ArduCopter: Add AP_HAL_SMACCM support.

- Added default configuration to "config.h".
- Added main function to run under FreeRTOS with HWF4.

ArduCopter/ArduCopter.pde

@@ -67,6 +67,7 @@
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 #include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_SMACCM.h>
 #include <AP_HAL_PX4.h>
 #include <AP_HAL_Empty.h>
 

ArduCopter/config.h

@@ -80,6 +80,16 @@
  # define MAG_ORIENTATION   AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
  # define MAGNETOMETER ENABLED
+#elif CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
+ # define CONFIG_IMU_TYPE   CONFIG_IMU_MPU6000
+ # define CONFIG_BARO       AP_BARO_MS5611
+ # define CONFIG_MS5611_SERIAL AP_BARO_MS5611_I2C
+ # define CONFIG_ADC        DISABLED
+ # define CONFIG_PUSHBUTTON DISABLED
+ # define CONFIG_RELAY      DISABLED
+ # define MAG_ORIENTATION   AP_COMPASS_COMPONENTS_DOWN_PINS_BACK
+ # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
+ # define MAGNETOMETER ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -201,6 +211,19 @@
  # define USB_MUX_PIN      -1
  # define BATTERY_VOLT_PIN -1
  # define BATTERY_CURR_PIN -1
+#elif CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
+// XXX these are just copied, may not make sense
+ # define A_LED_PIN        27
+ # define B_LED_PIN        26
+ # define C_LED_PIN        25
+ # define LED_ON           LOW
+ # define LED_OFF          HIGH
+ # define SLIDE_SWITCH_PIN (-1)
+ # define PUSHBUTTON_PIN   (-1)
+ # define CLI_SLIDER_ENABLED DISABLED
+ # define USB_MUX_PIN      -1
+ # define BATTERY_VOLT_PIN -1
+ # define BATTERY_CURR_PIN -1
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -223,7 +246,7 @@
  #define COPTER_LED_6 AN9       // Motor LED
  #define COPTER_LED_7 AN10      // Motor LED
  #define COPTER_LED_8 AN11      // Motor LED
-#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_PX4 || HAL_BOARD_SMACCM
  #define COPTER_LED_1 AN8       // Motor or Aux LED
  #define COPTER_LED_2 AN9       // Motor LED
  #define COPTER_LED_3 AN10      // Motor or GPS LED

libraries/AP_HAL_SMACCM/AP_HAL_SMACCM_Main.cpp

@@ -0,0 +1,29 @@
+
+#include <AP_HAL_SMACCM.h>
+#include <AP_HAL_SMACCM_Main.h>
+#include <FreeRTOS.h>
+#include <task.h>
+
+static xTaskHandle g_main_task;
+
+// These must be defined in the main ".pde" file.
+extern const AP_HAL::HAL& hal;
+extern void setup();
+extern void loop();
+
+static void main_task(void *arg)
+{
+  hal.init(0, NULL);
+  setup();
+  for (;;)
+    loop();
+}
+
+void SMACCM::hal_main()
+{
+  xTaskCreate(main_task, (signed char *)"main", 1024, NULL, 0, &g_main_task);
+  vTaskStartScheduler();
+
+  for (;;)
+    ;
+}

libraries/AP_HAL_SMACCM/AP_HAL_SMACCM_Main.h

@@ -4,14 +4,19 @@
 #define __AP_HAL_SMACCM_MAIN_H__
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
-#define AP_HAL_MAIN() extern "C" {\
+
-    int main (void) {\
+namespace SMACCM
-	hal.init(0, NULL);			\
+{
-        setup();\
+  void hal_main();
-        for(;;) loop();\
-        return 0;\
-    }\
 }
-#endif // HAL_BOARD_SMACCM
+
+#define AP_HAL_MAIN()                                      \
+  extern "C" int main (void)                               \
+  {                                                        \
+    SMACCM::hal_main();                                    \
+    return 0;                                              \
+  }
+
+#endif // HAL_BOARD_SMACCM */
 
 #endif // __AP_HAL_SMACCM_MAIN_H__