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142 lines
4.1 KiB
142 lines
4.1 KiB
#pragma once |
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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_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS" |
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#define HAL_BOARD_TERRAIN_DIRECTORY "/fs/microsd/APM/TERRAIN" |
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#define HAL_PARAM_DEFAULTS_PATH "/etc/defaults.parm" |
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#define HAL_INS_DEFAULT HAL_INS_PX4 |
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#define HAL_BARO_DEFAULT HAL_BARO_PX4 |
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#define HAL_COMPASS_DEFAULT HAL_COMPASS_PX4 |
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#define HAL_HAVE_GETTIME_SETTIME 1 |
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 |
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V1 |
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#define HAL_STORAGE_SIZE 8192 |
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V3) |
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// check for V3 before V2 as V3 also defines V2 |
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V3 |
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#define HAL_STORAGE_SIZE 16384 |
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#define HAL_HAVE_IMU_HEATER 1 // for Pixhawk2 |
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#define HAL_IMU_TEMP_DEFAULT -1 // disabled |
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#define HAL_WITH_UAVCAN 1 |
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) |
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V2 |
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#define HAL_STORAGE_SIZE 16384 |
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#define HAL_HAVE_IMU_HEATER 1 // for Pixhawk2 |
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#define HAL_IMU_TEMP_DEFAULT -1 // disabled |
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#define HAL_WITH_UAVCAN 1 |
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#define HAL_MINIMIZE_FEATURES 1 |
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4) |
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V4 |
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#define HAL_STORAGE_SIZE 16384 |
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#define HAL_WITH_UAVCAN 1 |
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#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4PRO) |
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V4PRO |
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#define HAL_STORAGE_SIZE 16384 |
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#define HAL_WITH_UAVCAN 1 |
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#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1) |
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#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_AEROFC_V1 |
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#define HAL_STORAGE_SIZE 16384 |
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#define USE_FLASH_STORAGE 1 |
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#define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS0" |
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// we don't have any sdcard |
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#undef HAL_BOARD_LOG_DIRECTORY |
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#undef HAL_BOARD_TERRAIN_DIRECTORY |
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#else |
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#error "Unknown PX4 board type" |
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#endif |
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#define HAL_GPIO_A_LED_PIN 27 |
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#define HAL_GPIO_B_LED_PIN 26 |
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#define HAL_GPIO_C_LED_PIN 25 |
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#define HAL_GPIO_LED_ON 0 |
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#define HAL_GPIO_LED_OFF 1 |
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#define HAL_BARO_MS5611_NAME "ms5611" |
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#define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int" |
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#define HAL_BARO_MS5611_SPI_EXT_NAME "ms5611_ext" |
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#define HAL_INS_MPU60x0_NAME "mpu6000" |
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#define HAL_INS_MPU60x0_EXT_NAME "mpu6000_ext" |
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#define HAL_INS_LSM9DS0_G_NAME "lsm9ds0_g" |
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#define HAL_INS_LSM9DS0_A_NAME "lsm9ds0_am" |
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#define HAL_INS_LSM9DS0_EXT_G_NAME "lsm9ds0_ext_g" |
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#define HAL_INS_LSM9DS0_EXT_A_NAME "lsm9ds0_ext_am" |
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#define HAL_INS_MPU9250_NAME "mpu9250" |
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#define HAL_INS_MPU9250_EXT_NAME "mpu9250_ext" |
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#define HAL_INS_MPU6500_NAME "mpu6500" |
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#define HAL_INS_ICM20608_NAME "icm20608" |
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#define HAL_INS_ICM20608_AM_NAME "icm20608-am" |
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#define HAL_INS_ICM20608_EXT_NAME "icm20608_ext" |
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#define HAL_COMPASS_HMC5843_NAME "hmc5843" |
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#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl" |
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/* px4fmu-v1 */ |
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 |
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#define HAL_BARO_MS5611_I2C_ADDR 0x76 |
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#define HAL_BARO_MS5611_I2C_BUS 0 |
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#define HAL_HAVE_BOARD_VOLTAGE 0 |
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#define HAL_PX4_HAVE_PWM_INPUT 0 |
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#endif |
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/* px4fmu-v4 */ |
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V4 |
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#define HAL_PX4_HAVE_PX4IO 0 |
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#endif |
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/* aerofc-v1 */ |
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#ifdef CONFIG_ARCH_BOARD_AEROFC_V1 |
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#define HAL_BARO_MS5607_I2C_ADDR 0x77 |
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#define HAL_BARO_MS5607_I2C_BUS 0 |
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#define HAL_COMPASS_IST8310_I2C_ADDR 0x0E |
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#define HAL_COMPASS_IST8310_I2C_BUS 1 |
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#define HAL_SERIAL0_BAUD_DEFAULT 921600 |
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#define HAL_HAVE_BOARD_VOLTAGE 0 |
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#define HAL_HAVE_SAFETY_SWITCH 0 |
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#define HAL_PX4_HAVE_MTD_SUPPORT 0 |
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#define HAL_PX4_HAVE_PX4IO 0 |
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#define HAL_PX4_HAVE_PWM_INPUT 0 |
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#endif |
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/* default values */ |
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#ifndef HAL_SERIAL0_BAUD_DEFAULT |
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#define HAL_SERIAL0_BAUD_DEFAULT 115200 |
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#endif |
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#ifndef HAL_HAVE_BOARD_VOLTAGE |
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#define HAL_HAVE_BOARD_VOLTAGE 1 |
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#endif |
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#ifndef HAL_PX4_HAVE_MTD_SUPPORT |
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#define HAL_PX4_HAVE_MTD_SUPPORT 1 |
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#endif |
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#ifndef HAL_PX4_HAVE_PX4IO |
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#define HAL_PX4_HAVE_PX4IO 1 |
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#endif |
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#ifndef HAL_PX4_HAVE_PWM_INPUT |
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#define HAL_PX4_HAVE_PWM_INPUT 1 |
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#endif |
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#ifndef HAL_HAVE_SAFETY_SWITCH |
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#define HAL_HAVE_SAFETY_SWITCH 1 |
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#endif |
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#ifndef AP_FEATURE_RTSCTS |
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#define AP_FEATURE_RTSCTS 1 |
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#endif |
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#ifndef AP_FEATURE_SBUS_OUT |
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#define AP_FEATURE_SBUS_OUT 1 |
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#endif
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