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@ -8,354 +8,354 @@
@@ -8,354 +8,354 @@
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE |
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE |
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#define HAL_BOARD_LOG_DIRECTORY "logs" |
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#define HAL_BOARD_TERRAIN_DIRECTORY "terrain" |
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#define HAL_BOARD_STORAGE_DIRECTORY "." |
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#define HAL_INS_DEFAULT HAL_INS_HIL |
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#define HAL_BARO_DEFAULT HAL_BARO_HIL |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL |
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#define HAL_BOARD_LOG_DIRECTORY "logs" |
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#define HAL_BOARD_TERRAIN_DIRECTORY "terrain" |
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#define HAL_BOARD_STORAGE_DIRECTORY "." |
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#define HAL_INS_DEFAULT HAL_INS_HIL |
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#define HAL_BARO_DEFAULT HAL_BARO_HIL |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_270 |
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#else |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90 |
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#endif |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
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#define HAL_BARO_MS5611_NAME "ms5611" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_GPIO_A_LED_PIN 61 |
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#define HAL_GPIO_B_LED_PIN 48 |
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#define HAL_GPIO_C_LED_PIN 117 |
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#define HAL_GPIO_LED_ON LOW |
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#define HAL_GPIO_LED_OFF HIGH |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_270 |
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#else |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90 |
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#endif |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
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#define HAL_BARO_MS5611_NAME "ms5611" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_GPIO_A_LED_PIN 61 |
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#define HAL_GPIO_B_LED_PIN 48 |
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#define HAL_GPIO_C_LED_PIN 117 |
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#define HAL_GPIO_LED_ON LOW |
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#define HAL_GPIO_LED_OFF HIGH |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP |
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#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs" |
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain" |
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#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot" |
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270 |
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#define HAL_INS_MPU60x0_I2C_BUS 2 |
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#define HAL_INS_MPU60x0_I2C_ADDR 0x68 |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C |
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#define HAL_COMPASS_AK8963_I2C_BUS 1 |
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#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C |
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#define HAL_BARO_MS5607_I2C_BUS 1 |
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#define HAL_BARO_MS5607_I2C_ADDR 0x77 |
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#define HAL_HAVE_IMU_HEATER 1 |
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#define HAL_IMU_TEMP_DEFAULT 55 |
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM |
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#define HAL_LINUX_HEAT_PWM_NUM 6 |
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#define HAL_LINUX_HEAT_KP 20000 |
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#define HAL_LINUX_HEAT_KI 6 |
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#define HAL_LINUX_HEAT_PERIOD_NS 125000 |
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#define HAL_LINUX_HEAT_TARGET_TEMP 50 |
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#define BEBOP_CAMV_PWM 9 |
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#define BEBOP_CAMV_PWM_FREQ 43333333 |
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0" |
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#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0" |
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#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320 |
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#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240 |
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64 |
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64 |
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#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240 |
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#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240 |
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8 |
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#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4 |
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#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30 |
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#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000 |
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#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/bebop.parm" |
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#define HAL_RCOUT_BEBOP_BLDC_I2C_BUS 1 |
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#define HAL_RCOUT_BEBOP_BLDC_I2C_ADDR 0x08 |
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/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
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* 240x240 crop rescaled to 64x64 */ |
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64)) |
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0 |
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#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP |
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#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs" |
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain" |
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#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot" |
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270 |
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#define HAL_INS_MPU60x0_I2C_BUS 2 |
