CONFIG_HAL_BOARD - test sketches fixed up, build all passes

libraries/AC_PID/examples/AC_PID_test/AC_PID_test.pde

@@ -11,7 +11,11 @@
 #include <AP_Param.h>
 #include <AC_PID.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 // default PID values
 #define TEST_P 1.0

libraries/APM_OBC/examples/trivial_APM_OBC/trivial_APM_OBC.pde

@@ -7,7 +7,12 @@
 #include <APM_OBC.h>
 
 #include <AP_HAL_AVR.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 void setup () {
     hal.console->println_P(PSTR("Unit test for APM_OBC. This sketch"

libraries/AP_ADC/examples/AP_ADC_test/AP_ADC_test.pde

@@ -7,12 +7,17 @@
 #include <math.h>
 
 #include <AP_Common.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
 #include <AP_Progmem.h>
+
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 
 #include <AP_ADC.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
+/* Only build this sketch for APM1 */
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
 
 AP_ADC_ADS7844 adc;
@@ -67,7 +72,7 @@ static void show_data()
         /* clearly out of bounds values: */
         min[i] = 99999999.0f;
         max[i] = -88888888.0f;
-    }
+    
 
 
     do {
@@ -101,4 +106,11 @@ void loop()
     }
 }
 
+#else // Non-APM1:
+#warning AP_ADC_test built as stub for APM2
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+void setup () {}
+void loop () {}
+#endif  // CONFIG_HAL_BOARD
+
 AP_HAL_MAIN();

libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde

@@ -23,13 +23,10 @@
 
 #include <AP_HAL_AVR.h>
 
-/* Only testing with APM2 for now. */
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
-#define APM2_HARDWARE
-
-#ifdef APM2_HARDWARE
-AP_InertialSensor_MPU6000 ins;
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
-# else
+AP_InertialSensor_MPU6000 ins;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
 AP_ADC_ADS7844 adc;
 AP_InertialSensor_Oilpan ins( &adc );
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
@@ -51,7 +48,7 @@ AP_Baro_BMP085_HIL barometer;
 #define HIGH 1
 #define LOW 0
 
-#ifdef APM2_HARDWARE
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
  # define A_LED_PIN        27
  # define C_LED_PIN        25
  # define LED_ON           LOW

libraries/AP_Airspeed/examples/Airspeed/Airspeed.pde

@@ -19,7 +19,11 @@
 #include <AP_Buffer.h>
 #include <AP_Airspeed.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 AP_Airspeed airspeed;
 

libraries/AP_Baro/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde

@@ -18,6 +18,8 @@
 
 #include <AP_HAL_AVR.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
+/* Build this example sketch only for the APM1. */
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
 
 AP_Baro_BMP085 bmp085(0);
@@ -65,4 +67,11 @@ void loop()
     }
 }
 
+#else // Non-APM1
+#warning AP_Baro_BMP085_test built as stub for APM2
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+void setup() {}
+void loop() {}
+#endif
+
 AP_HAL_MAIN();

libraries/AP_Baro/examples/AP_Baro_MS5611_test/AP_Baro_MS5611_test.pde

@@ -4,14 +4,15 @@
 #include <AP_Param.h>
 #include <AP_Math.h>
 #include <AP_HAL.h>
-#include <AP_HAL_AVR.h>
-
-const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
-
 #include <AP_Buffer.h>
 #include <Filter.h>
 #include <AP_Baro.h>
 
+#include <AP_HAL_AVR.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+
 AP_Baro_MS5611 baro;
 static uint32_t timer;
 
