HAL_ChibiOS: allow builds on systems with no SDIO

libraries/AP_HAL_ChibiOS/hwdef/common/board.c

@@ -30,10 +30,18 @@ const PALConfig pal_default_config = {
   {VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR, VAL_GPIOC_ODR, VAL_GPIOC_AFRL, VAL_GPIOC_AFRH},
   {VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR, VAL_GPIOD_ODR, VAL_GPIOD_AFRL, VAL_GPIOD_AFRH},
   {VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR, VAL_GPIOE_ODR, VAL_GPIOE_AFRL, VAL_GPIOE_AFRH},
+#if STM32_HAS_GPIOF
   {VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR, VAL_GPIOF_ODR, VAL_GPIOF_AFRL, VAL_GPIOF_AFRH},
+#endif
+#if STM32_HAS_GPIOG
   {VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR, VAL_GPIOG_ODR, VAL_GPIOG_AFRL, VAL_GPIOG_AFRH},
+#endif
+#if STM32_HAS_GPIOH
   {VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR, VAL_GPIOH_ODR, VAL_GPIOH_AFRL, VAL_GPIOH_AFRH},
+#endif
+#if STM32_HAS_GPIOI
   {VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR, VAL_GPIOI_ODR, VAL_GPIOI_AFRL, VAL_GPIOI_AFRH}
+#endif
 };
 #endif
 

libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk

@@ -49,6 +49,10 @@ ifeq ($(USE_SMART_BUILD),)
   USE_SMART_BUILD = no
 endif
 
+ifeq ($(USE_FATFS),)
+  USE_FATFS = yes
+endif
+
 #
 # Build global options
 ##############################################################################
@@ -98,7 +102,10 @@ include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
 # Other files (optional).
 #include $(CHIBIOS)/test/rt/test.mk
 include $(CHIBIOS)/os/hal/lib/streams/streams.mk
+
+ifeq ($(USE_FATFS),yes)
 include $(CHIBIOS)/os/various/fatfs_bindings/fatfs.mk
+endif
 
 VARIOUSSRC = $(STREAMSSRC)
 
@@ -120,9 +127,12 @@ CSRC = $(STARTUPSRC) \
 	   $(HWDEF)/common/flash.c \
 	   $(HWDEF)/common/malloc.c \
 	   $(HWDEF)/common/stdio.c \
-	   $(HWDEF)/common/posix.c \
 	   $(HWDEF)/common/hrt.c
 
+ifeq ($(USE_FATFS),yes)
+CSRC += $(HWDEF)/common/posix.c
+endif
+
 
 #	   $(TESTSRC) \
 #	   test.c

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -300,8 +300,9 @@ def write_mcu_config(f):
         if 'SDIO' in bytype:
                 f.write('// SDIO available, enable POSIX filesystem support\n')
                 f.write('#define USE_POSIX\n\n')
-        if not 'SDIO_CMD' in bylabel:
-            f.write('#define HAL_USE_SDC FALSE\n')
+                f.write('#define HAL_USE_SDC TRUE\n')
+        else:
+                f.write('#define HAL_USE_SDC FALSE\n')
         if 'OTG1' in bytype:
             f.write('#define STM32_USB_USE_OTG1                  TRUE\n')
             f.write('#define HAL_USE_USB TRUE\n')