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HAL_ChibiOS: update to match plane 3.9.0beta6

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This commit is contained in:
Andrew Tridgell 2018-08-01 18:54:36 +10:00 committed by Randy Mackay
parent 9384bc9b03
commit 97dae1a03d
16 changed files with 292 additions and 34 deletions
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4
libraries/AP_HAL_ChibiOS/Device.cpp
View File

@ -31,8 +31,8 @@ static const AP_HAL::HAL &hal = AP_HAL::get_HAL();
DeviceBus::DeviceBus(uint8_t _thread_priority) :
thread_priority(_thread_priority)
{
bouncebuffer_init(&bounce_buffer_tx);
bouncebuffer_init(&bounce_buffer_rx);
bouncebuffer_init(&bounce_buffer_tx, 10);
bouncebuffer_init(&bounce_buffer_rx, 10);
}
/*

3
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
View File

@ -25,6 +25,7 @@
#include "shared_dma.h"
#include "sdcard.h"
#include "hwdef/common/usbcfg.h"
#include "hwdef/common/stm32_util.h"
#include <hwdef.h>
@ -153,6 +154,8 @@ static THD_FUNCTION(main_loop,arg)
ChibiOS::Shared_DMA::init();
peripheral_power_enable();
hal.uartA->begin(115200);
#ifdef HAL_SPI_CHECK_CLOCK_FREQ

4
libraries/AP_HAL_ChibiOS/I2CDevice.cpp
View File

@ -340,7 +340,7 @@ uint32_t I2CDeviceManager::get_bus_mask(void) const
uint32_t I2CDeviceManager::get_bus_mask_internal(void) const
{
// assume first bus is internal
return 1U;
return get_bus_mask() & HAL_I2C_INTERNAL_MASK;
}
/*
@ -349,7 +349,7 @@ uint32_t I2CDeviceManager::get_bus_mask_internal(void) const
uint32_t I2CDeviceManager::get_bus_mask_external(void) const
{
// assume first bus is internal
return get_bus_mask() & 0xFE;
return get_bus_mask() & ~HAL_I2C_INTERNAL_MASK;
}
#endif // HAL_USE_I2C

63
libraries/AP_HAL_ChibiOS/Scheduler.cpp
View File

@ -176,18 +176,16 @@ bool Scheduler::check_called_boost(void)
void Scheduler::delay(uint16_t ms)
{
if (!in_main_thread()) {
//chprintf("ERROR: delay() from timer process\n");
return;
}
uint64_t start = AP_HAL::micros64();
while ((AP_HAL::micros64() - start)/1000 < ms) {
delay_microseconds(1000);
if (_min_delay_cb_ms <= ms) {
if (in_main_thread()) {
call_delay_cb();
}
}
}
}
void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
@ -435,4 +433,61 @@ void Scheduler::restore_interrupts(void *state)
chSysRestoreStatusX((syssts_t)(uintptr_t)state);
}
/*
trampoline for thread create
*/
void Scheduler::thread_create_trampoline(void *ctx)
{
AP_HAL::MemberProc *t = (AP_HAL::MemberProc *)ctx;
(*t)();
free(t);
}
/*
create a new thread
*/
bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_t stack_size, priority_base base, int8_t priority)
{
// take a copy of the MemberProc, it is freed after thread exits
AP_HAL::MemberProc *tproc = (AP_HAL::MemberProc *)malloc(sizeof(proc));
if (!tproc) {
return false;
}
*tproc = proc;
uint8_t thread_priority = APM_IO_PRIORITY;
static const struct {
priority_base base;
uint8_t p;
} priority_map[] = {
{ PRIORITY_BOOST, APM_MAIN_PRIORITY_BOOST},
{ PRIORITY_MAIN, APM_MAIN_PRIORITY},
{ PRIORITY_SPI, APM_SPI_PRIORITY},
{ PRIORITY_I2C, APM_I2C_PRIORITY},
{ PRIORITY_CAN, APM_CAN_PRIORITY},
{ PRIORITY_TIMER, APM_TIMER_PRIORITY},
{ PRIORITY_RCIN, APM_RCIN_PRIORITY},
{ PRIORITY_IO, APM_IO_PRIORITY},
{ PRIORITY_UART, APM_UART_PRIORITY},
{ PRIORITY_STORAGE, APM_STORAGE_PRIORITY},
};
for (uint8_t i=0; i<ARRAY_SIZE(priority_map); i++) {
if (priority_map[i].base == base) {
thread_priority = constrain_int16(priority_map[i].p + priority, LOWPRIO, HIGHPRIO);
break;
}
}
thread_t *thread_ctx = chThdCreateFromHeap(NULL,
THD_WORKING_AREA_SIZE(stack_size),
name,
thread_priority,
thread_create_trampoline,
tproc);
if (thread_ctx == nullptr) {
free(tproc);
return false;
}
return true;
}
#endif // CH_CFG_USE_DYNAMIC

