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1045 Commits

Author SHA1 Message Date
Peter Barker dddd0d6a14 AP_HAL: remove HIL support 2021-06-15 09:47:31 +10:00
Tom Pittenger 806b6a63bf AP_HAL: reorganize precompiler for HAL_ENABLE_LIBUAVCAN_DRIVERS and HAL_MAX_PROTOCOL_DRIVERS 2021-06-09 18:36:18 +10:00
Andrew Tridgell 7c5c805381 AP_HAL: removed perf counters 2021-06-07 14:29:27 +10:00
Andrew Tridgell d8a6d9c5c4 AP_HAL: added uart_info() method 2021-06-05 18:52:33 +10:00
Andrew Tridgell 606c248e69 AP_HAL: fixed build on boards with no PWM 
this impacts mRoNexus builds
 2021-06-02 15:39:30 +10:00
bugobliterator ae80e2dd4d AP_HAL: move ToneAlarm Types to AP_Notify instead 2021-05-31 07:34:02 +10:00
Andy Piper 4f547d2acc AP_HAL: allow motor poles to be recorded 
enable ESC telemetry for SITL
 2021-05-12 17:01:11 +10:00
Andy Piper 4d4d3683b6 AP_HAL: add accessor for UART dma status 2021-05-05 17:50:42 +10:00
Andy Piper 3428cbf993 AP_HAL: add dshot command codes for beeps, leds and motor control 
allow more than one type of ESC for dshot commands
add support for checks around active ESCs
allow dshot alarm to be disabled
allow prioritized dshot commands
 2021-05-05 17:41:24 +10:00
Jacob Walser f7da853adb AP_HAL: update hardware definitions for navigator r3 2021-04-07 15:08:18 -04:00
Jacob Walser 421638453f AP_HAL: update Notify LED hardware for navigator r3 2021-04-07 15:08:18 -04:00
Andy Piper f29dba2ddd AP_HAL: add set_dshot_rate() 2021-04-06 10:24:04 +10:00
Andrew Tridgell ebc1f9acf6 AP_HAL: removed assert calls 
these waste flash space and do not do us any good
 2021-03-25 14:03:40 +11:00
Andrew Tridgell 7010eae9e8 AP_HAL: remember details of register check fails 
this allows for logging of register resets
 2021-02-24 18:18:37 +11:00
Andy Piper a07b238c7d AP_HAL: add PRIORITY_RCOUT 
don't allow UART copies
add @SYS/uarts.txt
 2021-02-20 14:37:11 +11:00
Patrick José Pereira 12cd138030 AP_HAL: Remove pointer check before delete 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-04 09:01:19 +11:00
Andy Piper 0eff201016 AP_HAL: add mem_info() 
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
 2021-02-03 23:35:44 +11:00
Patrick José Pereira 6899c0b5af AP_HAL: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Arsh 18f56fbac5 AP_HAL:examples:Printf: Improvements in the Printf example 2021-02-03 13:02:49 +11:00
Andrew Tridgell 6163659887 AP_HAL: prevent a single bad transfer causing an IMU to be marked unhealthy 
This is a response to this issue:
https://discuss.ardupilot.org/t/gyro-problem-after-waypoint-log-analisys

The 2nd gyro went bad with a large offset. Then the first gyro was
marked unhealthy, forcing the EKF to switch to the 2nd gyro. That
resulted in a crash.