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#define HAL_INS_MPU60x0_I2C_ADDR 0x68 |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C |
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#define HAL_COMPASS_AK8963_I2C_BUS 1 |
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#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C |
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#define HAL_BARO_MS5607_I2C_BUS 1 |
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#define HAL_BARO_MS5607_I2C_ADDR 0x77 |
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#define HAL_HAVE_IMU_HEATER 1 |
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#define HAL_IMU_TEMP_DEFAULT 55 |
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM |
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#define HAL_LINUX_HEAT_PWM_NUM 6 |
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#define HAL_LINUX_HEAT_KP 20000 |
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#define HAL_LINUX_HEAT_KI 6 |
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#define HAL_LINUX_HEAT_PERIOD_NS 125000 |
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#define HAL_LINUX_HEAT_TARGET_TEMP 50 |
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#define BEBOP_CAMV_PWM 9 |
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#define BEBOP_CAMV_PWM_FREQ 43333333 |
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0" |
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#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0" |
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#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320 |
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#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240 |
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64 |
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64 |
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#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240 |
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#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240 |
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8 |
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#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4 |
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#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30 |
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#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000 |
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#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/bebop.parm" |
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#define HAL_RCOUT_BEBOP_BLDC_I2C_BUS 1 |
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#define HAL_RCOUT_BEBOP_BLDC_I2C_ADDR 0x08 |
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/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
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* 240x240 crop rescaled to 64x64 */ |
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64)) |
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0 |
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#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO |
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#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs" |
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain" |
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#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot" |
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_90 |
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#define HAL_INS_MPU60x0_I2C_BUS 2 |
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#define HAL_INS_MPU60x0_I2C_ADDR 0x68 |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C |
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#define HAL_COMPASS_AK8963_I2C_BUS 1 |
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#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C |
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#define HAL_BARO_MS5607_I2C_BUS 1 |
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#define HAL_BARO_MS5607_I2C_ADDR 0x77 |
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM |
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#define HAL_LINUX_HEAT_PWM_NUM 10 |
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#define HAL_LINUX_HEAT_KP 20000 |
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#define HAL_LINUX_HEAT_KI 6 |
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#define HAL_LINUX_HEAT_PERIOD_NS 125000 |
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#define HAL_LINUX_HEAT_TARGET_TEMP 50 |
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#define BEBOP_CAMV_PWM 9 |
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#define BEBOP_CAMV_PWM_FREQ 43333333 |
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0" |
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#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0" |
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#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320 |
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#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240 |
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64 |
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64 |
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#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240 |
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#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240 |
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8 |
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#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4 |
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#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30 |
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#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000 |
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#define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1 |
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#define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08 |
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#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/disco.parm" |
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/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
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* 240x240 crop rescaled to 64x64 */ |
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64)) |
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0 |
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// the disco has challenges with its magnetic setup
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#define AP_COMPASS_OFFSETS_MAX_DEFAULT 2200 |
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#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP |
