|Subject:||Re: [Paparazzi-devel] ChibiOS v3 in Paparazzi|
|Date:||Tue, 7 Jun 2016 16:44:49 +0200|
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
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