6
libraries/AP_HAL_ChibiOS/Scheduler.h
View File

@ -93,6 +93,11 @@ public:
*/
void restore_interrupts(void *) override;
/*
create a new thread
*/
bool thread_create(AP_HAL::MemberProc, const char *name, uint32_t stack_size, priority_base base, int8_t priority) override;
private:
bool _initialized;
volatile bool _hal_initialized;
@ -132,5 +137,6 @@ private:
#endif
void _run_timers();
void _run_io(void);
static void thread_create_trampoline(void *ctx);
};
#endif

102
libraries/AP_HAL_ChibiOS/Storage.cpp
View File

@ -19,6 +19,8 @@
#include "Storage.h"
#include "hwdef/common/flash.h"
#include "hwdef/common/posix.h"
#include "sdcard.h"
using namespace ChibiOS;
@ -26,12 +28,30 @@ using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
#ifndef HAL_STORAGE_FILE
// using SKETCHNAME allows the one microSD to be used
// for multiple vehicle types
#define HAL_STORAGE_FILE "/APM/" SKETCHNAME ".stg"
#endif
#ifndef HAL_STORAGE_BACKUP_FILE
// location of backup file
#define HAL_STORAGE_BACKUP_FILE "/APM/" SKETCHNAME ".bak"
#endif
void Storage::_storage_open(void)
{
if (_initialised) {
return;
}
#ifdef USE_POSIX
// if we have failed filesystem init don't try again
if (log_fd == -1) {
return;
}
#endif
_dirty_mask.clearall();
#if HAL_WITH_RAMTRON
@ -40,18 +60,65 @@ void Storage::_storage_open(void)
if (!fram.read(0, _buffer, CH_STORAGE_SIZE)) {
return;
}
_save_backup();
_initialised = true;
return;
}
// allow for FMUv3 with no FRAM chip, fall through to flash storage
#endif
#ifdef STORAGE_FLASH_PAGE
// load from storage backend
_flash_load();
#elif defined(USE_POSIX)
// allow for fallback to microSD based storage
sdcard_init();
log_fd = open(HAL_STORAGE_FILE, O_RDWR|O_CREAT);
if (log_fd == -1) {
hal.console->printf("open failed of " HAL_STORAGE_FILE "\n");
return;
}
int ret = read(log_fd, _buffer, CH_STORAGE_SIZE);
if (ret < 0) {
hal.console->printf("read failed for " HAL_STORAGE_FILE "\n");
close(log_fd);
log_fd = -1;
return;
}
// pre-fill to full size
if (lseek(log_fd, ret, SEEK_SET) != ret ||
write(log_fd, &_buffer[ret], CH_STORAGE_SIZE-ret) != CH_STORAGE_SIZE-ret) {
hal.console->printf("setup failed for " HAL_STORAGE_FILE "\n");
close(log_fd);
log_fd = -1;
return;
}
using_filesystem = true;
#endif
_save_backup();
_initialised = true;
}
/*
save a backup of storage file if we have microSD available. This is
very handy for diagnostics, and for moving a copy of storage into
