You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
371 lines
14 KiB
371 lines
14 KiB
|
|
#ifndef __AP_HAL_BOARDS_H__ |
|
#define __AP_HAL_BOARDS_H__ |
|
|
|
/** |
|
* 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. |
|
*/ |
|
|
|
#define HAL_BOARD_SITL 3 |
|
#define HAL_BOARD_SMACCM 4 // unused |
|
#define HAL_BOARD_PX4 5 |
|
#define HAL_BOARD_FLYMAPLE 6 |
|
#define HAL_BOARD_LINUX 7 |
|
#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, 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 |
|
|
|
/** |
|
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 |
|
|
|
// 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_FLYMAPLE 6 |
|
#define HAL_INS_L3G4200D 7 |
|
#define HAL_INS_VRBRAIN 8 |
|
#define HAL_INS_MPU9250 9 |
|
#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 |
|
|
|
// barometer driver types |
|
#define HAL_BARO_BMP085 1 |
|
#define HAL_BARO_MS5611 2 |
|
#define HAL_BARO_MS5611_SPI 3 |
|
#define HAL_BARO_MS5607 4 |
|
#define HAL_BARO_PX4 5 |
|
#define HAL_BARO_HIL 6 |
|
#define HAL_BARO_VRBRAIN 7 |
|
#define HAL_BARO_MS5637_I2C 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 |
|
|
|
// Heat Types |
|
#define HAL_LINUX_HEAT_PWM 1 |
|
|
|
/** |
|
CPU classes, used to select if CPU intensive algorithms should be used |
|
|
|
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_75 2 // 75Mhz, Flymaple 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 |
|
|
|
/** |
|
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 |
|
*/ |
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
|
#define HAL_BOARD_NAME "SITL" |
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000 |
|
#define HAL_OS_POSIX_IO 1 |
|
#define HAL_OS_SOCKETS 1 |
|
#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" |
|
#define HAL_PARAM_DEFAULTS_PATH "etc/defaults.parm" |
|
#define HAL_INS_DEFAULT HAL_INS_HIL |
|
#define HAL_BARO_DEFAULT HAL_BARO_HIL |
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL |
|
#define HAL_GPIO_A_LED_PIN 61 |
|
#define HAL_GPIO_B_LED_PIN 48 |
|
#define HAL_GPIO_C_LED_PIN 117 |
|
#define HAL_GPIO_LED_ON LOW |
|
#define HAL_GPIO_LED_OFF HIGH |
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE |
|
#define HAL_BOARD_NAME "FLYMAPLE" |
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_75 |
|
#define HAL_STORAGE_SIZE 4096 |
|
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE |
|
#define HAL_INS_DEFAULT HAL_INS_FLYMAPLE |
|
#define HAL_BARO_DEFAULT HAL_BARO_BMP085 |
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843 |
|
#define HAL_SERIAL0_BAUD_DEFAULT 115200 |
|
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE |
|
#define HAL_GPIO_A_LED_PIN 13 |
|
#define HAL_GPIO_B_LED_PIN 13 |
|
#define HAL_GPIO_C_LED_PIN 13 |
|
#define HAL_GPIO_LED_ON LOW |
|
#define HAL_GPIO_LED_OFF HIGH |
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
|
#define HAL_BOARD_NAME "PX4" |
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_150 |
|
#define HAL_OS_POSIX_IO 1 |
|
#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS" |
|
#define HAL_BOARD_TERRAIN_DIRECTORY "/fs/microsd/APM/TERRAIN" |
|
#define HAL_PARAM_DEFAULTS_PATH "/etc/defaults.parm" |
|
#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 |
|
#define HAL_GPIO_A_LED_PIN 27 |
|
#define HAL_GPIO_B_LED_PIN 26 |
|
#define HAL_GPIO_C_LED_PIN 25 |
|
#define HAL_GPIO_LED_ON LOW |
|
#define HAL_GPIO_LED_OFF HIGH |
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
|
#define HAL_BOARD_NAME "Linux" |
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000 |
|
#define HAL_OS_POSIX_IO 1 |
|
#define HAL_OS_SOCKETS 1 |
|
#define HAL_STORAGE_SIZE 16384 |
|
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE |
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE |
|
#define HAL_BOARD_LOG_DIRECTORY "logs" |
|
#define HAL_BOARD_TERRAIN_DIRECTORY "terrain" |
|
#define HAL_INS_DEFAULT HAL_INS_HIL |
|
#define HAL_BARO_DEFAULT HAL_BARO_HIL |