@@ -55,4 +56,11 @@ void loop()
     }
 }
 
+#else // Non-APM2
+#warning AP_Baro_MS5611_test built as stub for APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+void setup () {}
+void loop () {}
+#endif
+
 AP_HAL_MAIN();

libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde

@@ -13,7 +13,11 @@
 #include <AP_Declination.h>
 #include <AP_Compass.h> // Compass Library
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 AP_Compass_HMC5843 compass;
 uint32_t timer;

libraries/AP_Declination/examples/AP_Declination_test/AP_Declination_test.pde

@@ -10,7 +10,12 @@
 #include <Filter.h>
 
 #include <AP_HAL_AVR.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 static const int16_t dec_tbl[37][73] = \
 { \

libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.pde

@@ -13,7 +13,11 @@
 #include <AP_GPS.h>
 #include <AP_Math.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 GPS         *gps;
 AP_GPS_Auto GPS(hal.uartB, &gps);

libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde

@@ -15,7 +15,11 @@
 #include <AP_GPS.h>
 #include <AP_Math.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 AP_GPS_MTK16 gps(hal.uartB);
 #define T6 1000000

libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde

@@ -15,7 +15,11 @@
 #include <AP_GPS.h>
 #include <AP_Math.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 AP_GPS_UBLOX gps(hal.uartB);
 #define T6 1000000

libraries/AP_HAL_AVR/examples/AnalogIn/AnalogIn.pde

@@ -1,10 +1,17 @@
 
 #include <AP_Common.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
 #include <AP_Progmem.h>
+
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 AP_HAL::AnalogSource* ch0;
 AP_HAL::AnalogSource* ch1;

libraries/AP_HAL_AVR/examples/ArduCopterLibs/ArduCopterLibs.pde

@@ -35,7 +35,11 @@
 #include <GCS_MAVLink.h>
 #include <memcheck.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 
 void stream_loopback(AP_HAL::Stream* s, uint32_t time) {

libraries/AP_HAL_AVR/examples/ArduPlaneLibs/ArduPlaneLibs.pde

@@ -30,7 +30,11 @@
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 
 void stream_loopback(AP_HAL::Stream* s, uint32_t time) {

libraries/AP_HAL_AVR/examples/Console/Console.pde

@@ -7,12 +7,18 @@
 //
 
 #include <AP_Common.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
 #include <AP_Progmem.h>
+
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
-
+#endif
 
 void stream_loopback(AP_HAL::Stream* s, uint32_t time) {
     uint32_t end = hal.scheduler->millis() + time;

libraries/AP_HAL_AVR/examples/I2CDriver_HMC5883L/I2CDriver_HMC5883L.pde

@@ -5,11 +5,18 @@
 *******************************************/
 
 #include <AP_Common.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
 #include <AP_Progmem.h>
+
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 
-const AP_HAL_AVR::HAL_AVR& hal = AP_HAL_AVR_APM2;
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 #define HMC5883L  0x1E
 

libraries/AP_HAL_AVR/examples/LCDTest/LCDTest.pde

@@ -38,13 +38,20 @@
 // include the library code:
 
 #include <AP_Common.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
 #include <AP_Progmem.h>
+
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 
 #include "LCrystal.h"
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 // initialize the library with the numbers of the interface pins
 LiquidCrystal lcd(8, 9, 4, 5, 6, 7);

libraries/AP_HAL_AVR/examples/RCInputTest/RCInputTest.pde

@@ -1,10 +1,17 @@
 
 #include <AP_Common.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
 #include <AP_Progmem.h>
+
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 void multiread(AP_HAL::RCInput* in) {
     /* Multi-channel read method: */

libraries/AP_HAL_AVR/examples/RCPassthroughTest/RCPassthroughTest.pde

@@ -1,10 +1,17 @@
 
 #include <AP_Common.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
 #include <AP_Progmem.h>
+
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 void multiread(AP_HAL::RCInput* in, uint16_t* channels) {
     /* Multi-channel read method: */

libraries/AP_HAL_AVR/examples/SPIDriver_MPU6000/SPIDriver_MPU6000.pde

@@ -5,7 +5,10 @@
 *******************************************/
 
 #include <AP_Common.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
 #include <AP_Progmem.h>
+
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 
@@ -15,9 +18,11 @@
 // debug only:
 #include <avr/io.h>
 
