HAL_ChibiOS: auto-configure timer channels

allow for one marked PPMIN for input

libraries/AP_HAL_ChibiOS/RCInput.cpp

@@ -30,7 +30,9 @@ using namespace ChibiOS;
 extern const AP_HAL::HAL& hal;
 void ChibiRCInput::init()
 {
+#if HAL_USE_ICU == TRUE
     ppm_init(1000000, true);
+#endif
     chMtxObjectInit(&rcin_mutex);
     _init = true;
 }
@@ -164,12 +166,14 @@ void ChibiRCInput::_timer_tick(void)
     if (!_init) {
         return;
     }
+#if HAL_USE_ICU == TRUE
     if (ppm_available()) {
         chMtxLock(&rcin_mutex);
         _num_channels = ppm_read_bulk(_rc_values, RC_INPUT_MAX_CHANNELS);
         _rcin_timestamp_last_signal = AP_HAL::micros();
         chMtxUnlock(&rcin_mutex);
     }
+#endif
 
 #ifdef HAL_RCINPUT_WITH_AP_RADIO
     if (radio && radio->last_recv_us() != last_radio_us) {

libraries/AP_HAL_ChibiOS/hwdef/common/board.h

@@ -18,10 +18,6 @@
 
 #include "hwdef.h"
 
-#ifndef PPM_ICU_TIMER
-#define PPM_ICU_TIMER  ICUD4
-#endif
-
 #ifndef PPM_ICU_CHANNEL
 #define PPM_ICU_CHANNEL ICU_CHANNEL_2
 #endif

libraries/AP_HAL_ChibiOS/hwdef/common/halconf.h

@@ -104,7 +104,7 @@
  * @brief   Enables the ICU subsystem.
  */
 #if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
-#define HAL_USE_ICU                 TRUE
+#define HAL_USE_ICU                 FALSE
 #endif
 
 /**
@@ -160,7 +160,7 @@
  * @brief   Enables the SERIAL over USB subsystem.
  */
 #if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
-#define HAL_USE_SERIAL_USB          TRUE
+#define HAL_USE_SERIAL_USB          FALSE
 #endif
 
 /**
@@ -181,7 +181,7 @@
  * @brief   Enables the USB subsystem.
  */
 #if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
-#define HAL_USE_USB                 TRUE
+#define HAL_USE_USB                 FALSE
 #endif
 
