AP_HAL: added QURT board type and header

libraries/AP_HAL/AP_HAL_Boards.h

@@ -14,6 +14,7 @@
 #define HAL_BOARD_CHIBIOS  10
 #define HAL_BOARD_F4LIGHT  11 // reserved
 #define HAL_BOARD_ESP32	   12
+#define HAL_BOARD_QURT     13
 #define HAL_BOARD_EMPTY    99
 
 /* Default board subtype is -1 */
@@ -139,6 +140,8 @@
 	#include <AP_HAL/board/chibios.h>
 #elif CONFIG_HAL_BOARD == HAL_BOARD_ESP32
     #include <AP_HAL/board/esp32.h>
+#elif CONFIG_HAL_BOARD == HAL_BOARD_QURT
+    #include <AP_HAL/board/qurt.h>
 #else
 #error "Unknown CONFIG_HAL_BOARD type"
 #endif

libraries/AP_HAL/Device.h

@@ -20,8 +20,12 @@
 
 #include "AP_HAL_Namespace.h"
 #include "utility/functor.h"
+#include "AP_HAL_Boards.h"
 
+#if CONFIG_HAL_BOARD != HAL_BOARD_QURT
+// we need utility for std::move, but not on QURT due to a include error in hexagon SDK
 #include <utility>
+#endif
 
 /*
  * This is an interface abstracting I2C and SPI devices

libraries/AP_HAL/board/qurt.h

@@ -0,0 +1,108 @@
+#pragma once
+
+#include <AP_HAL_QURT/AP_HAL_QURT_Main.h>
+
+#define HAL_BOARD_NAME "QURT"
+#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
+#define HAL_MEM_CLASS HAL_MEM_CLASS_1000
+#define HAL_STORAGE_SIZE            32768
+#define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
+
+// only include if compiling C++ code
+#ifdef __cplusplus
+#include <AP_HAL_QURT/Semaphores.h>
+#define HAL_Semaphore QURT::Semaphore
+#define HAL_BinarySemaphore QURT::BinarySemaphore
+#endif
+
+#ifndef HAL_HAVE_HARDWARE_DOUBLE
+#define HAL_HAVE_HARDWARE_DOUBLE 0
+#endif
+
+#ifndef HAL_WITH_EKF_DOUBLE
+#define HAL_WITH_EKF_DOUBLE HAL_HAVE_HARDWARE_DOUBLE
+#endif
+
+#ifndef HAL_GYROFFT_ENABLED
+#define HAL_GYROFFT_ENABLED 0
+#endif
+
+/*
+  disable features for initial port
+ */
+#define HAL_HAVE_BOARD_VOLTAGE 0
+#define HAL_HAVE_SERVO_VOLTAGE 0
+#define HAL_HAVE_SAFETY_SWITCH 0
+#define HAL_WITH_MCU_MONITORING 0
+#define HAL_USE_QUADSPI 0
+#define HAL_WITH_DSP 0
+
+#define HAL_CANFD_SUPPORTED 0
+#define HAL_NUM_CAN_IFACES 0
+
+#define AP_CRASHDUMP_ENABLED 0
+#define HAL_ENABLE_DFU_BOOT 0
+
+
+#define HAL_LOGGING_MAVLINK_ENABLED 0
+
+#define HAL_LOGGING_FILESYSTEM_ENABLED 1
+
+#define AP_FILESYSTEM_POSIX_HAVE_UTIME 0
+#define AP_FILESYSTEM_POSIX_HAVE_FSYNC 0
+#define AP_FILESYSTEM_POSIX_HAVE_STATFS 0
+#define AP_FILESYSTEM_HAVE_DIRENT_DTYPE 0
+
+#define AP_FILESYSTEM_POSIX_MAP_FILENAME_ALLOC 1
+#define AP_FILESYSTEM_POSIX_MAP_FILENAME_BASEDIR "/data"
+#define HAL_BOARD_STORAGE_DIRECTORY "APM"
+#define HAL_BOARD_LOG_DIRECTORY "APM/logs"
+#define HAL_BOARD_TERRAIN_DIRECTORY "APM/terrain"
+
+#define SCRIPTING_DIRECTORY "APM/scripts"
+
+/*
+  a defaults file for this vehicle
+ */
+#ifndef HAL_PARAM_DEFAULTS_PATH
+// this is an absolute path, as required by AP_Param
+#define HAL_PARAM_DEFAULTS_PATH AP_FILESYSTEM_POSIX_MAP_FILENAME_BASEDIR "/APM/defaults.parm"
+#endif
+
+#define USE_LIBC_REALLOC 1
+
+#define HAL_WITH_ESC_TELEM 1
+
+/*
+  battery monitoring setup, comes in via ESCs
+ */
+#define HAL_BATT_VOLT_PIN 1
+#define HAL_BATT_CURR_PIN 2
+#define HAL_BATT_MONITOR_DEFAULT 4
+#define HAL_BATT_VOLT_SCALE 1
+#define HAL_BATT_CURR_SCALE 1
+
+/*
+  compass list
+ */
+#define PROBE_MAG_I2C(driver, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(GET_I2C_DEVICE(bus, addr),##args))
+#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(QMC5883L, 0, 0x0d, false, ROTATION_PITCH_180_YAW_90)
+
+/*
+  barometer list
+ */
+#define PROBE_BARO_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(GET_I2C_DEVICE(bus, addr)),##args))
+#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(ICP101XX, 3, 0x63)
+
+/*
+  IMU list
+ */
+#define PROBE_IMU_SPI(driver, devname, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname),##args))
+#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensensev3, "INV3", ROTATION_ROLL_180)
+
+/*
+  bring in missing standard library functions
+ */
+#include <AP_HAL_QURT/replace.h>
+
+#define DEFAULT_SERIAL4_PROTOCOL 23 // RC input