From e93a5002a1901e68dc417aa5ede889f7d1ebf6c0 Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Wed, 12 Oct 2016 15:30:34 -1000
Subject: [PATCH] Updated Micro HAL for kinetis

 Added px4_ abstraction macros
 Removed stm32.h reference
---
 src/drivers/device/spi.cpp    |  1 -
 src/platforms/px4_micro_hal.h | 26 ++++++++++++++++++++++++++
 2 files changed, 26 insertions(+), 1 deletion(-)

diff --git a/src/drivers/device/spi.cpp b/src/drivers/device/spi.cpp
index 480ca97833..8aabbf97fd 100644
--- a/src/drivers/device/spi.cpp
+++ b/src/drivers/device/spi.cpp
@@ -47,7 +47,6 @@
 
 #include <px4_config.h>
 #include <nuttx/arch.h>
-#include <stm32_spi.h>
 #include "spi.h"
 
 #ifndef CONFIG_SPI_EXCHANGE
diff --git a/src/platforms/px4_micro_hal.h b/src/platforms/px4_micro_hal.h
index cd2e4ce5dd..d4af1291d2 100644
--- a/src/platforms/px4_micro_hal.h
+++ b/src/platforms/px4_micro_hal.h
@@ -120,6 +120,32 @@ __BEGIN_DECLS
 #    define px4_arch_gpiowrite(pinset, value)        stm32_gpiowrite(pinset, value)
 #    define px4_arch_gpiosetevent(pinset,r,f,e,fp)   stm32_gpiosetevent(pinset,r,f, e,fp)
 #endif
+
+#if defined(CONFIG_ARCH_CHIP_KINETIS)
+
+#    define STM32_SYSMEM_UID         0x40048054 // Fixme: using board crtrl
+#    define PX4_BBSRAM_SIZE          2048
+#    define PX4_BBSRAM_GETDESC_IOCTL 0
+#    define GPIO_OUTPUT_SET          GPIO_OUTPUT_ONE
+#    define GPIO_OUTPUT_CLEAR        GPIO_OUTPUT_ZER0
+
+#    include <chip.h>
+#    include <kinetis_spi.h>
+#    include <kinetis_i2c.h>
+
+/* bus_num is zero based on kinetis and must be translated from the legacy one based */
+
+#    define px4_spibus_initialize(port_1based)       kinetis_spibus_initialize(port_1based-1)
+
+#    define px4_i2cbus_initialize(bus_num_1based)    kinetis_i2cbus_initialize(bus_num_1based-1)
+#    define px4_i2cbus_uninitialize(pdev)            kinetis_i2cbus_uninitialize(pdev)
+
+#    define px4_arch_configgpio(pinset)             kinetis_pinconfig(pinset)
+#    define px4_arch_unconfiggpio(pinset)
+#    define px4_arch_gpioread(pinset)               kinetis_gpioread(pinset)
+#    define px4_arch_gpiowrite(pinset, value)       kinetis_gpiowrite(pinset, value)
+#    define px4_arch_gpiosetevent(pinset,r,f,e,fp)  kinetis_gpiosetevent(pinset,r,f, e,fp)
+#  endif
 #include <arch/board/board.h>
 __END_DECLS
 #endif