#!/usr/bin/env python ''' setup board.h for chibios ''' import argparse import sys import fnmatch import os import dma_resolver import shlex import pickle import re import shutil parser = argparse.ArgumentParser("chibios_pins.py") parser.add_argument( '-D', '--outdir', type=str, default=None, help='Output directory') parser.add_argument( '--bootloader', action='store_true', default=False, help='configure for bootloader') parser.add_argument( 'hwdef', type=str, default=None, help='hardware definition file') parser.add_argument( '--params', type=str, default=None, help='user default params path') args = parser.parse_args() # output variables for each pin f4f7_vtypes = ['MODER', 'OTYPER', 'OSPEEDR', 'PUPDR', 'ODR', 'AFRL', 'AFRH'] f1_vtypes = ['CRL', 'CRH', 'ODR'] f1_input_sigs = ['RX', 'MISO', 'CTS'] f1_output_sigs = ['TX', 'MOSI', 'SCK', 'RTS', 'CH1', 'CH2', 'CH3', 'CH4'] af_labels = ['USART', 'UART', 'SPI', 'I2C', 'SDIO', 'SDMMC', 'OTG', 'JT', 'TIM', 'CAN'] default_gpio = ['INPUT', 'FLOATING'] vtypes = [] # number of pins in each port pincount = { 'A': 16, 'B': 16, 'C': 16, 'D': 16, 'E': 16, 'F': 16, 'G': 16, 'H': 2, 'I': 0, 'J': 0, 'K': 0 } ports = pincount.keys() portmap = {} # dictionary of all config lines, indexed by first word config = {} # alternate pin mappings altmap = {} # list of all pins in config file order allpins = [] # list of configs by type bytype = {} # list of alt configs by type alttype = {} # list of configs by label bylabel = {} # list of alt configs by label altlabel = {} # list of SPI devices spidev = [] # dictionary of ROMFS files romfs = {} # SPI bus list spi_list = [] # all config lines in order alllines = [] # allow for extra env vars env_vars = {} # build flags for ChibiOS makefiles build_flags = [] # sensor lists imu_list = [] compass_list = [] baro_list = [] all_lines = [] # map from uart names to SERIALn numbers uart_serial_num = {} mcu_type = None dual_USB_enabled = False def is_int(str): '''check if a string is an integer''' try: int(str) except Exception: return False return True def error(str): '''show an error and exit''' print("Error: " + str) sys.exit(1) def get_mcu_lib(mcu): '''get library file for the chosen MCU''' import importlib try: return importlib.import_module(mcu) except ImportError: error("Unable to find module for MCU %s" % mcu) def setup_mcu_type_defaults(): '''setup defaults for given mcu type''' global pincount, ports, portmap, vtypes, mcu_type lib = get_mcu_lib(mcu_type) if hasattr(lib, 'pincount'): pincount = lib.pincount if mcu_series.startswith("STM32F1"): vtypes = f1_vtypes else: vtypes = f4f7_vtypes ports = pincount.keys() # setup default as input pins for port in ports: portmap[port] = [] for pin in range(pincount[port]): portmap[port].append(generic_pin(port, pin, None, default_gpio[0], default_gpio[1:])) def get_alt_function(mcu, pin, function): '''return alternative function number for a pin''' lib = get_mcu_lib(mcu) if function.endswith('_TXINV') or function.endswith('_RXINV'): # RXINV and TXINV are special labels for inversion pins, not alt-functions return None if hasattr(lib, "AltFunction_map"): alt_map = lib.AltFunction_map else: # just check if Alt Func is available or not for l in af_labels: if function.startswith(l): return 0 return None if function and function.endswith("_RTS") and ( function.startswith('USART') or function.startswith('UART')): # we do software RTS return None for l in af_labels: if function.startswith(l): s = pin + ":" + function if s not in alt_map: error("Unknown pin function %s for MCU %s" % (s, mcu)) return alt_map[s] return None def have_type_prefix(ptype): '''return True if we have a peripheral starting with the given peripheral type''' for t in list(bytype.keys()) + list(alttype.keys()): if t.startswith(ptype): return True return False def get_ADC1_chan(mcu, pin): '''return ADC1 channel for an analog pin''' import importlib try: lib = importlib.import_module(mcu) ADC1_map = lib.ADC1_map except ImportError: error("Unable to find ADC1_Map for MCU %s" % mcu) if pin not in ADC1_map: error("Unable to find ADC1 channel for pin %s" % pin) return ADC1_map[pin] class generic_pin(object): '''class to hold pin definition''' def __init__(self, port, pin, label, type, extra): global mcu_series self.portpin = "P%s%u" % (port, pin) self.port = port self.pin = pin self.label = label self.type = type self.extra = extra self.af = None if type == 'OUTPUT': self.sig_dir = 'OUTPUT' else: self.sig_dir = 'INPUT' if mcu_series.startswith("STM32F1") and self.label is not None: self.f1_pin_setup() # check that labels