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HAL_ChibiOS: added support for STM31F10x for AP_Periph

This commit is contained in:
Andrew Tridgell 2019-05-27 11:45:30 +10:00
parent 24e05e96e7
commit 16bdaaa1af
22 changed files with 482 additions and 53 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_HAL_ChibiOS/Device.cpp
View File

@ -25,6 +25,10 @@
#include "Util.h"
#include "hwdef/common/stm32_util.h"
#ifndef HAL_DEVICE_THREAD_STACK
#define HAL_DEVICE_THREAD_STACK 1024
#endif
using namespace ChibiOS;
static const AP_HAL::HAL &hal = AP_HAL::get_HAL();
@ -114,7 +118,7 @@ AP_HAL::Device::PeriodicHandle DeviceBus::register_periodic_callback(uint32_t pe
break;
}
thread_ctx = thread_create_alloc(THD_WORKING_AREA_SIZE(1024),
thread_ctx = thread_create_alloc(THD_WORKING_AREA_SIZE(HAL_DEVICE_THREAD_STACK),
name,
thread_priority, /* Initial priority. */
DeviceBus::bus_thread, /* Thread function. */

6
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
View File

@ -55,7 +55,7 @@ static Empty::UARTDriver uartGDriver;
static Empty::UARTDriver uartHDriver;
#endif
#if HAL_USE_I2C == TRUE
#if HAL_USE_I2C == TRUE && defined(HAL_I2C_DEVICE_LIST)
static ChibiOS::I2CDeviceManager i2cDeviceManager;
#else
static Empty::I2CDeviceManager i2cDeviceManager;
@ -176,9 +176,7 @@ static void main_loop()
ChibiOS::I2CBus::clear_all();
#endif
#if STM32_DMA_ADVANCED
ChibiOS::Shared_DMA::init();
#endif
peripheral_power_enable();
hal.uartA->begin(115200);
@ -217,6 +215,7 @@ static void main_loop()
stm32_watchdog_init();
}
#ifndef HAL_NO_LOGGING
if (hal.util->was_watchdog_reset()) {
AP::internalerror().error(AP_InternalError::error_t::watchdog_reset);
const AP_HAL::Util::PersistentData &pd = last_persistent_data;
@ -234,6 +233,7 @@ static void main_loop()
pd.fault_thd_prio,
pd.fault_icsr);
}
#endif
#endif
schedulerInstance.watchdog_pat();

8
libraries/AP_HAL_ChibiOS/I2CDevice.cpp
View File

@ -18,7 +18,7 @@
#include <AP_Math/AP_Math.h>
#include "Util.h"
#if HAL_USE_I2C == TRUE
#if HAL_USE_I2C == TRUE && defined(HAL_I2C_DEVICE_LIST)
#include "Scheduler.h"
#include "hwdef/common/stm32_util.h"
@ -85,6 +85,7 @@ void I2CBus::clear_all()
*/
void I2CBus::clear_bus(uint8_t busidx)
{
#if HAL_I2C_CLEAR_ON_TIMEOUT
const struct I2CInfo &info = I2CD[busidx];
const iomode_t mode_saved = palReadLineMode(info.scl_line);
palSetLineMode(info.scl_line, PAL_MODE_OUTPUT_PUSHPULL);
@ -93,8 +94,10 @@ void I2CBus::clear_bus(uint8_t busidx)
hal.scheduler->delay_microseconds(10);
}
palSetLineMode(info.scl_line, mode_saved);
#endif
}
#if HAL_I2C_CLEAR_ON_TIMEOUT
/*
read SDA on a bus, to check if it may be stuck
*/
@ -107,6 +110,7 @@ uint8_t I2CBus::read_sda(uint8_t busidx)
palSetLineMode(info.sda_line, mode_saved);
return ret;
}
#endif
// setup I2C buses
I2CDeviceManager::I2CDeviceManager(void)
@ -194,7 +198,7 @@ bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)
{
if (!bus.semaphore.check_owner()) {
hal.console->printf("I2C: not owner of 0x%x\n", (unsigned)get_bus_id());
hal.console->printf("I2C: not owner of 0x%x for addr 0x%02x\n", (unsigned)get_bus_id(), _address);
return false;
}

4
libraries/AP_HAL_ChibiOS/Scheduler.cpp
View File

@ -251,7 +251,7 @@ void Scheduler::reboot(bool hold_in_bootloader)
}
#endif
#ifndef NO_LOGGING
#ifndef HAL_NO_LOGGING
//stop logging
if (AP_Logger::get_singleton()) {
AP::logger().StopLogging();
@ -330,6 +330,7 @@ void Scheduler::_timer_thread(void *arg)
}
}
#ifndef HAL_NO_MONITOR_THREAD
void Scheduler::_monitor_thread(void *arg)
{
Scheduler *sched = (Scheduler *)arg;
@ -369,6 +370,7 @@ void Scheduler::_monitor_thread(void *arg)
}
}
}
#endif // HAL_NO_MONITOR_THREAD
void Scheduler::_rcin_thread(void *arg)
{

