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.
263 lines
7.9 KiB
263 lines
7.9 KiB
/** |
|
* 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. |
|
* It's not an elegant solution but we can improve it in future. |
|
*/ |
|
#pragma once |
|
|
|
#define HAL_BOARD_SITL 3 |
|
#define HAL_BOARD_SMACCM 4 // unused |
|
#define HAL_BOARD_PX4 5 |
|
#define HAL_BOARD_LINUX 7 |
|
#define HAL_BOARD_VRBRAIN 8 |
|
#define HAL_BOARD_CHIBIOS 10 |
|
#define HAL_BOARD_F4LIGHT 11 |
|
#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_MINLURE 1008 |
|
#define HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 1009 |
|
#define HAL_BOARD_SUBTYPE_LINUX_BH 1010 |
|
#define HAL_BOARD_SUBTYPE_LINUX_PXFMINI 1012 |
|
#define HAL_BOARD_SUBTYPE_LINUX_NAVIO2 1013 |
|
#define HAL_BOARD_SUBTYPE_LINUX_DISCO 1014 |
|
#define HAL_BOARD_SUBTYPE_LINUX_AERO 1015 |
|
#define HAL_BOARD_SUBTYPE_LINUX_DARK 1016 |
|
#define HAL_BOARD_SUBTYPE_LINUX_BLUE 1018 |
|
#define HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ 1019 |
|
#define HAL_BOARD_SUBTYPE_LINUX_EDGE 1020 |
|
#define HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ 1021 |
|
#define HAL_BOARD_SUBTYPE_LINUX_POCKET 1022 |
|
|
|
/* HAL PX4 sub-types, starting at 2000 */ |
|
#define HAL_BOARD_SUBTYPE_PX4_V1 2000 |
|
#define HAL_BOARD_SUBTYPE_PX4_V2 2001 |
|
#define HAL_BOARD_SUBTYPE_PX4_V4 2002 |
|
#define HAL_BOARD_SUBTYPE_PX4_V3 2003 |
|
#define HAL_BOARD_SUBTYPE_PX4_AEROFC_V1 2004 |
|
#define HAL_BOARD_SUBTYPE_PX4_V4PRO 2005 |
|
|
|
/* 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 |
|
#define HAL_BOARD_SUBTYPE_VRCORE_V10 4005 |
|
#define HAL_BOARD_SUBTYPE_VRBRAIN_V54 4006 |
|
#define HAL_BOARD_SUBTYPE_VRBRAIN_V52E 4007 |
|
|
|
|
|
/* HAL CHIBIOS sub-types, starting at 5000 */ |
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 5000 |
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 5001 |
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 5002 |
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_MINDPXV2 5003 |
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_SPARKY2 5004 |
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_REVOMINI 5005 |
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_MINIPIX 5006 |
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_CRAZYFLIE2 5007 |
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF7V2 5008 |
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_GENERIC 5009 |
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_F4BY 5010 |
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF4PRO 5011 |
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_AIRBOTF4 5012 |
|
#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5 5013 |
|
|
|
/* InertialSensor driver types */ |
|
#define HAL_INS_NONE 0 |
|
#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_L3G4200D 7 |
|
#define HAL_INS_VRBRAIN 8 |
|
#define HAL_INS_MPU9250_SPI 9 |
|
#define HAL_INS_L3GD20 10 |
|
#define HAL_INS_LSM9DS0 11 |
|
#define HAL_INS_MPU9250_I2C 13 |
|
#define HAL_INS_BH 14 |
|
#define HAL_INS_BBBMINI 17 |
|
#define HAL_INS_AERO 18 |
|
#define HAL_INS_MPU6500 19 |
|
#define HAL_INS_EDGE 20 |
|
#define HAL_INS_RST 21 |
|
#define HAL_INS_LSM9DS1 22 |
|
#define HAL_INS_ICM20789_SPI 23 |
|
|
|
/* Barometer driver types */ |
|
#define HAL_BARO_NONE 0 |
|
#define HAL_BARO_BMP085 1 |
|
#define HAL_BARO_MS5611_I2C 2 |
|
#define HAL_BARO_MS5611_SPI 3 |
|
#define HAL_BARO_MS5607_I2C 4 |
|
#define HAL_BARO_PX4 5 |
|
#define HAL_BARO_HIL 6 |
|
#define HAL_BARO_VRBRAIN 7 |
|
#define HAL_BARO_MS5637_I2C 8 |
|
#define HAL_BARO_BMP280_I2C 11 |
|
#define HAL_BARO_BMP280_SPI 12 |
|
#define HAL_BARO_LPS25H 13 |
|
#define HAL_BARO_20789_I2C_I2C 14 |
|
#define HAL_BARO_20789_I2C_SPI 15 |
