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HAL_ChibiOS: auto-generate GPIO table from hwdef.dat

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This commit is contained in:
Andrew Tridgell 2018-01-13 16:34:48 +11:00
parent fbe8166c71
commit 867e7ebf71
5 changed files with 79 additions and 77 deletions
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38
libraries/AP_HAL_ChibiOS/GPIO.cpp
View File

@ -21,33 +21,13 @@
using namespace ChibiOS;
// GPIO pin table from hwdef.dat
static struct gpio_entry {
uint8_t pin_num;
bool enabled;
uint8_t pwm_num;
ioline_t pal_line;
} _gpio_tab[] = {
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
{0, PAL_LINE(GPIOB, 7U)},
{1, PAL_LINE(GPIOB, 6U)},
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3
// pin numbers chosen to match px4 build
{0, true, PAL_LINE(GPIOE, 12U)}, // LED
{1, true, PAL_LINE(GPIOB, 0U)},
{50, false, PAL_LINE(GPIOE, 14U)},
{51, false, PAL_LINE(GPIOE, 13U)},
{52, false, PAL_LINE(GPIOE, 11U)},
{53, false, PAL_LINE(GPIOE, 9U)},
{54, true, PAL_LINE(GPIOD, 13U)},
{55, true, PAL_LINE(GPIOD, 14U)},
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4
{0, true, PAL_LINE(GPIOB, 1U)}, // green
{1, true, PAL_LINE(GPIOB, 3U)}, // blue
{2, true, PAL_LINE(GPIOB, 11U)}, // red
{3, true, PAL_LINE(GPIOC, 3U)}, // safety
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_MINDPXV2
{0, true, PAL_LINE(GPIOA, 8U)}, // run LED
#endif
};
} _gpio_tab[] = HAL_GPIO_PINS;
#define NUM_PINS ARRAY_SIZE_SIMPLE(_gpio_tab)
#define PIN_ENABLED(pin) ((pin)<NUM_PINS && _gpio_tab[pin].enabled)
@ -124,16 +104,12 @@ GPIO::GPIO()
void GPIO::init()
{
extStart(&EXTD1, &extcfg);
// auto-disable pins being used for PWM output based on BRD_PWM_COUNT parameter
uint8_t pwm_count = AP_BoardConfig::get_pwm_count();
for (uint8_t i=0; i<ARRAY_SIZE_SIMPLE(_gpio_tab); i++) {
uint8_t pin_num = _gpio_tab[i].pin_num;
if (pin_num >= 50 && pin_num <= 55) {
// enable GPIOs based on BRD_PWM_COUNT
if (pin_num < 50 + pwm_count) {
_gpio_tab[i].enabled = false;
} else {
_gpio_tab[i].enabled = true;
}
struct gpio_entry *g = &_gpio_tab[i];
if (g->pwm_num != 0) {
g->enabled = g->pwm_num > pwm_count;
}
}
}

18
libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
View File

@ -55,8 +55,8 @@ PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# PA15 ALARM
PB0 EXTERN_DRDY INPUT
PB1 EXTERN_GPIO INPUT
PB0 EXTERN_GPIO1 OUTPUT GPIO(1)
PB1 EXTERN_GPIO2 OUTPUT GPIO(2)
PB2 BOOT1 INPUT
PB3 FMU_SW0 INPUT
PB8 I2C1_SCL I2C1
@ -102,8 +102,8 @@ PD9 USART3_RX USART3
PD10 FRAM_CS CS
PD11 USART3_CTS USART3
PD12 USART3_RTS USART3
PD13 TIM4_CH2 TIM4 PWM5
PD14 TIM4_CH3 TIM4 PWM6
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
PD15 MPU_DRDY INPUT
# UART8 serial4 GPS2
@ -117,12 +117,12 @@ PE6 SPI4_MOSI SPI4
# UART7 debug console
PE7 UART7_RX UART7
PE8 UART7_TX UART7
PE9 TIM1_CH1 TIM1 PWM4
PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
PE10 VDD_5V_HIPOWER_OC INPUT
PE11 TIM1_CH2 TIM1 PWM3
PE12 FMU_LED_AMBER OUTPUT
PE13 TIM1_CH3 TIM1 PWM2
PE14 TIM1_CH4 TIM1 PWM1
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE12 FMU_LED_AMBER OUTPUT GPIO(0)
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
PE15 VDD_5V_PERIPH_OC INPUT
# SPI device table. The DEVID values are chosen to match the PX4 port

22
libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
View File

@ -57,10 +57,10 @@ PA14 JTCK-SWCLK SWD
# PA15 ALARM
PB0 TIM3_CH3 TIM3 PPMIN # RC Input PPM
PB1 LED_GREEN OUTPUT
PB1 LED_GREEN OUTPUT GPIO(0)
PB2 BOOT1 INPUT
PB3 LED_BLUE OUTPUT
PB4 8266_GPIO2 OUTPUT
PB3 LED_BLUE OUTPUT GPIO(1)
PB4 8266_GPIO2 OUTPUT GPIO(3)
PB5 VDD_BRICK_VALID INPUT
# USART1 is ESP8266
@ -71,7 +71,7 @@ PB9 I2C1_SDA I2C1
# SPI2 is FRAM
PB10 SPI2_SCK SPI2
PB11 LED_RED OUTPUT
PB11 LED_RED OUTPUT GPIO(2)
PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2
PB14 SPI2_MISO SPI2
@ -114,15 +114,15 @@ PD10 FRAM_CS CS
PD11 USART3_CTS USART3
PD12 USART3_RTS USART3
PD13 TIM4_CH2 TIM4 PWM5
PD14 TIM4_CH3 TIM4 PWM6
PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
PD15 MPU9250_DRDY INPUT
# UART8 serial4 FrSky
PE0 UART8_RX UART8
PE1 UART8_TX UART8
PE2 8266_GPI0 OUTPUT
PE2 8266_GPI0 OUTPUT GPIO(7)
PE3 VDD_SENSORS_EN OUTPUT HIGH
PE4 SPEKTRUM_PWR OUTPUT HIGH
PE5 8266_PD OUTPUT LOW
@ -131,12 +131,12 @@ PE6 8266_RST OUTPUT LOW
# UART7 is debug
PE7 UART7_RX UART7
PE8 UART7_TX UART7
PE9 TIM1_CH1 TIM1 PWM4
PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
PE10 8266_CTS OUTPUT HIGH
PE11 TIM1_CH2 TIM1 PWM3
PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
PE12 MAG_DRDY INPUT
PE13 TIM1_CH3 TIM1 PWM2
PE14 TIM1_CH4 TIM1 PWM1
PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
PE15 MAG_CS CS
# SPI device table. The DEVID values are chosen to match the PX4 port

34
libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat
View File

@ -50,8 +50,8 @@ UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1
# UART4 is GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4
PA2 TIM2_CH3 TIM2 PWM15
PA3 TIM2_CH4 TIM2 PWM16
PA2 TIM2_CH3 TIM2 PWM(15)
PA3 TIM2_CH4 TIM2 PWM(16)
PA4 VDD_5V_SENS ADC1
# SPI1 is fram bus
@ -59,7 +59,7 @@ PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 TONE INPUT
PA8 RUN_LED OUTPUT
PA8 RUN_LED OUTPUT GPIO(0)
PA9 VBUS INPUT
PA10 SBUS_INV OUTPUT
@ -69,13 +69,13 @@ PA12 OTG_FS_DP OTG1
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
PA15 TIM2_CH1 TIM2 PWM13
PA15 TIM2_CH1 TIM2 PWM(13) GPIO(54)
PB0 TIM3_CH3 TIM3 PWM11
PB1 TIM3_CH4 TIM3 PWM12
PB0 TIM3_CH3 TIM3 PWM(11) GPIO(52)
PB1 TIM3_CH4 TIM3 PWM(12) GPIO(53)
PB2 GYRO_CS CS
PB3 TIM2_CH2 TIM2 PWM14
PB4 TIM3_CH1 TIM3 PWM9
PB3 TIM2_CH2 TIM2 PWM(14) GPIO(55)
PB4 TIM3_CH1 TIM3 PWM(9) GPIO(50)
PB5 SPI1_MOSI SPI1
# USART1 is SBUS
@ -104,7 +104,7 @@ PC3 FMU_ADC1 ADC1
PC4 FMU_ADC2 ADC1
PC5 FMU_ADC3 ADC1
PC6 TIM8_CH1 TIM8 PPMIN # RC PPM input
PC7 TIM3_CH2 TIM3 PWM10
PC7 TIM3_CH2 TIM3 PWM(10) GPIO(51)
PC8 SDIO_D0 SDIO
PC9 SDIO_D1 SDIO
@ -133,10 +133,10 @@ PD9 USART3_RX USART3
PD10 NRF_INT INPUT
PD11 ACCEL_MAG_CS CS
PD12 TIM4_CH1 TIM4 PWM5
PD13 TIM4_CH2 TIM4 PWM6
PD14 TIM4_CH3 TIM4 PWM7
PD15 TIM4_CH4 TIM4 PWM8
PD12 TIM4_CH1 TIM4 PWM(5)
PD13 TIM4_CH2 TIM4 PWM(6)
PD14 TIM4_CH3 TIM4 PWM(7)
PD15 TIM4_CH4 TIM4 PWM(8)
# UART8 is FrSky
PE0 UART8_RX UART8
@ -153,12 +153,12 @@ PE6 SPI4_MOSI SPI4
PE7 UART7_RX UART7
PE8 UART7_TX UART7
PE9 TIM1_CH1 TIM1 PWM1
PE9 TIM1_CH1 TIM1 PWM(1)
PE10 MPU_DRDY INPUT
PE11 TIM1_CH2 TIM1 PWM2
PE11 TIM1_CH2 TIM1 PWM(2)
PE12 FRAM_CS CS
PE13 TIM1_CH3 TIM1 PWM3
PE14 TIM1_CH4 TIM1 PWM4
PE13 TIM1_CH3 TIM1 PWM(3)
PE14 TIM1_CH4 TIM1 PWM(4)
PE15 NRF_CS CS
# SPI device table

44
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -225,8 +225,8 @@ class generic_pin(object):
str += " AF%u" % self.af
if self.type.startswith('ADC1'):
str += " ADC1_IN%u" % get_ADC1_chan(mcu_type, self.portpin)
if self.extra_prefix('PWM'):
str += " %s" % self.extra_prefix('PWM')
if self.extra_value('PWM', type=int):
str += " PWM%u" % self.extra_value('PWM', type=int)
return "P%s%u %s %s%s" % (self.port, self.pin, self.label, self.type, str)
# setup default as input pins
@ -507,7 +507,7 @@ def write_PWM_config(f):
if p.has_extra('PPMIN'):
ppm_in = p
else:
if p.extra_prefix('PWM') is not None:
if p.extra_value('PWM', type=int) is not None:
pwm_out.append(p)
if p.type not in pwm_timers:
pwm_timers.append(p.type)
@ -542,12 +542,8 @@ def write_PWM_config(f):
chan = int(chan_str)
if chan not in [1,2,3,4]:
error("Bad channel number %u for PWM %s" % (chan, p))
pwm = p.extra_prefix('PWM')
pwmchan_str = pwm[3:]
if not is_int(pwmchan_str):
errors("Bad PWM number in %s" % p)
pwmchan = int(pwmchan_str)
chan_list[chan-1] = pwmchan-1
pwm = p.extra_value('PWM', type=int)
chan_list[chan-1] = pwm-1
chan_mode[chan-1] = 'PWM_OUTPUT_ACTIVE_HIGH'
groups.append('HAL_PWM_GROUP%u' % group)
if n in [1, 8]:
@ -606,6 +602,35 @@ def write_ADC_config(f):
f.write('}\n\n')
def write_GPIO_config(f):
'''write GPIO config defines'''
f.write('// GPIO config\n')
gpios = []
for l in bylabel:
p = bylabel[l]
gpio = p.extra_value('GPIO', type=int)
if gpio is None:
continue
# see if it is also a PWM pin
pwm = p.extra_value('PWM', type=int, default=0)
port = p.port
pin = p.pin
gpios.append((gpio, pwm, port, pin, p))
gpios = sorted(gpios)
f.write('#define HAL_GPIO_PINS { \\\n')
for (gpio, pwm, port, pin, p) in gpios:
f.write('{ %3u, true, %2u, PAL_LINE(GPIO%s, %2uU) }, /* %s */ \\\n' % (gpio, pwm, port, pin, p))
# and write #defines for use by config code
f.write('}\n\n')
f.write('// full pin define list\n')
for l in bylabel:
p = bylabel[l]
label = p.label
label = label.replace('-','_')
f.write('#define HAL_GPIO_PIN_%-20s PAL_LINE(GPIO%s,%uU)\n' % (label, p.port, p.pin))
f.write('\n')
def write_prototype_file():
'''write the prototype file for apj generation'''
pf = open(os.path.join(outdir, "apj.prototype"), "w")
@ -656,6 +681,7 @@ def write_hwdef_header(outfilename):
write_SPI_config(f)
write_PWM_config(f)
write_ADC_config(f)
write_GPIO_config(f)
write_peripheral_enable(f)
write_prototype_file()