HAL_ChibiOS: add hwdef files to support IOMCU

libraries/AP_HAL_ChibiOS/hwdef/common/stm32f1_mcuconf.h

@@ -0,0 +1,150 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+        http://www.apache.org/licenses/LICENSE-2.0
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#pragma once
+/*
+ * STM32F103 drivers configuration.
+ * The following settings override the default settings present in
+ * the various device driver implementation headers.
+ * Note that the settings for each driver only have effect if the whole
+ * driver is enabled in halconf.h.
+ *
+ * IRQ priorities:
+ * 15...0       Lowest...Highest.
+ *
+ * DMA priorities:
+ * 0...3        Lowest...Highest.
+ */
+
+/*
+ * HAL driver system settings.
+ */
+#define STM32_NO_INIT                       FALSE
+#define STM32_HSI_ENABLED                   TRUE
+#define STM32_LSI_ENABLED                   FALSE
+#define STM32_HSE_ENABLED                   TRUE
+#define STM32_LSE_ENABLED                   FALSE
+#define STM32_SW                            STM32_SW_HSE
+#define STM32_HPRE                          STM32_HPRE_DIV1
+#define STM32_PPRE1                         STM32_PPRE1_DIV1
+#define STM32_PPRE2                         STM32_PPRE2_DIV1
+#define STM32_ADCPRE                        STM32_ADCPRE_DIV2
+#define STM32_MCOSEL                        STM32_MCOSEL_NOCLOCK
+#define STM32_RTCSEL                        STM32_RTCSEL_HSEDIV
+#define STM32_PVD_ENABLE                    FALSE
+#define STM32_PLS                           STM32_PLS_LEV0
+
+/*
+ * ADC driver system settings.
+ */
+#define STM32_ADC_ADC1_DMA_PRIORITY         2
+#define STM32_ADC_ADC1_IRQ_PRIORITY         6
+
+/*
+ * EXT driver system settings.
+ */
+#define STM32_EXT_EXTI0_IRQ_PRIORITY        6
+#define STM32_EXT_EXTI1_IRQ_PRIORITY        6
+#define STM32_EXT_EXTI2_IRQ_PRIORITY        6
+#define STM32_EXT_EXTI3_IRQ_PRIORITY        6
+#define STM32_EXT_EXTI4_IRQ_PRIORITY        6
+#define STM32_EXT_EXTI5_9_IRQ_PRIORITY      6
+#define STM32_EXT_EXTI10_15_IRQ_PRIORITY    6
+#define STM32_EXT_EXTI16_IRQ_PRIORITY       6
+#define STM32_EXT_EXTI17_IRQ_PRIORITY       6
+#define STM32_EXT_EXTI18_IRQ_PRIORITY       6
+#define STM32_EXT_EXTI19_IRQ_PRIORITY       6
+
+/*
+ * GPT driver system settings.
+ */
+#define STM32_GPT_TIM1_IRQ_PRIORITY         7
+#define STM32_GPT_TIM2_IRQ_PRIORITY         7
+#define STM32_GPT_TIM3_IRQ_PRIORITY         7
+#define STM32_GPT_TIM4_IRQ_PRIORITY         7
+#define STM32_GPT_TIM5_IRQ_PRIORITY         7
+#define STM32_GPT_TIM8_IRQ_PRIORITY         7
+
+/*
+ * I2C driver system settings.
+ */
+#define STM32_I2C_BUSY_TIMEOUT              50
+#define STM32_I2C_I2C1_IRQ_PRIORITY         5
+#define STM32_I2C_I2C2_IRQ_PRIORITY         5
+#define STM32_I2C_I2C1_DMA_PRIORITY         3
+#define STM32_I2C_I2C2_DMA_PRIORITY         3
+#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      osalSysHalt("DMA failure")
+
+/*
+ * ICU driver system settings.
+ */
+#define STM32_ICU_TIM1_IRQ_PRIORITY         7
+#define STM32_ICU_TIM2_IRQ_PRIORITY         7
+#define STM32_ICU_TIM3_IRQ_PRIORITY         7
+#define STM32_ICU_TIM4_IRQ_PRIORITY         7
+#define STM32_ICU_TIM5_IRQ_PRIORITY         7
+#define STM32_ICU_TIM8_IRQ_PRIORITY         7
+
+/*
+ * PWM driver system settings.
+ */
+#define STM32_PWM_TIM1_IRQ_PRIORITY         7
+#define STM32_PWM_TIM2_IRQ_PRIORITY         7
+#define STM32_PWM_TIM3_IRQ_PRIORITY         7
+#define STM32_PWM_TIM4_IRQ_PRIORITY         7
+#define STM32_PWM_TIM5_IRQ_PRIORITY         7
+#define STM32_PWM_TIM8_IRQ_PRIORITY         7
+
+/*
+ * RTC driver system settings.
+ */
+#define STM32_RTC_IRQ_PRIORITY              15
+
+/*
+ * SERIAL driver system settings.
+ */
+#define STM32_SERIAL_USART1_PRIORITY        12
+#define STM32_SERIAL_USART2_PRIORITY        12
+#define STM32_SERIAL_USART3_PRIORITY        12
+
+/*
+ * SPI driver system settings.
+ */
+#define STM32_SPI_SPI1_DMA_PRIORITY         1
+#define STM32_SPI_SPI2_DMA_PRIORITY         1
+#define STM32_SPI_SPI1_IRQ_PRIORITY         10
+#define STM32_SPI_SPI2_IRQ_PRIORITY         10
+#define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
+
+/*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+#ifndef STM32_ST_USE_TIMER
+#define STM32_ST_USE_TIMER                  2
+#endif
+/*
+ * UART driver system settings.
+ */
+#define STM32_UART_USART1_IRQ_PRIORITY      12
+#define STM32_UART_USART2_IRQ_PRIORITY      12
+#define STM32_UART_USART3_IRQ_PRIORITY      12
+#define STM32_UART_USART1_DMA_PRIORITY      0
+#define STM32_UART_USART2_DMA_PRIORITY      0
+#define STM32_UART_USART3_DMA_PRIORITY      0
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
+
+/*
+ * WDG driver system settings.
+ */
+#define STM32_WDG_USE_IWDG                  FALSE

libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.dat

@@ -0,0 +1,102 @@
+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32F100 STM32F100xB
+
+FLASH_RESERVE_START_KB 4
+
+# board ID for firmware load
+APJ_BOARD_ID 3
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+define CH_CFG_ST_FREQUENCY 1000
+
+FLASH_SIZE_KB 64
+
+# ChibiOS system timer
+
+
+# board voltage
+STM32_VDD 330U
+
+# order of UARTs
+UART_ORDER EMPTY
+define HAL_USE_UART TRUE
+define STM32_UART_USE_USART2 TRUE
+
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+
+PA0 TIM2_CH1 TIM2 PWM(1) GPIO(101)
+PA1 TIM2_CH2 TIM2 PWM(2) GPIO(102)
+PB8 TIM4_CH3 TIM4 PWM(3) GPIO(103)
+PB9 TIM4_CH4 TIM4 PWM(4) GPIO(104)
+PA6 TIM3_CH1 TIM3 PWM(5) GPIO(105)
+PA7 TIM3_CH2 TIM3 PWM(6) GPIO(106)
+PB0 TIM3_CH3 TIM3 PWM(7) GPIO(107)
+PB1 TIM3_CH4 TIM3 PWM(8) GPIO(108)
+
+# pins for detecting board type. On a pixhawk2 PC14 is pulled high,
+# PC15 is pulled low. On a Pixhawk1 they are both floating
+PC14 IO_HW_DETECT1 INPUT PULLDOWN 
+PC15 IO_HW_DETECT2 INPUT PULLUP   
+
+PB14 HEATER OUTPUT GPIO(0)
+
+# safety button and LED. These do not use the same names
+# as those for FMU-only boards as we want to handle them specially
+# inside the iofirmware
+PB5 SAFETY_INPUT INPUT PULLDOWN
+PB13 SAFETY_LED OUTPUT HIGH
+
+PA8 INPUT PULLUP # RC Input PPM
+
+#Manually define ICU settings
+define HAL_USE_ICU TRUE
+define STM32_ICU_USE_TIM1 TRUE
+define RCIN_ICU_TIMER ICUD1
+define RCIN_ICU_CHANNEL ICU_CHANNEL_1
+define STM32_RCIN_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
+
+#DMA Channel Not relevant for F1 series
+define STM32_RCIN_DMA_CHANNEL 0
+
+define STM32_SERIAL_USE_USART2 TRUE
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
+define HAL_INS_DEFAULT HAL_INS_NONE
+define HAL_BARO_DEFAULT HAL_BARO_NONE
+define HAL_NO_GPIO_IRQ
+define CH_CFG_ST_TIMEDELTA 0
+define TIMER_THD_WA_SIZE 256
+define RCIN_THD_WA_SIZE 768
+define DEFAULT_TX_BUF_SIZE 0
+define DEFAULT_RX_BUF_SIZE 0
+#define CH_CFG_USE_DYNAMIC FALSE
+define SERIAL_BUFFERS_SIZE 0
+define HAL_USE_EMPTY_IO TRUE
+define PORT_INT_REQUIRED_STACK 64
+
+#defined to turn off undef warnings
+define __FPU_PRESENT 0
+
+define HAL_USE_ADC FALSE
+define CH_DBG_ENABLE_CHECKS TRUE
+define CH_DBG_ENABLE_ASSERTS TRUE
+define CH_DBG_ENABLE_STACK_CHECK TRUE
+define CH_DBG_THREADS_PROFILING TRUE
+define HAL_NO_FLASH_SUPPORT TRUE
+define HAL_NO_UARTDRIVER TRUE
+define DISABLE_SERIAL_ESC_COMM TRUE
+define NO_DATAFLASH TRUE
+
+define DMA_RESERVE_SIZE 0
+
+define IOMCU_FW TRUE
+
+MAIN_STACK 0x200
+PROCESS_STACK 0x250

libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F100xB.py

@@ -0,0 +1,34 @@
+#!/usr/bin/env python
+'''
+these tables are generated from the STM32 datasheets for the
+STM32F100xB
+'''
+
+# additional build information for ChibiOS
+build = {
+    "CHIBIOS_STARTUP_MK"  : "os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f1xx.mk",
+    "CHIBIOS_PLATFORM_MK" : "os/hal/ports/STM32/STM32F1xx/platform.mk",
+    "CHPRINTF_USE_FLOAT" : 'no',
+    "USE_FPU" : 'no'
+    }
+
+pincount = {
+    'A': 16,
+    'B': 16,
+    'C': 16,
+    'D': 16,
+    'E': 16
+}
+
+# MCU parameters
+mcu = {
+    # location of MCU serial number
+    'UDID_START' : 0x1FFFF7E8,
+
+    # base address of main memory
+    'RAM_BASE_ADDRESS' : 0x20000000,
+
+    # size of main memory
+    'RAM_SIZE_KB' : 8, 
+    
+}