mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: simple conversion tool for betaflight pin definitions
This commit is contained in:
Andy Piper
Andrew Tridgell
parent
13a55c9109
commit
9caf94b5e4
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@ -0,0 +1,475 @@
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#!/usr/bin/env python
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'''
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convert a betaflight unified configuration file into a hwdef.dat
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currently very approximate, file requires cleanup afterwards
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'''
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import sys, re
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import argparse
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timers = {}
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resources = {}
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features = []
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chip_select = {}
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functions = {
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"SPI" : {},
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"MOTOR" : {},
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"BEEPER" : {},
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"SERVO" : {},
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"LED" : {},
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"SERIAL" : {},
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"SPI" : {},
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"I2C" : {},
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"ADC" : {},
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"CAMERA" : {},
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}
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settings = {}
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dma_noshare = {}
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# betaflight sensor alignment is a mysterious art
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# some of these might be right but you should always check
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alignment = {
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"CW0" : "ROTATION_YAW_270",
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"CW90" : "ROTATION_NONE",
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"CW180" : "ROTATION_YAW_90",
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"CW270" : "ROTATION_YAW_180",
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"CW0FLIP" : "ROTATION_ROLL_180_YAW_270",
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"CW90FLIP" : "ROTATION_ROLL_180",
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"CW180FLIP" : "ROTATION_ROLL_180_YAW_90",
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"CW270FLIP" : "ROTATION_PITCH_180",
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}
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parser = argparse.ArgumentParser("convert_betaflight_unified.py")
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parser.add_argument('-I', '--id', type=str, default=None, help='Board id')
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parser.add_argument('fname', help='Betaflight unified config file')
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args = parser.parse_args()
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def convert_pin(pin):
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pinnum = str(int(pin[1:]))
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return 'P' + pin[0] + pinnum
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def error(str):
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'''show an error and exit'''
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print("Error: " + str)
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sys.exit(1)
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def get_ADC1_chan(mcu, pin):
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'''return ADC1 channel for an analog pin'''
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import importlib
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try:
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lib = importlib.import_module("STM32" + mcu + "xx")
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ADC1_map = lib.ADC1_map
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except ImportError:
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error("Unable to find ADC1_Map for MCU %s" % mcu)
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if pin not in ADC1_map:
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error("Unable to find ADC1 channel for pin %s" % pin)
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return ADC1_map[pin]
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def write_osd_config(f, bus):
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f.write('''
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# OSD setup
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SPIDEV osd SPI%s DEVID1 OSD1_CS MODE0 10*MHZ 10*MHZ
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define OSD_ENABLED 1
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define HAL_OSD_TYPE_DEFAULT 1
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ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
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''' % bus)
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def write_flash_config(f, bus):
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f.write('''
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# Dataflash setup
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SPIDEV dataflash SPI%s DEVID1 FLASH1_CS MODE3 104*MHZ 104*MHZ
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define HAL_LOGGING_DATAFLASH_ENABLED 1
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''' % bus)
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def write_imu_config(f, n):
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global dma_noshare
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global dma_pri
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bus = settings['gyro_' + n + '_spibus']
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align = settings['gyro_' + n + '_sensor_align']
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f.write('''
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# IMU setup
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SPIDEV imu%s SPI%s DEVID1 GYRO%s_CS MODE3 1*MHZ 8*MHZ
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IMU Invensense SPI:imu%s %s
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''' % (n, bus, n, n, alignment[align]))
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dma = "SPI" + bus + "*"
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dma_noshare[dma] = dma
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def convert_file(fname, board_id):
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f = open("hwdef.dat", 'w')
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lines = open(fname, 'r').readlines()
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mcu = ""
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mcuclass = ""
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board_name = ""
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flash_size = 2048
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for i in range(len(lines)):
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line = lines[i]
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if line.__contains__('STM32'):
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result = re.search("STM32(..)(..) ", line)
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mcuclass = result.group(1)
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mcu = result.group(1) + result.group(2)
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if line.startswith('board_name'):
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board_name = line.split()[1]
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if mcuclass == "F4":
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if mcu == "F405":
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flash_size = 1024
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reserve_start = 48
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elif mcuclass == "F7":
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if mcu == "F745":
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flash_size = 1024
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reserve_start = 96
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elif mcuclass == "H7":
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reserve_start = 384
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# preamble
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f.write('''
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# hw definition file for processing by chibios_hwdef.py
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# for %s hardware.
