From f8569ac39e3db79f8f48cf0771620ca4a96eed1d Mon Sep 17 00:00:00 2001
From: night-ghost <night_ghost@ykoctpa.ru>
Date: Sat, 3 Feb 2018 07:35:15 +1100
Subject: [PATCH] AP_HAL: added F4Light HAL

---
 libraries/AP_HAL/AP_HAL_Boards.h |  5 ++-
 libraries/AP_HAL/Device.h        |  9 ++++
 libraries/AP_HAL/HAL.h           |  8 ++++
 libraries/AP_HAL/board/f4light.h | 73 ++++++++++++++++++++++++++++++++
 4 files changed, 94 insertions(+), 1 deletion(-)
 create mode 100644 libraries/AP_HAL/board/f4light.h

diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 05b76b9770..0b14ec8e27 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -13,7 +13,8 @@
 #define HAL_BOARD_VRBRAIN  8
 #define HAL_BOARD_QURT     9
 #define HAL_BOARD_CHIBIOS  10
-#define HAL_BOARD_EMPTY   99
+#define HAL_BOARD_F4LIGHT  11
+#define HAL_BOARD_EMPTY    99
 
 /* Default board subtype is -1 */
 #define HAL_BOARD_SUBTYPE_NONE -1
@@ -170,6 +171,8 @@
     #include <AP_HAL/board/vrbrain.h>
 #elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 	#include <AP_HAL/board/chibios.h>
+#elif CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
+    #include <AP_HAL/board/f4light.h>
 #else
 #error "Unknown CONFIG_HAL_BOARD type"
 #endif
diff --git a/libraries/AP_HAL/Device.h b/libraries/AP_HAL/Device.h
index 12ec67d5d4..7dffca8e75 100644
--- a/libraries/AP_HAL/Device.h
+++ b/libraries/AP_HAL/Device.h
@@ -191,6 +191,15 @@ public:
      */
     virtual bool unregister_callback(PeriodicHandle h) { return false; }
 
+
+    /*
+        allows to set callback that will be called after DMA transfer complete.
+        if this callback is set then any read/write operation will return directly after transfer setup and
+        bus semaphore must not be released until register_completion_callback(0) called from callback itself
+    */
+    virtual void register_completion_callback(AP_HAL::MemberProc proc) {}
+    virtual void register_completion_callback(AP_HAL::Proc proc) {}
+    
     /*
      * support for direct control of SPI chip select. Needed for
      * devices with unusual SPI transfer patterns that include
diff --git a/libraries/AP_HAL/HAL.h b/libraries/AP_HAL/HAL.h
index da8b8f8171..81056b4dea 100644
--- a/libraries/AP_HAL/HAL.h
+++ b/libraries/AP_HAL/HAL.h
@@ -1,5 +1,7 @@
 #pragma once
 
+class AP_Param;
+
 #include "AP_HAL_Namespace.h"
 
 #include "AnalogIn.h"
@@ -15,6 +17,12 @@
 #include "CAN.h"
 #endif
 
+
+#if defined(HAL_NEEDS_PARAM_HELPER)
+#include <AP_Param/AP_Param.h>
+class AP_Param_Helper;
+#endif
+
 class AP_HAL::HAL {
 public:
     HAL(AP_HAL::UARTDriver* _uartA, // console
diff --git a/libraries/AP_HAL/board/f4light.h b/libraries/AP_HAL/board/f4light.h
new file mode 100644
index 0000000000..b35b1993fb
--- /dev/null
+++ b/libraries/AP_HAL/board/f4light.h
@@ -0,0 +1,73 @@
+#include <AP_HAL_F4Light/hardware/hal/syscalls.h>
+
+#define HAL_NEEDS_PARAM_HELPER
+
+#define AP_HAL_BOARD_DRIVER             AP_HAL_F4Light
+#define HAL_SERIAL0_BAUD_DEFAULT        (115200)
+#define CONFIG_HAL_BOARD_SUBTYPE        HAL_BOARD_SUBTYPE_NONE
+
+
+#define HAL_BOARD_NAME                  BOARD_OWN_NAME
+
+#define HAL_CPU_CLASS                   HAL_CPU_CLASS_150
+#define HAL_OS_POSIX_IO                 0
+
+#define HAL_STORAGE_SIZE                BOARD_STORAGE_SIZE // EEPROM size
+
+#define HAL_BARO_DEFAULT                BOARD_BARO_DEFAULT
+
+#define HAL_COMPASS_DEFAULT             BOARD_COMPASS_DEFAULT
+
+#define HAL_INS_DEFAULT                 BOARD_INS_DEFAULT
+#define HAL_INS_DEFAULT_ROTATION        BOARD_INS_ROTATION
+#define HAL_INS_MPU60x0_NAME            BOARD_INS_MPU60x0_NAME
+
+#define INVENSENSE_DRDY_PIN             BOARD_MPU6000_DRDY_PIN
+// via interrupt
+
+#ifdef BOARD_HMC5883_DRDY_PIN
+#define HMC5883_DRDY_PIN                BOARD_HMC5883_DRDY_PIN
+#endif
+
+#ifdef BOARD_DATAFLASH_NAME
+#define HAL_DATAFLASH_NAME              BOARD_DATAFLASH_NAME
+#endif
+
+
+#ifdef BOARD_BUZZER_PIN
+#define BUZZER_PIN                      BOARD_BUZZER_PIN
+#endif
+
+# define PUSHBUTTON_PIN                 BOARD_PUSHBUTTON_PIN
+# define USB_MUX_PIN                    BOARD_USB_MUX_PIN
+# define BATTERY_VOLT_PIN               BOARD_BATTERY_VOLT_PIN   // Battery voltage on A0 (PC2) D8
+# define BATTERY_CURR_PIN               BOARD_BATTERY_CURR_PIN   // Battery current on A1 (PC1) D7
+# define CONFIG_SONAR_SOURCE_ANALOG_PIN BOARD_SONAR_SOURCE_ANALOG_PIN
+ 
+
+
+#undef TOSHIBA_LED_I2C_BUS // someone placed this not in board config
+#define TOSHIBA_LED_I2C_ADDR 0x55    // default I2C bus address
+#define TOSHIBA_LED_I2C_BUS  2       // external I2C
+
+
+ #define HAL_MINIMIZE_FEATURES 1
+
+ #define AC_TERRAIN             DISABLED // no SD card with POSIX IO
+ #define PRECISION_LANDING      DISABLED
+ #define CONFIG_PUSHBUTTON      DISABLED
+ #define SPRAYER                DISABLED
+ #define EPM_ENABLED            DISABLED
+ #define CLI_ENABLED            DISABLED
+ #define GRIPPER_ENABLED        DISABLED // not for large quads
+ 
+ 
+ // disable for debugging with -O0
+// #define FRSKY_TELEM_ENABLED   DISABLED
+// #define CAMERA                DISABLED
+// #define CONFIG_RELAY          DISABLED
+// #define MOUNT                 DISABLED 
+// #define ADSB_ENABLED          DISABLED
+
+
+ #define LOGGING_ENABLED ENABLED