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HAL_ChibiOS: add changes to hwdef to support STM32F1 based controller

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This commit is contained in:
Siddharth Purohit 2018-08-29 18:48:55 +05:30 committed by Andrew Tridgell
parent bc601c1ff6
commit 42b4730d88
10 changed files with 197 additions and 16 deletions
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20
libraries/AP_HAL_ChibiOS/hwdef/common/board.c
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@ -32,6 +32,22 @@
/* Driver local variables and types. */
/*===========================================================================*/
/**
* @brief STM32 GPIO static initialization data.
*/
#ifdef STM32F100_MCUCONF
const PALConfig pal_default_config =
{
{VAL_GPIOA_ODR, VAL_GPIOA_CRL, VAL_GPIOA_CRH},
{VAL_GPIOB_ODR, VAL_GPIOB_CRL, VAL_GPIOB_CRH},
{VAL_GPIOC_ODR, VAL_GPIOC_CRL, VAL_GPIOC_CRH},
{VAL_GPIOD_ODR, VAL_GPIOD_CRL, VAL_GPIOD_CRH},
{VAL_GPIOE_ODR, VAL_GPIOE_CRL, VAL_GPIOE_CRH},
};
#else //Other than STM32F1 series
/**
* @brief Type of STM32 GPIO port setup.
*/
@ -192,13 +208,17 @@ static void stm32_gpio_init(void) {
#endif
}
#endif //!STM32F100_MCUCONF
/**
* @brief Early initialization code.
* @details This initialization must be performed just after stack setup
* and before any other initialization.
*/
void __early_init(void) {
#ifndef STM32F100_MCUCONF
stm32_gpio_init();
#endif
stm32_clock_init();
}

6
libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h
View File

@ -68,7 +68,9 @@
* setting also defines the system tick time unit. We set this to 1000000
* in ArduPilot so we get maximum resolution for timing of delays
*/
#ifndef CH_CFG_ST_FREQUENCY
#define CH_CFG_ST_FREQUENCY 1000000
#endif
/**
* @brief Time intervals data size.
@ -90,7 +92,9 @@
* The value one is not valid, timeouts are rounded up to
* this value.
*/
#ifndef CH_CFG_ST_TIMEDELTA
#define CH_CFG_ST_TIMEDELTA 2
#endif
/*
default to a large interrupt stack for now. We may trim this later
@ -548,7 +552,9 @@
* @note This debug option is not currently compatible with the
* tickless mode.
*/
#ifndef CH_DBG_THREADS_PROFILING
#define CH_DBG_THREADS_PROFILING FALSE
#endif
/** @} */

6
libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
View File

@ -5,7 +5,7 @@
# Compiler options here.
ifeq ($(USE_OPT),)
USE_OPT = -Os -g -fomit-frame-pointer -falign-functions=16 -DCHPRINTF_USE_FLOAT=1
USE_OPT = -Os -g -fomit-frame-pointer -falign-functions=16
endif
# C specific options here (added to USE_OPT).
@ -171,8 +171,6 @@ INCDIR = $(CHIBIOS)/os/license \
# Compiler settings
#
MCU = cortex-m4
#TRGT = arm-elf-
TRGT = arm-none-eabi-
CC = $(TRGT)gcc
@ -211,7 +209,7 @@ CPPWARN = -Wall -Wextra -Wundef
#
# List all user C define here, like -D_DEBUG=1
UDEFS = $(FATFS_FLAGS) -DHAL_BOARD_NAME=\"$(HAL_BOARD_NAME)\"
UDEFS = $(ENV_UDEFS) $(FATFS_FLAGS) -DHAL_BOARD_NAME=\"$(HAL_BOARD_NAME)\"
ifeq ($(ENABLE_ASSERTS),yes)
UDEFS += -DHAL_CHIBIOS_ENABLE_ASSERTS