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# thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32%sxx STM32%sxx
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# board ID for firmware load
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APJ_BOARD_ID %s
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB %u
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# bootloader takes first sector
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FLASH_RESERVE_START_KB %u
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define HAL_STORAGE_SIZE 16384
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define STORAGE_FLASH_PAGE 1
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''' % (board_name, mcuclass, mcu, board_id, flash_size, reserve_start))
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for i in range(len(lines)):
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line = lines[i]
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if line.startswith('resource'):
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a = line.split()
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# function, number, pin
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pin = convert_pin(a[3])
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resource = [ a[2] , pin, a[1].split('_')[0], a[1] ]
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resources[a[1]] = resource
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if resource[2] in functions.keys():
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functions[resource[2]][resource[1]] = resource
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if (resource[3].endswith("_CS")):
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chip_select[resource[1]] = resource
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print("resource: %s %s %s %s" % (resource[0], resource[1], resource[2], resource[3]))
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elif line.startswith('timer'):
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# parse the comment, bit hacky but seems to work
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# # pin A08: TIM1 CH1 (AF1)
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pindef = lines[i+1].split()
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# timer A08 AF1
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a = line.split()
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# function, number, pin
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pin = convert_pin(a[1])
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timer = [ pin, pindef[3] , pindef[4] ]
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timers[pin] = timer
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print("timer: %s %s %s" % (timer[0], timer[1], timer[2]))
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elif line.startswith('feature'):
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a = line.split()
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features.append(a[1])
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print("feature: %s" % (a[1]))
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elif line.startswith('set'):
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a = line.split()
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settings[a[1]] = a[3]
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print("settings: %s %s" % (a[1], a[3]))
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#open(fname, 'w').write(''.join(lines))
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f.write("\n# SPI devices\n")
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# PIN FN SPI
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spin = -1
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for spi in sorted(functions["SPI"].values()):
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if (spin != int(spi[0])):
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spin = int(spi[0])
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f.write("\n# SPI%s\n" % spin)
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f.write("%s SPI%s_%s SPI%s\n" % (spi[1], spin, spi[3].split('_')[1], spin))
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f.write("\n# Chip select pins\n")
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for cs in chip_select.values():
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f.write("%s %s%s_CS CS\n" % (cs[1], cs[2], int(cs[0])))
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beeper = list(functions["BEEPER"].values())[0]
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f.write('''\n# Beeper
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%s BUZZER OUTPUT GPIO(80) LOW
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define HAL_BUZZER_PIN 80
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define HAL_BUZZER_ON 1
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define HAL_BUZZER_OFF 0
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''' % beeper[1])
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f.write("\n# SERIAL ports\n")
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usarts = "SERIAL_ORDER OTG1"
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uartn = 1
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for uart in sorted(list(set([uart[0] for uart in functions["SERIAL"].values()]))):
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while (uartn < int(uart)):
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uartn = uartn + 1
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usarts += " EMPTY"
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name = ("USART" if int(uartn) < 4 else "UART") + uart
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usarts += (" " + name)
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uartn = uartn + 1
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f.write(usarts)
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f.write('''
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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''')
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# PIN FN UART
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serialn = ""
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for uart in sorted(functions["SERIAL"].values()):
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if (serialn != uart[0]):
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serialn = uart[0]
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name = "USART" if int(serialn) < 4 else "UART"
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name += serialn
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f.write("\n# %s\n" % name)
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# no need for all UARTs to have DMA. Picking the first four is better than nothing
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dma = ""
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if int(serialn) > 4:
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dma = " NODMA"
