HAL_ChibiOS: add changes to hwdef to support STM32F1 based controller

libraries/AP_HAL_ChibiOS/hwdef/common/board.c

@@ -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();
 }
 

libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h

@@ -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
 
 /** @} */
 

libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk

@@ -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

libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c

@@ -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;
 }

libraries/AP_HAL_ChibiOS/hwdef/common/mcuconf.h

@@ -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

libraries/AP_HAL_ChibiOS/hwdef/common/posix.c

@@ -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;

libraries/AP_HAL_ChibiOS/hwdef/common/posix.h

@@ -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
 }

libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c

@@ -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

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -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)
+
+    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))
@@ -1061,6 +1175,30 @@ def write_hwdef_header(outfilename):
     if len(romfs) > 0:
         f.write('#define HAL_HAVE_AP_ROMFS_EMBEDDED_H 1\n')
 
+    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
@@ -1171,6 +1309,7 @@ def write_env_py(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

libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py

@@ -104,7 +104,10 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
 
     try:
         lib = importlib.import_module(mcu_type)
+        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)