67
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View File

@ -50,6 +50,18 @@ UARTDriver *UARTDriver::uart_drivers[UART_MAX_DRIVERS];
// caller threads
#define EVT_DATA EVENT_MASK(0)
#ifndef HAL_UART_MIN_TX_SIZE
#define HAL_UART_MIN_TX_SIZE 1024
#endif
#ifndef HAL_UART_MIN_RX_SIZE
#define HAL_UART_MIN_RX_SIZE 512
#endif
#ifndef HAL_UART_STACK_SIZE
#define HAL_UART_STACK_SIZE 2048
#endif
UARTDriver::UARTDriver(uint8_t _serial_num) :
serial_num(_serial_num),
sdef(_serial_tab[_serial_num]),
@ -101,7 +113,7 @@ void UARTDriver::thread_init(void)
return;
}
#if CH_CFG_USE_HEAP == TRUE
uart_thread_ctx = thread_create_alloc(THD_WORKING_AREA_SIZE(2048),
uart_thread_ctx = thread_create_alloc(THD_WORKING_AREA_SIZE(HAL_UART_STACK_SIZE),
"apm_uart",
APM_UART_PRIORITY,
uart_thread,
@ -128,8 +140,8 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
if (sdef.serial == nullptr) {
return;
}
uint16_t min_tx_buffer = 1024;
uint16_t min_rx_buffer = 512;
uint16_t min_tx_buffer = HAL_UART_MIN_TX_SIZE;
uint16_t min_rx_buffer = HAL_UART_MIN_RX_SIZE;
if (sdef.is_usb) {
// give more buffer space for log download on USB
@ -174,6 +186,7 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
_readbuf.clear();
}
#ifndef HAL_UART_NODMA
if (rx_bounce_buf == nullptr) {
rx_bounce_buf = (uint8_t *)hal.util->malloc_type(RX_BOUNCE_BUFSIZE, AP_HAL::Util::MEM_DMA_SAFE);
}
@ -182,7 +195,8 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
chVTObjectInit(&tx_timeout);
tx_bounce_buf_ready = true;
}
#endif
/*
allocate the write buffer
*/
@ -227,7 +241,8 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
} else {
#if HAL_USE_SERIAL == TRUE
if (_baudrate != 0) {
bool was_initialised = _device_initialised;
#ifndef HAL_UART_NODMA
bool was_initialised = _device_initialised;
//setup Rx DMA
if(!_device_initialised) {
if(sdef.dma_rx) {
@ -259,6 +274,7 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
}
_device_initialised = true;
}
#endif // HAL_UART_NODMA
sercfg.speed = _baudrate;
// start with options from set_options()
@ -266,6 +282,7 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
sercfg.cr2 = _cr2_options;
sercfg.cr3 = _cr3_options;
#ifndef HAL_UART_NODMA
if (!sdef.dma_tx && !sdef.dma_rx) {
} else {
if (sdef.dma_rx) {
@ -276,12 +293,14 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
sercfg.cr3 |= USART_CR3_DMAT;
}
}
sercfg.cr2 |= USART_CR2_STOP1_BITS;
sercfg.irq_cb = rx_irq_cb;
#endif // HAL_UART_NODMA
sercfg.cr2 |= USART_CR2_STOP1_BITS;
sercfg.ctx = (void*)this;
sdStart((SerialDriver*)sdef.serial, &sercfg);
#ifndef HAL_UART_NODMA
if(sdef.dma_rx) {
//Configure serial driver to skip handling RX packets
//because we will handle them via DMA
@ -298,6 +317,7 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
dmaStreamEnable(rxdma);
}
}
#endif // HAL_UART_NODMA
}
#endif // HAL_USE_SERIAL
}
@ -318,6 +338,7 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
}
}
#ifndef HAL_UART_NODMA
void UARTDriver::dma_tx_allocate(Shared_DMA *ctx)
{
#if HAL_USE_SERIAL == TRUE
@ -435,6 +456,7 @@ void UARTDriver::rxbuff_full_irq(void* self, uint32_t flags)
}
#endif // HAL_USE_SERIAL
}
#endif // HAL_UART_NODMA
void UARTDriver::begin(uint32_t b)
{
@ -665,6 +687,7 @@ bool UARTDriver::wait_timeout(uint16_t n, uint32_t timeout_ms)
return available() >= n;
}
#ifndef HAL_UART_NODMA
/*
check for DMA completed for TX
*/
@ -754,6 +777,7 @@ void UARTDriver::write_pending_bytes_DMA(uint32_t n)
uint32_t timeout_us = ((1000000UL * (tx_len+2) * 10) / _baudrate) + 500;
chVTSet(&tx_timeout, chTimeUS2I(timeout_us), handle_tx_timeout, this);
}
#endif // HAL_UART_NODMA
/*
write any pending bytes to the device, non-DMA method
@ -805,9 +829,11 @@ void UARTDriver::write_pending_bytes(void)
{
uint32_t n;
#ifndef HAL_UART_NODMA
if (sdef.dma_tx) {
check_dma_tx_completion();
}
#endif
// write any pending bytes
n = _writebuf.available();
@ -815,10 +841,13 @@ void UARTDriver::write_pending_bytes(void)
return;
}
if (!sdef.dma_tx) {
write_pending_bytes_NODMA(n);
} else {
#ifndef HAL_UART_NODMA
if (sdef.dma_tx) {
write_pending_bytes_DMA(n);
} else
#endif
{
write_pending_bytes_NODMA(n);
}
// handle AUTO flow control mode
@ -826,6 +855,7 @@ void UARTDriver::write_pending_bytes(void)
if (_first_write_started_us == 0) {
_first_write_started_us = AP_HAL::micros();
}
#ifndef HAL_UART_NODMA
if (sdef.dma_tx) {
// when we are using DMA we have a reliable indication that a write
// has completed from the DMA completion interrupt
@ -833,7 +863,9 @@ void UARTDriver::write_pending_bytes(void)
_flow_control = FLOW_CONTROL_ENABLE;
return;
}
} else {
} else
#endif
{
// without DMA we need to look at the number of bytes written into the queue versus the
// remaining queue space
uint32_t space = qSpaceI(&((SerialDriver*)sdef.serial)->oqueue);
@ -876,6 +908,7 @@ void UARTDriver::_timer_tick(void)
{
if (!_initialised) return;
#ifndef HAL_UART_NODMA
if (sdef.dma_rx && rxdma) {
_lock_rx_in_timer_tick = true;
//Check if DMA is enabled
@ -900,6 +933,7 @@ void UARTDriver::_timer_tick(void)
}
_lock_rx_in_timer_tick = false;
}
#endif
// don't try IO on a disconnected USB port
if (sdef.is_usb) {
@ -916,7 +950,10 @@ void UARTDriver::_timer_tick(void)
}
_in_timer = true;
if (!sdef.dma_rx) {
#ifndef HAL_UART_NODMA
if (!sdef.dma_rx)
#endif
{
// try to fill the read buffer
ByteBuffer::IoVec vec[2];
@ -1055,12 +1092,16 @@ void UARTDriver::update_rts_line(void)
*/
bool UARTDriver::set_unbuffered_writes(bool on)
{
#ifdef HAL_UART_NODMA
return false;
#else
if (on && !sdef.dma_tx) {
// we can't implement low latemcy writes safely without TX DMA
return false;
}
unbuffered_writes = on;
return true;
#endif
}
/*
@ -1096,11 +1137,13 @@ void UARTDriver::configure_parity(uint8_t v)
}
sdStart((SerialDriver*)sdef.serial, &sercfg);
#ifndef HAL_UART_NODMA
if(sdef.dma_rx) {
//Configure serial driver to skip handling RX packets
//because we will handle them via DMA
((SerialDriver*)sdef.serial)->usart->CR1 &= ~USART_CR1_RXNEIE;
}
#endif
#endif // HAL_USE_SERIAL
}
@ -1127,11 +1170,13 @@ void UARTDriver::set_stop_bits(int n)
}
sdStart((SerialDriver*)sdef.serial, &sercfg);
#ifndef HAL_UART_NODMA
if(sdef.dma_rx) {
//Configure serial driver to skip handling RX packets
//because we will handle them via DMA
((SerialDriver*)sdef.serial)->usart->CR1 &= ~USART_CR1_RXNEIE;
}
#endif
#endif // HAL_USE_SERIAL
}