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#define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs" |
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#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain" |
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#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot" |
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#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_90 |
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#define HAL_INS_MPU60x0_I2C_BUS 2 |
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#define HAL_INS_MPU60x0_I2C_ADDR 0x68 |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C |
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#define HAL_COMPASS_AK8963_I2C_BUS 1 |
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#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5607_I2C |
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#define HAL_BARO_MS5607_I2C_BUS 1 |
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#define HAL_BARO_MS5607_I2C_ADDR 0x77 |
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM |
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#define HAL_LINUX_HEAT_PWM_NUM 10 |
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#define HAL_LINUX_HEAT_KP 20000 |
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#define HAL_LINUX_HEAT_KI 6 |
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#define HAL_LINUX_HEAT_PERIOD_NS 125000 |
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#define HAL_LINUX_HEAT_TARGET_TEMP 50 |
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#define BEBOP_CAMV_PWM 9 |
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#define BEBOP_CAMV_PWM_FREQ 43333333 |
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#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0" |
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#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0" |
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#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320 |
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#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240 |
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64 |
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#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64 |
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#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240 |
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#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240 |
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#define HAL_OPTFLOW_ONBOARD_NBUFS 8 |
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#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4 |
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#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30 |
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#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000 |
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#define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1 |
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#define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08 |
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#define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/disco.parm" |
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/* focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
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* 240x240 crop rescaled to 64x64 */ |
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64)) |
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0 |
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// the disco has challenges with its magnetic setup
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#define AP_COMPASS_OFFSETS_MAX_DEFAULT 2200 |
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#define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor_Params::BattMonitor_TYPE_BEBOP |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO |
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#define HAL_GPIO_A_LED_PIN 0 |
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#define HAL_GPIO_B_LED_PIN 1 |
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#define HAL_GPIO_C_LED_PIN 2 |
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#define HAL_GPIO_LED_ON HIGH |
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#define HAL_GPIO_LED_OFF LOW |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C |
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#define HAL_BARO_MS5611_I2C_BUS 1 |
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#define HAL_BARO_MS5611_I2C_ADDR 0x77 |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_GPIO_A_LED_PIN 0 |
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#define HAL_GPIO_B_LED_PIN 1 |
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#define HAL_GPIO_C_LED_PIN 2 |
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#define HAL_GPIO_LED_ON HIGH |
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#define HAL_GPIO_LED_OFF LOW |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C |
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#define HAL_BARO_MS5611_I2C_BUS 1 |
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#define HAL_BARO_MS5611_I2C_ADDR 0x77 |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 |
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#define HAL_HAVE_SERVO_VOLTAGE 1 |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_INS_LSM9DS1_NAME "lsm9ds1" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C |
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#define HAL_BARO_MS5611_I2C_BUS 1 |
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#define HAL_BARO_MS5611_I2C_ADDR 0x77 |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO2 |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_HAVE_SERVO_VOLTAGE 1 |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_INS_LSM9DS1_NAME "lsm9ds1" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C |
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#define HAL_BARO_MS5611_I2C_BUS 1 |
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#define HAL_BARO_MS5611_I2C_ADDR 0x77 |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO2 |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270 |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
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#define HAL_BARO_MS5611_NAME "ms5611" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_GPIO_A_LED_PIN 24 |
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#define HAL_GPIO_B_LED_PIN 25 |
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#define HAL_GPIO_C_LED_PIN 16 |
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#define HAL_GPIO_LED_ON LOW |
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#define HAL_GPIO_LED_OFF HIGH |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270 |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
