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HAL_ChibiOS: fixes for build with master ChibiOS

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This commit is contained in:
Andrew Tridgell 2020-01-20 14:20:30 +11:00
parent 230ca049c1
commit a7a4c08589
5 changed files with 54 additions and 13 deletions
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2
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -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;

35
libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h
View File

@ -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

2
libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
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@ -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

18
libraries/AP_HAL_ChibiOS/hwdef/common/common.ld
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@ -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

10
libraries/AP_HAL_ChibiOS/hwdef/common/halconf.h
View File

@ -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