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.
64 lines
1.7 KiB
64 lines
1.7 KiB
#pragma once |
|
|
|
#define HAL_BOARD_NAME "SITL" |
|
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000 |
|
#define HAL_MEM_CLASS HAL_MEM_CLASS_1000 |
|
#define HAL_OS_POSIX_IO 1 |
|
#define HAL_OS_SOCKETS 1 |
|
|
|
#define AP_FLASHSTORAGE_TYPE 3 |
|
|
|
#if defined(STORAGE_USE_FLASH) && STORAGE_USE_FLASH==1 |
|
|
|
#if AP_FLASHSTORAGE_TYPE == 1 |
|
// emulate F1/F3 flash |
|
#define HAL_STORAGE_SIZE 15360 |
|
#define HAL_FLASH_SECTOR_SIZE 16*1024 |
|
#define HAL_FLASH_MIN_WRITE_SIZE 1 |
|
#define HAL_FLASH_ALLOW_UPDATE 0 |
|
|
|
#elif AP_FLASHSTORAGE_TYPE == 2 |
|
// emulate F4/F7 flash |
|
#define HAL_STORAGE_SIZE 15360 |
|
#define HAL_FLASH_SECTOR_SIZE 16*1024 |
|
#define HAL_FLASH_MIN_WRITE_SIZE 1 |
|
#define HAL_FLASH_ALLOW_UPDATE 1 |
|
|
|
#elif AP_FLASHSTORAGE_TYPE == 3 |
|
// emulate H7 flash |
|
#define HAL_STORAGE_SIZE 16384 |
|
#define HAL_FLASH_SECTOR_SIZE 128*1024 |
|
#define HAL_FLASH_MIN_WRITE_SIZE 32 |
|
#define HAL_FLASH_ALLOW_UPDATE 0 |
|
#endif |
|
#endif |
|
|
|
#ifndef HAL_STORAGE_SIZE |
|
#define HAL_STORAGE_SIZE 16384 |
|
#endif |
|
|
|
#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 nullptr |
|
#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 0 |
|
#define HAL_GPIO_LED_OFF 1 |
|
|
|
#define HAL_HAVE_BOARD_VOLTAGE 1 |
|
#define HAL_HAVE_SERVO_VOLTAGE 1 |
|
#define HAL_HAVE_SAFETY_SWITCH 0 |
|
|
|
// allow for static semaphores |
|
#include <AP_HAL_SITL/Semaphores.h> |
|
#define HAL_Semaphore HALSITL::Semaphore |
|
|
|
#ifndef HAL_BOARD_STORAGE_DIRECTORY |
|
#define HAL_BOARD_STORAGE_DIRECTORY "." |
|
#endif |
|
|
|
|