SITL for testing
*/
void Storage::_save_backup(void)
{
#ifdef USE_POSIX
// allow for fallback to microSD based storage
sdcard_init();
int fd = open(HAL_STORAGE_BACKUP_FILE, O_WRONLY|O_CREAT|O_TRUNC);
if (fd != -1) {
write(fd, _buffer, CH_STORAGE_SIZE);
close(fd);
}
#endif
}
/*
mark some lines as dirty. Note that there is no attempt to avoid
the race condition between this code and the _timer_tick() code
@ -92,10 +159,13 @@ void Storage::write_block(uint16_t loc, const void *src, size_t n)
void Storage::_timer_tick(void)
{
if (!_initialised || _dirty_mask.empty()) {
if (!_initialised) {
return;
}
if (_dirty_mask.empty()) {
_last_empty_ms = AP_HAL::millis();
return;
}
// write out the first dirty line. We don't write more
// than one to keep the latency of this call to a minimum
@ -119,8 +189,27 @@ void Storage::_timer_tick(void)
}
#endif
#ifdef USE_POSIX
if (using_filesystem && log_fd != -1) {
uint32_t offset = CH_STORAGE_LINE_SIZE*i;
if (lseek(log_fd, offset, SEEK_SET) != offset) {
return;
}
if (write(log_fd, &_buffer[offset], CH_STORAGE_LINE_SIZE) != CH_STORAGE_LINE_SIZE) {
return;
}
if (fsync(log_fd) != 0) {
return;
}
_dirty_mask.clear(i);
return;
}
#endif
#ifdef STORAGE_FLASH_PAGE
// save to storage backend
_flash_write(i);
#endif
}
/*
@ -207,4 +296,13 @@ bool Storage::_flash_erase_ok(void)
return !hal.util->get_soft_armed();
}
/*
consider storage healthy if we have nothing to write sometime in the
last 2 seconds
*/
bool Storage::healthy(void)
{
return _initialised && AP_HAL::millis() - _last_empty_ms < 2000;
}
#endif // HAL_USE_EMPTY_STORAGE

7
libraries/AP_HAL_ChibiOS/Storage.h
View File

@ -41,11 +41,13 @@ public:
void write_block(uint16_t dst, const void* src, size_t n);
void _timer_tick(void) override;
bool healthy(void) override;
private:
volatile bool _initialised;
void _storage_create(void);
void _storage_open(void);
void _save_backup(void);
void _mark_dirty(uint16_t loc, uint16_t length);
uint8_t _buffer[CH_STORAGE_SIZE] __attribute__((aligned(4)));
Bitmask _dirty_mask{CH_STORAGE_NUM_LINES};
@ -57,6 +59,7 @@ private:
uint8_t _flash_page;
bool _flash_failed;
uint32_t _last_re_init_ms;
uint32_t _last_empty_ms;
#ifdef STORAGE_FLASH_PAGE
AP_FlashStorage _flash{_buffer,
@ -74,6 +77,10 @@ private:
AP_RAMTRON fram;
bool using_fram;
#endif
#ifdef USE_POSIX
bool using_filesystem;
int log_fd;
#endif
};
#endif // HAL_USE_EMPTY_STORAGE

