HAL_ChibiOS: fixes for ChibiOS version update

libraries/AP_HAL_ChibiOS/GPIO.cpp

@@ -18,8 +18,6 @@
 
 #include <AP_BoardConfig/AP_BoardConfig.h>
 
-#if HAL_USE_EXT == TRUE
-
 using namespace ChibiOS;
 
 // GPIO pin table from hwdef.dat
@@ -193,4 +191,3 @@ void pal_interrupt_cb(void *arg)
     }
 }
 
-#endif // HAL_USE_EXT

libraries/AP_HAL_ChibiOS/UARTDriver.cpp

@@ -686,7 +686,7 @@ void UARTDriver::write_pending_bytes_DMA(uint32_t n)
                      STM32_DMA_CR_MINC | STM32_DMA_CR_TCIE);
     dmaStreamEnable(txdma);
     uint32_t timeout_us = ((1000000UL * (tx_len+2) * 10) / _baudrate) + 500;
-    chVTSet(&tx_timeout, US2ST(timeout_us), handle_tx_timeout, this);
+    chVTSet(&tx_timeout, chTimeUS2I(timeout_us), handle_tx_timeout, this);
 }
 
 /*

libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h

@@ -31,7 +31,7 @@
 #include "hwdef.h"
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_5_0_
+#define _CHIBIOS_RT_CONF_VER_5_1_
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -39,6 +39,13 @@
  */
 /*===========================================================================*/
 
+#ifdef HAL_CHIBIOS_ENABLE_ASSERTS
+#define CH_DBG_ENABLE_ASSERTS TRUE
+#define CH_DBG_ENABLE_CHECKS TRUE
+#define CH_DBG_SYSTEM_STATE_CHECK TRUE
+#define CH_DBG_ENABLE_STACK_CHECK TRUE
+#endif
+
 /**
  * @brief   System time counter resolution.
  * @note    Allowed values are 16 or 32 bits.
@@ -359,7 +366,9 @@
  *
  * @note    The default is @p TRUE.
  */
+#ifndef CH_CFG_USE_OBJ_FIFOS
 #define CH_CFG_USE_OBJ_FIFOS                TRUE
+#endif
 
 /**
  * @brief   Dynamic Threads APIs.
@@ -390,7 +399,9 @@
  *
  * @note    The default is @p FALSE.
  */
+#ifndef CH_CFG_USE_FACTORY
 #define CH_CFG_USE_FACTORY                  TRUE
+#endif
 
 /**
  * @brief   Maximum length for object names.

libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk

@@ -213,6 +213,11 @@ CPPWARN = -Wall -Wextra -Wundef
 # List all user C define here, like -D_DEBUG=1
 UDEFS = $(FATFS_FLAGS) -DHAL_BOARD_NAME=\"$(HAL_BOARD_NAME)\"
 
+ifeq ($(ENABLE_ASSERTS),yes)
+ UDEFS += -DHAL_CHIBIOS_ENABLE_ASSERTS
+ ASXFLAGS += -DHAL_CHIBIOS_ENABLE_ASSERTS
+endif
+
 # Define ASM defines here
 UADEFS =
 

libraries/AP_HAL_ChibiOS/hwdef/common/chibios_common.mk

@@ -124,6 +124,10 @@ LDFLAGS   = $(MCFLAGS) $(OPT) -nostartfiles $(LLIBDIR) -Wl,-Map=$(BUILDDIR)/$(PR
 # provide a marker for ArduPilot build options in ChibiOS
 CFLAGS    += -D_ARDUPILOT_
 
+ifeq ($(ENABLE_ASSERTS),yes)
+  ASXFLAGS += -DHAL_CHIBIOS_ENABLE_ASSERTS
+endif
+
 # Thumb interwork enabled only if needed because it kills performance.
 ifneq ($(strip $(TSRC)),)
   CFLAGS   += -DTHUMB_PRESENT
@@ -163,7 +167,6 @@ CPPFLAGS += -MD -MP -MF .dep/$(@F).d
 # Paths where to search for sources
 VPATH     = $(SRCPATHS)
 
-
 ifndef ECHO
 T := $(shell $(MAKE) $(MAKECMDGOALS) --no-print-directory \
       -nrRf $(firstword $(MAKEFILE_LIST)) \

libraries/AP_HAL_ChibiOS/hwdef/common/flash.c

@@ -283,7 +283,7 @@ bool stm32_flash_erasepage(uint32_t page)
     stm32_flash_wait_idle();
 
 #if defined(STM32F7) && STM32_DMA_CACHE_HANDLING == TRUE
-    dmaBufferInvalidate(stm32_flash_getpageaddr(page), stm32_flash_getpagesize(page));
+    cacheBufferInvalidate(stm32_flash_getpageaddr(page), stm32_flash_getpagesize(page));
 #endif
         
     stm32_flash_lock();

libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c

@@ -266,7 +266,7 @@ void peripheral_power_enable(void)
     uint8_t i;
     for (i=0; i<100; i++) {
         // use a loop as this may be a 16 bit timer
-        chThdSleep(MS2ST(1));
+        chThdSleep(chTimeMS2I(1));
     }
 #ifdef HAL_GPIO_PIN_nVDD_5V_PERIPH_EN
     palWriteLine(HAL_GPIO_PIN_nVDD_5V_PERIPH_EN, 0);

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -447,6 +447,7 @@ def write_mcu_config(f):
 #define CH_CFG_USE_WAITEXIT FALSE
 #define CH_CFG_USE_DYNAMIC FALSE
 #define CH_CFG_USE_MEMPOOLS FALSE
+#define CH_CFG_USE_OBJ_FIFOS FALSE
 #define CH_DBG_FILL_THREADS FALSE
 #define CH_CFG_USE_SEMAPHORES FALSE
 #define CH_CFG_USE_HEAP FALSE        
@@ -456,6 +457,7 @@ def write_mcu_config(f):
 #define CH_CFG_USE_EVENTS_TIMEOUT FALSE
 #define CH_CFG_USE_MESSAGES FALSE
 #define CH_CFG_USE_MAILBOXES FALSE
+#define CH_CFG_USE_FACTORY FALSE
 #define HAL_USE_I2C FALSE
 #define HAL_USE_PWM FALSE
 ''')