mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-02 14:08:45 -04:00
HAL_ChibiOS: add changes to hwdef to support STM32F1 based controller
This commit is contained in:
Siddharth Purohit
Andrew Tridgell
parent
bc601c1ff6
commit
42b4730d88
@ -32,6 +32,22 @@
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/* Driver local variables and types. */
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/*===========================================================================*/
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/**
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* @brief STM32 GPIO static initialization data.
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*/
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#ifdef STM32F100_MCUCONF
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const PALConfig pal_default_config =
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{
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{VAL_GPIOA_ODR, VAL_GPIOA_CRL, VAL_GPIOA_CRH},
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{VAL_GPIOB_ODR, VAL_GPIOB_CRL, VAL_GPIOB_CRH},
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{VAL_GPIOC_ODR, VAL_GPIOC_CRL, VAL_GPIOC_CRH},
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{VAL_GPIOD_ODR, VAL_GPIOD_CRL, VAL_GPIOD_CRH},
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{VAL_GPIOE_ODR, VAL_GPIOE_CRL, VAL_GPIOE_CRH},
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};
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#else //Other than STM32F1 series
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/**
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* @brief Type of STM32 GPIO port setup.
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*/
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@ -192,13 +208,17 @@ static void stm32_gpio_init(void) {
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#endif
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}
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#endif //!STM32F100_MCUCONF
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/**
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* @brief Early initialization code.
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* @details This initialization must be performed just after stack setup
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* and before any other initialization.
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*/
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void __early_init(void) {
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#ifndef STM32F100_MCUCONF
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stm32_gpio_init();
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#endif
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stm32_clock_init();
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}
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@ -68,7 +68,9 @@
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* setting also defines the system tick time unit. We set this to 1000000
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* in ArduPilot so we get maximum resolution for timing of delays
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*/
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#ifndef CH_CFG_ST_FREQUENCY
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#define CH_CFG_ST_FREQUENCY 1000000
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#endif
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/**
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* @brief Time intervals data size.
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@ -90,7 +92,9 @@
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* The value one is not valid, timeouts are rounded up to
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* this value.
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*/
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#ifndef CH_CFG_ST_TIMEDELTA
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#define CH_CFG_ST_TIMEDELTA 2
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#endif
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/*
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default to a large interrupt stack for now. We may trim this later
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@ -548,7 +552,9 @@
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* @note This debug option is not currently compatible with the
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* tickless mode.
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*/
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#ifndef CH_DBG_THREADS_PROFILING
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#define CH_DBG_THREADS_PROFILING FALSE
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#endif
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/** @} */
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@ -5,7 +5,7 @@
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# Compiler options here.
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ifeq ($(USE_OPT),)
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USE_OPT = -Os -g -fomit-frame-pointer -falign-functions=16 -DCHPRINTF_USE_FLOAT=1
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USE_OPT = -Os -g -fomit-frame-pointer -falign-functions=16
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endif
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# C specific options here (added to USE_OPT).
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@ -171,8 +171,6 @@ INCDIR = $(CHIBIOS)/os/license \
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# Compiler settings
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#
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MCU = cortex-m4
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#TRGT = arm-elf-
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TRGT = arm-none-eabi-
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CC = $(TRGT)gcc
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@ -211,7 +209,7 @@ CPPWARN = -Wall -Wextra -Wundef
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#
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# List all user C define here, like -D_DEBUG=1
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UDEFS = $(FATFS_FLAGS) -DHAL_BOARD_NAME=\"$(HAL_BOARD_NAME)\"
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UDEFS = $(ENV_UDEFS) $(FATFS_FLAGS) -DHAL_BOARD_NAME=\"$(HAL_BOARD_NAME)\"
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ifeq ($(ENABLE_ASSERTS),yes)
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UDEFS += -DHAL_CHIBIOS_ENABLE_ASSERTS
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@ -69,6 +69,7 @@ void malloc_init(void)
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chHeapObjectInit(&dtcm_heap, (void *)DTCM_BASE_ADDRESS, DTCM_RAM_SIZE_KB*1024);
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#endif
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#if DMA_RESERVE_SIZE != 0
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/*
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create a DMA reserve heap, to ensure we keep some memory for DMA
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safe memory allocations
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@ -78,6 +79,7 @@ void malloc_init(void)
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dma_reserve = chHeapAllocAligned(NULL, DMA_RESERVE_SIZE, MIN_ALIGNMENT);
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}
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chHeapObjectInit(&dma_reserve_heap, dma_reserve, DMA_RESERVE_SIZE);
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#endif //#if DMA_RESERVE_SIZE != 0
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}
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void *malloc_ccm(size_t size)