18
libraries/AP_HAL_ChibiOS/UARTDriver.h
View File

@ -63,12 +63,14 @@ public:
struct SerialDef {
BaseSequentialStream* serial;
bool is_usb;
#ifndef HAL_UART_NODMA
bool dma_rx;
uint8_t dma_rx_stream_id;
uint32_t dma_rx_channel_id;
bool dma_tx;
uint8_t dma_tx_stream_id;
uint32_t dma_tx_channel_id;
uint32_t dma_tx_channel_id;
#endif
ioline_t rts_line;
int8_t rxinv_gpio;
uint8_t rxinv_polarity;
@ -113,7 +115,6 @@ public:
}
private:
bool tx_bounce_buf_ready;
const SerialDef &sdef;
// thread used for all UARTs
@ -145,20 +146,27 @@ private:
// we use in-task ring buffers to reduce the system call cost
// of ::read() and ::write() in the main loop
#ifndef HAL_UART_NODMA
bool tx_bounce_buf_ready;
uint8_t *rx_bounce_buf;
uint8_t *tx_bounce_buf;
#endif
ByteBuffer _readbuf{0};
ByteBuffer _writebuf{0};
Semaphore _write_mutex;
#ifndef HAL_UART_NODMA
const stm32_dma_stream_t* rxdma;
const stm32_dma_stream_t* txdma;
#endif
virtual_timer_t tx_timeout;
bool _in_timer;
bool _blocking_writes;
bool _initialised;
bool _device_initialised;
bool _lock_rx_in_timer_tick = false;
#ifndef HAL_UART_NODMA
Shared_DMA *dma_handle;
#endif
static const SerialDef _serial_tab[];
// timestamp for receiving data on the UART, avoiding a lock
@ -186,17 +194,23 @@ private:
// set to true for unbuffered writes (low latency writes)
bool unbuffered_writes;
#ifndef HAL_UART_NODMA
static void rx_irq_cb(void* sd);
#endif
static void rxbuff_full_irq(void* self, uint32_t flags);
static void tx_complete(void* self, uint32_t flags);
static void handle_tx_timeout(void *arg);
#ifndef HAL_UART_NODMA
void dma_tx_allocate(Shared_DMA *ctx);
void dma_tx_deallocate(Shared_DMA *ctx);
#endif
void update_rts_line(void);
void check_dma_tx_completion(void);
#ifndef HAL_UART_NODMA
void write_pending_bytes_DMA(uint32_t n);
#endif
void write_pending_bytes_NODMA(uint32_t n);
void write_pending_bytes(void);