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#define HAL_BARO_MS5611_NAME "ms5611" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_GPIO_A_LED_PIN 24 |
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#define HAL_GPIO_B_LED_PIN 25 |
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#define HAL_GPIO_C_LED_PIN 16 |
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#define HAL_GPIO_LED_ON LOW |
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#define HAL_GPIO_LED_OFF HIGH |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ |
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// Stub the sensors out for now, at least we can build and run
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#define HAL_INS_DEFAULT HAL_INS_HIL |
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#define HAL_BARO_DEFAULT HAL_BARO_HIL |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL |
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// Stub the sensors out for now, at least we can build and run
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#define HAL_INS_DEFAULT HAL_INS_HIL |
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#define HAL_BARO_DEFAULT HAL_BARO_HIL |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
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#define HAL_BARO_MS5611_NAME "ms5611" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_OCPOC_ZYNQ |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 4 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define AP_COMPASS_OFFSETS_MAX_DEFAULT 1000 |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
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#define HAL_BARO_MS5611_NAME "ms5611" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_OCPOC_ZYNQ |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 4 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define AP_COMPASS_OFFSETS_MAX_DEFAULT 1000 |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI |
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#define HAL_GPIO_A_LED_PIN 69 |
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#define HAL_GPIO_B_LED_PIN 68 |
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#define HAL_GPIO_C_LED_PIN 45 |
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#define HAL_GPIO_LED_ON LOW |
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#define HAL_GPIO_LED_OFF HIGH |
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#define HAL_BUZZER_PIN 11 |
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#define HAL_INS_DEFAULT HAL_INS_BBBMINI |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_INS_MPU9250_NAME_EXT "mpu9250ext" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
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#define HAL_BARO_MS5611_NAME "ms5611" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_BBBMINI |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 2 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2 |
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2 |
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#define HAL_WITH_UAVCAN 1 |
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#define HAL_GPIO_A_LED_PIN 69 |
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#define HAL_GPIO_B_LED_PIN 68 |
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#define HAL_GPIO_C_LED_PIN 45 |
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#define HAL_GPIO_LED_ON LOW |
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#define HAL_GPIO_LED_OFF HIGH |
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#define HAL_BUZZER_PIN 11 |
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#define HAL_INS_DEFAULT HAL_INS_BBBMINI |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_INS_MPU9250_NAME_EXT "mpu9250ext" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
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#define HAL_BARO_MS5611_NAME "ms5611" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_BBBMINI |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 2 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2 |
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2 |
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#define HAL_WITH_UAVCAN 1 |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE |
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#define HAL_GPIO_A_LED_PIN 66 |
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#define HAL_GPIO_B_LED_PIN 67 |
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#define HAL_GPIO_LED_ON HIGH |
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#define HAL_GPIO_LED_OFF LOW |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_I2C |
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#define HAL_INS_MPU9250_I2C_BUS 2 |
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#define HAL_INS_MPU9250_I2C_ADDR 0x68 |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE |
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#define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C |
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#define HAL_BARO_BMP280_BUS 2 |
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#define HAL_BARO_BMP280_I2C_ADDR 0x76 |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250_I2C |
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#define HAL_COMPASS_AK8963_I2C_BUS 2 |
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#define HAL_COMPASS_AK8963_I2C_ADDR 0x0C |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1 |
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 1 |
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#define HAL_WITH_UAVCAN 1 |
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#define HAL_GPIO_A_LED_PIN 66 |
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#define HAL_GPIO_B_LED_PIN 67 |
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#define HAL_GPIO_LED_ON HIGH |
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#define HAL_GPIO_LED_OFF LOW |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_I2C |
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#define HAL_INS_MPU9250_I2C_BUS 2 |
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#define HAL_INS_MPU9250_I2C_ADDR 0x68 |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE |
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#define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C |
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#define HAL_BARO_BMP280_BUS 2 |
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#define HAL_BARO_BMP280_I2C_ADDR 0x76 |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250_I2C |
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#define HAL_COMPASS_AK8963_I2C_BUS 2 |
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#define HAL_COMPASS_AK8963_I2C_ADDR 0x0C |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1 |
