASH_SECTOR_SIZE 16*1024
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#define HAL_FLASH_MIN_WRITE_SIZE 1
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#define HAL_FLASH_ALLOW_UPDATE 0
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#elif AP_FLASHSTORAGE_TYPE == 2
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// emulate F4/F7 flash
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#define HAL_STORAGE_SIZE 15360
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#define HAL_FLASH_SECTOR_SIZE 16*1024
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#define HAL_FLASH_MIN_WRITE_SIZE 1
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#define HAL_FLASH_ALLOW_UPDATE 1
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#elif AP_FLASHSTORAGE_TYPE == 3
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// emulate H7 flash
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#define HAL_STORAGE_SIZE 16384
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#define HAL_FLASH_SECTOR_SIZE 128*1024
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#define HAL_FLASH_MIN_WRITE_SIZE 32
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#define HAL_FLASH_ALLOW_UPDATE 0
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#endif
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#endif
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#ifndef HAL_STORAGE_SIZE
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#define HAL_STORAGE_SIZE 32768
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#endif
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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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_PARAM_DEFAULTS_PATH nullptr
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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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#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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#define HAL_HAVE_BOARD_VOLTAGE 1
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#define HAL_HAVE_SERVO_VOLTAGE 1
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#define HAL_HAVE_SAFETY_SWITCH 0
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// allow for static semaphores
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#include <AP_HAL_SITL/Semaphores.h>
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#define HAL_Semaphore HALSITL::Semaphore
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#include <AP_HAL/EventHandle.h>
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#define HAL_EventHandle AP_HAL::EventHandle
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#ifndef HAL_NUM_CAN_IFACES
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#define HAL_NUM_CAN_IFACES 0
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#endif
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#ifndef HAL_BOARD_STORAGE_DIRECTORY
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#define HAL_BOARD_STORAGE_DIRECTORY "."
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#endif
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