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Remove more un-needed lines from hwdef.dat files #26677

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merged 4 commits into from
Apr 3, 2024
Merged

Remove more un-needed lines from hwdef.dat files #26677

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e4532a2
AP_HAL_ChibiOS: replace HAL_NO_RCIN_THREAD w/HAL_RCIN_THREAD_ENABLED
peterbarker Apr 1, 2024
17ffd1b
hwdef: re-enable RCIN thread on some builds/boards
peterbarker Apr 1, 2024
dc5732a
hwdef: replace defined(HAL_DISABLE_LOOP_DELAY) with HAL_SCHEDULER_LOO…
peterbarker Apr 1, 2024
bf5b8cf
hwdef: remove stray HAL_BUILD_AP_PERIPH defines
peterbarker Apr 1, 2024
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6 changes: 5 additions & 1 deletion libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,10 @@
#define SERIAL0_BAUD DEFAULT_SERIAL0_BAUD
#endif

#ifndef HAL_SCHEDULER_LOOP_DELAY_ENABLED
#define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1
#endif

#ifndef HAL_NO_UARTDRIVER
static HAL_SERIAL0_DRIVER;
static HAL_SERIAL1_DRIVER;
Expand Down Expand Up @@ -296,6 +300,7 @@ static void main_loop()
while (true) {
g_callbacks->loop();

#if HAL_SCHEDULER_LOOP_DELAY_ENABLED && !APM_BUILD_TYPE(APM_BUILD_Replay)
/*
give up 50 microseconds of time if the INS loop hasn't
called delay_microseconds_boost(), to ensure low priority
Expand All @@ -304,7 +309,6 @@ static void main_loop()
time from the main loop, so we don't need to do it again
here
*/
#if !defined(HAL_DISABLE_LOOP_DELAY) && !APM_BUILD_TYPE(APM_BUILD_Replay)
if (!schedulerInstance.check_called_boost()) {
hal.scheduler->delay_microseconds(50);
}
Expand Down
8 changes: 6 additions & 2 deletions libraries/AP_HAL_ChibiOS/Scheduler.cpp
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Expand Up @@ -59,14 +59,18 @@ extern AP_IOMCU iomcu;

using namespace ChibiOS;

#ifndef HAL_RCIN_THREAD_ENABLED
#define HAL_RCIN_THREAD_ENABLED 1
#endif

extern const AP_HAL::HAL& hal;
#ifndef HAL_NO_TIMER_THREAD
THD_WORKING_AREA(_timer_thread_wa, TIMER_THD_WA_SIZE);
#endif
#ifndef HAL_NO_RCOUT_THREAD
THD_WORKING_AREA(_rcout_thread_wa, RCOUT_THD_WA_SIZE);
#endif
#ifndef HAL_NO_RCIN_THREAD
#if HAL_RCIN_THREAD_ENABLED
THD_WORKING_AREA(_rcin_thread_wa, RCIN_THD_WA_SIZE);
#endif
#ifndef HAL_USE_EMPTY_IO
Expand Down Expand Up @@ -122,7 +126,7 @@ void Scheduler::init()
this); /* Thread parameter. */
#endif

#ifndef HAL_NO_RCIN_THREAD
#if HAL_RCIN_THREAD_ENABLED
// setup the RCIN thread - this will call tasks at 1kHz
_rcin_thread_ctx = chThdCreateStatic(_rcin_thread_wa,
sizeof(_rcin_thread_wa),
Expand Down
3 changes: 1 addition & 2 deletions libraries/AP_HAL_ChibiOS/hwdef/AR-F407SmartBat/hwdef.dat
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Expand Up @@ -30,8 +30,6 @@ PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW HIGH