4
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -224,7 +224,7 @@ uint64_t Util::get_hw_rtc() const
return stm32_get_utc_usec();
}
#ifndef HAL_NO_FLASH_SUPPORT
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
bool Util::flash_bootloader()
{
@ -272,7 +272,7 @@ bool Util::flash_bootloader()
free(fw);
return false;
}
#endif //#ifndef HAL_NO_FLASH_SUPPORT
#endif // !HAL_NO_FLASH_SUPPORT && !HAL_NO_ROMFS_SUPPORT
/*
display system identifer - board type and serial number

2
libraries/AP_HAL_ChibiOS/Util.h
View File

@ -99,7 +99,7 @@ private:
get system clock in UTC microseconds
*/
uint64_t get_hw_rtc() const override;
#ifndef HAL_NO_FLASH_SUPPORT
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
bool flash_bootloader() override;
#endif

4
libraries/AP_HAL_ChibiOS/hwdef/common/board.c
View File

@ -36,7 +36,7 @@
/**
* @brief STM32 GPIO static initialization data.
*/
#ifdef STM32F100_MCUCONF
#if defined(STM32F100_MCUCONF) || defined(STM32F103_MCUCONF)
const PALConfig pal_default_config =
{
@ -222,7 +222,7 @@ static void stm32_gpio_init(void) {
* and before any other initialization.
*/
void __early_init(void) {
#ifndef STM32F100_MCUCONF
#if !defined(STM32F100_MCUCONF) && !defined(STM32F103_MCUCONF)
stm32_gpio_init();
#endif
stm32_clock_init();

2
libraries/AP_HAL_ChibiOS/hwdef/common/bouncebuffer.c
View File

@ -28,6 +28,8 @@
// on F76x we only consider first half of DTCM memory as DMA safe, 2nd half is used as fast memory for EKF
// on F74x we only have 64k of DTCM
#define IS_DMA_SAFE(addr) ((((uint32_t)(addr)) & ((0xFFFFFFFF & ~(64*1024U-1)) | 1U)) == 0x20000000)
#elif defined(STM32F1)
#define IS_DMA_SAFE(addr) true
#else
// this checks an address is in main memory and 16 bit aligned
#define IS_DMA_SAFE(addr) ((((uint32_t)(addr)) & 0xF0000001) == 0x20000000)

108
libraries/AP_HAL_ChibiOS/hwdef/common/flash.c
View File

@ -111,6 +111,9 @@ static const uint32_t flash_memmap[STM32_FLASH_NPAGES] = { KB(32), KB(32), KB(32
#elif defined(STM32H7)
#define STM32_FLASH_NPAGES (BOARD_FLASH_SIZE / 128)
#define STM32_FLASH_FIXED_PAGE_SIZE 128
#elif defined(STM32F1)
#define STM32_FLASH_NPAGES BOARD_FLASH_SIZE
#define STM32_FLASH_FIXED_PAGE_SIZE 1
#else
#error "Unsupported processor for flash.c"
#endif
@ -123,8 +126,13 @@ static bool flash_pageaddr_initialised;
static bool flash_keep_unlocked;
#ifndef FLASH_KEY1
#define FLASH_KEY1 0x45670123
#endif
#ifndef FLASH_KEY2
#define FLASH_KEY2 0xCDEF89AB
#endif
/* Some compiler options will convert short loads and stores into byte loads
* and stores. We don't want this to happen for IO reads and writes!
*/
@ -354,15 +362,19 @@ bool stm32_flash_erasepage(uint32_t page)
FLASH->CR2 |= FLASH_CR_START;
while (FLASH->SR2 & FLASH_SR_QW) ;
}
#else
stm32_flash_wait_idle();
#elif defined(STM32F1)
FLASH->CR = FLASH_CR_PER;
FLASH->AR = stm32_flash_getpageaddr(page);
FLASH->CR |= FLASH_CR_STRT;
#elif defined(STM32F4) || defined(STM32F7)
// the snb mask is not contiguous, calculate the mask for the page
uint8_t snb = (((page % 12) << 3) | ((page / 12) << 7));
// use 32 bit operations
FLASH->CR = FLASH_CR_PSIZE_1 | snb | FLASH_CR_SER;
FLASH->CR |= FLASH_CR_STRT;
#else
#error "Unsupported MCU"
#endif
stm32_flash_wait_idle();
@ -412,7 +424,7 @@ static bool stm32h7_flash_write32(uint32_t addr, const void *buf)
return true;
}
bool stm32_flash_write(uint32_t addr, const void *buf, uint32_t count)
static bool stm32_flash_write_h7(uint32_t addr, const void *buf, uint32_t count)
{
uint8_t *b = (uint8_t *)buf;
@ -438,9 +450,10 @@ bool stm32_flash_write(uint32_t addr, const void *buf, uint32_t count)
return true;
}
#else // not STM32H7
#endif // STM32H7
bool stm32_flash_write(uint32_t addr, const void *buf, uint32_t count)
#if defined(STM32F4) || defined(STM32F7)
static bool stm32_flash_write_f4f7(uint32_t addr, const void *buf, uint32_t count)
{
uint8_t *b = (uint8_t *)buf;
@ -531,7 +544,88 @@ failed:
#endif
return false;
}
#endif // not STM32H7
#endif // STM32F4 || STM32F7
uint32_t _flash_fail_line;
uint32_t _flash_fail_addr;
uint32_t _flash_fail_count;
uint8_t *_flash_fail_buf;
#if defined(STM32F1)
static bool stm32_flash_write_f1(uint32_t addr, const void *buf, uint32_t count)
{
uint8_t *b = (uint8_t *)buf;
/* STM32 requires half-word access */
if (count & 1) {
_flash_fail_line = __LINE__;
return false;
}
if ((addr+count) >= STM32_FLASH_BASE+STM32_FLASH_SIZE) {
_flash_fail_line = __LINE__;
return false;
}
#if STM32_FLASH_DISABLE_ISR
syssts_t sts = chSysGetStatusAndLockX();
#endif
stm32_flash_unlock();
stm32_flash_wait_idle();
// program in 16 bit steps
while (count >= 2) {
FLASH->CR = FLASH_CR_PG;
putreg16(*(uint16_t *)b, addr);
stm32_flash_wait_idle();
FLASH->CR = 0;
if (getreg16(addr) != *(uint16_t *)b) {
_flash_fail_line = __LINE__;
_flash_fail_addr = addr;
_flash_fail_count = count;
_flash_fail_buf = b;
goto failed;
}
count -= 2;
b += 2;
addr += 2;
}
stm32_flash_lock();
#if STM32_FLASH_DISABLE_ISR
chSysRestoreStatusX(sts);
#endif
return true;
failed:
stm32_flash_lock();
#if STM32_FLASH_DISABLE_ISR
chSysRestoreStatusX(sts);
#endif
return false;
}
#endif // STM32F1
bool stm32_flash_write(uint32_t addr, const void *buf, uint32_t count)
{
#if defined(STM32F1)
return stm32_flash_write_f1(addr, buf, count);
#elif defined(STM32F4) || defined(STM32F7)
return stm32_flash_write_f4f7(addr, buf, count);
#elif defined(STM32H7)
return stm32_flash_write_h7(addr, buf, count);
#else
#error "Unsupported MCU"
#endif
}
void stm32_flash_keep_unlocked(bool set)
{