and pin types are consistent for prefix in ['USART', 'UART', 'TIM']: if label is None or type is None: continue if type.startswith(prefix): a1 = label.split('_') a2 = type.split('_') if a1[0] != a2[0]: error("Peripheral prefix mismatch for %s %s %s" % (self.portpin, label, type)) def f1_pin_setup(self): for label in af_labels: if self.label.startswith(label): if self.label.endswith(tuple(f1_input_sigs)): self.sig_dir = 'INPUT' self.extra.append('FLOATING') elif self.label.endswith(tuple(f1_output_sigs)): self.sig_dir = 'OUTPUT' elif label == 'I2C': self.sig_dir = 'OUTPUT' elif label == 'OTG': self.sig_dir = 'OUTPUT' else: error("Unknown signal type %s:%s for %s!" % (self.portpin, self.label, mcu_type)) def has_extra(self, v): '''return true if we have the given extra token''' return v in self.extra def extra_prefix(self, prefix): '''find an extra token starting with the given prefix''' for e in self.extra: if e.startswith(prefix): return e return None def extra_value(self, name, type=None, default=None): '''find an extra value of given type''' v = self.extra_prefix(name) if v is None: return default if v[len(name)] != '(' or v[-1] != ')': error("Badly formed value for %s: %s\n" % (name, v)) ret = v[len(name) + 1:-1] if type is not None: try: ret = type(ret) except Exception: error("Badly formed value for %s: %s\n" % (name, ret)) return ret def is_RTS(self): '''return true if this is a RTS pin''' if self.label and self.label.endswith("_RTS") and ( self.type.startswith('USART') or self.type.startswith('UART')): return True return False def is_CS(self): '''return true if this is a CS pin''' return self.has_extra("CS") or self.type == "CS" def get_MODER_value(self): '''return one of ALTERNATE, OUTPUT, ANALOG, INPUT''' if self.af is not None: v = "ALTERNATE" elif self.type == 'OUTPUT': v = "OUTPUT" elif self.type.startswith('ADC'): v = "ANALOG" elif self.is_CS(): v = "OUTPUT" elif self.is_RTS(): v = "OUTPUT" else: v = "INPUT" return v def get_MODER(self): '''return one of ALTERNATE, OUTPUT, ANALOG, INPUT''' return "PIN_MODE_%s(%uU)" % (self.get_MODER_value(), self.pin) def get_OTYPER_value(self): '''return one of PUSHPULL, OPENDRAIN''' v = 'PUSHPULL' if self.type.startswith('I2C'): # default I2C to OPENDRAIN v = 'OPENDRAIN' values = ['PUSHPULL', 'OPENDRAIN'] for e in self.extra: if e in values: v = e return v def get_OTYPER(self): '''return one of PUSHPULL, OPENDRAIN''' return "PIN_OTYPE_%s(%uU)" % (self.get_OTYPER_value(), self.pin) def get_OSPEEDR_value(self): '''return one of SPEED_VERYLOW, SPEED_LOW, SPEED_MEDIUM, SPEED_HIGH''' # on STM32F4 these speeds correspond to 2MHz, 25MHz, 50MHz and 100MHz values = ['SPEED_VERYLOW', 'SPEED_LOW', 'SPEED_MEDIUM', 'SPEED_HIGH'] v = 'SPEED_MEDIUM' for e in self.extra: if e in values: v = e return v def get_OSPEEDR_int(self): '''return value from 0 to 3 for speed''' values = ['SPEED_VERYLOW', 'SPEED_LOW', 'SPEED_MEDIUM', 'SPEED_HIGH'] v = self.get_OSPEEDR_value() if v not in values: error("Bad OSPEED %s" % v) return values.index(v) def get_OSPEEDR(self): '''return one of SPEED_VERYLOW, SPEED_LOW, SPEED_MEDIUM, SPEED_HIGH''' return "PIN_O%s(%uU)" % (self.get_OSPEEDR_value(), self.pin) def get_PUPDR_value(self): '''return one of FLOATING, PULLUP, PULLDOWN''' values = ['FLOATING', 'PULLUP', 'PULLDOWN'] v = 'FLOATING' if self.is_CS(): v = "PULLUP" # generate pullups for UARTs if (self.type.startswith('USART') or self.type.startswith('UART')) and ( (self.label.endswith('_TX') or self.label.endswith('_RX') or self.label.endswith('_CTS') or self.label.endswith('_RTS'))): v = "PULLUP" # generate pullups for SDIO and SDMMC if (self.type.startswith('SDIO') or self.type.startswith('SDMMC')) and ( (self.label.endswith('_D0') or self.label.endswith('_D1') or self.label.endswith('_D2') or self.label.endswith('_D3') or self.label.endswith('_CMD'))): v = "PULLUP" for e in self.extra: if e in values: v = e return v def get_PUPDR(self): '''return one of FLOATING, PULLUP, PULLDOWN wrapped in PIN_PUPDR_ macro''' return "PIN_PUPDR_%s(%uU)" % (self.get_PUPDR_value(), self.pin) def get_ODR_F1_value(self): '''return one of LOW, HIGH''' values = ['LOW', 'HIGH'] v = 'HIGH' if self.type == 'OUTPUT': v = 'LOW' elif self.label is not None and self.label.startswith('I2C'): v = 'LOW' for e in self.extra: if e in values: v = e # for some controllers input pull up down is selected by ODR if self.type == "INPUT": v = 'LOW' if 'PULLUP' in self.extra: v = "HIGH" return v def get_ODR_value(self): '''return one of LOW, HIGH''' if mcu_series.startswith("STM32F1"): return self.get_ODR_F1_value() values = ['LOW', 'HIGH'] v = 'HIGH' for e in self.extra: if e in values: v = e return v def get_ODR(self): '''return one of LOW, HIGH wrapped in PIN_ODR macro''' return "PIN_ODR_%s(%uU)" % (self.get_ODR_value(), self.pin) def get_AFIO_value(self): '''return AFIO''' af = self.af if af is None: af = 0 return af def get_AFIO(self): '''return AFIO wrapped in PIN_AFIO_AF macro''' return "PIN_AFIO_AF(%uU, %uU)" % (self.pin, self.get_AFIO_value()) def get_AFRL(self): '''return AFIO low 8''' if self.pin >= 8: return None return self.get_AFIO() def get_AFRH(self): '''return AFIO high 8''' if self.pin < 8: return None return self.get_AFIO() def get_CR_F1(self): '''return CR FLAGS for STM32F1xx''' # Check Speed if self.sig_dir != "INPUT" or self.af is not None: speed_values = ['SPEED_LOW', 'SPEED_MEDIUM', 'SPEED_HIGH'] v = 'SPEED_MEDIUM' for e in self.extra: if e in speed_values: v = e speed_str = "PIN_%s(%uU) |" % (v, self.pin) elif self.is_CS(): speed_str = "PIN_SPEED_LOW(%uU) |" % (self.pin) else: speed_str = "" if self.af is not None: if self.label.endswith('_RX'): # uart RX is configured as a input, and can be pullup, pulldown or float if 'PULLUP' in self.extra or 'PULLDOWN' in self.extra: v = 'PUD' else: v = "NOPULL" elif self.label.startswith('I2C'): v = "AF_OD" else: v = "AF_PP" elif self.is_CS(): v = "OUTPUT_PP" elif self.sig_dir == 'OUTPUT': if 'OPENDRAIN' in self.extra: v = 'OUTPUT_OD' else: v = "OUTPUT_PP" elif self.type.startswith('ADC'): v = "ANALOG" else: v = "PUD" if 'FLOATING' in self.extra: v = "NOPULL" mode_str = "PIN_MODE_%s(%uU)" % (v, self.pin) return "%s %s" % (speed_str, mode_str) def get_CR(self): '''return CR FLAGS''' if mcu_series.startswith("STM32F1"): return self.get_CR_F1() if self.sig_dir != "INPUT": speed_values = ['SPEED_LOW', 'SPEED_MEDIUM', 'SPEED_HIGH'] v = 'SPEED_MEDIUM' for e in self.extra: if e in speed_values: v = e speed_str = "PIN_%s(%uU) |" % (v, self.pin) else: speed_str = "" # Check Alternate function if self.type.startswith('I2C'): v = "AF_OD" elif self.sig_dir == 'OUTPUT': if self.af is not None: v = "AF_PP" else: v = "OUTPUT_PP" elif self.type.startswith('ADC'): v = "ANALOG" elif self.is_CS(): v = "OUTPUT_PP" elif self.is_RTS(): v = "OUTPUT_PP" else: v = "PUD" if 'FLOATING' in self.extra: v = "NOPULL" mode_str = "PIN_MODE_%s(%uU)" % (v, self.pin) return "%s %s" % (speed_str, mode_str) def get_CRH(self): if self.pin < 8: return None return self.get_CR() def get_CRL(self): if self.pin >= 8: return None return self.get_CR() def pal_modeline(self): '''return a mode line suitable for palSetModeLine()''' # MODER, OTYPER, OSPEEDR, PUPDR, ODR, AFRL, AFRH ret = 'PAL_STM32_MODE_' + self.get_MODER_value() ret += '|PAL_STM32_OTYPE_' + self.get_OTYPER_value() ret += '|PAL_STM32_SPEED(%u)' % self.get_OSPEEDR_int() ret += '|PAL_STM32_PUPDR_' + self.get_PUPDR_value() af = self.get_AFIO_value() if af != 0: ret += '|PAL_STM32_ALTERNATE(%u)' % af return ret def periph_type(self): '''return peripheral type from GPIO_PIN_TYPE class''' patterns = { 'USART*RX' : 'PERIPH_TYPE::UART_RX', 'UART*RX' : 'PERIPH_TYPE::UART_RX', 'USART*TX' : 'PERIPH_TYPE::UART_TX', 'UART*TX' : 'PERIPH_TYPE::UART_TX', 'I2C*SDA' : 'PERIPH_TYPE::I2C_SDA', 'I2C*SCL' : 'PERIPH_TYPE::I2C_SCL', } for k in patterns.keys(): if fnmatch.fnmatch(self.label, k): return patterns[k] return 'PERIPH_TYPE::OTHER' def periph_instance(self): '''return peripheral instance''' result = re.match(r'[A-Z]*([0-9]*)', self.type) if result: return int(result.group(1)) return 0 def __str__(self): str = '' if self.af is not None: str += " AF%u" % self.af if self.type.startswith('ADC1'): str += " ADC1_IN%u" % get_ADC1_chan(mcu_type, self.portpin) if self.extra_value('PWM', type=int): 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) def get_config(name, column=0, required=True, default=None, type=None, spaces=False, aslist=False): '''get a value from config dictionary''' if name not in config: if required and default is None: error("missing required value %s in hwdef.dat" % name) return default if aslist: return config[name] if len(config[name]) < column + 1: if not required: return None error("missing required value %s in hwdef.dat (column %u)" % (name, column)) if spaces: ret = ' '.join(config[name][column:]) else: ret = config[name][column] if type is not None: if type == int and ret.startswith('0x'): try: ret = int(ret, 16) except Exception: error("Badly formed config value %s (got %s)" % (name, ret)) else: try: ret = type(ret) except Exception: error("Badly formed config value %s (got %s)" % (name, ret)) return ret def