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f.write("%s %s_%s %s%s\n" % (uart[1], name, uart[3].split('_')[1], name, dma))
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f.write("\n# I2C ports\n")
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i2cs = "I2C_ORDER"
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i2cn = 1
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for i2c in sorted(list(set([i2c[0] for i2c in functions["I2C"].values()]))):
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i2cs += (" " + "I2C" + i2c)
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i2cn = i2cn + 1
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f.write(i2cs)
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# PIN FN I2C
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i2cn = ""
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for i2c in sorted(functions["I2C"].values()):
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if (i2cn != i2c[0]):
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i2cn = i2c[0]
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name = "I2C" + i2cn
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f.write("\n# %s\n" % name)
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f.write("%s %s_%s %s\n" % (i2c[1], name, i2c[3].split('_')[1], name))
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# PIN FN I2C
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f.write("\n# Servos\n")
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servon = 0
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for servo in sorted(functions["SERVO"].values()) + sorted(functions["CAMERA"].values()):
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f.write("%s %s%u OUTPUT GPIO(%u) LOW\n" % (servo[1], servo[2], int(servo[0]), servon+70))
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f.write("define RELAY%u_PIN_DEFAULT %u\n" % (servon + 2, servon+70))
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servon = servon+1
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f.write("\n# ADC ports\n")
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# PIN FN ADC
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adcn = ""
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for adc in sorted(functions["ADC"].values()):
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if (adcn != adc[0]):
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adcn = adc[0]
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name = "ADC" + adcn
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f.write("\n# %s\n" % name)
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if (adc[3] == "ADC_BATT"):
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f.write("%s BATT_VOLTAGE_SENS %s SCALE(1)\n" % (adc[1], name))
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f.write('''define HAL_BATT_VOLT_PIN %s
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define HAL_BATT_VOLT_SCALE 11.0
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''' % (get_ADC1_chan(mcu, adc[1])))
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elif (adc[3] == "ADC_CURR"):
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f.write("%s BATT_CURRENT_SENS %s SCALE(1)\n" % (adc[1], name))
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f.write('''define HAL_BATT_CURR_PIN %s
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define HAL_BATT_CURR_SCALE %.1f
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''' % (get_ADC1_chan(mcu, adc[1]), int(settings['ibata_scale']) * 59.5 / 168 )) # scale taken from KakuteH7
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elif (adc[3] == "ADC_RSSI"):
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f.write("%s RSSI_ADC %s\n" % (adc[1], name))
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f.write("define BOARD_RSSI_ANA_PIN %s\n" % (get_ADC1_chan(mcu, adc[1])))
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# define default battery setup
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f.write("define HAL_BATT_MONITOR_DEFAULT 4\n")
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f.write("\n# MOTORS\n")
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nmotors = 0
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# PIN TIMx_CHy TIMx PWM(p) GPIO(g)
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for pin, motor in functions["MOTOR"].items():
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timer = timers[pin]
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nmotors = max(nmotors, int(motor[0]))
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# for safety don't share the _UP channel
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dma_noshare[timer[1] + '_UP'] = timer[1] + '_UP'
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f.write("%s %s_%s %s PWM(%s) GPIO(%s)" % (motor[1], timer[1], timer[2], timer[1], motor[0], 49+int(motor[0])))
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# on H7 we can reasonably safely assign bi-dir channel
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if mcuclass == "H7" and (int(timer[2][2:]) == 1 or int(timer[2][2:]) == 3):
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f.write(" BIDIR # M%s\n" % (motor[0]))
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else:
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f.write(" # M%s\n" % (motor[0]))
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# LEDs
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f.write("\n# LEDs\n")
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for led in sorted(functions["LED"].values()):
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if (led[3].endswith('_STRIP')):
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pin = led[1]
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timer = timers[pin]
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nmotors = nmotors+1
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f.write("%s %s_%s %s PWM(%s) GPIO(%s) # M%s\n" % (led[1], timer[1], timer[2], timer[1], nmotors, 49+nmotors, nmotors))
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continue
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ledn = int(led[0])
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f.write('''
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%s LED%u OUTPUT LOW GPIO(%u)
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define HAL_GPIO_%s_LED_PIN %u
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''' % (led[1], ledn-1, 89+ledn, chr(ledn+64), 89+ledn))
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f.write("define HAL_GPIO_LED_OFF 1\n")
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# write out devices
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if settings['blackbox_device'] == 'SPIFLASH':
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write_flash_config(f, settings['flash_spi_bus'])
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if 'max7456_spi_bus' in settings:
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write_osd_config(f, settings['max7456_spi_bus'])