 /**

libraries/AP_HAL_ChibiOS/hwdef/common/mcuconf.h

@@ -54,19 +54,47 @@
  * HAL driver system settings.
  */
 #define STM32_NO_INIT                       FALSE
+
+#ifndef STM32_HSI_ENABLED
 #define STM32_HSI_ENABLED                   TRUE
+#endif
+
+#ifndef STM32_LSI_ENABLED
 #define STM32_LSI_ENABLED                   TRUE
+#endif
+
+#ifndef STM32_HSE_ENABLED
 #define STM32_HSE_ENABLED                   TRUE
+#endif
+
+#ifndef STM32_LSE_ENABLED
 #define STM32_LSE_ENABLED                   FALSE
+#endif
+
+#ifndef STM32_CLOCK48_REQUIRED
 #define STM32_CLOCK48_REQUIRED              TRUE
+#endif
+
+#ifndef STM32_SW
 #define STM32_SW                            STM32_SW_PLL
+#endif
+
+#ifndef STM32_PLLSRC
 #define STM32_PLLSRC                        STM32_PLLSRC_HSE
+#endif
 #ifndef STM32_PLLM_VALUE
 #define STM32_PLLM_VALUE                    24
 #endif
+#ifndef STM32_PLLN_VALUE
 #define STM32_PLLN_VALUE                    336
+#endif
+#ifndef STM32_PLLP_VALUE
 #define STM32_PLLP_VALUE                    2
+#endif
+#ifndef STM32_PLLQ_VALUE
 #define STM32_PLLQ_VALUE                    7
+#endif
+
 #define STM32_HPRE                          STM32_HPRE_DIV1
 #define STM32_PPRE1                         STM32_PPRE1_DIV4
 #define STM32_PPRE2                         STM32_PPRE2_DIV2
@@ -187,13 +215,6 @@
 /*
  * ICU driver system settings.
  */
-#define STM32_ICU_USE_TIM1                  FALSE
-#define STM32_ICU_USE_TIM2                  FALSE
-#define STM32_ICU_USE_TIM3                  FALSE
-#define STM32_ICU_USE_TIM4                  TRUE
-#define STM32_ICU_USE_TIM5                  FALSE
-#define STM32_ICU_USE_TIM8                  FALSE
-#define STM32_ICU_USE_TIM9                  FALSE
 #define STM32_ICU_TIM1_IRQ_PRIORITY         7
 #define STM32_ICU_TIM2_IRQ_PRIORITY         7
 #define STM32_ICU_TIM3_IRQ_PRIORITY         7
@@ -217,13 +238,6 @@
  * PWM driver system settings.
  */
 #define STM32_PWM_USE_ADVANCED              FALSE
-#define STM32_PWM_USE_TIM1                  TRUE
-#define STM32_PWM_USE_TIM2                  FALSE
-#define STM32_PWM_USE_TIM3                  FALSE
-#define STM32_PWM_USE_TIM4                  FALSE
-#define STM32_PWM_USE_TIM5                  FALSE
-#define STM32_PWM_USE_TIM8                  FALSE
-#define STM32_PWM_USE_TIM9                  FALSE
 #define STM32_PWM_TIM1_IRQ_PRIORITY         7
 #define STM32_PWM_TIM2_IRQ_PRIORITY         7
 #define STM32_PWM_TIM3_IRQ_PRIORITY         7
@@ -293,8 +307,6 @@
 /*
  * USB driver system settings.
  */
-#define STM32_USB_USE_OTG1                  TRUE
-#define STM32_USB_USE_OTG2                  FALSE
 #define STM32_USB_OTG1_IRQ_PRIORITY         14
 #define STM32_USB_OTG2_IRQ_PRIORITY         14
 #define STM32_USB_OTG1_RX_FIFO_SIZE         512

libraries/AP_HAL_ChibiOS/hwdef/common/ppm.c

@@ -16,6 +16,8 @@
 
 #include "ppm.h"
 
+#if HAL_USE_ICU
+
 static ICUConfig icucfg;    //Input Capture Unit Config
 static uint16_t ppm_buffer[10] = {0};
 static bool updated[10] = {0};
@@ -43,9 +45,9 @@ bool ppm_init(uint32_t freq, bool active_high)
     icucfg.overflow_cb = NULL;
     icucfg.dier = 0;
 
-    icuStart(&PPM_ICU_TIMER, &icucfg);
+    icuStart(&HAL_ICU_TIMER, &icucfg);
-    icuStartCapture(&PPM_ICU_TIMER);
+    icuStartCapture(&HAL_ICU_TIMER);
-    icuEnableNotifications(&PPM_ICU_TIMER);
+    icuEnableNotifications(&HAL_ICU_TIMER);
     return true;
 }
 
@@ -99,3 +101,4 @@ static void ppm_measurement_cb(ICUDriver *icup)
         buf_ptr++;
     }
 }
+#endif // HAL_USE_ICU

libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat

@@ -53,7 +53,7 @@ PA13 JTMS-SWDIO SWD
 PA14 JTCK-SWCLK SWD
 
 # PA15 ALARM
-PB0 RCINPUT INPUT
+PB0 TIM3_CH3 TIM3 PPMIN # RC Input PPM
 PB1 LED_GREEN OUTPUT
 PB2 BOOT1 INPUT
 PB3 LED_BLUE OUTPUT

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -39,6 +39,9 @@ spidev = []
 # SPI bus list
 spi_list = []
 
