From e11c94602b3c51e275f95efbc625ab4873c2a243 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 25 Jun 2021 14:24:27 +1000
Subject: [PATCH] HAL_ChibiOS: define HAL_HAVE_HARDWARE_DOUBLE on F765, F777
 and H7

---
 .../AP_HAL_ChibiOS/hwdef/scripts/STM32F767xx.py      |  4 ++++
 .../AP_HAL_ChibiOS/hwdef/scripts/STM32F777xx.py      |  4 ++++
 .../AP_HAL_ChibiOS/hwdef/scripts/STM32H743xx.py      |  4 ++++
 .../AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py    | 12 ++++++++++++
 4 files changed, 24 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F767xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F767xx.py
index 40af97798c..f73162d3dc 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F767xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F767xx.py
@@ -42,6 +42,10 @@ mcu = {
     # this MCU has M7 instructions and hardware double precision
     'CORTEX'    : 'cortex-m7',
     'CPU_FLAGS' : '-mcpu=cortex-m7 -mfpu=fpv5-d16 -mfloat-abi=hard',
+
+    'DEFINES' : {
+        'HAL_HAVE_HARDWARE_DOUBLE' : '1'
+    }
 }
 
 DMA_Map = {
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F777xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F777xx.py
index a0f2c9ede1..67d59a4aae 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F777xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F777xx.py
@@ -39,6 +39,10 @@ mcu = {
     # this MCU has M7 instructions and hardware double precision
     'CORTEX'    : 'cortex-m7',
     'CPU_FLAGS' : '-mcpu=cortex-m7 -mfpu=fpv5-d16 -mfloat-abi=hard',
+
+    'DEFINES' : {
+        'HAL_HAVE_HARDWARE_DOUBLE' : '1'
+    }
 }
 
 DMA_Map = {
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H743xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H743xx.py
index 5fe36da577..1eacf9ec89 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H743xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H743xx.py
@@ -39,6 +39,10 @@ mcu = {
     # this MCU has M7 instructions and hardware double precision
     'CORTEX'    : 'cortex-m7',
     'CPU_FLAGS' : '-mcpu=cortex-m7 -mfpu=fpv5-d16 -mfloat-abi=hard',
+
+    'DEFINES' : {
+        'HAL_HAVE_HARDWARE_DOUBLE' : '1'
+    }
 }
 
 pincount = {
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 373ba80957..d74d9a020d 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -712,6 +712,12 @@ def write_mcu_config(f):
     if 'OTG2' in bytype:
         f.write('#define STM32_USB_USE_OTG2                  TRUE\n')
 
+    defines = get_mcu_config('DEFINES', False)
+    if defines is not None:
+        for d in defines.keys():
+            v = defines[d]
+            f.write("#ifndef %s\n#define %s %s\n#endif\n" % (d, d, v))
+
     if get_config('PROCESS_STACK', required=False):
         env_vars['PROCESS_STACK'] = get_config('PROCESS_STACK')
     else:
@@ -812,6 +818,12 @@ def write_mcu_config(f):
         env_vars['CPU_FLAGS'] = ["-mcpu=%s" % cortex, "-mfpu=fpv4-sp-d16", "-mfloat-abi=hard"]
         build_info['MCU'] = cortex
 
+    f.write('''
+#ifndef HAL_HAVE_HARDWARE_DOUBLE
+#define HAL_HAVE_HARDWARE_DOUBLE 0
+#endif
+''')
+
     if get_mcu_config('EXPECTED_CLOCK'):
         f.write('#define HAL_EXPECTED_SYSCLOCK %u\n' % get_mcu_config('EXPECTED_CLOCK'))