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AP_HAL_ChibiOS: add hooks to compile Networking

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Tom Pittenger 2023-07-05 14:07:06 -07:00 committed by Andrew Tridgell
parent d841d250d8
commit 3b79ff0ad3
3 changed files with 2190 additions and 2 deletions
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8
libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
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@ -68,6 +68,10 @@ ifeq ($(USE_FATFS),yes)
include $(CHIBIOS)/os/various/fatfs_bindings/fatfs.mk
endif
ifeq ($(USE_LWIP),yes)
include $(CHIBIOS)/os/various/lwip_bindings/lwip.mk
endif
#
# Build global options
##############################################################################
@ -145,6 +149,10 @@ CSRC += $(CHIBIOS)/os/various/scsi_bindings/lib_scsi.c \
$(CHIBIOS)/os/hal/src/hal_usb_msd.c
endif
ifeq ($(USE_LWIP),yes)
CSRC += $(CHIBIOS)/os/various/evtimer.c
endif
# $(TESTSRC) \
# test.c
ifneq ($(CRASHCATCHER),)

2149
libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h Normal file
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File diff suppressed because it is too large Load Diff

35
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
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@ -19,7 +19,7 @@ class ChibiOSHWDef(object):
# output variables for each pin
f4f7_vtypes = ['MODER', 'OTYPER', 'OSPEEDR', 'PUPDR', 'ODR', 'AFRL', 'AFRH']
f1_vtypes = ['CRL', 'CRH', 'ODR']
af_labels = ['USART', 'UART', 'SPI', 'I2C', 'SDIO', 'SDMMC', 'OTG', 'JT', 'TIM', 'CAN', 'QUADSPI', 'OCTOSPI']
af_labels = ['USART', 'UART', 'SPI', 'I2C', 'SDIO', 'SDMMC', 'OTG', 'JT', 'TIM', 'CAN', 'QUADSPI', 'OCTOSPI', 'ETH']
def __init__(self, bootloader=False, signed_fw=False, outdir=None, hwdef=[], default_params_filepath=None):
self.outdir = outdir
@ -931,6 +931,20 @@ class ChibiOSHWDef(object):
if 'OTG2' in self.bytype:
f.write('#define STM32_USB_USE_OTG2 TRUE\n')
if 'ETH1' in self.bytype:
f.write('// Configure for Ethernet support\n')
f.write('#define CH_CFG_USE_MAILBOXES TRUE\n')
f.write('#define HAL_USE_MAC TRUE\n')
f.write('#define MAC_USE_EVENTS TRUE\n')
f.write('#define STM32_NOCACHE_SRAM3 TRUE\n')
f.write('#define AP_NETWORKING_ENABLED TRUE\n')
self.build_flags.append('USE_LWIP=yes')
self.env_vars['WITH_NETWORKING'] = True
else:
f.write('#define AP_NETWORKING_ENABLED FALSE\n')
self.build_flags.append('USE_LWIP=no')
self.env_vars['WITH_NETWORKING'] = False
defines = self.get_mcu_config('DEFINES', False)
if defines is not None:
for d in defines.keys():
@ -1314,6 +1328,13 @@ class ChibiOSHWDef(object):
ext_flash_size = self.get_config('EXT_FLASH_SIZE_MB', default=0, type=int)
int_flash_primary = self.get_config('INT_FLASH_PRIMARY', default=False, type=int)
ethernet_ram = self.get_mcu_config('ETHERNET_RAM', False)
if ethernet_ram is None and self.env_vars['WITH_NETWORKING']:
self.error("No ethernet ram defined in mcu config")
elif self.env_vars['WITH_NETWORKING']:
ethernet_ram_base = ethernet_ram[0]
ethernet_ram_length = ethernet_ram[1]
if not args.bootloader:
flash_length = flash_size - (flash_reserve_start + flash_reserve_end)
ext_flash_length = ext_flash_size * 1024 - (ext_flash_reserve_start + ext_flash_reserve_end)
@ -1378,6 +1399,16 @@ INCLUDE common.ld
ram0_start, ram0_len,
ram1_start, ram1_len,
ram2_start, ram2_len))
if self.env_vars['WITH_NETWORKING']:
f.write('''
/* Ethernet RAM */
MEMORY
{
eth_ram : org = 0x%08x, len = %uK
}
INCLUDE common_eth.ld
''' % (ethernet_ram_base, ethernet_ram_length))
f.close()
def copy_common_linkerscript(self, outdir):
dirpath = os.path.dirname(os.path.realpath(__file__))
@ -2826,7 +2857,7 @@ INCLUDE common.ld
'''check type of a pin line is valid'''
patterns = [ 'INPUT', 'OUTPUT', 'TIM\d+', 'USART\d+', 'UART\d+', 'ADC\d+',
'SPI\d+', 'OTG\d+', 'SWD', 'CAN\d?', 'I2C\d+', 'CS',
'SDMMC\d+', 'SDIO', 'QUADSPI\d', 'OCTOSPI\d' ]
'SDMMC\d+', 'SDIO', 'QUADSPI\d', 'OCTOSPI\d', 'ETH\d' ]
matches = False
for p in patterns:
if re.match(p, ptype):