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 1 |
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#define HAL_WITH_UAVCAN 1 |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET |
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#define HAL_GPIO_A_LED_PIN 59 |
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#define HAL_GPIO_B_LED_PIN 58 |
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#define HAL_GPIO_C_LED_PIN 57 |
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#define HAL_GPIO_LED_ON HIGH |
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#define HAL_GPIO_LED_OFF LOW |
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#define HAL_BUZZER_PIN 28 |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE |
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#define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI |
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#define HAL_BARO_BMP280_NAME "bmp280" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 2 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2 |
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2 |
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#define HAL_WITH_UAVCAN 1 |
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#define HAL_GPIO_A_LED_PIN 59 |
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#define HAL_GPIO_B_LED_PIN 58 |
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#define HAL_GPIO_C_LED_PIN 57 |
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#define HAL_GPIO_LED_ON HIGH |
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#define HAL_GPIO_LED_OFF LOW |
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#define HAL_BUZZER_PIN 28 |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE |
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#define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI |
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#define HAL_BARO_BMP280_NAME "bmp280" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 2 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2 |
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2 |
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#define HAL_WITH_UAVCAN 1 |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C |
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#define HAL_BARO_MS5611_I2C_BUS 1 |
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#define HAL_BARO_MS5611_I2C_ADDR 0x77 |
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#define HAL_INS_DEFAULT HAL_INS_BH |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_INS_MPU60x0_I2C_BUS 1 |
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#define HAL_INS_MPU60x0_I2C_ADDR 0x69 |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_BH |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_GPIO_A_LED_PIN 17 |
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#define HAL_GPIO_B_LED_PIN 18 |
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#define HAL_GPIO_C_LED_PIN 22 |
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#define HAL_GPIO_LED_ON LOW |
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#define HAL_GPIO_LED_OFF HIGH |
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#define HAL_RCOUT_RGBLED_RED 13 |
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#define HAL_RCOUT_RGBLED_GREEN 14 |
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#define HAL_RCOUT_RGBLED_BLUE 15 |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C |
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#define HAL_BARO_MS5611_I2C_BUS 1 |
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#define HAL_BARO_MS5611_I2C_ADDR 0x77 |
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#define HAL_INS_DEFAULT HAL_INS_BH |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_INS_MPU60x0_I2C_BUS 1 |
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#define HAL_INS_MPU60x0_I2C_ADDR 0x69 |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_BH |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_GPIO_A_LED_PIN 17 |
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#define HAL_GPIO_B_LED_PIN 18 |
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#define HAL_GPIO_C_LED_PIN 22 |
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#define HAL_GPIO_LED_ON LOW |
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#define HAL_GPIO_LED_OFF HIGH |
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#define HAL_RCOUT_RGBLED_RED 13 |
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#define HAL_RCOUT_RGBLED_GREEN 14 |
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#define HAL_RCOUT_RGBLED_BLUE 15 |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270 |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
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#define HAL_BARO_MS5611_NAME "ms5611" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_GPIO_A_LED_PIN 24 |
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#define HAL_GPIO_B_LED_PIN 25 |
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#define HAL_GPIO_C_LED_PIN 16 |
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#define HAL_GPIO_LED_ON LOW |
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#define HAL_GPIO_LED_OFF HIGH |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270 |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
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#define HAL_BARO_MS5611_NAME "ms5611" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_GPIO_A_LED_PIN 24 |
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#define HAL_GPIO_B_LED_PIN 25 |
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#define HAL_GPIO_C_LED_PIN 16 |
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#define HAL_GPIO_LED_ON LOW |
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#define HAL_GPIO_LED_OFF HIGH |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO |
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#define HAL_INS_DEFAULT HAL_INS_AERO |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C |
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#define HAL_BARO_MS5611_I2C_BUS 2 |
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#define HAL_BARO_MS5611_I2C_ADDR 0x76 |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AERO |
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#define HAL_COMPASS_BMM150_I2C_BUS 2 |
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#define HAL_COMPASS_BMM150_I2C_ADDR 0x12 |
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#define HAL_COMPASS_IST8310_I2C_BUS 4 |
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#define HAL_COMPASS_IST8310_I2C_ADDR 0x0E |
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#define HAL_COMPASS_HMC5843_I2C_BUS 4 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS1" |
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#define HAL_WITH_UAVCAN 1 |
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#define HAL_INS_DEFAULT HAL_INS_AERO |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C |