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL |
|
|
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD |
|
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs" |
|
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" |
|
#define HAL_INS_DEFAULT HAL_INS_MPU9250 |
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 |
|
#define HAL_GPIO_A_LED_PIN 61 |
|
#define HAL_GPIO_B_LED_PIN 48 |
|
#define HAL_GPIO_C_LED_PIN 117 |
|
#define HAL_GPIO_LED_ON LOW |
|
#define HAL_GPIO_LED_OFF HIGH |
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP |
|
#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/APM/logs" |
|
#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/APM/terrain" |
|
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C |
|
#define HAL_INS_MPU60XX_I2C_BUS 2 |
|
#define HAL_INS_MPU60XX_I2C_ADDR 0x68 |
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C |
|
#define HAL_INS_AK8963_I2C_BUS 1 |
|
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d |
|
#define HAL_BARO_MS5607_I2C_BUS 1 |
|
#define HAL_BARO_MS5607_I2C_ADDR 0x77 |
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5607 |
|
#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM |
|
#define HAL_LINUX_HEAT_PWM_NUM 6 |
|
#define HAL_LINUX_HEAT_KP 20000 |
|
#define HAL_LINUX_HEAT_KI 6 |
|
#define HAL_LINUX_HEAT_PERIOD_NS 125000 |
|
#define HAL_LINUX_HEAT_TARGET_TEMP 50 |
|
#define BEBOP_CAMV_PWM 9 |
|
#define BEBOP_CAMV_PWM_FREQ 43333333 |
|
#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0" |
|
#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0" |
|
#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320 |
|
#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240 |
|
#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64 |
|
#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64 |
|
#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240 |
|
#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240 |
|
#define HAL_OPTFLOW_ONBOARD_NBUFS 8; |
|
#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4 |
|
#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30 |
|
#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000 |
|
#define HAL_PARAM_DEFAULTS_PATH "/etc/arducopter/bebop.parm" |
|
/* focal length 3.6 um, 2x binning in each direction |
|
* 240x240 crop rescaled to 64x64 */ |
|
#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64)) |
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE |
|
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs" |
|
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" |
|
#define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI |
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611 |
|
#define HAL_BARO_MS5611_I2C_BUS 1 |
|
#define HAL_BARO_MS5611_I2C_ADDR 0x77 |
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843_MPU6000 |
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO |
|
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs" |
|
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" |
|
#define HAL_INS_DEFAULT HAL_INS_MPU9250 |
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611 |
|
#define HAL_BARO_MS5611_I2C_BUS 0 |
|
#define HAL_BARO_MS5611_I2C_ADDR 0x77 |
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 |
|
#define HAL_GPIO_A_LED_PIN 16 |
|
#define HAL_GPIO_B_LED_PIN 16 |
|
#define HAL_GPIO_C_LED_PIN 16 |
|
#define HAL_GPIO_LED_ON LOW |
|
#define HAL_GPIO_LED_OFF HIGH |
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT |
|
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs" |
|
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" |
|
#define HAL_INS_DEFAULT HAL_INS_RASPILOT |
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_RASPILOT |
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 |
|
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs" |
|
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" |
|
#define HAL_INS_DEFAULT HAL_INS_MPU9250 |
