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119 lines
3.7 KiB
119 lines
3.7 KiB
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#ifndef __AP_HAL_BOARDS_H__ |
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#define __AP_HAL_BOARDS_H__ |
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/** |
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* C preprocesor enumeration of the boards supported by the AP_HAL. |
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* This list exists so HAL_BOARD == HAL_BOARD_xxx preprocessor blocks |
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* can be used to exclude HAL boards from the build when appropriate. |
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* Its not an elegant solution but we cant get too fancy if we want to |
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* work with the Arduino mk and IDE builds without too much modification. |
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*/ |
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#define HAL_BOARD_APM1 1 |
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#define HAL_BOARD_APM2 2 |
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#define HAL_BOARD_AVR_SITL 3 |
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#define HAL_BOARD_SMACCM 4 // unused |
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#define HAL_BOARD_PX4 5 |
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#define HAL_BOARD_FLYMAPLE 6 |
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#define HAL_BOARD_LINUX 7 |
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#define HAL_BOARD_VRBRAIN 8 |
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#define HAL_BOARD_EMPTY 99 |
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/** |
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CPU classes, used to select if CPU intensive algorithms should be used |
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Note that these are only approximate, not exact CPU speeds. |
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*/ |
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#define HAL_CPU_CLASS_16 1 // 16Mhz, AVR2560 or similar |
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#define HAL_CPU_CLASS_75 2 // 75Mhz, Flymaple or similar |
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#define HAL_CPU_CLASS_150 3 // 150Mhz, PX4 or similar, assumes |
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// hardware floating point. Assumes tens |
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// of kilobytes of memory available |
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#define HAL_CPU_CLASS_1000 4 // GigaHz class, SITL, BeagleBone etc, |
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// assumes megabytes of memory available |
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/** |
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operating system features: |
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HAL implementations may define the following extra feature defines |
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to 1 if available |
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HAL_OS_POSIX_IO : has posix-like filesystem IO |
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*/ |
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/* |
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define AP_HAL_BOARD_DRIVER to the right hal type for this |
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board. This prevents us having a mess of ifdefs in every example |
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sketch |
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*/ |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 |
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#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_APM1 |
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#define HAL_BOARD_NAME "APM 1" |
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#define HAL_CPU_CLASS HAL_CPU_CLASS_16 |
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#define HAL_STORAGE_SIZE 4096 |
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 |
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#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_APM2 |
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#define HAL_BOARD_NAME "APM 2" |
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#define HAL_CPU_CLASS HAL_CPU_CLASS_16 |
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#define HAL_STORAGE_SIZE 4096 |
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL |
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#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_SITL |
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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_OS_POSIX_IO 1 |
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#define HAL_STORAGE_SIZE 4096 |
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE |
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#define AP_HAL_BOARD_DRIVER AP_HAL_FLYMAPLE |
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#define HAL_BOARD_NAME "FLYMAPLE" |
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#define HAL_CPU_CLASS HAL_CPU_CLASS_75 |
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#define HAL_STORAGE_SIZE 4096 |
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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#define AP_HAL_BOARD_DRIVER AP_HAL_PX4 |
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#define HAL_BOARD_NAME "PX4" |
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#define HAL_CPU_CLASS HAL_CPU_CLASS_150 |
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#define HAL_OS_POSIX_IO 1 |
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#define HAL_STORAGE_SIZE 4096 |
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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#define AP_HAL_BOARD_DRIVER AP_HAL_Linux |
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#define HAL_BOARD_NAME "Linux" |
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#define HAL_CPU_CLASS HAL_CPU_CLASS_1000 |
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#define HAL_OS_POSIX_IO 1 |
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#define HAL_STORAGE_SIZE 4096 |
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY |
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#define AP_HAL_BOARD_DRIVER AP_HAL_Empty |
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#define HAL_BOARD_NAME "EMPTY" |
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#define HAL_CPU_CLASS HAL_CPU_CLASS_16 |
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#define HAL_STORAGE_SIZE 4096 |
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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#define AP_HAL_BOARD_DRIVER AP_HAL_VRBRAIN |
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#define HAL_BOARD_NAME "VRBRAIN" |
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#define HAL_CPU_CLASS HAL_CPU_CLASS_150 |
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#define HAL_OS_POSIX_IO 1 |
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#define HAL_STORAGE_SIZE 4096 |
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE |
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#else |
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#error "Unknown CONFIG_HAL_BOARD type" |
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#endif |
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#endif // __AP_HAL_BOARDS_H__ |
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