get_mcu_config(name, required=False): '''get a value from the mcu dictionary''' lib = get_mcu_lib(mcu_type) if not hasattr(lib, 'mcu'): error("Missing mcu config for %s" % mcu_type) if name not in lib.mcu: if required: error("Missing required mcu config %s for %s" % (name, mcu_type)) return None return lib.mcu[name] def make_line(label): '''return a line for a label''' if label in bylabel: p = bylabel[label] line = 'PAL_LINE(GPIO%s,%uU)' % (p.port, p.pin) else: line = "0" return line def enable_can(f, num_ifaces): '''setup for a CAN enabled board''' f.write('#define HAL_NUM_CAN_IFACES %d\n' % num_ifaces) env_vars['HAL_NUM_CAN_IFACES'] = str(num_ifaces) def has_sdcard_spi(): '''check for sdcard connected to spi bus''' for dev in spidev: if(dev[0] == 'sdcard'): return True return False def write_mcu_config(f): '''write MCU config defines''' f.write('// MCU type (ChibiOS define)\n') f.write('#define %s_MCUCONF\n' % get_config('MCU')) mcu_subtype = get_config('MCU', 1) if mcu_subtype.endswith('xx'): f.write('#define %s_MCUCONF\n\n' % mcu_subtype[:-2]) f.write('#define %s\n\n' % mcu_subtype) f.write('// crystal frequency\n') f.write('#define STM32_HSECLK %sU\n\n' % get_config('OSCILLATOR_HZ')) f.write('// UART used for stdout (printf)\n') if get_config('STDOUT_SERIAL', required=False): f.write('#define HAL_STDOUT_SERIAL %s\n\n' % get_config('STDOUT_SERIAL')) f.write('// baudrate used for stdout (printf)\n') f.write('#define HAL_STDOUT_BAUDRATE %u\n\n' % get_config('STDOUT_BAUDRATE', type=int)) if have_type_prefix('SDIO'): f.write('// SDIO available, enable POSIX filesystem support\n') f.write('#define USE_POSIX\n\n') f.write('#define HAL_USE_SDC TRUE\n') build_flags.append('USE_FATFS=yes') env_vars['WITH_FATFS'] = "1" elif have_type_prefix('SDMMC'): f.write('// SDMMC available, enable POSIX filesystem support\n') f.write('#define USE_POSIX\n\n') f.write('#define HAL_USE_SDC TRUE\n') f.write('#define STM32_SDC_USE_SDMMC1 TRUE\n') build_flags.append('USE_FATFS=yes') env_vars['WITH_FATFS'] = "1" elif has_sdcard_spi(): f.write('// MMC via SPI available, enable POSIX filesystem support\n') f.write('#define USE_POSIX\n\n') f.write('#define HAL_USE_MMC_SPI TRUE\n') f.write('#define HAL_USE_SDC FALSE\n') f.write('#define HAL_SDCARD_SPI_HOOK TRUE\n') build_flags.append('USE_FATFS=yes') env_vars['WITH_FATFS'] = "1" else: f.write('#define HAL_USE_SDC FALSE\n') build_flags.append('USE_FATFS=no') env_vars['DISABLE_SCRIPTING'] = True 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') if get_config('PROCESS_STACK', required=False): env_vars['PROCESS_STACK'] = get_config('PROCESS_STACK') else: env_vars['PROCESS_STACK'] = "0x2000" # MAIN_STACK is location of initial stack on startup and is also the stack # used for slow interrupts. It needs to be big enough for maximum interrupt # nesting if get_config('MAIN_STACK', required=False): env_vars['MAIN_STACK'] = get_config('MAIN_STACK') else: env_vars['MAIN_STACK'] = "0x600" if get_config('IOMCU_FW', required=False): env_vars['IOMCU_FW'] = get_config('IOMCU_FW') else: env_vars['IOMCU_FW'] = 0 if get_config('PERIPH_FW', required=False): env_vars['PERIPH_FW'] = get_config('PERIPH_FW') else: env_vars['PERIPH_FW'] = 0 # write any custom STM32 defines using_chibios_can = False for d in alllines: if d.startswith('STM32_'): f.write('#define %s\n' % d) if d.startswith('define '): if 'HAL_USE_CAN' in d: using_chibios_can = True f.write('#define %s\n' % d[7:]) if have_type_prefix('CAN') and not using_chibios_can: if 'CAN1' in bytype and 'CAN2' in bytype: enable_can(f, 2) else: enable_can(f, 1) flash_size = get_config('FLASH_SIZE_KB', type=int) f.write('#define BOARD_FLASH_SIZE %u\n' % flash_size) env_vars['BOARD_FLASH_SIZE'] = flash_size f.write('#define CRT1_AREAS_NUMBER 1\n') flash_reserve_start = get_config( 'FLASH_RESERVE_START_KB', default=16, type=int) f.write('\n// location of loaded firmware\n') f.write('#define FLASH_LOAD_ADDRESS 0x%08x\n' % (0x08000000 + flash_reserve_start*1024)) if args.bootloader: f.write('#define FLASH_BOOTLOADER_LOAD_KB %u\n' % get_config('FLASH_BOOTLOADER_LOAD_KB', type=int)) f.write('#define FLASH_RESERVE_END_KB %u\n' % get_config('FLASH_RESERVE_END_KB', default=0, type=int)) f.write('#define APP_START_OFFSET_KB %u\n' % get_config('APP_START_OFFSET_KB', default=0, type=int)) f.write('\n') ram_map = get_mcu_config('RAM_MAP', True) f.write('// memory regions\n') regions = [] total_memory = 0 for (address, size, flags) in ram_map: regions.append('{(void*)0x%08x, 0x%08x, 0x%02x }' % (address, size*1024, flags)) total_memory += size f.write('#define