|
#define HAL_BARO_LPS22H_SPI 16 |
|
#define HAL_BARO_LPS25H_IMU_I2C 17 |
|
#define HAL_BARO_FBM320_I2C 18 |
|
#define HAL_BARO_DPS280_I2C 19 |
|
|
|
/* Compass driver types */ |
|
#define HAL_COMPASS_NONE 0 |
|
#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_AK8963_MPU9250_I2C 9 |
|
#define HAL_COMPASS_BH 10 |
|
#define HAL_COMPASS_BBBMINI 13 |
|
#define HAL_COMPASS_NAVIO2 14 |
|
#define HAL_COMPASS_NAVIO 15 |
|
#define HAL_COMPASS_AERO 16 |
|
#define HAL_COMPASS_OCPOC_ZYNQ 17 |
|
#define HAL_COMPASS_EDGE 18 |
|
#define HAL_COMPASS_LIS3MDL 19 |
|
#define HAL_COMPASS_MAG3110 20 |
|
#define HAL_COMPASS_BMM150_I2C 21 |
|
#define HAL_COMPASS_QMC5883L 22 |
|
#define HAL_COMPASS_IST8310 23 |
|
|
|
/* 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. */ |
|
|
|
/* 150Mhz: PX4 or similar. Assumes: |
|
* - hardware floating point |
|
* - tens of kilobytes of memory available */ |
|
#define HAL_CPU_CLASS_150 3 |
|
/* GigaHz class: SITL, BeagleBone etc. Assumes megabytes of memory available. */ |
|
#define HAL_CPU_CLASS_1000 4 |
|
|
|
/* 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 */ |
|
|
|
/* DEFINITIONS FOR BOARDS */ |
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
|
#include <AP_HAL/board/sitl.h> |
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
|
#include <AP_HAL/board/px4.h> |
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
|
#include <AP_HAL/board/linux.h> |
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY |
|
#include <AP_HAL/board/empty.h> |
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
|
#include <AP_HAL/board/vrbrain.h> |
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS |
|
#include <AP_HAL/board/chibios.h> |
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT |
|
#include <AP_HAL/board/f4light.h> |
|
#else |
|
#error "Unknown CONFIG_HAL_BOARD type" |
|
#endif |
|
|
|
#ifndef CONFIG_HAL_BOARD_SUBTYPE |
|
#error "No CONFIG_HAL_BOARD_SUBTYPE set" |
|
#endif |
|
|
|
#ifndef HAL_OS_POSIX_IO |
|
#define HAL_OS_POSIX_IO 0 |
|
#endif |
|
|
|
#ifndef HAL_OS_SOCKETS |
|
#define HAL_OS_SOCKETS 0 |
|
#endif |
|
|
|
#ifndef HAL_PARAM_DEFAULTS_PATH |
|
#define HAL_PARAM_DEFAULTS_PATH nullptr |
|
#endif |
|
|
|
#ifndef HAL_HAVE_IMU_HEATER |
|
#define HAL_HAVE_IMU_HEATER 0 |
|
#endif |
|
|
|
#ifndef HAL_COMPASS_HMC5843_I2C_ADDR |
|
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E |
|
#endif |
|
|
|
#ifndef HAL_WITH_UAVCAN |
|
#define HAL_WITH_UAVCAN 0 |
|
#endif |
|
|
|
#ifndef HAL_RCINPUT_WITH_AP_RADIO |
|
#define HAL_RCINPUT_WITH_AP_RADIO 0 |
|
#endif |
|
|
|
#ifndef HAL_WITH_IO_MCU |
|
#define HAL_WITH_IO_MCU 0 |
|
#endif |
|
|
|
// this is used as a general mechanism to make a 'small' build by |
|
// dropping little used features. We use this to allow us to keep |
|
// FMUv2 going for as long as possible |
|
#ifndef HAL_MINIMIZE_FEATURES |
|
#define HAL_MINIMIZE_FEATURES 0 |
|
#endif |
|
|
|
#ifndef HAL_OS_FATFS_IO |
|
#define HAL_OS_FATFS_IO 0 |
|
#endif |
|
|
|
#ifndef HAL_PX4_HAVE_PX4IO |
|
#define HAL_PX4_HAVE_PX4IO 0 |
|
#endif |
|
|
|
#ifndef HAL_COMPASS_DEFAULT |
|
#define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE |
|
#endif |
|
|
|
#ifndef HAL_BARO_DEFAULT |
|
#define HAL_BARO_DEFAULT HAL_BARO_NONE |
|
#endif |
|
|
|
#ifndef HAL_INS_DEFAULT |
|
#define HAL_INS_DEFAULT HAL_INS_NONE |
|
#endif |
|
|
|
#ifndef HAL_GPS_TYPE_DEFAULT |
|
#define HAL_GPS_TYPE_DEFAULT 1 |
|
#endif |
|
|
|
#ifndef HAL_CAN_DRIVER_DEFAULT |
|
#define HAL_CAN_DRIVER_DEFAULT 0 |
|
#endif |
|
|
|
#ifdef HAVE_LIBDL |
|
#define AP_MODULE_SUPPORTED 1 |
|
#else |
|
#define AP_MODULE_SUPPORTED 0 |
|
#endif |
|
|
|
#ifndef HAL_SUPPORT_RCOUT_SERIAL |
|
#define HAL_SUPPORT_RCOUT_SERIAL 0 |
|
#endif |
|
|
|
|