From a7a4c085894f6edf8a5a5ac2e947925109eb9b79 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 20 Jan 2020 14:20:30 +1100
Subject: [PATCH] HAL_ChibiOS: fixes for build with master ChibiOS

---
 libraries/AP_HAL_ChibiOS/RCOutput.cpp         |  2 +-
 .../AP_HAL_ChibiOS/hwdef/common/chconf.h      | 35 ++++++++++++++++++-
 .../hwdef/common/chibios_board.mk             |  2 +-
 .../AP_HAL_ChibiOS/hwdef/common/common.ld     | 18 +++++-----
 .../AP_HAL_ChibiOS/hwdef/common/halconf.h     | 10 +++++-
 5 files changed, 54 insertions(+), 13 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index 49c7924656..c3873acac2 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -1336,7 +1336,7 @@ bool RCOutput::serial_write_bytes(const uint8_t *bytes, uint16_t len)
  */
 void RCOutput::serial_bit_irq(void)
 {
-    systime_t now = chVTGetSystemTimeX();
+    systime_t now = AP_HAL::micros();
     uint8_t bit = palReadLine(irq.line);
     bool send_signal = false;
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h
index c7497d1239..ca7b588a5e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h
@@ -31,7 +31,7 @@
 #include "hwdef.h"
 
 #define _CHIBIOS_RT_CONF_
-#define _CHIBIOS_RT_CONF_VER_6_0_
+#define _CHIBIOS_RT_CONF_VER_6_1_
 /*===========================================================================*/
 /**
  * @name System timers settings
@@ -410,6 +410,39 @@
 #define CH_CFG_USE_PIPES                    FALSE
 #endif
 
+/**
+ * @brief   Objects Caches APIs.
+ * @details If enabled then the objects caches APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_OBJ_CACHES)
+#define CH_CFG_USE_OBJ_CACHES               TRUE
+#endif
+
+/**
+ * @brief   Delegate threads APIs.
+ * @details If enabled then the delegate threads APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_DELEGATES)
+#define CH_CFG_USE_DELEGATES                TRUE
+#endif
+
+/**
+ * @brief   Jobs Queues APIs.
+ * @details If enabled then the jobs queues APIs are included
+ *          in the kernel.
+ *
+ * @note    The default is @p TRUE.
+ */
+#if !defined(CH_CFG_USE_JOBS)
+#define CH_CFG_USE_JOBS                     TRUE
+#endif
+
 /**
  * @brief   Dynamic Threads APIs.
  * @details If enabled then the dynamic threads creation APIs are included
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk b/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
index ea788a0c0c..ac2f2485ac 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
@@ -96,7 +96,7 @@ include $(CHIBIOS)/$(CHIBIOS_STARTUP_MK)
 # HAL-OSAL files (optional).
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/$(CHIBIOS_PLATFORM_MK)
-include $(CHIBIOS)/os/hal/osal/rt/osal.mk
+include $(CHIBIOS)/os/hal/osal/rt-nil/osal.mk
 # RTOS files (optional).
 include $(CHIBIOS)/os/rt/rt.mk
 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/common.ld b/libraries/AP_HAL_ChibiOS/hwdef/common/common.ld
index bdabc12869..a95325523c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/common.ld
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/common.ld
@@ -54,18 +54,18 @@ SECTIONS
 
     constructors : ALIGN(4) SUBALIGN(4)
     {
-        __init_array_start = .;
+        __init_array_base__ = .;
         KEEP(*(SORT(.init_array.*)))
         KEEP(*(.init_array))
-        __init_array_end = .;
+        __init_array_end__ = .;
     } > flash
 
     destructors : ALIGN(4) SUBALIGN(4)
     {
-        __fini_array_start = .;
+        __fini_array_base__ = .;
         KEEP(*(.fini_array))
         KEEP(*(SORT(.fini_array.*)))
-        __fini_array_end = .;
+        __fini_array_end__ = .;
     } > flash
 
     .text : ALIGN(4) SUBALIGN(4)
@@ -138,25 +138,25 @@ SECTIONS
         . = ALIGN(4);
         PROVIDE(_textdata = LOADADDR(.data));
         PROVIDE(_data = .);
-        _textdata_start = LOADADDR(.data);
-        _data_start = .;
+        __textdata_base__ = LOADADDR(.data);
+        __data_base__ = .;
         *(.data)
         *(.data.*)
         *(.ramtext)
         . = ALIGN(4);
         PROVIDE(_edata = .);
-        _data_end = .;
+        __data_end__ = .;
     } > DATA_RAM AT > flash
 
     .bss (NOLOAD) : ALIGN(4)
     {
         . = ALIGN(4);
-        _bss_start = .;
+        __bss_base__ = .;
         *(.bss)
         *(.bss.*)
         *(COMMON)
         . = ALIGN(4);
-        _bss_end = .;
+        __bss_end__ = .;
         PROVIDE(end = .);
     } > BSS_RAM
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/halconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/halconf.h
index 538f2100a7..85656700ed 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/halconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/halconf.h
@@ -43,7 +43,8 @@
 
 #pragma once
 #define _CHIBIOS_HAL_CONF_
-#define _CHIBIOS_HAL_CONF_VER_7_0_
+#define _CHIBIOS_HAL_CONF_VER_7_1_
+
 #include "mcuconf.h"
 
 /**
@@ -81,6 +82,13 @@
 #define HAL_USE_DAC                         FALSE
 #endif
 
+/**
+ * @brief   Enables the EFlash subsystem.
+ */
+#if !defined(HAL_USE_EFL) || defined(__DOXYGEN__)
+#define HAL_USE_EFL                         FALSE
+#endif
+
 /**
  * @brief Enables the GPT subsystem. We don't need it on most boards
  * in ArduPilot, so it is disabled by default