2
libraries/AP_HAL_ChibiOS/hwdef/common/mcuconf.h
View File

@ -37,7 +37,7 @@
// include generated config
#include "hwdef.h"
#ifdef STM32F100_MCUCONF
#if defined(STM32F1)
#include "stm32f1_mcuconf.h"
#elif defined(STM32F4) || defined(STM32F7)
#include "stm32f47_mcuconf.h"

13
libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c
View File

@ -215,13 +215,19 @@ uint32_t get_fattime()
void get_rtc_backup(uint8_t idx, uint32_t *v, uint8_t n)
{
while (n--) {
#if defined(STM32F1)
__IO uint32_t *dr = (__IO uint32_t *)&BKP->DR1;
*v++ = (dr[n/2]&0xFFFF) | (dr[n/2+1]<<16);
#else
*v++ = ((__IO uint32_t *)&RTC->BKP0R)[idx++];
#endif
}
}
// set n RTC backup registers starting at given idx
void set_rtc_backup(uint8_t idx, const uint32_t *v, uint8_t n)
{
#if !defined(STM32F1)
if ((RCC->BDCR & RCC_BDCR_RTCEN) == 0) {
RCC->BDCR |= STM32_RTCSEL;
RCC->BDCR |= RCC_BDCR_RTCEN;
@ -230,9 +236,16 @@ void set_rtc_backup(uint8_t idx, const uint32_t *v, uint8_t n)
PWR->CR |= PWR_CR_DBP;
#else
PWR->CR1 |= PWR_CR1_DBP;
#endif
#endif
while (n--) {
#if defined(STM32F1)
__IO uint32_t *dr = (__IO uint32_t *)&BKP->DR1;
dr[n/2] = (*v) & 0xFFFF;
dr[n/2+1] = (*v) >> 16;
#else
((__IO uint32_t *)&RTC->BKP0R)[idx++] = *v++;
#endif
}
}

3
libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
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@ -57,7 +57,8 @@ uint32_t get_fattime(void);
enum rtc_boot_magic {
RTC_BOOT_OFF = 0,
RTC_BOOT_HOLD = 0xb0070001,
RTC_BOOT_FAST = 0xb0070002
RTC_BOOT_FAST = 0xb0070002,
RTC_BOOT_CANBL = 0xb0080000 // ORd with 8 bit local node ID
};
// see if RTC registers is setup for a fast reboot