42
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View File

@ -652,6 +652,7 @@ void UARTDriver::write_pending_bytes_DMA(uint32_t n)
}
/* TX DMA channel preparation.*/
_total_written += tx_len;
_writebuf.advance(tx_len);
tx_len = _writebuf.peekbytes(tx_bounce_buf, MIN(n, TX_BOUNCE_BUFSIZE));
if (tx_len == 0) {
@ -712,6 +713,7 @@ void UARTDriver::write_pending_bytes_NODMA(uint32_t n)
}
if (ret > 0) {
_last_write_completed_us = AP_HAL::micros();
_total_written += ret;
}
_writebuf.advance(ret);
@ -751,9 +753,27 @@ void UARTDriver::write_pending_bytes(void)
if (_first_write_started_us == 0) {
_first_write_started_us = AP_HAL::micros();
}
if (sdef.dma_tx) {
// when we are using DMA we have a reliable indication that a write
// has completed from the DMA completion interrupt
if (_last_write_completed_us != 0) {
_flow_control = FLOW_CONTROL_ENABLE;
} else if (AP_HAL::micros() - _first_write_started_us > 500*1000UL) {
return;
}
} else {
// without DMA we need to look at the number of bytes written into the queue versus the
// remaining queue space
uint32_t space = qSpaceI(&((SerialDriver*)sdef.serial)->oqueue);
uint32_t used = SERIAL_BUFFERS_SIZE - space;
// threshold is 8 for the GCS_Common code to unstick SiK radios, which
// sends 6 bytes with flow control disabled
const uint8_t threshold = 8;
if (_total_written > used && _total_written - used > threshold) {
_flow_control = FLOW_CONTROL_ENABLE;
return;
}
}
if (AP_HAL::micros() - _first_write_started_us > 500*1000UL) {
// it doesn't look like hw flow control is working
hal.console->printf("disabling flow control on serial %u\n", sdef.get_index());
set_flow_control(FLOW_CONTROL_DISABLE);
@ -870,6 +890,7 @@ void UARTDriver::set_flow_control(enum flow_control flowcontrol)
return;
}
#if HAL_USE_SERIAL == TRUE
SerialDriver *sd = (SerialDriver*)(sdef.serial);
_flow_control = flowcontrol;
if (!_initialised) {
// not ready yet, we just set variable for when we call begin
@ -883,7 +904,13 @@ void UARTDriver::set_flow_control(enum flow_control flowcontrol)
palClearLine(sdef.rts_line);
_rts_is_active = true;
// disable hardware CTS support
((SerialDriver*)(sdef.serial))->usart->CR3 &= ~(USART_CR3_CTSE | USART_CR3_RTSE);
chSysLock();
if ((sd->usart->CR3 & (USART_CR3_CTSE | USART_CR3_RTSE)) != 0) {
sd->usart->CR1 &= ~USART_CR1_UE;
sd->usart->CR3 &= ~(USART_CR3_CTSE | USART_CR3_RTSE);
sd->usart->CR1 |= USART_CR1_UE;
}
chSysUnlock();
break;
case FLOW_CONTROL_AUTO:
@ -899,8 +926,15 @@ void UARTDriver::set_flow_control(enum flow_control flowcontrol)
palClearLine(sdef.rts_line);
_rts_is_active = true;
// enable hardware CTS support, disable RTS support as we do that in software
((SerialDriver*)(sdef.serial))->usart->CR3 |= USART_CR3_CTSE;
((SerialDriver*)(sdef.serial))->usart->CR3 &= ~USART_CR3_RTSE;
chSysLock();
if ((sd->usart->CR3 & (USART_CR3_CTSE | USART_CR3_RTSE)) != USART_CR3_CTSE) {
// CTSE and RTSE can only be written when uart is disabled
sd->usart->CR1 &= ~USART_CR1_UE;
sd->usart->CR3 |= USART_CR3_CTSE;
sd->usart->CR3 &= ~USART_CR3_RTSE;
sd->usart->CR1 |= USART_CR1_UE;
}
chSysUnlock();
break;
}
#endif // HAL_USE_SERIAL

1
libraries/AP_HAL_ChibiOS/UARTDriver.h
View File

@ -154,6 +154,7 @@ private:
bool _rts_is_active;
uint32_t _last_write_completed_us;
uint32_t _first_write_started_us;
uint32_t _total_written;
// set to true for unbuffered writes (low latency writes)
bool unbuffered_writes;