CAN_ORDER 1

define HAL_DISABLE_LOOP_DELAY

define HAL_NO_MONITOR_THREAD

# debugger support
Expand Down Expand Up @@ -60,3 +58,4 @@ define AP_PERIPH_BATTERY_BALANCE_RATE_DEFAULT 2
define AP_PERIPH_BATTERY_BALANCE_CELL1_PIN_DEFAULT 1
define AP_PERIPH_BATTERY_BALANCE_ID_DEFAULT 0

define HAL_RCIN_THREAD_ENABLED 1
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat
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Expand Up @@ -128,3 +128,6 @@ define AP_SERIALLED_ENABLED 1
define HAL_PERIPH_ENABLE_RANGEFINDER
# disable rangefinder by default
define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1

define HAL_RCIN_THREAD_ENABLED 1
define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1
3 changes: 0 additions & 3 deletions libraries/AP_HAL_ChibiOS/hwdef/ARK_GPS/hwdef-bl.dat
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Expand Up @@ -51,12 +51,9 @@ define HAL_USE_EMPTY_IO TRUE

# avoid timer and RCIN threads to save memory
define HAL_NO_TIMER_THREAD
define HAL_NO_RCIN_THREAD

define DMA_RESERVE_SIZE 0

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
Expand Down
2 changes: 2 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/ARK_GPS/hwdef.dat
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Expand Up @@ -122,3 +122,5 @@ define HAL_PERIPH_GPS_PORT_DEFAULT 1


define HAL_SERIAL_ESC_COMM_ENABLED 1
define HAL_RCIN_THREAD_ENABLED 1
define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1
3 changes: 0 additions & 3 deletions libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef-bl.dat
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Expand Up @@ -51,12 +51,9 @@ define HAL_USE_EMPTY_IO TRUE

# avoid timer and RCIN threads to save memory
define HAL_NO_TIMER_THREAD
define HAL_NO_RCIN_THREAD

define DMA_RESERVE_SIZE 0

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
Expand Down
2 changes: 2 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/ARK_RTK_GPS/hwdef.dat
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Expand Up @@ -133,3 +133,5 @@ define HAL_PERIPH_ENABLE_RC_OUT
define HAL_PERIPH_GPS_PORT_DEFAULT 1

define HAL_SERIAL_ESC_COMM_ENABLED 1
define HAL_RCIN_THREAD_ENABLED 1
define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1
1 change: 0 additions & 1 deletion libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef-bl.dat
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Expand Up @@ -35,7 +35,6 @@ define DMA_RESERVE_SIZE 0
MAIN_STACK 0x800
PROCESS_STACK 0x800

define HAL_DISABLE_LOOP_DELAY
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

Expand Down
2 changes: 0 additions & 2 deletions libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef.dat
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Expand Up @@ -32,7 +32,6 @@ MAIN_STACK 0x300

# PROCESS_STACK controls stack for main thread
PROCESS_STACK 0xA00
define HAL_DISABLE_LOOP_DELAY
define HAL_NO_MONITOR_THREAD

# we setup a small defaults.parm
Expand Down Expand Up @@ -94,7 +93,6 @@ define HAL_USE_ADC FALSE

# disable unnecessary threads
define HAL_NO_MONITOR_THREAD
define HAL_NO_RCIN_THREAD
define HAL_NO_TIMER_THREAD

# enable LED
Expand Down
3 changes: 1 addition & 2 deletions libraries/AP_HAL_ChibiOS/hwdef/AeroFox-PMU/hwdef-bl.inc
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Expand Up @@ -33,6 +33,5 @@ define DMA_RESERVE_SIZE 0
MAIN_STACK 0x800
PROCESS_STACK 0x800

define HAL_DISABLE_LOOP_DELAY
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
PA14 JTCK-SWCLK SWD
1 change: 1 addition & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/AeroFox-PMU/hwdef.dat
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Expand Up @@ -58,3 +58,4 @@ define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2

define HAL_SERIAL_ESC_COMM_ENABLED 1
define HAL_RCIN_THREAD_ENABLED 1
2 changes: 0 additions & 2 deletions libraries/AP_HAL_ChibiOS/hwdef/AeroFox-PMU/hwdef.inc
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Expand Up @@ -36,8 +36,6 @@ MAIN_STACK 0x300
# PROCESS_STACK controls stack for main thread
PROCESS_STACK 0xA00

define HAL_DISABLE_LOOP_DELAY

define HAL_NO_MONITOR_THREAD

# setup a small defaults.parm
Expand Down
3 changes: 0 additions & 3 deletions libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef-bl.dat
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Expand Up @@ -55,13 +55,10 @@ define HAL_USE_EMPTY_IO TRUE

