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113 lines
4.5 KiB
113 lines
4.5 KiB
/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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// make sensor selection clearer |
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#define PROBE_IMU_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,GET_I2C_DEVICE(bus, addr),##args)) |
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#define PROBE_IMU_SPI(driver, devname, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname),##args)) |
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#define PROBE_IMU_SPI2(driver, devname1, devname2, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname1),hal.spi->get_device(devname2),##args)) |
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#define PROBE_BARO_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(GET_I2C_DEVICE(bus, addr)),##args)) |
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#define PROBE_BARO_SPI(driver, devname, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(hal.spi->get_device(devname)),##args)) |
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#define PROBE_MAG_I2C(driver, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(GET_I2C_DEVICE(bus, addr),##args)) |
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#define PROBE_MAG_SPI(driver, devname, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(hal.spi->get_device(devname),##args)) |
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#define PROBE_MAG_IMU(driver, imudev, imu_instance, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(imu_instance,##args)) |
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#define PROBE_MAG_IMU_I2C(driver, imudev, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(GET_I2C_DEVICE(bus,addr),##args)) |
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//------------------------------------ |
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#define HAL_INS_DEFAULT HAL_INS_ICM20XXX_I2C |
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#define HAL_INS_ICM20XXX_I2C_BUS 0 |
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#define HAL_INS_ICM20XXX_I2C_ADDR (0x68) |
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#define HAL_LOGGING_STACK_SIZE 4096 |
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//#define HAL_BARO_DEFAULT HAL_BARO_MS5837_I2C |
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//GPIO 34 |
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//#define HAL_BARO_ANALOG_PIN (6) |
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#define HAL_COMPASS_ICM20948_I2C_ADDR (0x68) |
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#define HAL_COMPASS_AK09916_I2C_BUS 0 |
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#define HAL_COMPASS_AK09916_I2C_ADDR (0x0C) |
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#define HAL_COMPASS_MAX_SENSORS 3 |
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#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensensev2, 0, 0x68, ROTATION_ROLL_180) |
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#define HAL_MAG_PROBE_LIST ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948_I2C(0, ROTATION_ROLL_180_YAW_270)); |
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#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 0, 0x77) |
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#define HAL_ESP32_WIFI 1 //To define tcp wifi |
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//TODO RCOUT config |
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#define HAL_ESP32_RCOUT {GPIO_NUM_15, GPIO_NUM_2, GPIO_NUM_0, GPIO_NUM_4} |
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#define HAL_ESP32_SPI_BUSES {} |
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#define HAL_ESP32_SPI_DEVICES {} |
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#define HAL_ESP32_I2C_BUSES \ |
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{.port=I2C_NUM_0, .sda=GPIO_NUM_5, .scl=GPIO_NUM_18, .speed=400*KHZ, .internal=true, .soft=true},\ |
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{.port=I2C_NUM_1, .sda=GPIO_NUM_22, .scl=GPIO_NUM_23, .speed=400*KHZ, .internal=true, .soft=false} |
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// GPIO36 |
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#define HAL_BATT_VOLT_PIN (0) |
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#define HAL_BATT_VOLT_SCALE (18.1) |
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//GPIO 32 |
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#define HAL_BATT_CURR_PIN (4) |
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#define HAL_BATT_CURR_SCALE (36) |
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// ADC is available on lots of pints on the esp32, but adc2 cant co-exist with wifi we choose to allow ADC on : |
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//#define HAL_DISABLE_ADC_DRIVER 1 |
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#define TRUE 1 |
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#define HAL_USE_ADC TRUE |
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#ifndef ENABLE_HEAP |
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#define ENABLE_HEAP 0 |
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#endif |
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// the pin number, the gain/multiplier associated with it, the ardupilot name for the pin in parameter/s. |
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#define HAL_ESP32_ADC_PINS {\ |
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{ADC1_GPIO36_CHANNEL, 11, 1},\ |
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{ADC1_GPIO32_CHANNEL, 11, 2}\ |
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} |
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#define HAL_ESP32_RCIN GPIO_NUM_17 |
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#define HAL_ESP32_UART_DEVICES \ |
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{.port=UART_NUM_0, .rx=GPIO_NUM_3, .tx=GPIO_NUM_1 },\ |
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{.port=UART_NUM_1, .rx=GPIO_NUM_39, .tx=GPIO_NUM_33 },\ |
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{.port=UART_NUM_2, .rx=GPIO_NUM_34, .tx=GPIO_NUM_25 } |
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#define HAVE_FILESYSTEM_SUPPORT 1 |
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#define HAL_ESP32_SDCARD 1 |
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#define LOGGER_MAVLINK_SUPPORT 1 |
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#define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS" |
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#define HAL_BOARD_TERRAIN_DIRECTORY "/SDCARD/APM/TERRAIN" |
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#define HAL_BOARD_STORAGE_DIRECTORY "/SDCARD/APM/STORAGE" |
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#define HAL_OS_POSIX_IO 1 |
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#define HAL_LOGGING_BACKENDS_DEFAULT 2 |
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#define HAL_ESP32_SDSPI \ |
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{.host=VSPI_HOST, .dma_ch=1, .mosi=GPIO_NUM_19, .miso=GPIO_NUM_35, .sclk=GPIO_NUM_12, .cs=GPIO_NUM_21} |
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#define HAL_LOGGING_BACKENDS_DEFAULT 2 |
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