6
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -202,7 +202,7 @@ bool Util::flash_bootloader()
uint32_t fw_size;
const char *fw_name = "bootloader.bin";
const uint8_t *fw = AP_ROMFS::find_file(fw_name, fw_size);
uint8_t *fw = AP_ROMFS::find_decompress(fw_name, fw_size);
if (!fw) {
hal.console->printf("failed to find %s\n", fw_name);
return false;
@ -211,12 +211,14 @@ bool Util::flash_bootloader()
const uint32_t addr = stm32_flash_getpageaddr(0);
if (!memcmp(fw, (const void*)addr, fw_size)) {
hal.console->printf("Bootloader up-to-date\n");
free(fw);
return true;
}
hal.console->printf("Erasing\n");
if (!stm32_flash_erasepage(0)) {
hal.console->printf("Erase failed\n");
free(fw);
return false;
}
hal.console->printf("Flashing %s @%08x\n", fw_name, (unsigned int)addr);
@ -233,10 +235,12 @@ bool Util::flash_bootloader()
continue;
}
hal.console->printf("Flash OK\n");
free(fw);
return true;
}
hal.console->printf("Flash failed after %u attempts\n", max_attempts);
free(fw);
return false;
}

7
libraries/AP_HAL_ChibiOS/hwdef/common/bouncebuffer.c
View File

@ -32,10 +32,15 @@
/*
initialise a bouncebuffer
*/
void bouncebuffer_init(struct bouncebuffer_t **bouncebuffer)
void bouncebuffer_init(struct bouncebuffer_t **bouncebuffer, uint32_t prealloc_bytes)
{
(*bouncebuffer) = calloc(1, sizeof(struct bouncebuffer_t));
osalDbgAssert(((*bouncebuffer) != NULL), "bouncebuffer init");
if (prealloc_bytes) {
(*bouncebuffer)->dma_buf = malloc_dma(prealloc_bytes);
osalDbgAssert(((*bouncebuffer)->dma_buf != NULL), "bouncebuffer preallocate");
(*bouncebuffer)->size = prealloc_bytes;
}
}
/*

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

@ -21,7 +21,7 @@ struct bouncebuffer_t {
/*
initialise a bouncebuffer
*/
void bouncebuffer_init(struct bouncebuffer_t **bouncebuffer);
void bouncebuffer_init(struct bouncebuffer_t **bouncebuffer, uint32_t prealloc_bytes);
/*
setup for reading from a device into memory, allocating a bouncebuffer if needed

25
libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c
View File

@ -251,3 +251,28 @@ void set_fast_reboot(enum rtc_boot_magic v)
{
set_rtc_backup0(v);
}
/*
enable peripheral power if needed This is done late to prevent
problems with CTS causing SiK radios to stay in the bootloader. A
SiK radio will stay in the bootloader if CTS is held to GND on boot
*/
void peripheral_power_enable(void)
{
#if defined(HAL_GPIO_PIN_nVDD_5V_PERIPH_EN) || defined(HAL_GPIO_PIN_nVDD_5V_HIPOWER_EN)
// we don't know what state the bootloader had the CTS pin in, so
// wait here with it pulled up from the PAL table for enough time
// for the radio to be definately powered down
uint8_t i;
for (i=0; i<100; i++) {
// use a loop as this may be a 16 bit timer
chThdSleep(MS2ST(1));
}
#ifdef HAL_GPIO_PIN_nVDD_5V_PERIPH_EN
palWriteLine(HAL_GPIO_PIN_nVDD_5V_PERIPH_EN, 0);
#endif
#ifdef HAL_GPIO_PIN_nVDD_5V_HIPOWER_EN
palWriteLine(HAL_GPIO_PIN_nVDD_5V_HIPOWER_EN, 0);
#endif
#endif
}