I think the SPI bus was getting bad transfers and the register check
code happened to get a bad transfer, thereby marking the first gyro
unhealthy

This change ensures we only fail the register check if two transfers
in a row are bad. This makes it much less likely that a noisy bus will
lead to an unhealthy gyro
 2021-01-27 09:47:55 +11:00
Andrew Tridgell 1680e6e7d6 AP_HAL: expose load_persistent_params() in hal.util 2021-01-21 13:09:21 +11:00
Andrew Tridgell a9f8c9517c AP_HAL: added vnav linux target 2021-01-20 10:06:45 +11:00
Andrew Tridgell 6ca68bfba3 AP_HAL: enable 32k storage on SITL 2021-01-16 06:47:10 +11:00
Andrew Tridgell 75c789fc57 AP_Baro: added ExternalAHRS backend 2021-01-05 21:13:12 +11:00
Arsh 3d5addeee0 AP_HAL:examples:AnalogIn: Added comments in the AnalogIn example 2021-01-05 20:43:04 +11:00
Andrew Tridgell 96cbde0ee6 AP_HAL: use ExpandingString class 2021-01-05 10:52:00 +11:00
Tom Pittenger afaca30075 AP_HAL: add helpers le24toh_ptr(), be24toh_ptr(), put_le24_ptr(), put_be24_ptr() 2020-12-30 17:56:38 -08:00
Andy Piper 1c79f22ba2 AP_HAL: make erpm accessible from RCOutput 
give access to erpm error rate
add bi-directional dshot mask modifier
 2020-12-30 19:14:16 +11:00
Andy Piper 9e7c60178d AP_HAL: rename system_initialized() and add is_system_initialized() 2020-12-30 18:16:59 +11:00
Andy Piper c8e464ebea AP_HAL: add HAL_ENABLE_THREAD_STATISTICS to boards 2020-12-30 18:15:05 +11:00
Ari Krupnik cfb1213f43 AP_HAL: standard spelling of variant 2020-12-25 00:01:50 +11:00
Andrew Tridgell 19723e6e75 AP_HAL: make uart pointers private 
this ensures they cannot be used by library or vehicle code, so we
will be able to remove them in future
 2020-12-15 10:32:46 +11:00
Andrew Tridgell 195ec0316a AP_HAL: fixed example fw for SERIAL naming 2020-12-15 10:32:46 +11:00
Andrew Tridgell 95c0852b13 AP_HAL: convert to using hal.serial() instead of hal.uartX 2020-12-15 10:32:46 +11:00
Andrew Tridgell 8678759da4 AP_HAL: added hal.serial() access to uarts 
this gives access to serial ports in the SERIALn_ order. It is inlined
by the compiler so using hal.uartB and hal.serial(3) generates
idential code on stm32 (tested on H7).

This is a step towards eliminating hal.uartX completely and the
horrible uartB ordering
 2020-12-15 10:32:46 +11:00
Tom Pittenger 6630645915 AP_HAL: ap_periph should disable HAL_SUPPORT_RCOUT_SERIAL by default 2020-12-09 07:53:09 -08:00
Andy Piper d2e01005ee AP_HAL: add support for @SYS/dma.txt for DMA contention 2020-12-02 18:17:23 +11:00
Andrew Tridgell 68fdf033ee AP_HAL: support uartI, allowing a total of 9 uarts 
this allows for OTG2 on the MatekH743 board, which makes SLCAN much
easier
 2020-11-30 14:09:31 +11:00
Tom Pittenger 089f3aa349 AP_HAL: allow hwdef to define HAL_SUPPORT_RCOUT_SERIAL - must be disabled for AP_Periph 2020-11-25 14:20:53 +11:00
Andrew Tridgell 5e8380ff41 AP_HAL: allow replay on ChibiOS 2020-11-10 16:15:45 +11:00
Andrew Tridgell 2596875ceb AP_HAL: removed fs_init() 
this must go via AP_Filesystem
 2020-10-27 10:45:03 +11:00
Peter Barker 3cce6197a1 AP_HAL: delete copy constructors 2020-10-13 19:55:34 +11:00
Pierre Kancir 1c80b04544 AP_HAL: add virtual set_cmdline_parameters() 2020-10-13 10:31:21 +11:00
Peter Barker 9bde294112 AP_HAL: add chargen UARTDriver example 2020-10-09 19:14:59 +11:00
