src/main/target/SITL/target.h

   1 /*
   2  * This file is part of INAV Project.
   3  *
   4  * This Source Code Form is subject to the terms of the Mozilla Public
   5  * License, v. 2.0. If a copy of the MPL was not distributed with this file,
   6  * You can obtain one at http://mozilla.org/MPL/2.0/.
   7  *
   8  * Alternatively, the contents of this file may be used under the terms
   9  * of the GNU General Public License Version 3, as described below:
  10  *
  11  * This file is free software: you may copy, redistribute and/or modify
  12  * it under the terms of the GNU General Public License as published by the
  13  * Free Software Foundation, either version 3 of the License, or (at your
  14  * option) any later version.
  15  *
  16  * This file is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
  19  * Public License for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License
  22  * along with this program. If not, see http://www.gnu.org/licenses/.
  23  */
  24
  25 #pragma once
  26
  27 #include <stdint.h>
  28 #include <stdbool.h>
  29 #include <stddef.h>
  30 #include <sys/socket.h>
  31
  32 #include <platform.h>
  33
  34 #define TARGET_BOARD_IDENTIFIER "SITL"
  35 #define USBD_PRODUCT_STRING  "SITL"
  36
  37 #define REQUIRE_PRINTF_LONG_SUPPORT
  38
  39 // file name to save config
  40 #define EEPROM_FILENAME "eeprom.bin"
  41 #define CONFIG_IN_FILE
  42 #define EEPROM_SIZE     32768
  43
  44 #undef SCHEDULER_DELAY_LIMIT
  45 #define SCHEDULER_DELAY_LIMIT           1
  46
  47 #define USE_UART1
  48 #define USE_UART2
  49 #define USE_UART3
  50 #define USE_UART4
  51 #define USE_UART5
  52 #define USE_UART6
  53 #define USE_UART7
  54 #define USE_UART8
  55
  56 #define SERIAL_PORT_COUNT 8
  57 #define SITL_SERIAL_TASK_US (500)
  58
  59 #define DEFAULT_RX_FEATURE      FEATURE_RX_MSP
  60 #define DEFAULT_FEATURES        (FEATURE_GPS |  FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT)
  61
  62 #define USE_ADC
  63 #define USE_MAG
  64 #define USE_BARO
  65 #define USE_PITOT_FAKE
  66 #define USE_IMU_FAKE
  67 #define USE_FAKE_BARO
  68 #define USE_FAKE_MAG
  69 #define USE_GPS_FAKE
  70 #define USE_RANGEFINDER_FAKE
  71 #define USE_RX_SIM
  72 #undef MAX_MIXER_PROFILE_COUNT
  73 #define MAX_MIXER_PROFILE_COUNT 2
  74
  75 #define USE_MSP_OSD
  76 #define USE_OSD
  77 #define USE_SERIAL_GIMBAL
  78 #define USE_HEADTRACKER
  79 #define USE_HEADTRACKER_SERIAL
  80 #define USE_HEADTRACKER_MSP
  81
  82 #undef USE_DASHBOARD
  83
  84 #undef USE_GYRO_KALMAN // Strange behaviour under x86/x64 ?!?
