From f3319c7fc0ece171944afcfaa471b3613853967c 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 80ea40ef2a..40b9b79e0a 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/SPRacingH7/hwdef.dat @@ -13,6 +13,8 @@ OSCILLATOR_HZ 8000000 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*)