9
libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c
View File

@ -69,6 +69,7 @@ void malloc_init(void)
chHeapObjectInit(&dtcm_heap, (void *)DTCM_BASE_ADDRESS, DTCM_RAM_SIZE_KB*1024);
#endif
#if DMA_RESERVE_SIZE != 0
/*
create a DMA reserve heap, to ensure we keep some memory for DMA
safe memory allocations
@ -78,6 +79,7 @@ void malloc_init(void)
dma_reserve = chHeapAllocAligned(NULL, DMA_RESERVE_SIZE, MIN_ALIGNMENT);
}
chHeapObjectInit(&dma_reserve_heap, dma_reserve, DMA_RESERVE_SIZE);
#endif //#if DMA_RESERVE_SIZE != 0
}
void *malloc_ccm(size_t size)
@ -133,13 +135,14 @@ void *malloc(size_t size)
}
}
#if DMA_RESERVE_SIZE != 0
// fall back to DMA reserve
p = chHeapAllocAligned(&dma_reserve_heap, size, MIN_ALIGNMENT);
if (p) {
memset(p, 0, size);
return p;
}
#endif
return NULL;
}
@ -155,9 +158,11 @@ void *malloc_dma(size_t size)
// if we don't have DTCM memory then assume that main heap is DMA-safe
p = chHeapAllocAligned(NULL, size, MIN_ALIGNMENT);
#endif
#if DMA_RESERVE_SIZE != 0
if (p == NULL) {
p = chHeapAllocAligned(&dma_reserve_heap, size, MIN_ALIGNMENT);
}
#endif
if (p) {
memset(p, 0, size);
}
@ -200,9 +205,11 @@ size_t mem_available(void)
totalp += dtcm_available;
#endif
#if DMA_RESERVE_SIZE != 0
size_t reserve_available = 0;
chHeapStatus(&dma_reserve_heap, &reserve_available, NULL);
totalp += reserve_available;
#endif
return totalp;
}

4
libraries/AP_HAL_ChibiOS/hwdef/common/mcuconf.h
View File

@ -36,6 +36,9 @@
#include "hwdef.h"
#pragma once
#ifdef STM32F100_MCUCONF
#include "stm32f1_mcuconf.h"
#else
/*
* STM32F4xx drivers configuration.
* The following settings override the default settings present in
@ -384,3 +387,4 @@
*/
#define STM32_WDG_USE_IWDG FALSE
#endif //!STM32F100_MCUCONF

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

@ -2536,7 +2536,7 @@ static void _fprintf_putc(struct _printf_t *p, char ch)
/// @return size of printed result
int
fprintf(FILE *fp, const char *fmt, ...)
__wrap_fprintf(FILE *fp, const char *fmt, ...)
{
va_list va;
char* buf;

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

@ -388,7 +388,7 @@ int free_file_descriptor ( int fileno );
int new_file_descriptor ( void );
int posix_fopen_modes_to_open ( const char *mode );
int fprintf(FILE *fp, const char *format, ...);
int __wrap_fprintf(FILE *fp, const char *format, ...);
#ifdef __cplusplus
}

3
libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c
View File

@ -219,6 +219,7 @@ uint32_t get_fattime()
return fattime;
}
#if defined(HAL_USE_RTC) && HAL_USE_RTC
// get RTC backup register 0
static uint32_t get_rtc_backup0(void)
{
@ -252,6 +253,8 @@ void set_fast_reboot(enum rtc_boot_magic v)
set_rtc_backup0(v);
}
#endif //HAL_USE_RTC
/*
enable peripheral power if needed This is done late to prevent
problems with CTS causing SiK radios to stay in the bootloader. A