  85 #undef USE_VCP
  86 #undef USE_PPM
  87 #undef USE_PWM
  88 #undef USE_LED_STRIP
  89 #undef USE_MSP_OVER_TELEMETRY
  90 #undef USE_TELEMETRY_FRSKY_HUB
  91 #undef USE_TELEMETRY_HOTT
  92 #undef USE_TELEMETRY_SMARTPORT
  93 #undef USE_RESOURCE_MGMT
  94 #undef USE_TELEMETRY_CRSF
  95 #undef USE_TELEMETRY_IBUS
  96 #undef USE_TELEMETRY_JETIEXBUS
  97 #undef USE_TELEMETRY_SRXL
  98 #undef USE_TELEMETRY_GHST
  99 #undef USE_VTX_TRAMP
 100 #undef USE_CAMERA_CONTROL
 101 #undef USE_BRUSHED_ESC_AUTODETECT
 102 #undef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
 103 #undef USE_SERIAL_4WAY_SK_BOOTLOADER
 104 #undef USE_ADAPTIVE_FILTER
 105
 106 #undef USE_I2C
 107 #undef USE_SPI
 108
 109 // Some dummys
 110 #define TARGET_FLASH_SIZE 2048
 111
 112 #define LED_STRIP_TIMER 1
 113 #define SOFTSERIAL_1_TIMER 2
 114 #define SOFTSERIAL_2_TIMER 3
 115
 116 #define DEFIO_NO_PORTS
 117
 118 extern uint32_t SystemCoreClock;
 119
 120 #define U_ID_0 0
 121 #define U_ID_1 1
 122 #define U_ID_2 2
 123
 124 typedef struct
 125 {
 126     void* dummy;
 127 } TIM_TypeDef;
 128
 129 typedef struct
 130 {
 131     void* dummy;
 132 } TIM_OCInitTypeDef;
 133
 134 typedef struct {
 135     void* dummy;
 136 } DMA_TypeDef;
 137
 138 typedef struct {
 139     void* dummy;
 140 } DMA_Channel_TypeDef;
 141
 142 typedef struct
 143 {
 144     void* dummy;
 145 } SPI_TypeDef;
 146
 147 typedef struct
 148 {
 149     void* dummy;
 150 } I2C_TypeDef;
 151
 152 typedef enum {RESET = 0, SET = !RESET} FlagStatus, ITStatus;
 153 typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
 154 typedef enum {TEST_IRQ = 0 } IRQn_Type;
 155 typedef enum {
 156     EXTI_Trigger_Rising = 0x08,
 157     EXTI_Trigger_Falling = 0x0C,
 158     EXTI_Trigger_Rising_Falling = 0x10
 159 } EXTITrigger_TypeDef;
 160
 161 typedef struct
 162 {
 163   uint32_t IDR;
 164   uint32_t ODR;
 165   uint32_t BSRR;
 166   uint32_t BRR;
 167 } GPIO_TypeDef;
 168
 169 #define GPIOA_BASE ((intptr_t)0x0001)
 170
 171 typedef struct
 172 {
 173     uint32_t dummy;
 174 } USART_TypeDef;
 175
 176 #define USART1 ((USART_TypeDef *)0x0001)
 177 #define USART2 ((USART_TypeDef *)0x0002)
 178 #define USART3 ((USART_TypeDef *)0x0003)
 179 #define USART4 ((USART_TypeDef *)0x0004)
 180 #define USART5 ((USART_TypeDef *)0x0005)
 181 #define USART6 ((USART_TypeDef *)0x0006)
 182 #define USART7 ((USART_TypeDef *)0x0007)
 183 #define USART8 ((USART_TypeDef *)0x0008)
 184
 185 #define UART4 ((USART_TypeDef *)0x0004)
 186 #define UART5 ((USART_TypeDef *)0x0005)
 187 #define UART7 ((USART_TypeDef *)0x0007)
 188 #define UART8 ((USART_TypeDef *)0x0008)
 189
 190 typedef enum
 191 {
 192     SITL_SIM_NONE,
 193     SITL_SIM_REALFLIGHT,
 194     SITL_SIM_XPLANE,
 195 } SitlSim_e;
 196
 197
 198
 199 extern bool lockMainPID(void);
 200 extern void unlockMainPID(void);
 201 extern void parseArguments(int argc, char *argv[]);
 202 extern char *strnstr(const char *s, const char *find, size_t slen);
 203 extern int lookupAddress (char *, int, int, struct sockaddr *, socklen_t*);
 204
 205 #define IPADDRESS_PRINT_BUFLEN (INET6_ADDRSTRLEN + 16)
 206 extern char *prettyPrintAddress(struct sockaddr*, char*, size_t);