f4light.h

Go to the documentation of this file.

#include <AP_HAL_F4Light/hardware/hal/syscalls.h>
#include <AP_HAL_F4Light/params.h>
#include <AP_HAL_F4Light/wirish/boards.h>

#define HAL_NEEDS_PARAM_HELPER

#define AP_HAL_BOARD_DRIVER             AP_HAL_F4Light
#define HAL_SERIAL0_BAUD_DEFAULT        (115200)
#define CONFIG_HAL_BOARD_SUBTYPE        HAL_BOARD_SUBTYPE_NONE


#define HAL_BOARD_NAME                  BOARD_OWN_NAME

#define HAL_CPU_CLASS                   HAL_CPU_CLASS_150
#define HAL_OS_POSIX_IO                 0

#define HAL_STORAGE_SIZE                BOARD_STORAGE_SIZE // EEPROM size

#define HAL_BARO_DEFAULT                BOARD_BARO_DEFAULT

#define HAL_COMPASS_DEFAULT             BOARD_COMPASS_DEFAULT

#define HAL_INS_DEFAULT                 BOARD_INS_DEFAULT
#define HAL_INS_DEFAULT_ROTATION        BOARD_INS_ROTATION
#define HAL_INS_MPU60x0_NAME            BOARD_INS_MPU60x0_NAME

#define INVENSENSE_DRDY_PIN             BOARD_MPU6000_DRDY_PIN
// via interrupt

#ifdef BOARD_HMC5883_DRDY_PIN
#define HMC5883_DRDY_PIN                BOARD_HMC5883_DRDY_PIN
#endif

#ifdef BOARD_DATAFLASH_NAME
#define HAL_DATAFLASH_NAME              BOARD_DATAFLASH_NAME
#endif


#ifdef BOARD_BUZZER_PIN
#define HAL_BUZZER_PIN                  BOARD_BUZZER_PIN
#endif

# define PUSHBUTTON_PIN                 BOARD_PUSHBUTTON_PIN
# define USB_MUX_PIN                    BOARD_USB_MUX_PIN
# define BATTERY_VOLT_PIN               BOARD_BATTERY_VOLT_PIN   // Battery voltage on A0 (PC2) D8
# define BATTERY_CURR_PIN               BOARD_BATTERY_CURR_PIN   // Battery current on A1 (PC1) D7
# define CONFIG_SONAR_SOURCE_ANALOG_PIN BOARD_SONAR_SOURCE_ANALOG_PIN
 


#undef TOSHIBA_LED_I2C_BUS // someone placed this not in board config
#define TOSHIBA_LED_I2C_ADDR 0x55    // default I2C bus address
#define TOSHIBA_LED_I2C_BUS  2       // external I2C


#define HAL_MINIMIZE_FEATURES 1
#define DEVO_TELEM_ENABLED ENABLED

 #define AC_TERRAIN             DISABLED // no SD card with POSIX IO
 #define PRECISION_LANDING      DISABLED
 #define CONFIG_PUSHBUTTON      DISABLED
 #define SPRAYER                DISABLED
 #define EPM_ENABLED            DISABLED
 #define CLI_ENABLED            DISABLED
 #define GRIPPER_ENABLED        DISABLED // not for large quads
 #define WINCH_ENABLED          DISABLED
 
 
 // disable for debugging with -O0
// #define FRSKY_TELEM_ENABLED   DISABLED
// #define CAMERA                DISABLED
// #define CONFIG_RELAY          DISABLED
// #define MOUNT                 DISABLED 
// #define ADSB_ENABLED          DISABLED

 #define LOGGING_ENABLED ENABLED

 // exclude some useless modes 
 #define MODE_SPORT_ENABLED DISABLE
 #define MODE_DRIFT_ENABLED DISABLE
 #define MODE_BRAKE_ENABLED DISABLE
 #define MODE_GUIDED_NOGPS_ENABLED DISABLE
 
 
#define STATS_ENABLED DISABLED // to reduce flash degradation