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@ -133,13 +135,14 @@ void *malloc(size_t size)
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}
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}
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#if DMA_RESERVE_SIZE != 0
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// fall back to DMA reserve
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p = chHeapAllocAligned(&dma_reserve_heap, size, MIN_ALIGNMENT);
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if (p) {
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memset(p, 0, size);
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return p;
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}
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#endif
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return NULL;
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}
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@ -155,9 +158,11 @@ void *malloc_dma(size_t size)
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// if we don't have DTCM memory then assume that main heap is DMA-safe
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p = chHeapAllocAligned(NULL, size, MIN_ALIGNMENT);
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#endif
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#if DMA_RESERVE_SIZE != 0
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if (p == NULL) {
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p = chHeapAllocAligned(&dma_reserve_heap, size, MIN_ALIGNMENT);
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}
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#endif
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if (p) {
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memset(p, 0, size);
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}
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@ -200,9 +205,11 @@ size_t mem_available(void)
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totalp += dtcm_available;
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#endif
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#if DMA_RESERVE_SIZE != 0
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size_t reserve_available = 0;
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chHeapStatus(&dma_reserve_heap, &reserve_available, NULL);
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totalp += reserve_available;
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#endif
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return totalp;
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}
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@ -36,6 +36,9 @@
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#include "hwdef.h"
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#pragma once
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#ifdef STM32F100_MCUCONF
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#include "stm32f1_mcuconf.h"
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#else
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/*
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* STM32F4xx drivers configuration.
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* The following settings override the default settings present in
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@ -384,3 +387,4 @@
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*/
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#define STM32_WDG_USE_IWDG FALSE
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#endif //!STM32F100_MCUCONF
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@ -2536,7 +2536,7 @@ static void _fprintf_putc(struct _printf_t *p, char ch)
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/// @return size of printed result
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int
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fprintf(FILE *fp, const char *fmt, ...)
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__wrap_fprintf(FILE *fp, const char *fmt, ...)
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{
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va_list va;
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char* buf;
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@ -388,7 +388,7 @@ int free_file_descriptor ( int fileno );
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int new_file_descriptor ( void );
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int posix_fopen_modes_to_open ( const char *mode );
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int fprintf(FILE *fp, const char *format, ...);
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int __wrap_fprintf(FILE *fp, const char *format, ...);
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#ifdef __cplusplus
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}
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@ -219,6 +219,7 @@ uint32_t get_fattime()
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return fattime;
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}
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#if defined(HAL_USE_RTC) && HAL_USE_RTC
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// get RTC backup register 0
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static uint32_t get_rtc_backup0(void)
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{
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@ -252,6 +253,8 @@ void set_fast_reboot(enum rtc_boot_magic v)
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set_rtc_backup0(v);
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}
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#endif //HAL_USE_RTC
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/*
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enable peripheral power if needed This is done late to prevent
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problems with CTS causing SiK radios to stay in the bootloader. A
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@ -17,7 +17,13 @@ parser.add_argument(
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args = parser.parse_args()
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# output variables for each pin
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vtypes = ['MODER', 'OTYPER', 'OSPEEDR', 'PUPDR', 'ODR', 'AFRL', 'AFRH']
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f4f7_vtypes = ['MODER', 'OTYPER', 'OSPEEDR', 'PUPDR', 'ODR', 'AFRL', 'AFRH']
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f1_vtypes = ['CRL', 'CRH', 'ODR']
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f1_input_sigs = ['RX', 'MISO', 'CTS']
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f1_output_sigs = ['TX', 'MOSI', 'SCK', 'RTS', 'CH1', 'CH2', 'CH3', 'CH4']
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af_labels = ['USART', 'UART', 'SPI', 'I2C', 'SDIO', 'SDMMC', 'OTG', 'JT', 'TIM', 'CAN']
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vtypes = []
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# number of pins in each port
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pincount = {
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@ -96,10 +102,14 @@ def get_mcu_lib(mcu):
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def setup_mcu_type_defaults():
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'''setup defaults for given mcu type'''
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global pincount, ports, portmap
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global pincount, ports, portmap, vtypes
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lib = get_mcu_lib(mcu_type)
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if hasattr(lib, 'pincount'):
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pincount = lib.pincount
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if mcu_series == "STM32F100":