HAL_MEMORY_REGIONS %s\n' % ', '.join(regions)) f.write('#define HAL_MEMORY_TOTAL_KB %u\n' % total_memory) f.write('#define HAL_RAM0_START 0x%08x\n' % ram_map[0][0]) ram_reserve_start = get_config('RAM_RESERVE_START', default=0, type=int) if ram_reserve_start > 0: f.write('#define HAL_RAM_RESERVE_START 0x%08x\n' % ram_reserve_start) f.write('\n// CPU serial number (12 bytes)\n') f.write('#define UDID_START 0x%08x\n\n' % get_mcu_config('UDID_START', True)) f.write('\n// APJ board ID (for bootloaders)\n') f.write('#define APJ_BOARD_ID %s\n' % get_config('APJ_BOARD_ID')) lib = get_mcu_lib(mcu_type) build_info = lib.build if get_mcu_config('CPU_FLAGS') and get_mcu_config('CORTEX'): # CPU flags specified in mcu file cortex = get_mcu_config('CORTEX') env_vars['CPU_FLAGS'] = get_mcu_config('CPU_FLAGS').split() build_info['MCU'] = cortex print("MCU Flags: %s %s" % (cortex, env_vars['CPU_FLAGS'])) elif mcu_series.startswith("STM32F1"): cortex = "cortex-m3" env_vars['CPU_FLAGS'] = ["-mcpu=%s" % cortex] build_info['MCU'] = cortex else: cortex = "cortex-m4" env_vars['CPU_FLAGS'] = ["-mcpu=%s" % cortex, "-mfpu=fpv4-sp-d16", "-mfloat-abi=hard"] build_info['MCU'] = cortex if get_mcu_config('EXPECTED_CLOCK'): f.write('#define HAL_EXPECTED_SYSCLOCK %u\n' % get_mcu_config('EXPECTED_CLOCK')) env_vars['CORTEX'] = cortex if not args.bootloader: if cortex == 'cortex-m4': env_vars['CPU_FLAGS'].append('-DARM_MATH_CM4') elif cortex == 'cortex-m7': env_vars['CPU_FLAGS'].append('-DARM_MATH_CM7') if not mcu_series.startswith("STM32F1") and not args.bootloader: env_vars['CPU_FLAGS'].append('-u_printf_float') build_info['ENV_UDEFS'] = "-DCHPRINTF_USE_FLOAT=1" # setup build variables for v in build_info.keys(): build_flags.append('%s=%s' % (v, build_info[v])) # setup for bootloader build if args.bootloader: f.write(''' #define HAL_BOOTLOADER_BUILD TRUE #define HAL_USE_ADC FALSE #define HAL_USE_EXT FALSE #define HAL_NO_UARTDRIVER #define HAL_NO_PRINTF #define HAL_NO_CCM #define CH_DBG_STATISTICS FALSE #define CH_CFG_USE_TM FALSE #define CH_CFG_USE_REGISTRY FALSE #define CH_CFG_USE_WAITEXIT FALSE #define CH_CFG_USE_DYNAMIC FALSE #define CH_CFG_USE_MEMPOOLS FALSE #define CH_CFG_USE_OBJ_FIFOS FALSE #define CH_DBG_FILL_THREADS FALSE #define CH_CFG_USE_SEMAPHORES FALSE #define CH_CFG_USE_HEAP FALSE #define CH_CFG_USE_MUTEXES FALSE #define CH_CFG_USE_CONDVARS FALSE #define CH_CFG_USE_CONDVARS_TIMEOUT FALSE #define CH_CFG_USE_EVENTS FALSE #define CH_CFG_USE_EVENTS_TIMEOUT FALSE #define CH_CFG_USE_MESSAGES FALSE #define CH_CFG_USE_MAILBOXES FALSE #define CH_CFG_USE_FACTORY FALSE #define CH_CFG_USE_MEMCORE FALSE #define HAL_USE_I2C FALSE #define HAL_USE_PWM FALSE #define CH_DBG_ENABLE_STACK_CHECK FALSE ''') if env_vars.get('ROMFS_UNCOMPRESSED', False): f.write('#define HAL_ROMFS_UNCOMPRESSED\n') if not args.bootloader: f.write('''#define STM32_DMA_REQUIRED TRUE\n\n''') def write_ldscript(fname): '''write ldscript.ld for this board''' flash_size = get_config('FLASH_USE_MAX_KB', type=int, default=0) if flash_size == 0: flash_size = get_config('FLASH_SIZE_KB', type=int) # space to reserve for bootloader and storage at start of flash flash_reserve_start = get_config( 'FLASH_RESERVE_START_KB', default=16, type=int) env_vars['FLASH_RESERVE_START_KB'] = str(flash_reserve_start) # space to reserve for storage at end of flash flash_reserve_end = get_config('FLASH_RESERVE_END_KB', default=0, type=int) # ram layout ram_map = get_mcu_config('RAM_MAP', True) flash_base = 0x08000000 + flash_reserve_start * 1024 if not args.bootloader: flash_length = flash_size - (flash_reserve_start + flash_reserve_end) else: flash_length = get_config('FLASH_BOOTLOADER_LOAD_KB', type=int) env_vars['FLASH_TOTAL'] = flash_length * 1024 print("Generating ldscript.ld") f = open(fname, 'w') ram0_start = ram_map[0][0] ram0_len = ram_map[0][1] * 1024 # possibly reserve some memory for app/bootloader comms ram_reserve_start = get_config('RAM_RESERVE_START', default=0, type=int) ram0_start += ram_reserve_start ram0_len -= ram_reserve_start f.write('''/* generated ldscript.ld */ MEMORY { flash : org = 0x%08x, len = %uK ram0 : org = 0x%08x, len = %u } INCLUDE common.ld ''' % (flash_base, flash_length, ram0_start, ram0_len)) def copy_common_linkerscript(outdir, hwdef): dirpath = os.path.dirname(hwdef) shutil.copy(os.path.join(dirpath, "../common/common.ld"), os.path.join(outdir, "common.ld")) def get_USB_IDs(): '''return tuple of USB VID/PID''' global dual_USB_enabled if dual_USB_enabled: # use pidcodes allocated ID default_vid = 0x1209 default_pid = 0x5740 else: default_vid = 0x1209 default_pid = 0x5741 return (get_config('USB_VENDOR', type=int, default=default_vid), get_config('USB_PRODUCT', type=int, default=default_pid)) def write_USB_config(f): '''write USB config defines''' if not have_type_prefix('OTG'): return f.write('// USB configuration\n') (USB_VID, USB_PID) = get_USB_IDs() f.write('#define HAL_USB_VENDOR_ID 0x%04x\n' % int(USB_VID)) f.write('#define HAL_USB_PRODUCT_ID 0x%04x\n' % int(USB_PID)) f.write('#define HAL_USB_STRING_MANUFACTURER %s\n' % get_config("USB_STRING_MANUFACTURER", default="\"ArduPilot\"")) default_product = "%BOARD%" if args.bootloader: default_product += "-BL" f.write('#define HAL_USB_STRING_PRODUCT %s\n' % get_config("USB_STRING_PRODUCT", default="\"%s\""%default_product)) f.write('#define HAL_USB_STRING_SERIAL %s\n' % get_config("USB_STRING_SERIAL", default="\"%SERIAL%\"")) f.write('\n\n') def write_SPI_table(f): '''write SPI device table''' f.write('\n// SPI device table\n') devlist = [] for dev in spidev: if len(dev) != 7: print("Badly formed SPIDEV line %s" % dev) name = '"' + dev[0] + '"' bus = dev[1] devid = dev[2] cs = dev[3] mode = dev[4] lowspeed = dev[5] highspeed = dev[6] if not bus.startswith('SPI') or bus not in spi_list: error("Bad SPI bus in SPIDEV line %s" % dev) if not devid.startswith('DEVID') or not is_int(devid[5:]): error("Bad DEVID in SPIDEV line %s" % dev) if cs not in bylabel or not bylabel[cs].is_CS(): error("Bad CS pin in SPIDEV line %s" % dev) if mode not in ['MODE0', 'MODE1', 'MODE2', 'MODE3']: error("Bad MODE in SPIDEV line %s" % dev) if not lowspeed.endswith('*MHZ') and not lowspeed.endswith('*KHZ'): error("Bad lowspeed value %s in SPIDEV line %s" % (lowspeed, dev)) if not highspeed.endswith('*MHZ') and not highspeed.endswith('*KHZ'): error("Bad highspeed value %s in SPIDEV line %s" % (highspeed, dev)) cs_pin = bylabel[cs] pal_line = 'PAL_LINE(GPIO%s,%uU)' % (cs_pin.port, cs_pin.pin) devidx = len(devlist) f.write( '#define HAL_SPI_DEVICE%-2u SPIDesc(%-17s, %2u, %2u, %-19s, SPIDEV_%s, %7s, %7s)\n' % (devidx, name, spi_list.index(bus), int(devid[5:]), pal_line, mode, lowspeed, highspeed)) devlist.append('HAL_SPI_DEVICE%u' % devidx) f.write('#define HAL_SPI_DEVICE_LIST %s\n\n' % ','.join(devlist)) for dev in spidev: f.write("#define HAL_WITH_SPI_%s 1\n" % dev[0].upper().replace("-","_")) f.write("\n") def write_SPI_config(f): '''write SPI config defines''' global spi_list for t in list(bytype.keys()) + list(alttype.keys()): if t.startswith('SPI'): spi_list.append(t) spi_list = sorted(spi_list) if len(spi_list) == 0: f.write('#define HAL_USE_SPI FALSE\n') return devlist = [] for dev in spi_list: n = int(dev[3:]) devlist.append('HAL_SPI%u_CONFIG' % n) f.write( '#define HAL_SPI%u_CONFIG { &SPID%u, %u, STM32_SPI_SPI%u_DMA_STREAMS }\n' % (n, n, n, n)) f.write('#define HAL_SPI_BUS_LIST %s\n\n' % ','.join(devlist)) write_SPI_table(f) def parse_spi_device(dev): '''parse a SPI:xxx device item''' a = dev.split(':') if len(a) != 2: error("Bad SPI device: %s" % dev) return 'hal.spi->get_device("%s")' % a[1] def parse_i2c_device(dev): '''parse a I2C:xxx:xxx device item''' a = dev.split(':') if len(a) != 3: error("Bad I2C device: %s" % dev) busaddr = int(a[2], base=0) if a[1] == 'ALL_EXTERNAL': return ('FOREACH_I2C_EXTERNAL(b)', 'GET_I2C_DEVICE(b,0x%02x)' % (busaddr)) elif a[1] == 'ALL_INTERNAL': return ('FOREACH_I2C_INTERNAL(b)', 'GET_I2C_DEVICE(b,0x%02x)' % (busaddr)) elif a[1] == 'ALL': return ('FOREACH_I2C(b)', 'GET_I2C_DEVICE(b,0x%02x)' % (busaddr)) busnum = int(a[1]) return ('', 'GET_I2C_DEVICE(%u,0x%02x)' % (busnum, busaddr)) def seen_str(dev): '''return string representation of device for checking for duplicates''' return str(dev[:2]) def write_IMU_config(f): '''write IMU config defines''' global imu_list devlist = [] wrapper = '' seen = set() for dev in imu_list: if seen_str(dev) in seen: error("Duplicate IMU: %s" % seen_str(dev)) seen.add(seen_str(dev)) driver = dev[0] for i in range(1, len(dev)): if dev[i].startswith("SPI:"): dev[i] = parse_spi_device(dev[i]) elif dev[i].startswith("I2C:"): (wrapper, dev[i]) = parse_i2c_device(dev[i]) n = len(devlist)+1 devlist.append('HAL_INS_PROBE%u' % n) f.write( '#define HAL_INS_PROBE%u %s ADD_BACKEND(AP_InertialSensor_%s::probe(*this,%s))\n' % (n, wrapper, driver, ','.join(dev[1:]))) if len(devlist) > 0: if len(devlist) < 3: f.write('#define INS_MAX_INSTANCES %u\n' % len(devlist)) f.write('#define HAL_INS_PROBE_LIST %s\n\n' % ';'.join(devlist)) def write_MAG_config(f): '''write MAG config defines''' global compass_list devlist = [] seen = set() for dev in