30
libraries/AP_HAL_ChibiOS/hwdef/common/stm32f1_mcuconf.h
View File

@ -34,11 +34,39 @@
#define STM32_LSI_ENABLED FALSE
#define STM32_HSE_ENABLED TRUE
#define STM32_LSE_ENABLED FALSE
#if STM32_HSECLK == 8000000U
#define STM32_SW STM32_SW_PLL
#define STM32_PLLSRC STM32_PLLSRC_HSE
#define STM32_PLLXTPRE STM32_PLLXTPRE_DIV1
#define STM32_PLLMUL_VALUE 9
#define STM32_PPRE1 STM32_PPRE1_DIV2
#define STM32_PPRE2 STM32_PPRE2_DIV2
#define STM32_ADCPRE STM32_ADCPRE_DIV4
#else
#error "Unsupported STM32F1xx clock frequency"
#endif
#ifndef STM32_SW
#define STM32_SW STM32_SW_HSE
#endif
#ifndef STM32_HPRE
#define STM32_HPRE STM32_HPRE_DIV1
#endif
#ifndef STM32_PPRE1
#define STM32_PPRE1 STM32_PPRE1_DIV1
#endif
#ifndef STM32_PPRE2
#define STM32_PPRE2 STM32_PPRE2_DIV1
#endif
#ifndef STM32_ADCPRE
#define STM32_ADCPRE STM32_ADCPRE_DIV2
#endif
#define STM32_MCOSEL STM32_MCOSEL_NOCLOCK
#define STM32_RTCSEL STM32_RTCSEL_HSEDIV
#define STM32_PVD_ENABLE FALSE
@ -147,4 +175,4 @@
/*
* WDG driver system settings.
*/
#define STM32_WDG_USE_IWDG FALSE
#define STM32_WDG_USE_IWDG FALSE

2
libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.dat
View File

@ -129,7 +129,7 @@ define HAL_USE_RTC FALSE
define HAL_NO_FLASH_SUPPORT TRUE
define HAL_NO_UARTDRIVER TRUE
define DISABLE_SERIAL_ESC_COMM TRUE
define NO_LOGGING TRUE
define HAL_NO_LOGGING TRUE
define DMA_RESERVE_SIZE 0

105
libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F103xB.py Normal file
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@ -0,0 +1,105 @@
#!/usr/bin/env python
'''
these tables are generated from the STM32 datasheets for the
STM32F103x8
'''
# additional build information for ChibiOS
build = {
"CHIBIOS_STARTUP_MK" : "os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f1xx.mk",
"CHIBIOS_PLATFORM_MK" : "os/hal/ports/STM32/STM32F1xx/platform.mk",
"CHPRINTF_USE_FLOAT" : 'no',
"USE_FPU" : 'no'
}
pincount = {
'A': 16,
'B': 16,
'C': 16,
'D': 16,
'E': 16
}
# MCU parameters
mcu = {
# location of MCU serial number
'UDID_START' : 0x1FFFF7E8,
'RAM_MAP' : [
(0x20000000, 20, 1), # main memory, DMA safe
]
}
ADC1_map = {
# format is PIN : ADC1_CHAN
"PA0" : 0,
"PA1" : 1,
"PA2" : 2,
"PA3" : 3,
"PA4" : 4,
"PA5" : 5,
"PA6" : 6,
"PA7" : 7,
"PB0" : 8,
"PB1" : 9,
"PC0" : 10,
"PC1" : 11,
"PC2" : 12,
"PC3" : 13,
"PC4" : 14,
"PC5" : 15,
}
DMA_Map = {
# format is (DMA_TABLE, StreamNum, Channel)
"ADC1" : [(1,1,0)],
"TIM1_CH1" : [(1,2,0)],
"TIM1_CH3" : [(1,6,0)],
"TIM1_CH4" : [(1,4,0)],
"TIM1_UP" : [(1,5,0)],
"TIM2_CH1" : [(1,5,0)],
"TIM2_CH2" : [(1,7,0)],
"TIM2_CH3" : [(1,1,0)],
"TIM2_CH4" : [(1,7,0)],
"TIM2_UP" : [(1,2,0)],
"TIM3_CH1" : [(1,6,0)],
"TIM3_CH3" : [(1,2,0)],
"TIM3_CH4" : [(1,3,0)],
"TIM3_UP" : [(1,3,0)],
"TIM4_CH1" : [(1,1,0)],
"TIM4_CH2" : [(1,4,0)],
"TIM4_CH3" : [(1,5,0)],
"TIM4_UP" : [(1,7,0)],
"TIM5_CH1" : [(2,5,0)],
"TIM5_CH2" : [(2,4,0)],
"TIM5_CH3" : [(2,2,0)],
"TIM5_CH4" : [(2,1,0)],
"TIM5_UP" : [(2,2,0)],
"TIM8_CH1" : [(2,3,0)],
"TIM8_CH2" : [(2,5,0)],
"TIM8_CH3" : [(2,1,0)],
"TIM8_CH4" : [(2,2,0)],
"TIM8_UP" : [(2,1,0)],
"TIM6_UP" : [(2,3,0)],
"TIM7_UP" : [(2,4,0)],
"I2C1_RX" : [(1,7,0)],
"I2C1_TX" : [(1,6,0)],
"I2C2_RX" : [(1,5,0)],
"I2C2_TX" : [(1,4,0)],
"SPI1_RX" : [(1,2,0)],
"SPI1_TX" : [(1,3,0)],
"SPI2_RX" : [(1,4,0)],
"SPI2_TX" : [(1,5,0)],
"SPI3_RX" : [(2,1,0)],
"SPI3_TX" : [(2,2,0)],
"UART4_RX" : [(2,3,0)],
"UART4_TX" : [(2,5,0)],
"USART1_RX" : [(1,5,0)],
"USART1_TX" : [(1,4,0)],
"USART2_RX" : [(1,6,0)],
"USART2_TX" : [(1,7,0)],
"USART3_RX" : [(1,3,0)],
"USART3_TX" : [(1,2,0)],
}