+# all config lines in order
+alllines = []
+
 mcu_type = None
 
 def is_int(str):
@@ -222,6 +225,7 @@ def process_line(line):
         '''process one line of pin definition file'''
         a = shlex.split(line)
         # keep all config lines for later use
+        alllines.append(line)
         config[a[0]] = a[1:]
         if a[0] == 'MCU':
                 global mcu_type
@@ -270,10 +274,18 @@ def write_mcu_config(f):
                 f.write('#define USE_POSIX\n\n')
         if not 'SDIO_CMD' in bylabel:
             f.write('#define HAL_USE_SDC FALSE\n')
+        if 'OTG1' in bytype:
+            f.write('#define STM32_USB_USE_OTG1                  TRUE\n')
+            f.write('#define HAL_USE_USB TRUE\n')
+            f.write('#define HAL_USE_SERIAL_USB TRUE\n')
+        if 'OTG2' in bytype:
+            f.write('#define STM32_USB_USE_OTG2                  TRUE\n')
         # write any custom STM32 defines
-        for d in config.keys():
+        for d in alllines:
             if d.startswith('STM32_'):
-                f.write('#define %s %s\n' % (d, ' '.join(config[d])))
+                f.write('#define %s\n' % d)
+            if d.startswith('define '):
+                f.write('#define %s\n' % d[7:])
         f.write('\n')
 
 def write_USB_config(f):
@@ -410,6 +422,36 @@ def write_I2C_config(f):
             f.write('#define HAL_I2C%u_CONFIG { &I2CD%u, STM32_I2C_I2C%u_TX_DMA_STREAM, STM32_I2C_I2C%u_RX_DMA_STREAM }\n' % (n, n, n, n))
         f.write('#define HAL_I2C_DEVICE_LIST %s\n\n' % ','.join(devlist))
 
+def write_PWM_config(f):
+        '''write PWM config defines'''
+        ppm_in = None
+        pwm_out = []
+        pwm_timers = []
+        for l in bylabel.keys():
+            p = bylabel[l]
+            if p.type.startswith('TIM'):
+                if p.has_extra('PPMIN'):
+                    ppm_in = p
+                else:
+                    pwm_out.append(p)
+                    if p.type not in pwm_timers:
+                        pwm_timers.append(p.type)
+        if ppm_in is not None:
+            chan = int(ppm_in.label[7:])
+            n = int(ppm_in.type[3])
+            f.write('// PPM input config\n')
+            f.write('#define HAL_USE_ICU TRUE\n')
+            f.write('#define HAL_ICU_TIMER ICUD%u\n' % n)
+            f.write('#define STM32_ICU_USE_TIM%u TRUE\n' % n)
+            f.write('#define HAL_ICU_CHANNEL ICU_CHANNEL_%u\n' % chan)
+            f.write('\n')
+        f.write('// PWM output config\n')
+        for t in sorted(pwm_timers):
+            n = int(t[3])
+            f.write('#define STM32_PWM_USE_TIM%u TRUE\n' % n)
+            f.write('\n')
+
+
 
 def write_prototype_file():
     '''write the prototype file for apj generation'''
@@ -459,6 +501,7 @@ def write_hwdef_header(outfilename):
         write_USB_config(f)
         write_I2C_config(f)
         write_SPI_config(f)
+        write_PWM_config(f)
 
         write_peripheral_enable(f)
         write_prototype_file()

libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412/hwdef.dat

@@ -9,6 +9,17 @@ APJ_BOARD_ID 9
 # crystal frequency
 OSCILLATOR_HZ 24000000
 
+STM32_HSE_ENABLED FALSE
+STM32_PLLM_VALUE 16
+STM32_PLLN_VALUE 384
+STM32_PLLP_VALUE 4
+STM32_PLLQ_VALUE 8
+STM32_PLLSRC STM32_PLLSRC_HSI
+STM32_PREE1  STM32_PREE1_DIV2
+STM32_PREE2  STM32_PREE2_DIV1
+
+STM32_PWM_USE_TIM3 TRUE
+
 # board voltage
 STM32_VDD 330U