-const AP_HAL_AVR::HAL_AVR& hal = AP_HAL_AVR_APM2;
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
-
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
-const uint8_t _baro_cs_pin = 40;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 AP_HAL::SPIDeviceDriver* spidev;
 
@@ -110,17 +115,6 @@ static void setup() {
     hal.console->printf_P(PSTR("Initializing MPU6000\r\n"));
     spidev = hal.spi->device(AP_HAL::SPIDevice_MPU6000);
 
-#if 0
-    /* Setup the barometer cs to stop it from holding the bus */
-    hal.gpio->pinMode(_baro_cs_pin, GPIO_OUTPUT);
-    hal.gpio->write(_baro_cs_pin, 1);
-#endif
-
-    spidev->cs_assert();
-    uint8_t spcr = SPCR;
-    uint8_t spsr = SPSR;
-    spidev->cs_release();
-
     mpu6k_init();
 }
 

libraries/AP_HAL_AVR/examples/Scheduler/Scheduler.pde

@@ -1,10 +1,17 @@
 
 #include <AP_Common.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
 #include <AP_Progmem.h>
+
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 /** 
  * You'll want to use a logic analyzer to watch the effects of this test.

libraries/AP_HAL_AVR/examples/Storage/Storage.pde

@@ -1,10 +1,17 @@
 
 #include <AP_Common.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
 #include <AP_Progmem.h>
+
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 uint8_t fibs[12] = { 1, 1, 2, 3, 5, 8, 13, 21, 34, 55, 89, 144 };
 

libraries/AP_HAL_AVR/examples/UARTDriver/UARTDriver.pde

@@ -7,11 +7,18 @@
 //
 
 #include <AP_Common.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
 #include <AP_Progmem.h>
+
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 void setup(void)
 {

libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde

@@ -14,13 +14,7 @@
 #include <AP_ADC.h>
 #include <AP_InertialSensor.h>
 
-#define APM_HARDWARE_APM1 1
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
-#define APM_HARDWARE_APM2 2
-
-#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
-//#define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
-
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
 #define SAMPLE_UNIT 1
 #define A_LED_PIN 27
 #define C_LED_PIN 25
@@ -32,7 +26,7 @@
 #endif
 
 
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
 AP_InertialSensor_MPU6000 ins;
@@ -57,13 +51,13 @@ void setup(void)
     hal.gpio->pinMode(A_LED_PIN, GPIO_OUTPUT);
     hal.gpio->pinMode(C_LED_PIN, GPIO_OUTPUT);
 
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
     // we need to stop the barometer from holding the SPI bus
     hal.gpio->pinMode(40, GPIO_OUTPUT);
     hal.gpio->write(40, 1);
 #endif
 
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
     adc.Init(&scheduler);           // APM ADC library initialization
 #endif
     ins.init(AP_InertialSensor::COLD_START, 

libraries/AP_LeadFilter/examples/AP_LeadFilter/AP_LeadFilter.pde

@@ -14,7 +14,11 @@
 
 #include <AP_LeadFilter.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 AP_LeadFilter xLeadFilter;      // GPS lag filter
 

libraries/AP_Math/examples/eulers/eulers.pde

@@ -11,7 +11,11 @@
 #include <AP_HAL.h>
 
 #include <AP_HAL_AVR.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 static float rad_diff(float rad1, float rad2)
 {

libraries/AP_Math/examples/location/location.pde

@@ -10,7 +10,11 @@
 #include <AP_Math.h>
 
 #include <AP_HAL_AVR.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 static const struct {
     Vector2f wp1, wp2, location;

libraries/AP_Math/examples/polygon/polygon.pde

@@ -10,7 +10,11 @@
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 /*
  *  this is the boundary of the 2010 outback challenge

libraries/AP_Math/examples/rotations/rotations.pde

@@ -11,7 +11,11 @@
 #include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
 
