From f748e07ecf2dd4d6f3eb96c10fd40c76467203b8 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 13 Aug 2014 14:42:52 +1000
Subject: [PATCH] AP_HAL: ensure we have subtypes for all boards

---
 libraries/AP_HAL/AP_HAL_Boards.h | 48 ++++++++++++++++++++++++++------
 1 file changed, 40 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index f3c0bd9aef..f80ad010f0 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -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__