bugobliterator d1eb9e8aea AP_HAL: add FilteredCAN mode to tell driver to init as such 2020-10-08 09:31:35 +11:00
mhefny 1200d0e2f8 AP_HAL: add PROBE_IMU_I2C2 to linux.h 2020-10-06 09:27:26 -07:00
Andrew Tridgell c62b86e3c1 AP_HAL: added timer_tick() on GPIO 2020-10-02 09:38:24 +10:00
Siddharth Purohit 22ab426cf2 AP_HAL: make bools to use single bit in CANTxItem 2020-09-24 12:32:19 +10:00
Siddharth Purohit 0ca2f56b71 AP_HAL: add support for external buffer to be used in ByteBuffer 2020-09-24 12:32:19 +10:00
Siddharth Purohit 9aa0970eed AP_HAL: disable protocol drivers for bootloader builds 2020-09-24 12:32:19 +10:00
Siddharth Purohit c7d69e4d13 AP_HAL: disable CAN Protocol Drivers for AP_Periph 2020-09-24 12:32:19 +10:00
Andy Piper ad895c2654 AP_HAL: ringbuffer get_size cannot be const because of semaphore 2020-09-22 09:37:02 +10:00
Andrew Tridgell 4b1552eebe AP_HAL: added BUS_TYPE_MSP 
for MSP sensors
 2020-09-09 06:35:50 +10:00
Peter Barker 55f72c1534 AP_HAL: create and use new AP_HAL::PWMSource object 2020-09-08 16:10:50 +10:00
Michael du Breuil d905282c1e AP_HAL: Don't redefine allowing double math in SITL/Linux if already defined 2020-09-03 09:56:29 +10:00
Patrick José Pereira 11c19a2dde AP_HAL: RCOutput_Tap_Linux: Include arm/ioctls.h 
Add missing include for TCGETS2 while compile with MUSL

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-08-25 07:15:00 -07:00
Siddharth Purohit 15abca8ba4 AP_HAL: add native clock info methods used inside other than main thread 2020-08-19 17:31:09 +10:00
Siddharth Purohit aa893b3983 AP_HAL: add available method for locked state 2020-08-19 17:31:09 +10:00
Siddharth Purohit fa0f1e4c71 AP_HAL: add CANIface HAL, replace uavcan dependent one 2020-08-19 17:31:09 +10:00
Siddharth Purohit 697e4141cb AP_HAL: add common Event interface 2020-08-19 17:31:09 +10:00
Peter Barker 26666b4b3d AP_HAL: move battery type enumeration out of parameters object 2020-08-11 13:21:52 +10:00
bugobliterator 57dd0ca9ea AP_HAL: add support for Bank based addressing 2020-08-06 12:41:35 +10:00
Andy Piper d545f392fb AP_HAL: set base type of FrequencyPeak to uint8_t 2020-08-05 17:20:03 +10:00
Siddharth Purohit d31b44fa79 AP_HAL: add methods to extract devid details 2020-07-27 19:48:15 +10:00
Michael du Breuil 1fef30eef1 AP_HAL: Extend UART options to include forwarding MAVLink telemetry 2020-07-22 07:17:49 +10:00
Peter Barker bd8c4017bc AP_HAL: log accumulated power status flags; all flags ever set 2020-07-21 09:12:14 +10:00
Peter Barker 85b1264ff4 AP_HAL: add WARN_IF_UNUSED to several methods 2020-07-20 10:19:47 +09:00
Andrew Tridgell 19093e25be AP_HAL: added ptr accessors to sparse-endian.h 2020-07-07 10:23:00 +10:00
Peter Barker fd3dd77489 AP_HAL: rename ringbuffer empty() to is_empty() 2020-06-09 10:21:48 +10:00
Peter Barker d259c03079 AP_HAL: BetterStream add a read(uint8_t*buffer, uint16_t count method 2020-05-26 15:59:11 +10:00
Peter Barker a8d03990ec AP_HAL: add discard_input method on UARTDriver 2020-05-26 09:20:32 +10:00
Andy Piper e2ef0bd36e AP_HAL: collect data for three largest peaks 
new dsp peak detection algorithm
add DSP sketch with frequency ascii art
tool to generate gyro data frames from batch sampled DF logs
add generated data from real Y6B flight
allow fft_start() to use ObjectBuffer<float> for lock-free access
allow ObjectBuffer to be resized
 2020-05-24 07:43:34 +10:00
