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Re: [Paparazzi-devel] ChibiOS v3 in Paparazzi

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] ChibiOS v3 in Paparazzi
Date: Mon, 13 Jun 2016 12:57:16 +0200
User-agent: Mozilla/5.0 (X11; Linux x86_64; rv:38.0) Gecko/20100101 Thunderbird/38.8.0

I'm using a Black Magic Probe with GDB from my Linux in a terminal. If you want an integration in Eclipse, it is probably possible if you configure things yourself, but I can't help, I'm not using Eclipse.


Le 13/06/2016 12:52, Prof. Dr.-Ing. Heinrich Warmers a écrit :
Dear Gautier Hattenberger,
tank you for the work.

Is there a way to run hardware debug support with ChibiOS and SWD with the Linux OS ? For the ChibiOS there exist a Eclipse development tool with semihosting support but only for XP and Windows7.



Am 07.06.2016 16:38, schrieb Gautier Hattenberger:
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

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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