|Subject:||Re: [Paparazzi-devel] Real Time Paparazzi with ChibiOS/RT|
|Date:||Thu, 10 Oct 2013 15:40:26 +0200|
|User-agent:||Mozilla/5.0 (X11; Linux x86_64; rv:24.0) Gecko/20100101 Thunderbird/24.0|
Le 10/10/2013 15:10, Felix Ruess a écrit :
We also at enac have a branch using chibios as RTOS on the apogee, and a mix of opencm3 (spi, uart, adc, i2c, timer) and chibios (sdio, usb storage) hal. After getting some headache to make
chibios and opencm3 cohabit, it's finally working, but real sd logging has still to be implemented and tested, hopefully in the beginning of November.
The idea behind using both chibios and opencm3 was we were thinking that it would be the fastest way to have high speed logging for our need in ppaparazzi, with the
robustness of the well tested peripheral drivers.
Now, I am not advocating this solution in the long term, for cleaner code, I would prefer to eventually use chibios HAL through pprz HAL, so the both approach make sense,
our for the near future, and chibios only when it will be ready.
Task management and HAL are highly coupled in the case of chibios since RTOS and HAL share a same "event" scheme, so
using chibios HAL with chibios is easier and more natural than using opencm3 which is not a lot more
than macro and function which give registers access.
We are using 2.6 branch too, so l would add simplicity if both pprz/chibios branches share the same chibios submodule.
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