compass_list: if seen_str(dev) in seen: error("Duplicate MAG: %s" % seen_str(dev)) seen.add(seen_str(dev)) driver = dev[0] probe = 'probe' wrapper = '' a = driver.split(':') driver = a[0] if len(a) > 1 and a[1].startswith('probe'): probe = a[1] for i in range(1, len(dev)): if dev[i].startswith("SPI:"): dev[i] = parse_spi_device(dev[i]) elif dev[i].startswith("I2C:"): (wrapper, dev[i]) = parse_i2c_device(dev[i]) n = len(devlist)+1 devlist.append('HAL_MAG_PROBE%u' % n) f.write( '#define HAL_MAG_PROBE%u %s ADD_BACKEND(DRIVER_%s, AP_Compass_%s::%s(%s))\n' % (n, wrapper, driver, driver, probe, ','.join(dev[1:]))) if len(devlist) > 0: f.write('#define HAL_MAG_PROBE_LIST %s\n\n' % ';'.join(devlist)) def write_BARO_config(f): '''write barometer config defines''' global baro_list devlist = [] seen = set() for dev in baro_list: if seen_str(dev) in seen: error("Duplicate BARO: %s" % seen_str(dev)) seen.add(seen_str(dev)) driver = dev[0] probe = 'probe' wrapper = '' a = driver.split(':') driver = a[0] if len(a) > 1 and a[1].startswith('probe'): probe = a[1] for i in range(1, len(dev)): if dev[i].startswith("SPI:"): dev[i] = parse_spi_device(dev[i]) elif dev[i].startswith("I2C:"): (wrapper, dev[i]) = parse_i2c_device(dev[i]) if dev[i].startswith('hal.i2c_mgr'): dev[i] = 'std::move(%s)' % dev[i] n = len(devlist)+1 devlist.append('HAL_BARO_PROBE%u' % n) args = ['*this'] + dev[1:] f.write( '#define HAL_BARO_PROBE%u %s ADD_BACKEND(AP_Baro_%s::%s(%s))\n' % (n, wrapper, driver, probe, ','.join(args))) if len(devlist) > 0: f.write('#define HAL_BARO_PROBE_LIST %s\n\n' % ';'.join(devlist)) def write_board_validate_macro(f): '''write board validation macro''' global config validate_string = '' validate_dict = {} if 'BOARD_VALIDATE' in config: for check in config['BOARD_VALIDATE']: check_name = check check_string = check while True: def substitute_alias(m): return '(' + get_config(m.group(1), spaces=True) + ')' output = re.sub(r'\$(\w+|\{([^}]*)\})', substitute_alias, check_string) if (output == check_string): break check_string = output validate_dict[check_name] = check_string # Finally create check conditional for check_name in validate_dict: validate_string += "!" + validate_dict[check_name] + "?" + "\"" + check_name + "\"" + ":" validate_string += "nullptr" f.write('#define HAL_VALIDATE_BOARD (%s)\n\n' % validate_string) def get_gpio_bylabel(label): '''get GPIO(n) setting on a pin label, or -1''' p = bylabel.get(label) if p is None: return -1 return p.extra_value('GPIO', type=int, default=-1) def get_extra_bylabel(label, name, default=None): '''get extra setting for a label by name''' p = bylabel.get(label) if p is None: return default return p.extra_value(name, type=str, default=default) def get_UART_ORDER(): '''get UART_ORDER from SERIAL_ORDER option''' if get_config('UART_ORDER', required=False, aslist=True) is not None: error('Please convert UART_ORDER to SERIAL_ORDER') serial_order = get_config('SERIAL_ORDER', required=False, aslist=True) if serial_order is None: return None if args.bootloader: # in bootloader SERIAL_ORDER is treated the same as UART_ORDER return serial_order map = [ 0, 3, 1, 2, 4, 5, 6, 7, 8, 9, 10, 11, 12 ] while len(serial_order) < 4: serial_order += ['EMPTY'] uart_order = [] global uart_serial_num for i in range(len(serial_order)): uart_order.append(serial_order[map[i]]) uart_serial_num[serial_order[i]] = i return uart_order def write_UART_config(f): '''write UART config defines''' global dual_USB_enabled uart_list = get_UART_ORDER() if uart_list is None: return f.write('\n// UART configuration\n') # write out driver declarations for HAL_ChibOS_Class.cpp devnames = "ABCDEFGHI" sdev = 0 idx = 0 num_empty_uarts = 0 for dev in uart_list: if dev == 'EMPTY': f.write('#define HAL_UART%s_DRIVER Empty::UARTDriver uart%sDriver\n' % (devnames[idx], devnames[idx])) num_empty_uarts += 1 else: f.write( '#define HAL_UART%s_DRIVER ChibiOS::UARTDriver uart%sDriver(%u)\n' % (devnames[idx], devnames[idx], sdev)) sdev += 1 idx += 1 for idx in range(len(uart_list), len(devnames)): f.write('#define HAL_UART%s_DRIVER Empty::UARTDriver uart%sDriver\n' % (devnames[idx], devnames[idx])) if 'IOMCU_UART' in config: f.write('#define HAL_WITH_IO_MCU 1\n') idx = len(uart_list) f.write('#define HAL_UART_IOMCU_IDX %u\n' % idx) f.write( '#define HAL_UART_IO_DRIVER ChibiOS::UARTDriver uart_io(HAL_UART_IOMCU_IDX)\n' ) uart_list.append(config['IOMCU_UART'][0]) f.write('#define HAL_HAVE_SERVO_VOLTAGE 1\n') # make the assumption that IO gurantees servo monitoring # all IOMCU capable boards have SBUS out f.write('#define