AP_HAL: support ChibiOS

libraries/AP_HAL/AP_HAL_Boards.h

@@ -12,6 +12,7 @@
 #define HAL_BOARD_LINUX    7
 #define HAL_BOARD_VRBRAIN  8
 #define HAL_BOARD_QURT     9
+#define HAL_BOARD_CHIBIOS  10
 #define HAL_BOARD_EMPTY   99
 
 /* Default board subtype is -1 */
@@ -57,6 +58,11 @@
 #define HAL_BOARD_SUBTYPE_VRCORE_V10       4005
 #define HAL_BOARD_SUBTYPE_VRBRAIN_V54      4006
 
+
+/* HAL CHIBIOS sub-types, starting at 5000 */
+#define HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412	5000
+#define HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3         5001
+
 /* InertialSensor driver types */
 #define HAL_INS_MPU60XX_SPI  2
 #define HAL_INS_MPU60XX_I2C  3
@@ -147,6 +153,8 @@
     #include <AP_HAL/board/qurt.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>
 #else
 #error "Unknown CONFIG_HAL_BOARD type"
 #endif
@@ -185,3 +193,7 @@
 #ifndef HAL_MINIMIZE_FEATURES
 #define HAL_MINIMIZE_FEATURES       0
 #endif
+
+#ifndef HAL_OS_FATFS_IO
+#define HAL_OS_FATFS_IO 0
+#endif

libraries/AP_HAL/GPIO.h

@@ -11,6 +11,7 @@
 #define HAL_GPIO_INTERRUPT_HIGH 1
 #define HAL_GPIO_INTERRUPT_FALLING 2
 #define HAL_GPIO_INTERRUPT_RISING 3
+#define HAL_GPIO_INTERRUPT_BOTH 4
 
 class AP_HAL::DigitalSource {
 public:

libraries/AP_HAL/UARTDriver.h

@@ -59,4 +59,11 @@ public:
      */
     void printf(const char *s, ...) FMT_PRINTF(2, 3);
     void vprintf(const char *s, va_list ap);
+
+    /*
+      wait for at least n bytes of incoming data, with timeout in
+      milliseconds. Return true if n bytes are available, false if
+      timeout
+     */
+    virtual bool wait_timeout(uint16_t n, uint32_t timeout_ms) { return false; }
 };

libraries/AP_HAL/Util.cpp

@@ -1,9 +1,13 @@
 #include "AP_HAL.h"
 #include "Util.h"
 #include "utility/print_vprintf.h"
-#include <time.h>
 #if defined(__APPLE__) && defined(__MACH__)
 #include <sys/time.h>
+#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#include "ch.h"
+#include "hal.h"
+#else
+#include <time.h>
 #endif
 
 /* Helper class implements AP_HAL::Print so we can use utility/vprintf */
@@ -57,6 +61,8 @@ uint64_t AP_HAL::Util::get_system_clock_ms() const
     struct timeval ts;
     gettimeofday(&ts, nullptr);
     return ((long long)((ts.tv_sec * 1000) + (ts.tv_usec / 1000)));
+#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+    return ST2MS(chVTGetSystemTime());
 #else
     struct timespec ts;
     clock_gettime(CLOCK_REALTIME, &ts);

libraries/AP_HAL/board/chibios.h

@@ -0,0 +1,86 @@
+#pragma once
+
+#define HAL_BOARD_NAME "ChibiOS"
+#define HAL_CPU_CLASS HAL_CPU_CLASS_150
+
+#define HAL_GPIO_A_LED_PIN        0
+#define HAL_GPIO_B_LED_PIN        0
+#define HAL_GPIO_C_LED_PIN        0
+#define HAL_GPIO_LED_ON           LOW
+#define HAL_GPIO_LED_OFF          HIGH
+
+#define HAL_HAVE_BOARD_VOLTAGE 0
+#define HAL_HAVE_SAFETY_SWITCH 0
+
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
+#define HAL_CHIBIOS_ARCH_F412 1
+
+#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
+#define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
+#define HAL_INS_MPU60x0_I2C_BUS 1
+#define HAL_INS_MPU60x0_I2C_ADDR 0x68
+
+#define HAL_GPIO_RADIO_RESET       1
+#define HAL_GPIO_RADIO_IRQ         2
+
+#define HAL_RCINPUT_WITH_AP_RADIO 1
+#define STORAGE_FLASH_PAGE		1
+#define HAL_STORAGE_SIZE        8192
+#define HAL_USE_EKF3
+
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3
+#define HAL_CHIBIOS_ARCH_FMUV3 1
+
+#define HAL_BARO_MS5611_NAME "ms5611"
+#define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int"
+#define HAL_BARO_MS5611_SPI_EXT_NAME "ms5611_ext"
+
+#define HAL_INS_MPU60x0_NAME "mpu6000"
+#define HAL_INS_MPU60x0_EXT_NAME "mpu6000_ext"
+
+#define HAL_INS_LSM9DS0_G_NAME "lsm9ds0_g"
+#define HAL_INS_LSM9DS0_A_NAME "lsm9ds0_am"
+
+#define HAL_INS_LSM9DS0_EXT_G_NAME "lsm9ds0_ext_g"
+#define HAL_INS_LSM9DS0_EXT_A_NAME "lsm9ds0_ext_am"
+
+#define HAL_INS_MPU9250_NAME "mpu9250"
+#define HAL_INS_MPU9250_EXT_NAME "mpu9250_ext"
+
+#define HAL_INS_MPU6500_NAME "mpu6500"
+
+#define HAL_INS_ICM20608_NAME "icm20608"
+#define HAL_INS_ICM20608_AM_NAME "icm20608-am"
+#define HAL_INS_ICM20608_EXT_NAME "icm20608_ext"
+
+#define HAL_COMPASS_HMC5843_NAME "hmc5843"
+#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"
+
+#define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+
+#define STORAGE_FLASH_PAGE		22
+#define HAL_STORAGE_SIZE        16384
+
+// enable access to IO microcontroller
+#define HAL_WITH_IO_MCU         1
+
+// enable RAMTROM parameter storage
+#define HAL_WITH_RAMTRON 1
+
+// pixhawk2 cube has an IMU header
+#define HAL_HAVE_IMU_HEATER         1
+
+// enable FAT filesystem
+#define HAL_OS_FATFS_IO 1
+
+#endif // CONFIG_HAL_BOARD_SUBTYPE
+
+#define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
+
+#ifndef HAL_WITH_IO_MCU
+#define HAL_WITH_IO_MCU 0
+#endif
+
+#ifndef HAL_WITH_RAMTRON
+#define HAL_WITH_RAMTRON 0
+#endif