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[Paparazzi-devel] ChibiOS v3 in Paparazzi
From: |
Gautier Hattenberger |
Subject: |
[Paparazzi-devel] ChibiOS v3 in Paparazzi |
Date: |
Tue, 7 Jun 2016 16:38:39 +0200 |
User-agent: |
Mozilla/5.0 (X11; Linux x86_64; rv:38.0) Gecko/20100101 Thunderbird/38.8.0 |
Dear all,
We have just integrated in the latest master branch of Paparazzi a
proper support of the ChibiOS HAL and RT kernel v3.1.
Previously, we had an uncomfortable mix of ChibiOS and libopencm3 whose
purpose was to log file on the SD card of the Apogee board.
Now, there is a proper implementation of the MCU drivers only using
ChibiOS HAL. At the moment, each driver runs in his own thread, while
the rest of the autopilot is running in a monolithic thread. This may
evolve in the future, but it is already possible to create payload
modules that start and run into dedicated threads for instance.
The previous functionalities, especially logging using the SDIO port are
of course preserved.
Only the Apogee board is supported, but this can be easily extended to
other STM32F4 boards (e.g. Lisa/MX) and probably STM32F1 boards as well.
For complete changes, see https://github.com/paparazzi/paparazzi/pull/1699.
If you encounter any issues regarding this new architecture support,
please report to us.
Thanks to Felix and Michal for reviewing and initial implementation.
Happy Flights :)
Gautier Hattenberger for the Paparazzi Dev Team