156
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -17,7 +17,13 @@ parser.add_argument(
args = parser.parse_args()
# output variables for each pin
vtypes = ['MODER', 'OTYPER', 'OSPEEDR', 'PUPDR', 'ODR', 'AFRL', 'AFRH']
f4f7_vtypes = ['MODER', 'OTYPER', 'OSPEEDR', 'PUPDR', 'ODR', 'AFRL', 'AFRH']
f1_vtypes = ['CRL', 'CRH', 'ODR']
f1_input_sigs = ['RX', 'MISO', 'CTS']
f1_output_sigs = ['TX', 'MOSI', 'SCK', 'RTS', 'CH1', 'CH2', 'CH3', 'CH4']
af_labels = ['USART', 'UART', 'SPI', 'I2C', 'SDIO', 'SDMMC', 'OTG', 'JT', 'TIM', 'CAN']
vtypes = []
# number of pins in each port
pincount = {
@ -96,10 +102,14 @@ def get_mcu_lib(mcu):
def setup_mcu_type_defaults():
'''setup defaults for given mcu type'''
global pincount, ports, portmap
global pincount, ports, portmap, vtypes
lib = get_mcu_lib(mcu_type)
if hasattr(lib, 'pincount'):
pincount = lib.pincount
if mcu_series == "STM32F100":
vtypes = f1_vtypes
else:
vtypes = f4f7_vtypes
ports = pincount.keys()
# setup default as input pins
for port in ports:
@ -110,14 +120,21 @@ def setup_mcu_type_defaults():
def get_alt_function(mcu, pin, function):
'''return alternative function number for a pin'''
lib = get_mcu_lib(mcu)
alt_map = lib.AltFunction_map
if hasattr(lib, "AltFunction_map"):
alt_map = lib.AltFunction_map
else:
# just check if Alt Func is available or not
for l in af_labels:
if function.startswith(l):
return 0
return None
if function and function.endswith("_RTS") and (
function.startswith('USART') or function.startswith('UART')):
# we do software RTS
return None
af_labels = ['USART', 'UART', 'SPI', 'I2C', 'SDIO', 'SDMMC', 'OTG', 'JT', 'TIM', 'CAN']
for l in af_labels:
if function.startswith(l):
s = pin + ":" + function
@ -152,6 +169,7 @@ class generic_pin(object):
'''class to hold pin definition'''
def __init__(self, port, pin, label, type, extra):
global mcu_series
self.portpin = "P%s%u" % (port, pin)
self.port = port
self.pin = pin
@ -159,6 +177,20 @@ class generic_pin(object):
self.type = type
self.extra = extra
self.af = None
self.sig_dir = 'INPUT'
if mcu_series == "STM32F100" and self.label is not None:
self.f1_pin_setup()
def f1_pin_setup(self):
for l in af_labels:
if self.label.startswith(l):
if self.label.endswith(tuple(f1_input_sigs)):
self.sig_dir = 'INPUT'
self.extra.append('FLOATING')
elif self.label.endswith(tuple(f1_output_sigs)):
self.sig_dir = 'OUTPUT'
else:
error("Unknown signal type %s:%s for %s!" % (self.portpin, self.label, mcu_type))
def has_extra(self, v):
'''return true if we have the given extra token'''
@ -281,6 +313,67 @@ class generic_pin(object):
return None
return self.get_AFIO()
#F1 series GPIO Cfg methods
def get_ODR(self):
'''return one of LOW, HIGH'''
values = ['LOW', 'HIGH']
v = 'HIGH'
if self.type == 'OUTPUT':
v = 'LOW'
for e in self.extra:
if e in values:
v = e
#for some controllers input pull up down is selected by ODR
if self.type == "INPUT":
v = 'LOW'
if 'PULLUP' in self.extra:
v = "HIGH"
return "PIN_ODR_%s(%uU)" % (v, self.pin)
def get_CR(self):
'''return CR FLAGS'''
#Check Speed
if self.sig_dir != "INPUT":
speed_values = ['SPEED_LOW', 'SPEED_MEDIUM', 'SPEED_HIGH']
v = 'SPEED_MEDIUM'
for e in self.extra:
if e in speed_values:
v = e
speed_str = "PIN_%s(%uU) |" % (v, self.pin)
else:
speed_str = ""
#Check Alternate function
if self.type.startswith('I2C'):
v = "AF_OD"
elif self.sig_dir == 'OUTPUT':
if self.af is not None:
v = "AF_PP"
else:
v = "OUTPUT_PP"
elif self.type.startswith('ADC'):
v = "ANALOG"
elif self.is_CS():
v = "OUTPUT_PP"
elif self.is_RTS():
v = "OUTPUT_PP"
else:
v = "PUD"
if 'FLOATING' in self.extra:
v = "NOPULL"
mode_str = "PIN_MODE_%s(%uU)" % (v, self.pin)
return "%s %s" % (speed_str, mode_str)
def get_CRH(self):
if self.pin < 8:
return None
return self.get_CR()
def get_CRL(self):
if self.pin >= 8:
return None
return self.get_CR()
def __str__(self):
str = ''
if self.af is not None:
@ -384,6 +477,17 @@ def write_mcu_config(f):
f.write('#define STM32_USB_USE_OTG2 TRUE\n')
if have_type_prefix('CAN'):
enable_can(f)
if get_config('PROCESS_STACK', required=False):
env_vars['PROCESS_STACK'] = get_config('PROCESS_STACK')
else:
env_vars['PROCESS_STACK'] = "0x2000"
if get_config('MAIN_STACK', required=False):
env_vars['MAIN_STACK'] = get_config('MAIN_STACK')
else:
env_vars['MAIN_STACK'] = "0x400"
# write any custom STM32 defines
for d in alllines:
if d.startswith('STM32_'):
@ -428,6 +532,16 @@ def write_mcu_config(f):
lib = get_mcu_lib(mcu_type)
build_info = lib.build
if mcu_series == "STM32F100":
cortex = "cortex-m3"
env_vars['CPU_FLAGS'] = ["-mcpu=%s" % cortex]
build_info['MCU'] = cortex
else:
cortex = "cortex-m4"
env_vars['CPU_FLAGS'] = ['-u_printf_float', "-mcpu=%s" % cortex, "-mfpu=fpv4-sp-d16", "-mfloat-abi=hard"]
build_info['MCU'] = cortex
build_info['ENV_UDEFS'] = "-DCHPRINTF_USE_FLOAT=1"
# setup build variables
for v in build_info.keys():
build_flags.append('%s=%s' % (v, build_info[v]))
@ -508,7 +622,7 @@ def copy_common_linkerscript(outdir, hwdef):
def write_USB_config(f):
'''write USB config defines'''
if not have_type_prefix('OTG'):
return;
return
f.write('// USB configuration\n')
f.write('#define HAL_USB_VENDOR_ID %s\n' % get_config('USB_VENDOR', default=0x0483)) # default to ST
f.write('#define HAL_USB_PRODUCT_ID %s\n' % get_config('USB_PRODUCT', default=0x5740))
@ -1061,12 +1175,36 @@ def write_hwdef_header(outfilename):
if len(romfs) > 0:
f.write('#define HAL_HAVE_AP_ROMFS_EMBEDDED_H 1\n')
f.write('''
if mcu_series == 'STM32F100':
f.write('''
/*
* I/O ports initial setup, this configuration is established soon after reset
* in the initialization code.
* Please refer to the STM32 Reference Manual for details.
*/
#define PIN_MODE_OUTPUT_PP(n) (0 << (((n) & 7) * 4))
#define PIN_MODE_OUTPUT_OD(n) (4 << (((n) & 7) * 4))
#define PIN_MODE_AF_PP(n) (8 << (((n) & 7) * 4))
#define PIN_MODE_AF_OD(n) (12 << (((n) & 7) * 4))
#define PIN_MODE_ANALOG(n) (0 << (((n) & 7) * 4))
#define PIN_MODE_NOPULL(n) (4 << (((n) & 7) * 4))
#define PIN_MODE_PUD(n) (8 << (((n) & 7) * 4))
#define PIN_SPEED_MEDIUM(n) (1 << (((n) & 7) * 4))
#define PIN_SPEED_LOW(n) (2 << (((n) & 7) * 4))
#define PIN_SPEED_HIGH(n) (3 << (((n) & 7) * 4))
#define PIN_ODR_HIGH(n) (1 << (((n) & 15)))
#define PIN_ODR_LOW(n) (0 << (((n) & 15)))
#define PIN_PULLUP(n) (1 << (((n) & 15)))
#define PIN_PULLDOWN(n) (0 << (((n) & 15)))
#define PIN_UNDEFINED(n) PIN_INPUT_PUD(n)
''')
else:
f.write('''
/*
* I/O ports initial setup, this configuration is established soon after reset
* in the initialization code.
* Please refer to the STM32 Reference Manual for details.
*/
#define PIN_MODE_INPUT(n) (0U << ((n) * 2U))
#define PIN_MODE_OUTPUT(n) (1U << ((n) * 2U))
#define PIN_MODE_ALTERNATE(n) (2U << ((n) * 2U))
@ -1168,9 +1306,10 @@ def write_env_py(filename):
if os.path.exists(defaults_filename) and not args.bootloader:
print("Adding defaults.parm")
env_vars['DEFAULT_PARAMETERS'] = os.path.abspath(defaults_filename)
# CHIBIOS_BUILD_FLAGS is passed to the ChibiOS makefile
env_vars['CHIBIOS_BUILD_FLAGS'] = ' '.join(build_flags)
print env_vars['CPU_FLAGS']
pickle.dump(env_vars, open(filename, "wb"))
def romfs_add(romfs_filename, filename):
@ -1197,8 +1336,9 @@ def process_line(line):
config[a[0]] = a[1:]
if a[0] == 'MCU':
global mcu_type
global mcu_type, mcu_series
mcu_type = a[2]
mcu_series = a[1]
setup_mcu_type_defaults()
if a[0].startswith('P') and a[0][1] in ports:
# it is a port/pin definition

5
libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
View File

@ -104,7 +104,10 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
try:
lib = importlib.import_module(mcu_type)
dma_map = lib.DMA_Map
if hasattr(lib, "DMA_Map"):
dma_map = lib.DMA_Map
else:
return
except ImportError:
print("Unable to find module for MCU %s" % mcu_type)
sys.exit(1)