104
libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F105xC.py Normal file
View File

@ -0,0 +1,104 @@
#!/usr/bin/env python
'''
setup for STM32F105xx
'''
# additional build information for ChibiOS
build = {
"CHIBIOS_STARTUP_MK" : "os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f1xx.mk",
"CHIBIOS_PLATFORM_MK" : "os/hal/ports/STM32/STM32F1xx/platform.mk",
"CHPRINTF_USE_FLOAT" : 'no',
"USE_FPU" : 'no'
}
pincount = {
'A': 16,
'B': 16,
'C': 16,
'D': 16,
'E': 16
}
# MCU parameters
mcu = {
# location of MCU serial number
'UDID_START' : 0x1FFFF7E8,
'RAM_MAP' : [
(0x20000000, 64, 1), # main memory, DMA safe
]
}
ADC1_map = {
# format is PIN : ADC1_CHAN
"PA0" : 0,
"PA1" : 1,
"PA2" : 2,
"PA3" : 3,
"PA4" : 4,
"PA5" : 5,
"PA6" : 6,
"PA7" : 7,
"PB0" : 8,
"PB1" : 9,
"PC0" : 10,
"PC1" : 11,
"PC2" : 12,
"PC3" : 13,
"PC4" : 14,
"PC5" : 15,
}
DMA_Map = {
# format is (DMA_TABLE, StreamNum, Channel)
"ADC1" : [(1,1,0)],
"TIM1_CH1" : [(1,2,0)],
"TIM1_CH3" : [(1,6,0)],
"TIM1_CH4" : [(1,4,0)],
"TIM1_UP" : [(1,5,0)],
"TIM2_CH1" : [(1,5,0)],
"TIM2_CH2" : [(1,7,0)],
"TIM2_CH3" : [(1,1,0)],
"TIM2_CH4" : [(1,7,0)],
"TIM2_UP" : [(1,2,0)],
"TIM3_CH1" : [(1,6,0)],
"TIM3_CH3" : [(1,2,0)],
"TIM3_CH4" : [(1,3,0)],
"TIM3_UP" : [(1,3,0)],
"TIM4_CH1" : [(1,1,0)],
"TIM4_CH2" : [(1,4,0)],
"TIM4_CH3" : [(1,5,0)],
"TIM4_UP" : [(1,7,0)],
"TIM5_CH1" : [(2,5,0)],
"TIM5_CH2" : [(2,4,0)],
"TIM5_CH3" : [(2,2,0)],
"TIM5_CH4" : [(2,1,0)],
"TIM5_UP" : [(2,2,0)],
"TIM8_CH1" : [(2,3,0)],
"TIM8_CH2" : [(2,5,0)],
"TIM8_CH3" : [(2,1,0)],
"TIM8_CH4" : [(2,2,0)],
"TIM8_UP" : [(2,1,0)],
"TIM6_UP" : [(2,3,0)],
"TIM7_UP" : [(2,4,0)],
"I2C1_RX" : [(1,7,0)],
"I2C1_TX" : [(1,6,0)],
"I2C2_RX" : [(1,5,0)],
"I2C2_TX" : [(1,4,0)],
"SPI1_RX" : [(1,2,0)],
"SPI1_TX" : [(1,3,0)],
"SPI2_RX" : [(1,4,0)],
"SPI2_TX" : [(1,5,0)],
"SPI3_RX" : [(2,1,0)],
"SPI3_TX" : [(2,2,0)],
"UART4_RX" : [(2,3,0)],
"UART4_TX" : [(2,5,0)],
"USART1_RX" : [(1,5,0)],
"USART1_TX" : [(1,4,0)],
"USART2_RX" : [(1,6,0)],
"USART2_TX" : [(1,7,0)],
"USART3_RX" : [(1,3,0)],
"USART3_TX" : [(1,2,0)],
}

