HAL Porting Guide
The Hardware Abstraction Layer (HAL) in THAP is designed for "Technological Sovereignty," allowing for easier porting to localized hardware like the Artery Tek (AT32) series.
Structure
libraries/AP_HAL/: The high-level interface.libraries/AP_HAL_ChibiOS/: The specialized implementation for RTOS-based boards.
Key Files for Porting
hwdef.dat: The primary hardware definition file. Defines pins, UARTs, I2C, SPI, and sensors.chconf.h / halconf.h: ChibiOS configuration files for OS-level tuning.
Overclocking Support
THAP natively supports 240MHz overclocking on the AT32F403A. This is configured via the OSC and PLL settings in the board's hwdef.dat.
Testing a New Port
We recommend using the SerialLoopback example to verify basic HAL functionality: