HAL_ChibiOS: auto-generate GPIO table from hwdef.dat

libraries/AP_HAL_ChibiOS/GPIO.cpp

@@ -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[]  = {
+} _gpio_tab[] = HAL_GPIO_PINS;
-#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
-};
 
 #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;
+        struct gpio_entry *g = &_gpio_tab[i];
-        if (pin_num >= 50 && pin_num <= 55) {
+        if (g->pwm_num != 0) {
-            // enable GPIOs based on BRD_PWM_COUNT
+            g->enabled = g->pwm_num > pwm_count;
-            if (pin_num < 50 + pwm_count) {
-                _gpio_tab[i].enabled = false;
-            } else {
-                _gpio_tab[i].enabled = true;
-            }
         }
     }
 }

libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat

@@ -55,8 +55,8 @@ PA13 JTMS-SWDIO SWD
 PA14 JTCK-SWCLK SWD
 # PA15 ALARM
 
-PB0 EXTERN_DRDY INPUT
+PB0 EXTERN_GPIO1 OUTPUT GPIO(1)
-PB1 EXTERN_GPIO INPUT
+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
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
-PD14 TIM4_CH3 TIM4 PWM6
+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
+PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
-PE12 FMU_LED_AMBER OUTPUT
+PE12 FMU_LED_AMBER OUTPUT GPIO(0)
-PE13 TIM1_CH3 TIM1 PWM2
+PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
-PE14 TIM1_CH4 TIM1 PWM1
+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

libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat

@@ -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
+PB3 LED_BLUE OUTPUT GPIO(1)
-PB4 8266_GPIO2 OUTPUT
+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
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
-PD14 TIM4_CH3 TIM4 PWM6
+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
+PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
-PE14 TIM1_CH4 TIM1 PWM1
+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

libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat

@@ -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
+PA2 TIM2_CH3 TIM2 PWM(15)
-PA3 TIM2_CH4 TIM2 PWM16
+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
+PB0 TIM3_CH3 TIM3 PWM(11) GPIO(52)
-PB1 TIM3_CH4 TIM3 PWM12
+PB1 TIM3_CH4 TIM3 PWM(12) GPIO(53)
 PB2 GYRO_CS CS
-PB3 TIM2_CH2 TIM2 PWM14
+PB3 TIM2_CH2 TIM2 PWM(14) GPIO(55)
-PB4 TIM3_CH1 TIM3 PWM9
+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
+PD12 TIM4_CH1 TIM4 PWM(5)
-PD13 TIM4_CH2 TIM4 PWM6
+PD13 TIM4_CH2 TIM4 PWM(6)
-PD14 TIM4_CH3 TIM4 PWM7
+PD14 TIM4_CH3 TIM4 PWM(7)
-PD15 TIM4_CH4 TIM4 PWM8
+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
+PE13 TIM1_CH3 TIM1 PWM(3)
-PE14 TIM1_CH4 TIM1 PWM4
+PE14 TIM1_CH4 TIM1 PWM(4)
 PE15 NRF_CS CS
 
 # SPI device table

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -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'):
+                if self.extra_value('PWM', type=int):
-                    str += " %s" % self.extra_prefix('PWM')
+                    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')
+                pwm = p.extra_value('PWM', type=int)
-                pwmchan_str = pwm[3:]
+                chan_list[chan-1] = pwm-1
-                if not is_int(pwmchan_str):
-                    errors("Bad PWM number in %s" % p)
-                pwmchan = int(pwmchan_str)
-                chan_list[chan-1] = pwmchan-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()