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vtypes = f1_vtypes
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else:
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vtypes = f4f7_vtypes
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ports = pincount.keys()
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# setup default as input pins
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for port in ports:
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@ -110,14 +120,21 @@ def setup_mcu_type_defaults():
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def get_alt_function(mcu, pin, function):
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'''return alternative function number for a pin'''
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lib = get_mcu_lib(mcu)
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if hasattr(lib, "AltFunction_map"):
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alt_map = lib.AltFunction_map
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else:
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# just check if Alt Func is available or not
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for l in af_labels:
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if function.startswith(l):
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return 0
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return None
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if function and function.endswith("_RTS") and (
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function.startswith('USART') or function.startswith('UART')):
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# we do software RTS
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return None
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af_labels = ['USART', 'UART', 'SPI', 'I2C', 'SDIO', 'SDMMC', 'OTG', 'JT', 'TIM', 'CAN']
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for l in af_labels:
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if function.startswith(l):
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s = pin + ":" + function
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@ -152,6 +169,7 @@ class generic_pin(object):
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'''class to hold pin definition'''
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def __init__(self, port, pin, label, type, extra):
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global mcu_series
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self.portpin = "P%s%u" % (port, pin)
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self.port = port
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self.pin = pin
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@ -159,6 +177,20 @@ class generic_pin(object):
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self.type = type
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self.extra = extra
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self.af = None
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self.sig_dir = 'INPUT'
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if mcu_series == "STM32F100" and self.label is not None:
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self.f1_pin_setup()
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def f1_pin_setup(self):
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for l in af_labels:
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if self.label.startswith(l):
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if self.label.endswith(tuple(f1_input_sigs)):
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self.sig_dir = 'INPUT'
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self.extra.append('FLOATING')
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elif self.label.endswith(tuple(f1_output_sigs)):
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self.sig_dir = 'OUTPUT'
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else:
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error("Unknown signal type %s:%s for %s!" % (self.portpin, self.label, mcu_type))
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def has_extra(self, v):
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'''return true if we have the given extra token'''
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@ -281,6 +313,67 @@ class generic_pin(object):
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return None
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return self.get_AFIO()
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#F1 series GPIO Cfg methods
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def get_ODR(self):
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'''return one of LOW, HIGH'''
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values = ['LOW', 'HIGH']
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v = 'HIGH'
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if self.type == 'OUTPUT':
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v = 'LOW'
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for e in self.extra:
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if e in values:
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v = e
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#for some controllers input pull up down is selected by ODR
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if self.type == "INPUT":
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v = 'LOW'
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if 'PULLUP' in self.extra:
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v = "HIGH"
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return "PIN_ODR_%s(%uU)" % (v, self.pin)
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def get_CR(self):
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'''return CR FLAGS'''
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#Check Speed
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if self.sig_dir != "INPUT":
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speed_values = ['SPEED_LOW', 'SPEED_MEDIUM', 'SPEED_HIGH']
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v = 'SPEED_MEDIUM'
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for e in self.extra:
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if e in speed_values:
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v = e
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speed_str = "PIN_%s(%uU) |" % (v, self.pin)
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else:
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speed_str = ""
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#Check Alternate function
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if self.type.startswith('I2C'):
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v = "AF_OD"
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elif self.sig_dir == 'OUTPUT':
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if self.af is not None:
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v = "AF_PP"
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else:
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v = "OUTPUT_PP"
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elif self.type.startswith('ADC'):
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v = "ANALOG"
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elif self.is_CS():
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v = "OUTPUT_PP"
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elif self.is_RTS():
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v = "OUTPUT_PP"
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else:
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v = "PUD"
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if 'FLOATING' in self.extra:
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v = "NOPULL"