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

@ -65,6 +65,9 @@ enum rtc_boot_magic check_fast_reboot(void);
// set RTC register for a fast reboot
void set_fast_reboot(enum rtc_boot_magic v);
// enable peripheral power if needed
void peripheral_power_enable(void);
#ifdef __cplusplus
}
#endif

32
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -245,12 +245,8 @@ class generic_pin(object):
self.type.startswith('UART')) and (
(self.label.endswith('_TX') or
self.label.endswith('_RX') or
self.label.endswith('_CTS'))):
# default RX/TX lines to pullup, to prevent spurious bytes
# on disconnected ports. CTS is the exception, which is pulldown
if self.label.endswith("CTS"):
v = "PULLDOWN"
else:
self.label.endswith('_CTS') or
self.label.endswith('_RTS'))):
v = "PULLUP"
for e in self.extra:
if e in values:
@ -934,10 +930,14 @@ def write_GPIO_config(f):
# and write #defines for use by config code
f.write('}\n\n')
f.write('// full pin define list\n')
for l in sorted(bylabel.keys()):
last_label = None
for l in sorted(list(set(bylabel.keys()))):
p = bylabel[l]
label = p.label
label = label.replace('-', '_')
if label == last_label:
continue
last_label = label
f.write('#define HAL_GPIO_PIN_%-20s PAL_LINE(GPIO%s,%uU)\n' %
(label, p.port, p.pin))
f.write('\n')
@ -1153,7 +1153,7 @@ def write_env_py(filename):
# see if board has a defaults.parm file
defaults_filename = os.path.join(os.path.dirname(args.hwdef), 'defaults.parm')
if os.path.exists(defaults_filename):
if os.path.exists(defaults_filename) and not args.bootloader:
print("Adding defaults.parm")
env_vars['DEFAULT_PARAMETERS'] = os.path.abspath(defaults_filename)
@ -1161,6 +1161,18 @@ def write_env_py(filename):
env_vars['CHIBIOS_BUILD_FLAGS'] = ' '.join(build_flags)
pickle.dump(env_vars, open(filename, "wb"))
def romfs_add(romfs_filename, filename):
'''add a file to ROMFS'''
romfs.append((romfs_filename, filename))
def romfs_wildcard(pattern):
'''add a set of files to ROMFS by wildcard'''
base_path = os.path.join(os.path.dirname(__file__), '..', '..', '..', '..')
(pattern_dir, pattern) = os.path.split(pattern)
for f in os.listdir(os.path.join(base_path, pattern_dir)):
if fnmatch.fnmatch(f, pattern):
romfs.append((f, os.path.join(pattern_dir, f)))
def process_line(line):
'''process one line of pin definition file'''
global allpins
@ -1201,7 +1213,9 @@ def process_line(line):
if a[0] == 'SPIDEV':
spidev.append(a[1:])
if a[0] == 'ROMFS':
romfs.append((a[1],a[2]))
romfs_add(a[1],a[2])
if a[0] == 'ROMFS_WILDCARD':
romfs_wildcard(a[1])
if a[0] == 'undef':
print("Removing %s" % a[1])
config.pop(a[1], '')

9
libraries/AP_HAL_ChibiOS/sdcard.cpp
View File

@ -22,6 +22,7 @@ extern const AP_HAL::HAL& hal;
#ifdef USE_POSIX
static FATFS SDC_FS; // FATFS object
static bool sdcard_init_done;
#endif
#if HAL_USE_MMC_SPI
@ -39,11 +40,13 @@ static bool sdcard_running;
void sdcard_init()
{
#ifdef USE_POSIX
if (sdcard_init_done) {
return;
}
sdcard_init_done = true;
#if HAL_USE_SDC
#if defined(STM32_SDC_USE_SDMMC1) && STM32_SDC_USE_SDMMC1 == TRUE
bouncebuffer_init(&SDCD1.bouncebuffer);
#endif
bouncebuffer_init(&SDCD1.bouncebuffer, 512);
sdcStart(&SDCD1, NULL);