From e89eb34d55f12f12afc3821b944710dbed17d7a9 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Thu, 31 Mar 2022 21:33:23 +0100 Subject: [PATCH] AP_HAL_ChibiOS: add I2C and compass backend to drivers in memory on H750 move more of EKF into memory on H750 move rc handling into memory on H750 disable double math on SPRacing H7 --- libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7/hwdef.dat | 2 ++ libraries/AP_HAL_ChibiOS/hwdef/common/common_extf.ld | 12 ++++++++++-- 2 files changed, 12 insertions(+), 2 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7/hwdef.dat index bad4197e5e..13538e105f 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7/hwdef.dat @@ -15,6 +15,8 @@ MCU_CLOCKRATE_MHZ 480 env OPTIMIZE -O2 +define HAL_WITH_EKF_DOUBLE 0 + STM32_ST_USE_TIMER 2 # internal flash is off limits diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf.ld b/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf.ld index 4aec753fb9..87423bd42d 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf.ld +++ b/libraries/AP_HAL_ChibiOS/hwdef/common/common_extf.ld @@ -135,6 +135,7 @@ SECTIONS lib/lib*.a:*Filter.*(.text* .rodata*) lib/lib*.a:*Filter2p.*(.text* .rodata*) lib/lib*.a:SPIDevice.*(.text* .rodata*) + lib/lib*.a:I2CDevice.*(.text* .rodata*) lib/lib*.a:Util.*(.text* .rodata*) lib/lib*.a:Device.*(.text* .rodata*) lib/lib*.a:Scheduler.*(.text* .rodata*) @@ -143,8 +144,15 @@ SECTIONS lib/lib*.a:crc.*(.text* .rodata*) lib/lib*.a:matrixN.*(.text* .rodata*) lib/lib*.a:matrix_alg.*(.text* .rodata*) - lib/lib*.a:AP_NavEKF*.*(.text* .rodata*) - lib/lib*.a:EKFGSF*.*(.text* .rodata*) + lib/lib*.a:AP_NavEKF3*.*(.text* .rodata*) + lib/lib*.a:AP_NavEKF_*.*(.text* .rodata*) + lib/lib*.a:EKF*.*(.text* .rodata*) + lib/lib*.a:AP_Compass_Backend.*(.text* .rodata*) + lib/lib*.a:AP_RCProtocol_Backend.*(.text* .rodata*) + lib/lib*.a:AP_RCProtocol.*(.text* .rodata*) + lib/lib*.a:AP_RCProtocol_CRSF.*(.text* .rodata*) + lib/lib*.a:AP_RCTelemetry.*(.text* .rodata*) + lib/lib*.a:AP_CRSF_Telem.*(.text* .rodata*) lib/lib*.a:vector2.*(.text* .rodata*) lib/lib*.a:quaternion.*(.text* .rodata*) lib/lib*.a:polygon.*(.text* .rodata*)