Peter Barker 141d7fed48 AP_HAL: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Andrew Tridgell a25ea5addc AP_HAL: added thread name to persistent data 
this addes the first 4 bytes of the thread name to persistent data. It
also re-arranges the data so that it is more efficiently packed,
allowing us to fit the new field
 2020-04-29 07:36:55 +10:00
Andrew Tridgell 164022ca12 AP_HAL: added thread_info() API 2020-04-29 07:36:55 +10:00
Andrew Tridgell 34df438560 AP_HAL: added wait_pin() API 
for waiting on data-ready lines
 2020-04-23 07:28:13 +10:00
Andrew Tridgell efe78fe3e1 AP_HAL: allow SITL to emulate 3 different types of flash storage 2020-04-14 10:02:51 +10:00
Andrew Tridgell e1792f89db AP_HAL: fixed default HAL_STORAGE_SIZE for flash storage 2020-04-14 10:02:51 +10:00
Peter Barker 73e43d8da5 AP_HAL: send statustext at regular intervals after watchdog reset 2020-03-31 14:30:11 +11:00
bugobliterator afea703aaf AP_HAL: ensure libc realloc is available for all platforms except ChibiOS 2020-03-24 10:32:14 +11:00
bugobliterator c615bd9874 AP_HAL: implement standard realloc method 2020-03-24 10:32:14 +11:00
Peter Barker a59c3670c8 AP_HAL_ChibiOS: stash lr_thd in watchdog hardfault handler 2020-03-19 16:03:58 +11:00
Andrew Tridgell add7615ed9 AP_HAL: removed unnecessary subtypes 2020-03-14 08:35:32 +11:00
Andrew Tridgell 58b4b523fd AP_HAL: added in_expected_delay() 
allows for error message suppression when delays are expected
 2020-03-11 16:30:06 +11:00
Peter Hall 6ab13333c2 AP_HAL: support ProfiLEDs 2020-03-10 10:37:26 +11:00
Peter Barker 09562e1f13 AP_HAL_Linux: use constants for high/low rather than defines, like ChibiOS 
These are really bad defines to have hanging around for general use.
 2020-03-03 10:46:06 +11:00
Andrew Tridgell 5d15d867b5 AP_HAL: adjust LED API to allow more than 32 LEDs on a pin 2020-02-27 13:12:26 +11:00
Andy Piper 509341957f AP_HAL: check for div0 in quinn's estimator 2020-02-25 08:35:09 +11:00
Andy Piper f4a99a1589 AP_HAL: hardware abstraction for FFT. 
control inclusion of FFT based on HAL_WITH_DSP and HAL_GYROFFT_ENABLED. target appropriate ARM cpus
define hanning window and quinn's estimator
start/analyse version of FFT to support threading
allocate memory in a specific region
calculate frequency and noise bandwidth of two noisiest peaks
control inclusion of DSP based on board size
 2020-02-22 11:15:37 +11:00
Peter Hall 2bd6d4674b AP_HAL: utility: add thread safe ring buffer duplicate 2020-02-12 07:05:05 +11:00
Willian Galvani 4afdff746e AP_HAL: Fix Navigator orientation 
The Rev2 prototype board had the IMU rotated
 2020-02-04 22:47:16 -05:00
Randy Mackay a71ae54d3a AP_HAL: add RCOutput::get_output_mode_banner 2020-02-04 12:23:33 +11:00
Andrew Tridgell 3105c6a050 AP_HAL: added pulse_input_enable() API 
this allows disabling pulse input at runtime to lower CPU load on
IOMCU when decoding via a UART
 2020-01-31 11:09:07 +11:00
Peter Barker 1344827c07 AP_HAL: add empty overridable trap method 2020-01-29 10:27:01 +11:00
Andrew Tridgell f683741a9c AP_HAL: make all semaphores recursive 
the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
 2020-01-19 20:19:30 +11:00
Andrew Tridgell 629ebbb8ea AP_HAL: removed old PX4 define 2020-01-18 17:01:40 +11:00
Patrick José Pereira dc44a17c46 AP_HAL: Add navigator board 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-01-16 08:01:54 +11:00