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 |
|
#define HAL_GPIO_A_LED_PIN 24 |
|
#define HAL_GPIO_B_LED_PIN 25 |
|
#define HAL_GPIO_C_LED_PIN 16 |
|
#define HAL_GPIO_LED_ON LOW |
|
#define HAL_GPIO_LED_OFF HIGH |
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ |
|
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs" |
|
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" |
|
// Stub the sensors out for now, at least we can build and run |
|
#define HAL_INS_DEFAULT HAL_INS_HIL |
|
#define HAL_BARO_DEFAULT HAL_BARO_HIL |
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL |
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI |
|
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs" |
|
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" |
|
#define HAL_INS_DEFAULT HAL_INS_MPU9250 |
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 |
|
#define HAL_GPIO_A_LED_PIN 61 |
|
#define HAL_GPIO_B_LED_PIN 48 |
|
#define HAL_GPIO_C_LED_PIN 117 |
|
#define HAL_GPIO_LED_ON LOW |
|
#define HAL_GPIO_LED_OFF HIGH |
|
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH |
|
#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs" |
|
#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain" |
|
#define HAL_BARO_DEFAULT HAL_BARO_MS5611 |
|
#define HAL_BARO_MS5611_I2C_BUS 0 |
|
#define HAL_BARO_MS5611_I2C_ADDR 0x77 |
|
#define HAL_INS_DEFAULT HAL_INS_BH |
|
#define HAL_INS_MPU60XX_I2C_ADDR 0x69 |
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_BH |
|
#define HAL_GPIO_A_LED_PIN 17 |
|
#define HAL_GPIO_B_LED_PIN 18 |
|
#define HAL_GPIO_C_LED_PIN 22 |
|
#define HAL_GPIO_LED_ON LOW |
|
#define HAL_GPIO_LED_OFF HIGH |
|
#define HAL_RCOUT_RGBLED_RED 13 |
|
#define HAL_RCOUT_RGBLED_GREEN 14 |
|
#define HAL_RCOUT_RGBLED_BLUE 15 |
|
#else |
|
#error "no Linux board subtype set" |
|
#endif |
|
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY |
|
#define HAL_BOARD_NAME "EMPTY" |
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_16 |
|
#define HAL_STORAGE_SIZE 4096 |
|
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE |
|
#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 HAL_BOARD_NAME "VRBRAIN" |
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_150 |
|
#define HAL_OS_POSIX_IO 1 |
|
#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS" |
|
#define HAL_BOARD_TERRAIN_DIRECTORY "/fs/microsd/APM/TERRAIN" |
|
#define HAL_INS_DEFAULT HAL_INS_VRBRAIN |
|
#define HAL_BARO_DEFAULT HAL_BARO_VRBRAIN |
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_VRBRAIN |
|
#define HAL_SERIAL0_BAUD_DEFAULT 115200 |
|
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V45) |
|
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V45 |
|
#define HAL_STORAGE_SIZE 8192 |
|
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) |
|
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V51 |
|
#define HAL_STORAGE_SIZE 16384 |
|
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52) |
|
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRBRAIN_V52 |
|
#define HAL_STORAGE_SIZE 16384 |
|
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51) |
|
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRUBRAIN_V51 |
|
#define HAL_STORAGE_SIZE 8192 |
|
#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52) |
|
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_VRUBRAIN_V52 |
|
#define HAL_STORAGE_SIZE 8192 |
|
#else |
|
#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE |
|
#define HAL_STORAGE_SIZE 8192 |
|
#endif |
|
#define HAL_GPIO_A_LED_PIN 25 |
|
#define HAL_GPIO_B_LED_PIN 26 |
|
#define HAL_GPIO_C_LED_PIN 27 |
|
#define HAL_GPIO_LED_ON HIGH |
|
#define HAL_GPIO_LED_OFF LOW |
|
#define EXTERNAL_LED_GPS 28 // GPS LED - AN10 |
|
#define EXTERNAL_LED_ARMED 29 // Armed LED - AN11 |
|
#define EXTERNAL_LED_MOTOR1 30 // Motor1 LED - AN8 |
|
#define EXTERNAL_LED_MOTOR2 31 // Motor2 LED - AN12 |
|
|
|
#else |
|
#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__
|
|
|