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if 'baro_i2c_device' in settings:
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f.write('''
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# Barometer setup
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BARO DPS280 I2C:%s:0x76
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''' % (int(settings['baro_i2c_device']) - 1))
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else:
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f.write("define HAL_BARO_ALLOW_INIT_NO_BARO 1\n")
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f.write('''
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# IMU setup
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''')
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if 'gyro_1_spibus' in settings:
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write_imu_config(f, "1")
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if 'gyro_2_spibus' in settings:
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write_imu_config(f, "2")
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if len(dma_noshare) > 0:
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f.write("DMA_NOSHARE")
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for dma in dma_noshare.keys():
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f.write(" " + dma)
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f.write("\n")
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f.write("DMA_PRIORITY")
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for dma in dma_noshare.keys():
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f.write(" " + dma)
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f.write("\n")
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# postamble
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f.write('''
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# no built-in compass, but probe the i2c bus for all possible
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# external compass types
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define ALLOW_ARM_NO_COMPASS
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_I2C_INTERNAL_MASK 0
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define HAL_COMPASS_AUTO_ROT_DEFAULT 2
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define HAL_DEFAULT_INS_FAST_SAMPLE 3
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# Motor order implies Betaflight/X for standard ESCs
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define HAL_FRAME_TYPE_DEFAULT 12
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''')
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f.close()
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def convert_bootloader(fname, board_id):
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f = open("hwdef-bl.dat", 'w')
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lines = open(fname, 'r').readlines()
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mcu = ""
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mcuclass = ""
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board_name = ""
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flash_size = 2048
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for i in range(len(lines)):
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line = lines[i]
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if line.__contains__('STM32'):
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result = re.search("STM32(..)(..) ", line)
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mcuclass = result.group(1)
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mcu = result.group(1) + result.group(2)
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if line.startswith('board_name'):
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board_name = line.split()[1]
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if mcuclass == "F4":
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if mcu == "F405":
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flash_size = 1024
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reserve_start = 48
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elif mcuclass == "F7":
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if mcu == "F745":
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flash_size = 1024
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reserve_start = 96
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elif mcuclass == "H7":
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reserve_start = 384
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# preamble
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f.write('''
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# hw definition file for processing by chibios_hwdef.py
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# for %s hardware.
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# thanks to betaflight for pin information
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# MCU class and specific type
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MCU STM32%sxx STM32%sxx
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# board ID for firmware load
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APJ_BOARD_ID %s
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# crystal frequency, setup to use external oscillator
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OSCILLATOR_HZ 8000000
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FLASH_SIZE_KB %u
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# bootloader starts at zero offset
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FLASH_RESERVE_START_KB 0
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# the location where the bootloader will put the firmware
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FLASH_BOOTLOADER_LOAD_KB %u
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1
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# PA10 IO-debug-console
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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# default to all pins low to avoid ESD issues
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DEFAULTGPIO OUTPUT LOW PULLDOWN
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|
||||
''' % (board_name, mcuclass, mcu, board_id, flash_size, reserve_start))
|
||||
|
||||
f.write("\n# Chip select pins\n")
|
||||
for cs in chip_select.values():
|
||||
f.write("%s %s%s_CS CS\n" % (cs[1], cs[2], int(cs[0])))
|
||||
|
||||
for led in sorted(functions["LED"].values()):
|
||||
f.write('''
|
||||
%s LED_BOOTLOADER OUTPUT LOW
|
||||
define HAL_LED_ON 0
|
||||
''' % led[1])
|
||||
break
|
||||
|
||||
f.close()
|
||||
|
||||
fname=args.fname
|
||||
|
||||
if args.id is None:
|
||||
board_id = input('Board id? ')
|
||||
else:
|
||||
board_id = args.id
|
||||
|
||||
convert_file(fname, board_id)
|
||||
convert_bootloader(fname, board_id)
|
||||
Loading…
Reference in New Issue