Peter Barker f6bb94ff33 AP_HAL: add missing break statement in dsm code 2020-01-15 13:55:42 +11:00
Andrew Tridgell 4eccea2607 AP_HAL: define more UART option bits 2020-01-03 17:32:23 +11:00
Andrew Tridgell 12b6f73d83 AP_HAL: added erase() method to Storage class 2020-01-02 09:52:57 +11:00
Andy Piper 22d6fd5e1f AP_HAL: update docs for ObjectBuffer 2019-12-10 21:07:58 +11:00
Peter Barker 10c50844fd AP_HAL: stop emitting extra CR before a LF as part of our printf 2019-11-08 17:37:04 +11:00
Peter Barker 3f9a4ee5f9 AP_HAL: fix unit test compilation due to -Werror=format-truncation 2019-11-06 21:42:18 +11:00
Andrew Tridgell 29a2351fd0 AP_HAL: rename AP_HAL::CAN to AP_HAL::CANHal 
avoid conflict with ChibiOS STM32F3xx headers
 2019-11-01 10:53:53 +11:00
Andrew Tridgell 9a778418a5 AP_HAL: use enum for flash_bootloader() result 2019-10-25 21:36:55 +11:00
Andrew Tridgell 15d98220e0 AP_HAL: enabled SLCAN on fmuv2 and Pixhawk1-1M 
this fits for now, and is needed for CAN GPS for now
 2019-10-08 10:02:14 +11:00
Andrew Tridgell 53fab5767f AP_HAL: cleanup ifdefs for SLCAN enable 2019-10-08 10:02:14 +11:00
Andrew Tridgell 2d00298070 AP_HAL: added HAL_MEM_CLASS for amount of memory 2019-10-01 09:29:55 +10:00
Andrew Tridgell 81711eb28e AP_HAL: fixed build on g++ 7.3 for stm32 
the system maths headers don't like our maths defines, but are happy
if we include math.h first
 2019-09-28 14:19:46 +10:00
Peter Barker 5dad0e5410 AP_HAL: a few more simple tests for snprintf 2019-09-12 16:08:59 +10:00
Peter Barker 412bf24b9a AP_HAL: add gtests for snprintf 2019-09-12 07:42:40 +10:00
Peter Barker 10675ab5c4 AP_HAL: correct include ordering in srxl.h 
The header needs stdint.h which it was only getting because it was
included after stdint.h in the cpp file.

Stop including standard headers before other ArduPilot headers
 2019-09-11 14:19:14 +10:00
Andrew Tridgell 4197fdeb2a AP_HAL: fixed bug in vsnprintf() 
we need to return the number of bytes that would have been printed if
the buffer was big enough to support use cases such as vasprintf()
which needs to know how many bytes to allocate
 2019-09-11 13:41:03 +10:00
Andrew Tridgell 1cb608a9f4 AP_HAL: allow neopixel LEDs to be set more flexibly 
allow for N leds per chain, with RGB control of each
 2019-09-10 13:03:28 +10:00
Tom Pittenger e3416b66dc AP_HAL_ChibiOS: add Neopixel output type, similar to dshot 2019-09-10 13:03:28 +10:00
Andrew Tridgell 6983186210 AP_HAL: added get_options() method on UARTs 2019-09-06 08:51:45 +10:00
Andrew Tridgell 2bc7db4cca AP_HAL: removed old HAL_COMPASS_ defines (no longer used) 2019-09-04 16:27:47 +10:00
Andrew Tridgell 43e011c7a8 AP_HAL: convert Linux compass specification to new probe list 
this avoids the special handling in AP_Compass library
 2019-09-04 16:27:47 +10:00
Michael du Breuil c12652b325 AP_Rangefinder: Remove stop pin usage 2019-09-04 09:54:50 +10:00
Michael du Breuil 927a0521e3 AP_HAL: Remove the empty force_safety_no_wait 2019-09-04 07:14:50 +10:00
Andrew Tridgell 7fa6eeaaed AP_HAL: remove unused HAL_BARO_ defines 2019-08-28 06:54:11 +10:00
Andrew Tridgell 9d94598235 AP_HAL: convert linux boards to use baro probe list 2019-08-28 06:54:11 +10:00
Andrew Tridgell 60a6f1b04a AP_HAL: removed most HAL_INS_* defines 
not used any more
 2019-08-28 06:54:11 +10:00