 #include <AP_HAL_AVR.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 // standard rotation matrices (these are the originals from the old code)
 #define MATRIX_ROTATION_NONE               Matrix3f(1, 0, 0, 0, 1, 0, 0,0, 1)

libraries/AP_Menu/examples/menu/menu.pde

@@ -1,11 +1,18 @@
 
 #include <AP_Common.h>
+#include <AP_Math.h>
+#include <AP_Param.h>
 #include <AP_Progmem.h>
+
 #include <AP_Menu.h>
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 int8_t
 menu_test(uint8_t argc, const Menu::arg *argv)

libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.pde

@@ -14,7 +14,11 @@
 #include <AP_Curve.h>
 
 #include <AP_HAL_AVR.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 RC_Channel rc1(0), rc2(1), rc3(2), rc4(3);
 

libraries/AP_Mount/examples/trivial_AP_Mount/trivial_AP_Mount.pde

@@ -21,7 +21,11 @@
 #include <AP_Mount.h>
 
 #include <AP_HAL_AVR.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 void setup () {
     hal.console->println_P(PSTR("Unit test for AP_Mount. This sketch"

libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde

@@ -12,7 +12,11 @@
 
 #include <AP_OpticalFlow.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 AP_OpticalFlow_ADNS3080 flowSensor;
 

libraries/AP_RangeFinder/examples/MaxsonarXL_test/MaxsonarXL_test.pde

@@ -15,13 +15,6 @@
 #include <AP_Buffer.h>
 #include <AP_HAL_AVR.h>
 
-#define APM_HARDWARE_APM1   1
-#define APM_HARDWARE_APM2   2
-
-// uncomment appropriate line for your APM hardware type
-//#define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
-#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2   // also applies to APM2.5
-
 // uncomment appropriate line corresponding to your sonar
 #define SONAR_TYPE AP_RANGEFINDER_MAXSONARXL      // 0 - XL (default)
 //#define SONAR_TYPE AP_RANGEFINDER_MAXSONARLV      // 1 - LV (cheaper)
@@ -30,7 +23,7 @@
 //#define SONAR_TYPE AP_RANGEFINDER_MAXSONARI2CXL   // 4 - XLI2C (XL with I2C interface and 7m range)
 
 // For APM1 we use built in ADC for sonar reads from an analog pin
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 && SONAR_TYPE <= AP_RANGEFINDER_MAXSONARHRLV
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 && SONAR_TYPE <= AP_RANGEFINDER_MAXSONARHRLV
 # define USE_ADC_ADS7844  // use APM1's built in ADC and connect sonar to pitot tube
 #endif
 
@@ -42,7 +35,7 @@
 ////////////////////////////////////////////////////////////////////////////////
 
 
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2   // also applies to APM2.5
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
 #else
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;

libraries/Filter/examples/Derivative/Derivative.pde

@@ -13,7 +13,11 @@
 #include <DerivativeFilter.h>
 #include <AP_Buffer.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 #ifdef DESKTOP_BUILD
 #error Desktop build not supported with AP_HAL

libraries/Filter/examples/Filter/Filter.pde

@@ -15,7 +15,11 @@
 #include <AverageFilter.h>      // AverageFilter class (inherits from Filter class)
 #include <AP_Buffer.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 int16_t rangevalue[] = {31000, 31000, 50, 55, 60, 55, 10, 0, 31000};
 

libraries/Filter/examples/LowPassFilter/LowPassFilter.pde

@@ -13,7 +13,11 @@
 #include <LowPassFilter.h>      // LowPassFilter class (inherits from Filter class)
 #include <AP_Buffer.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 // create a global instance of the class
 LowPassFilterFloat low_pass_filter;

libraries/GCS_Console/examples/Console/Console.pde

@@ -18,7 +18,11 @@
 
 #include "simplegcs.h"
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 void flush_console_to_statustext() {
     uint8_t data[50];

libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde

@@ -21,7 +21,11 @@
 #include <RC_Channel.h>
 
 #include <AP_HAL_AVR.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#endif
 
 RC_Channel rc_1(CH_1);
 RC_Channel rc_2(CH_2);