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#define HAL_BARO_MS5611_I2C_BUS 2 |
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#define HAL_BARO_MS5611_I2C_ADDR 0x76 |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AERO |
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#define HAL_COMPASS_BMM150_I2C_BUS 2 |
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#define HAL_COMPASS_BMM150_I2C_ADDR 0x12 |
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#define HAL_COMPASS_IST8310_I2C_BUS 4 |
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#define HAL_COMPASS_IST8310_I2C_ADDR 0x0E |
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#define HAL_COMPASS_HMC5843_I2C_BUS 4 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS1" |
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#define HAL_WITH_UAVCAN 1 |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C |
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#define HAL_BARO_MS5611_I2C_BUS 1 |
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#define HAL_BARO_MS5611_I2C_ADDR 0x77 |
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#define HAL_BARO_MS5611_USE_TIMER false |
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#define HAL_GPIO_A_LED_PIN 24 |
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#define HAL_GPIO_B_LED_PIN 25 |
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#define HAL_GPIO_C_LED_PIN 16 |
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#define HAL_GPIO_LED_ON LOW |
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#define HAL_GPIO_LED_OFF HIGH |
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#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI |
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#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C |
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#define HAL_BARO_MS5611_I2C_BUS 1 |
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#define HAL_BARO_MS5611_I2C_ADDR 0x77 |
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#define HAL_BARO_MS5611_USE_TIMER false |
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#define HAL_GPIO_A_LED_PIN 24 |
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#define HAL_GPIO_B_LED_PIN 25 |
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#define HAL_GPIO_C_LED_PIN 16 |
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#define HAL_GPIO_LED_ON LOW |
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#define HAL_GPIO_LED_OFF HIGH |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE |
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#define HAL_BOARD_LOG_DIRECTORY "/edge/ardupilot/logs" |
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#define HAL_BOARD_TERRAIN_DIRECTORY "/edge/ardupilot/terrain" |
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#define HAL_BOARD_STORAGE_DIRECTORY "/edge/ardupilot" |
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#define HAL_INS_DEFAULT HAL_INS_EDGE |
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#define HAL_INS_MPU60x0_NAME "mpu60x0" |
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#define HAL_INS_MPU60x0_NAME_EXT "mpu60x0ext" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
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#define HAL_BARO_MS5611_NAME "ms5611" |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_EDGE |
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#define HAL_WITH_UAVCAN 1 |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_IMU_TEMP_DEFAULT 55 |
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#define HAL_HAVE_IMU_HEATER 1 |
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM |
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#define HAL_LINUX_HEAT_PWM_NUM 15 |
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#define HAL_LINUX_HEAT_KP 20000 |
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#define HAL_LINUX_HEAT_KI 6 |
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#define HAL_LINUX_HEAT_PERIOD_NS 2040816 |
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#define HAL_GPS_TYPE_DEFAULT 9 |
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#define HAL_CAN_DRIVER_DEFAULT 1 |
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#define HAL_BOARD_LOG_DIRECTORY "/edge/ardupilot/logs" |
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#define HAL_BOARD_TERRAIN_DIRECTORY "/edge/ardupilot/terrain" |
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#define HAL_BOARD_STORAGE_DIRECTORY "/edge/ardupilot" |
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#define HAL_INS_DEFAULT HAL_INS_EDGE |
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#define HAL_INS_MPU60x0_NAME "mpu60x0" |
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#define HAL_INS_MPU60x0_NAME_EXT "mpu60x0ext" |
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
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#define HAL_BARO_MS5611_NAME "ms5611" |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_EDGE |
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#define HAL_WITH_UAVCAN 1 |
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/* HMC5843 can be an external compass */ |
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#define HAL_COMPASS_HMC5843_I2C_BUS 1 |
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#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
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#define HAL_IMU_TEMP_DEFAULT 55 |
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#define HAL_HAVE_IMU_HEATER 1 |
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#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM |
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#define HAL_LINUX_HEAT_PWM_NUM 15 |
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#define HAL_LINUX_HEAT_KP 20000 |
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#define HAL_LINUX_HEAT_KI 6 |
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#define HAL_LINUX_HEAT_PERIOD_NS 2040816 |
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#define HAL_GPS_TYPE_DEFAULT 9 |
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#define HAL_CAN_DRIVER_DEFAULT 1 |
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ |
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#define HAL_INS_DEFAULT HAL_INS_RST |
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#define HAL_INS_DEFAULT_G_ROTATION ROTATION_ROLL_180_YAW_90 |
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#define HAL_INS_DEFAULT_A_ROTATION ROTATION_ROLL_180_YAW_90 |
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#define HAL_INS_RST_G_NAME "rst_g" //gyro
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#define HAL_INS_RST_A_NAME "rst_a" //accel
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