Andrew Tridgell 96180018fb AP_HAL: convert HAL_Linux to use HAL_INS_PROBE_LIST 
makes for much simpler addition of new boards, especially with more
than one IMU
 2019-08-28 06:54:11 +10:00
Andrew Tridgell 24e05e96e7 AP_HAL: define support for LIS3MDL_I2C and RM3100_SPI 2019-08-27 10:29:56 +10:00
Michael du Breuil e47f97c5d3 AP_HAL: Fix bad buffer termination 2019-08-26 18:57:59 +01:00
Andrew Tridgell 9741ac0b64 AP_HAL: added I2C ISR count to PersistentData 2019-08-26 09:13:39 +10:00
Andrew Tridgell c5c96c76ee AP_HAL: added logging of hardware fault information in watchdog 
this may help trackdown software bugs that trigger hard faults
 2019-07-19 16:02:41 +10:00
murata 2e4dda5ece AP_HAL: Match output type and variable type 2019-07-16 10:11:13 +10:00
Andrew Tridgell bee487e9da AP_HAL: added uartH 2019-07-12 17:01:21 +10:00
Siddharth Purohit c50912ed6a AP_HAL: define HAL_HAVE_DUAL_USB_CDC if not defined 2019-07-12 17:01:21 +10:00
Andrew Tridgell 5ffb8bb546 AP_HAL: enable GPIO scripting on the Disco 2019-07-06 09:02:54 +10:00
Andrew Tridgell 0ca71ba725 AP_HAL: added get_last_armed_change() Util function 2019-06-21 11:40:53 +10:00
Peter Barker 92111eea61 AP_HAL: require HALs implement rcin.protocol() to return RC protocol 2019-06-18 11:35:38 +10:00
Peter Barker b902316139 AP_HAL: remove buggy write implementation 2019-06-17 17:20:57 +10:00
Peter Barker c3a99c8eb0 AP_HAL: move dump_strack_trace into HAL 
Use a weak definition to allow subclasses to override
 2019-06-13 09:25:42 +10:00
heitiane 931367a7ea AP_HAL: fix RCOutput, RCOutput2 and RCInputToRCOutput examples to prevent the failure of reading and writing channels. 2019-06-11 10:27:44 +10:00
Vincent 3177d24429 AP_HAL: Make linux hardware define more readable 2019-06-04 10:00:09 +10:00
Andrew Tridgell 4c5b651296 AP_HAL: removed board type for mRoControlZeroF7 2019-05-30 15:39:57 +10:00
Pierre Kancir a4330f90b1 AP_HAL: add HAL_BARO_LPS22H_I2C 2019-05-22 07:37:20 +10:00
Patrick José Pereira fe3d4e2c3b AP_HAL: Utility: Add missing header guard in packetise 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-05-20 23:50:23 +01:00
Andrew Tridgell e64c5ef354 AP_HAL: added SPI and I2C counters 2019-05-17 08:56:06 +10:00
Andrew Tridgell 911a99b79e AP_HAL: removed hal argument to EXPECT_DELAY_MS() 2019-05-15 15:33:48 +10:00
Andrew Tridgell c786674442 AP_HAL: record mavlink msg IDs and semaphore line 2019-05-15 15:33:48 +10:00
Andrew Tridgell b1ed77bee9 AP_HAL: added EXPECT_DELAY() macro 
this prevents nesting errors in use of EXPECT_DELAY(), ensuring we
always close the expected delay
 2019-05-15 15:33:48 +10:00
Andrew Tridgell 8f973da4b5 AP_HAL: moved the WITH_SEMAPHORE() logic into AP_HAL 
this is needed to allow us to record the location of a blocking
semaphore to track down bugs where we have a semaphore deadlock
 2019-05-15 15:33:48 +10:00
Andrew Tridgell 45d5e7f6d2 AP_HAL: added persistance for internal errors 2019-05-15 15:33:48 +10:00
Andrew Tridgell 4b298aa80e AP_HAL: add scheduler state to persistent_data 2019-05-15 15:33:48 +10:00
Andrew Tridgell 11c123e4da AP_HAL: added persistent_data structure 
this is a much simpler way to save data for a watchdog reset
 2019-05-15 15:33:48 +10:00
Phillip Kocmoud db57b6c4f3 AP_HAL: added DPS280 on SPI / added board type for mRoControlZeroF7 2019-05-10 15:05:42 +10:00