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mode_str = "PIN_MODE_%s(%uU)" % (v, self.pin)
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return "%s %s" % (speed_str, mode_str)
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def get_CRH(self):
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if self.pin < 8:
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return None
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return self.get_CR()
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def get_CRL(self):
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if self.pin >= 8:
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return None
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return self.get_CR()
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def __str__(self):
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str = ''
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if self.af is not None:
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@ -384,6 +477,17 @@ def write_mcu_config(f):
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f.write('#define STM32_USB_USE_OTG2 TRUE\n')
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if have_type_prefix('CAN'):
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enable_can(f)
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if get_config('PROCESS_STACK', required=False):
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env_vars['PROCESS_STACK'] = get_config('PROCESS_STACK')
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else:
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env_vars['PROCESS_STACK'] = "0x2000"
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if get_config('MAIN_STACK', required=False):
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env_vars['MAIN_STACK'] = get_config('MAIN_STACK')
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else:
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env_vars['MAIN_STACK'] = "0x400"
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# write any custom STM32 defines
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for d in alllines:
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if d.startswith('STM32_'):
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@ -428,6 +532,16 @@ def write_mcu_config(f):
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lib = get_mcu_lib(mcu_type)
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build_info = lib.build
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if mcu_series == "STM32F100":
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cortex = "cortex-m3"
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env_vars['CPU_FLAGS'] = ["-mcpu=%s" % cortex]
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build_info['MCU'] = cortex
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else:
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cortex = "cortex-m4"
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env_vars['CPU_FLAGS'] = ['-u_printf_float', "-mcpu=%s" % cortex, "-mfpu=fpv4-sp-d16", "-mfloat-abi=hard"]
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build_info['MCU'] = cortex
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build_info['ENV_UDEFS'] = "-DCHPRINTF_USE_FLOAT=1"
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# setup build variables
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for v in build_info.keys():
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build_flags.append('%s=%s' % (v, build_info[v]))
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@ -508,7 +622,7 @@ def copy_common_linkerscript(outdir, hwdef):
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def write_USB_config(f):
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'''write USB config defines'''
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if not have_type_prefix('OTG'):
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return;
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return
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f.write('// USB configuration\n')
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f.write('#define HAL_USB_VENDOR_ID %s\n' % get_config('USB_VENDOR', default=0x0483)) # default to ST
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f.write('#define HAL_USB_PRODUCT_ID %s\n' % get_config('USB_PRODUCT', default=0x5740))
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@ -1061,6 +1175,30 @@ def write_hwdef_header(outfilename):
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if len(romfs) > 0:
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f.write('#define HAL_HAVE_AP_ROMFS_EMBEDDED_H 1\n')
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if mcu_series == 'STM32F100':
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f.write('''
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/*
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* I/O ports initial setup, this configuration is established soon after reset
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* in the initialization code.
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* Please refer to the STM32 Reference Manual for details.
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*/
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#define PIN_MODE_OUTPUT_PP(n) (0 << (((n) & 7) * 4))
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#define PIN_MODE_OUTPUT_OD(n) (4 << (((n) & 7) * 4))
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#define PIN_MODE_AF_PP(n) (8 << (((n) & 7) * 4))
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#define PIN_MODE_AF_OD(n) (12 << (((n) & 7) * 4))
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#define PIN_MODE_ANALOG(n) (0 << (((n) & 7) * 4))
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#define PIN_MODE_NOPULL(n) (4 << (((n) & 7) * 4))
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#define PIN_MODE_PUD(n) (8 << (((n) & 7) * 4))
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#define PIN_SPEED_MEDIUM(n) (1 << (((n) & 7) * 4))
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#define PIN_SPEED_LOW(n) (2 << (((n) & 7) * 4))
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#define PIN_SPEED_HIGH(n) (3 << (((n) & 7) * 4))
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#define PIN_ODR_HIGH(n) (1 << (((n) & 15)))
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#define PIN_ODR_LOW(n) (0 << (((n) & 15)))
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#define PIN_PULLUP(n) (1 << (((n) & 15)))
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#define PIN_PULLDOWN(n) (0 << (((n) & 15)))
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#define PIN_UNDEFINED(n) PIN_INPUT_PUD(n)
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''')
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else:
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f.write('''
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/*
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* I/O ports initial setup, this configuration is established soon after reset
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@ -1171,6 +1309,7 @@ def write_env_py(filename):
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# CHIBIOS_BUILD_FLAGS is passed to the ChibiOS makefile
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env_vars['CHIBIOS_BUILD_FLAGS'] = ' '.join(build_flags)
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print env_vars['CPU_FLAGS']
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pickle.dump(env_vars, open(filename, "wb"))
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def romfs_add(romfs_filename, filename):
|
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@ -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
|
||||
|
||||
@ -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)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user