37
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -111,7 +111,7 @@ def setup_mcu_type_defaults():
lib = get_mcu_lib(mcu_type)
if hasattr(lib, 'pincount'):
pincount = lib.pincount
if mcu_series == "STM32F100":
if mcu_series.startswith("STM32F1"):
vtypes = f1_vtypes
else:
vtypes = f4f7_vtypes
@ -190,7 +190,7 @@ class generic_pin(object):
self.sig_dir = 'OUTPUT'
else:
self.sig_dir = 'INPUT'
if mcu_series == "STM32F100" and self.label is not None:
if mcu_series.startswith("STM32F1") and self.label is not None:
self.f1_pin_setup()
# check that labels and pin types are consistent
@ -211,6 +211,8 @@ class generic_pin(object):
self.extra.append('FLOATING')
elif self.label.endswith(tuple(f1_output_sigs)):
self.sig_dir = 'OUTPUT'
elif l == 'I2C':
self.sig_dir = 'OUTPUT'
else:
error("Unknown signal type %s:%s for %s!" % (self.portpin, self.label, mcu_type))
@ -335,7 +337,7 @@ class generic_pin(object):
def get_ODR(self):
'''return one of LOW, HIGH'''
if mcu_series == "STM32F100":
if mcu_series.startswith("STM32F1"):
return self.get_ODR_F1()
values = ['LOW', 'HIGH']
v = 'HIGH'
@ -400,7 +402,7 @@ class generic_pin(object):
def get_CR(self):
'''return CR FLAGS'''
if mcu_series == "STM32F100":
if mcu_series.startswith("STM32F1"):
return self.get_CR_F1()
if self.sig_dir != "INPUT":
speed_values = ['SPEED_LOW', 'SPEED_MEDIUM', 'SPEED_HIGH']
@ -547,7 +549,7 @@ def write_mcu_config(f):
f.write('#define HAL_USE_SERIAL_USB TRUE\n')
if 'OTG2' in bytype:
f.write('#define STM32_USB_USE_OTG2 TRUE\n')
if have_type_prefix('CAN'):
if have_type_prefix('CAN') and not mcu_series.startswith("STM32F1"):
enable_can(f)
if get_config('PROCESS_STACK', required=False):
@ -565,6 +567,11 @@ def write_mcu_config(f):
else:
env_vars['IOMCU_FW'] = 0
if get_config('PERIPH_FW', required=False):
env_vars['PERIPH_FW'] = get_config('PERIPH_FW')
else:
env_vars['PERIPH_FW'] = 0
# write any custom STM32 defines
for d in alllines:
if d.startswith('STM32_'):
@ -600,7 +607,7 @@ def write_mcu_config(f):
lib = get_mcu_lib(mcu_type)
build_info = lib.build
if mcu_series == "STM32F100":
if mcu_series.startswith("STM32F1"):
cortex = "cortex-m3"
env_vars['CPU_FLAGS'] = ["-mcpu=%s" % cortex]
build_info['MCU'] = cortex
@ -945,8 +952,11 @@ def write_UART_config(f):
f.write(
"#define HAL_%s_CONFIG { (BaseSequentialStream*) &SD%u, false, "
% (dev, n))
f.write("STM32_%s_RX_DMA_CONFIG, STM32_%s_TX_DMA_CONFIG, %s, " %
(dev, dev, rts_line))
if mcu_series.startswith("STM32F1"):
f.write("%s, " % rts_line)
else:
f.write("STM32_%s_RX_DMA_CONFIG, STM32_%s_TX_DMA_CONFIG, %s, " %
(dev, dev, rts_line))
# add inversion pins, if any
f.write("%d, " % get_gpio_bylabel(dev + "_RXINV"))
@ -1006,10 +1016,15 @@ def write_I2C_config(f):
'''write I2C config defines'''
if not have_type_prefix('I2C'):
print("No I2C peripherals")
f.write('#define HAL_USE_I2C FALSE\n')
f.write('''
#ifndef HAL_USE_I2C
#define HAL_USE_I2C FALSE
#endif
''')
return
if not 'I2C_ORDER' in config:
error("Missing I2C_ORDER config")
print("Missing I2C_ORDER config")
return
i2c_list = config['I2C_ORDER']
f.write('// I2C configuration\n')
if len(i2c_list) == 0:
@ -1398,7 +1413,7 @@ def write_hwdef_header(outfilename):
if len(romfs) > 0:
f.write('#define HAL_HAVE_AP_ROMFS_EMBEDDED_H 1\n')
if mcu_series == 'STM32F100':
if mcu_series.startswith('STM32F1'):
f.write('''
/*
* I/O ports initial setup, this configuration is established soon after reset

4
libraries/AP_HAL_ChibiOS/shared_dma.cpp
View File

@ -20,7 +20,7 @@
code to handle sharing of DMA channels between peripherals
*/
#if CH_CFG_USE_SEMAPHORES == TRUE && STM32_DMA_ADVANCED
#if CH_CFG_USE_SEMAPHORES == TRUE
using namespace ChibiOS;
@ -211,4 +211,4 @@ void Shared_DMA::lock_all(void)
}
}
#endif // CH_CFG_USE_SEMAPHORES && STM32_DMA_ADVANCED
#endif // CH_CFG_USE_SEMAPHORES

4
libraries/AP_HAL_ChibiOS/shared_dma.h
View File

@ -18,8 +18,6 @@
#include "AP_HAL_ChibiOS.h"
#if STM32_DMA_ADVANCED
#define SHARED_DMA_MAX_STREAM_ID (8*2)
// DMA stream ID for stream_id2 when only one is needed
@ -106,6 +104,6 @@ private:
Shared_DMA *obj;
} locks[SHARED_DMA_MAX_STREAM_ID+1];
};
#endif //#if STM32_DMA_ADVANCED

2
libraries/AP_HAL_ChibiOS/stdio.cpp
View File

@ -121,6 +121,7 @@ __wrap_sscanf (const char *buf, const char *fmt, ...)
return (count);
}
#if defined(HAL_OS_FATFS_IO) && HAL_OS_FATFS_IO
static char *
_getbase(char *p, int *basep)
{
@ -214,7 +215,6 @@ static int16_t atob(uint32_t *vp, char *p, int base)
}
#if defined(HAL_OS_FATFS_IO) && HAL_OS_FATFS_IO
/*
* vsscanf(buf,fmt,ap)
*/