# avoid timer and RCIN threads to save memory
define HAL_NO_TIMER_THREAD
define HAL_NO_RCIN_THREAD


define DMA_RESERVE_SIZE 0

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
Expand Down
6 changes: 0 additions & 6 deletions libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat
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Expand Up @@ -80,16 +80,10 @@ define HAL_DISABLE_ADC_DRIVER TRUE

define HAL_NO_GPIO_IRQ

# avoid RCIN thread to save memory
define HAL_NO_RCIN_THREAD

define HAL_USE_RTC FALSE

define DMA_RESERVE_SIZE 0


define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
Expand Down
2 changes: 2 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/BotBloxSwitch/hwdef.dat
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Expand Up @@ -86,3 +86,5 @@ define STM32_ADC_USE_ADC1 FALSE
define STM32_ADC_USE_ADC2 FALSE
define STM32_ADC_USE_ADC3 FALSE

define HAL_RCIN_THREAD_ENABLED 1
define HAL_SCHEDULER_LOOP_DELAY_ENABLED 1
3 changes: 0 additions & 3 deletions libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef-bl.dat
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Expand Up @@ -57,12 +57,9 @@ define HAL_USE_EMPTY_IO TRUE

# avoid timer and RCIN threads to save memory
define HAL_NO_TIMER_THREAD
define HAL_NO_RCIN_THREAD

define DMA_RESERVE_SIZE 0

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
Expand Down
3 changes: 0 additions & 3 deletions libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef.dat
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Expand Up @@ -72,13 +72,10 @@ define HAL_DISABLE_ADC_DRIVER TRUE
define HAL_NO_GPIO_IRQ

# avoid RCIN thread to save memory
define HAL_NO_RCIN_THREAD
define HAL_USE_RTC FALSE

define DMA_RESERVE_SIZE 0

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
Expand Down
6 changes: 1 addition & 5 deletions libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef-bl.dat
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Expand Up @@ -55,15 +55,11 @@ define STM32_SERIAL_USE_USART3 FALSE
define HAL_NO_GPIO_IRQ
define HAL_USE_EMPTY_IO TRUE

# avoid timer and RCIN threads to save memory
# avoid timer thread to save memory
define HAL_NO_TIMER_THREAD
define HAL_NO_RCIN_THREAD


define DMA_RESERVE_SIZE 0

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
Expand Down
6 changes: 0 additions & 6 deletions libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
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Expand Up @@ -110,16 +110,10 @@ define HAL_DISABLE_ADC_DRIVER TRUE

define HAL_NO_GPIO_IRQ

# avoid RCIN thread to save memory
define HAL_NO_RCIN_THREAD

define HAL_USE_RTC FALSE

define DMA_RESERVE_SIZE 0


define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
Expand Down
2 changes: 0 additions & 2 deletions libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef-bl.dat
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Expand Up @@ -54,8 +54,6 @@ define DMA_RESERVE_SIZE 0
MAIN_STACK 0x800
PROCESS_STACK 0x800

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
Expand Down
6 changes: 1 addition & 5 deletions libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
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Expand Up @@ -93,8 +93,6 @@ MAIN_STACK 0x300
# PROCESS_STACK controls stack for main thread
PROCESS_STACK 0xA00

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
Expand Down Expand Up @@ -141,6 +139,4 @@ COMPASS MMC5XX3 I2C:0:0x30 false ROTATION_NONE
define AP_COMPASS_QMC5883P_ENABLED 1
COMPASS QMC5883P I2C:0:0x2C false ROTATION_YAW_180




define HAL_RCIN_THREAD_ENABLED 1
2 changes: 0 additions & 2 deletions libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef-bl.dat
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Expand Up @@ -54,8 +54,6 @@ define DMA_RESERVE_SIZE 0
MAIN_STACK 0x800
PROCESS_STACK 0x800

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
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Expand Up @@ -96,8 +96,6 @@ MAIN_STACK 0x300
# PROCESS_STACK controls stack for main thread
PROCESS_STACK 0xA00

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
Expand Down Expand Up @@ -142,3 +140,5 @@ BARO MS56XX I2C:0:0x76
COMPASS QMC5883P I2C:0:0x2C false ROTATION_YAW_180

define AP_COMPASS_QMC5883P_ENABLED 1

define HAL_RCIN_THREAD_ENABLED 1
4 changes: 0 additions & 4 deletions libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat
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Expand Up @@ -37,12 +37,8 @@ define HAL_COMPASS_MAX_SENSORS 1

define HAL_NO_MONITOR_THREAD

define HAL_DISABLE_LOOP_DELAY

define HAL_USE_RTC FALSE

define HAL_NO_RCIN_THREAD

define HAL_BARO_ALLOW_INIT_NO_BARO

define HAL_PERIPH_ENABLE_BATTERY
Expand Down
4 changes: 0 additions & 4 deletions libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
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Expand Up @@ -34,14 +34,10 @@ define HAL_COMPASS_MAX_SENSORS 1

define HAL_NO_MONITOR_THREAD

define HAL_DISABLE_LOOP_DELAY

define HAL_USE_RTC FALSE

define HAL_GCS_ENABLED 1

define HAL_NO_RCIN_THREAD

define HAL_BARO_ALLOW_INIT_NO_BARO


Expand Down
4 changes: 0 additions & 4 deletions libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
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Expand Up @@ -33,12 +33,8 @@ define HAL_COMPASS_MAX_SENSORS 1

define HAL_NO_MONITOR_THREAD

define HAL_DISABLE_LOOP_DELAY

define HAL_USE_RTC FALSE

define HAL_NO_RCIN_THREAD

define HAL_BARO_ALLOW_INIT_NO_BARO


Expand Down
9 changes: 0 additions & 9 deletions libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat
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Expand Up @@ -8,8 +8,6 @@ MCU STM32H7xx STM32H757xx
define CORE_CM7
define SMPS_PWR

define HAL_BUILD_AP_PERIPH

# board ID for firmware load
APJ_BOARD_ID 1079

Expand Down Expand Up @@ -72,13 +70,6 @@ define BOARD_PHY_ID MII_LAN8720_ID
define BOARD_PHY_RMII
define HAL_PERIPH_ENABLE_NETWORKING

# ---------------------------------------------------------------------------------------------
# AP_Periph - boiler-plate configurations that all HW AP-Periph need
# ---------------------------------------------------------------------------------------------
define HAL_NO_RCIN_THREAD
#define HAL_NO_GPIO_IRQ
define HAL_DISABLE_LOOP_DELAY

#################################
# AP_Periph - configurations specific to this App
#################################
Expand Down
3 changes: 0 additions & 3 deletions libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat
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Expand Up @@ -24,12 +24,9 @@ define HAL_PERIPH_ENABLE_SERIAL_OPTIONS
define AP_NETWORKING_BACKEND_PPP 1

define HAL_NO_MONITOR_THREAD
define HAL_DISABLE_LOOP_DELAY

define HAL_USE_RTC FALSE

define HAL_NO_RCIN_THREAD

# use amber LED
define HAL_GPIO_PIN_LED HAL_GPIO_PIN_FMU_LED_AMBER

Expand Down
3 changes: 0 additions & 3 deletions libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef-bl.dat
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Expand Up @@ -53,12 +53,9 @@ define HAL_USE_EMPTY_IO TRUE

# avoid timer and RCIN threads to save memory
define HAL_NO_TIMER_THREAD
define HAL_NO_RCIN_THREAD

define DMA_RESERVE_SIZE 0

define HAL_DISABLE_LOOP_DELAY

# enable CAN support
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
Expand Down
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