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#define HAL_BARO_MS5611_NAME "ms5611" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_LIS3MDL |
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#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl" |
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0 |
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#define HAL_INS_DEFAULT HAL_INS_RST |
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#define HAL_INS_DEFAULT_G_ROTATION ROTATION_ROLL_180_YAW_90 |
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#define HAL_INS_DEFAULT_A_ROTATION ROTATION_ROLL_180_YAW_90 |
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#define HAL_INS_RST_G_NAME "rst_g" //gyro
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#define HAL_INS_RST_A_NAME "rst_a" //accel
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#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI |
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#define HAL_BARO_MS5611_NAME "ms5611" |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_LIS3MDL |
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#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl" |
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0 |
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#define HAL_HAVE_GETTIME_SETTIME 1 |
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#define HAL_HAVE_GETTIME_SETTIME 1 |
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#else |
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#error "no Linux board subtype set" |
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#error "no Linux board subtype set" |
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#endif |
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#ifndef HAL_COMPASS_DEFAULT |
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#define HAL_COMPASS_DEFAULT -1 |
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#define HAL_COMPASS_DEFAULT -1 |
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#endif |
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#ifndef HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS |
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#define HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS 0x42 |
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#define HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS 0x42 |
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#endif |
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#ifndef HAL_OPTFLOW_PX4FLOW_I2C_BUS |
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1 |
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#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1 |
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#endif |
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#define HAL_HAVE_BOARD_VOLTAGE 1 |
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@ -363,45 +363,44 @@
@@ -363,45 +363,44 @@
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#ifndef HAL_HAVE_SERVO_VOLTAGE |
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#define HAL_HAVE_SERVO_VOLTAGE 0 |
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#define HAL_HAVE_SERVO_VOLTAGE 0 |
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#endif |
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#ifndef AP_STATEDIR |
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#define HAL_BOARD_STATE_DIRECTORY "/var/lib/ardupilot" |
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#define HAL_BOARD_STATE_DIRECTORY "/var/lib/ardupilot" |
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#else |
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#define HAL_BOARD_STATE_DIRECTORY AP_STATEDIR |
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#define HAL_BOARD_STATE_DIRECTORY AP_STATEDIR |
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#endif |
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#ifndef HAL_BOARD_LOG_DIRECTORY |
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#define HAL_BOARD_LOG_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/logs" |
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#define HAL_BOARD_LOG_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/logs" |
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#endif |
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#ifndef HAL_BOARD_TERRAIN_DIRECTORY |
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#define HAL_BOARD_TERRAIN_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/terrain" |
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#define HAL_BOARD_TERRAIN_DIRECTORY HAL_BOARD_STATE_DIRECTORY "/terrain" |
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#endif |
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#ifndef HAL_BOARD_STORAGE_DIRECTORY |
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#define HAL_BOARD_STORAGE_DIRECTORY HAL_BOARD_STATE_DIRECTORY |
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#define HAL_BOARD_STORAGE_DIRECTORY HAL_BOARD_STATE_DIRECTORY |
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#endif |
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#ifndef HAL_BOARD_CAN_IFACE_NAME |
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#define HAL_BOARD_CAN_IFACE_NAME "can0" |
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#define HAL_BOARD_CAN_IFACE_NAME "can0" |
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#endif |
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// if bus masks are not setup above then use these defaults
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#ifndef HAL_LINUX_I2C_BUS_MASK |
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#define HAL_LINUX_I2C_BUS_MASK 0xFFFF |
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#define HAL_LINUX_I2C_BUS_MASK 0xFFFF |
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#endif |
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#ifndef HAL_LINUX_I2C_INTERNAL_BUS_MASK |
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#define HAL_LINUX_I2C_INTERNAL_BUS_MASK 0xFFFF |
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#define HAL_LINUX_I2C_INTERNAL_BUS_MASK 0xFFFF |
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#endif |
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#ifndef HAL_LINUX_I2C_EXTERNAL_BUS_MASK |
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#define HAL_LINUX_I2C_EXTERNAL_BUS_MASK 0xFFFF |
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#define HAL_LINUX_I2C_EXTERNAL_BUS_MASK 0xFFFF |
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#endif |
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#include <AP_HAL_Linux/Semaphores.h> |
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#define HAL_Semaphore Linux::Semaphore |
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#define HAL_Semaphore_Recursive Linux::Semaphore_Recursive |
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Vincent
6 years ago
committed by
Andrew Tridgell