AP_FEATURE_SBUS_OUT 1\n') else: f.write('#define HAL_WITH_IO_MCU 0\n') f.write('\n') need_uart_driver = False OTG2_index = None devlist = [] have_rts_cts = False for dev in uart_list: if dev.startswith('UART'): n = int(dev[4:]) elif dev.startswith('USART'): n = int(dev[5:]) elif dev.startswith('OTG'): n = int(dev[3:]) elif dev.startswith('EMPTY'): continue else: error("Invalid element %s in UART_ORDER" % dev) devlist.append('HAL_%s_CONFIG' % dev) tx_line = make_line(dev + '_TX') rx_line = make_line(dev + '_RX') rts_line = make_line(dev + '_RTS') if rts_line != "0": have_rts_cts = True f.write('#define HAL_HAVE_RTSCTS_SERIAL%u\n' % uart_serial_num[dev]) if dev.startswith('OTG2'): f.write( '#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU2, 2, true, false, 0, 0, false, 0, 0}\n' % dev) OTG2_index = uart_list.index(dev) dual_USB_enabled = True elif dev.startswith('OTG'): f.write( '#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU1, 1, true, false, 0, 0, false, 0, 0}\n' % dev) else: need_uart_driver = True f.write( "#define HAL_%s_CONFIG { (BaseSequentialStream*) &SD%u, %u, false, " % (dev, n, n)) if mcu_series.startswith("STM32F1"): f.write("%s, %s, %s, " % (tx_line, rx_line, rts_line)) else: f.write("STM32_%s_RX_DMA_CONFIG, STM32_%s_TX_DMA_CONFIG, %s, %s, %s, " % (dev, dev, tx_line, rx_line, rts_line)) # add inversion pins, if any f.write("%d, " % get_gpio_bylabel(dev + "_RXINV")) f.write("%s, " % get_extra_bylabel(dev + "_RXINV", "POL", "0")) f.write("%d, " % get_gpio_bylabel(dev + "_TXINV")) f.write("%s}\n" % get_extra_bylabel(dev + "_TXINV", "POL", "0")) if have_rts_cts: f.write('#define AP_FEATURE_RTSCTS 1\n') if OTG2_index is not None: f.write('#define HAL_OTG2_UART_INDEX %d\n' % OTG2_index) f.write(''' #if HAL_NUM_CAN_IFACES #ifndef HAL_OTG2_PROTOCOL #define HAL_OTG2_PROTOCOL SerialProtocol_SLCAN #endif #define HAL_SERIAL%d_PROTOCOL HAL_OTG2_PROTOCOL #define HAL_SERIAL%d_BAUD 115200 #endif ''' % (OTG2_index, OTG2_index)) f.write('#define HAL_HAVE_DUAL_USB_CDC 1\n') f.write('#define HAL_UART_DEVICE_LIST %s\n\n' % ','.join(devlist)) if not need_uart_driver and not args.bootloader: f.write(''' #ifndef HAL_USE_SERIAL #define HAL_USE_SERIAL HAL_USE_SERIAL_USB #endif ''') num_uarts = len(devlist) if 'IOMCU_UART' in config: num_uarts -= 1 if num_uarts > 9: error("Exceeded max num UARTs of 9 (%u)" % num_uarts) f.write('#define HAL_UART_NUM_SERIAL_PORTS %u\n' % (num_uarts+num_empty_uarts)) def write_UART_config_bootloader(f): '''write UART config defines''' uart_list = get_UART_ORDER() if uart_list is None: return f.write('\n// UART configuration\n') devlist = [] have_uart = False OTG2_index = None for u in uart_list: if u.startswith('OTG2'): devlist.append('(BaseChannel *)&SDU2') OTG2_index = uart_list.index(u) elif u.startswith('OTG'): devlist.append('(BaseChannel *)&SDU1') else: unum = int(u[-1]) devlist.append('(BaseChannel *)&SD%u' % unum) have_uart = True if len(devlist) > 0: f.write('#define BOOTLOADER_DEV_LIST %s\n' % ','.join(devlist)) if OTG2_index is not None: f.write('#define HAL_OTG2_UART_INDEX %d\n' % OTG2_index) if not have_uart: f.write(''' #ifndef HAL_USE_SERIAL #define HAL_USE_SERIAL FALSE #endif ''') def write_I2C_config(f): '''write I2C config defines''' if not have_type_prefix('I2C'): print("No I2C peripherals") f.write(''' #ifndef HAL_USE_I2C #define HAL_USE_I2C FALSE #endif ''') return if 'I2C_ORDER' not in config: print("Missing I2C_ORDER config") return i2c_list = config['I2C_ORDER'] f.write('// I2C configuration\n') if len(i2c_list) == 0: error("I2C_ORDER invalid") devlist = [] # write out config structures for dev in i2c_list: if not dev.startswith('I2C') or dev[3] not in "1234": error("Bad I2C_ORDER element %s" % dev) n = int(dev[3:]) devlist.append('HAL_I2C%u_CONFIG' % n) sda_line = make_line('I2C%u_SDA' % n) scl_line = make_line('I2C%u_SCL' % n) f.write(''' #if defined(STM32_I2C_I2C%u_RX_DMA_STREAM) && defined(STM32_I2C_I2C%u_TX_DMA_STREAM) #define HAL_I2C%u_CONFIG { &I2CD%u, %u, STM32_I2C_I2C%u_RX_DMA_STREAM, STM32_I2C_I2C%u_TX_DMA_STREAM, %s, %s } #else #define HAL_I2C%u_CONFIG { &I2CD%u, %u, SHARED_DMA_NONE, SHARED_DMA_NONE, %s, %s } #endif ''' % (n, n, n, n, n, n, n, scl_line, sda_line, n, n, n, scl_line, sda_line)) f.write('\n#define HAL_I2C_DEVICE_LIST %s\n\n' % ','.join(devlist)) def parse_timer(str): '''parse timer channel string, i.e TIM8_CH2N''' result = re.match(r'TIM([0-9]*)_CH([1234])(N?)', str) if result: tim = int(result.group(1)) chan = int(result.group(2)) compl = result.group(3) == 'N' if tim < 1 or tim > 17: error("Bad timer number %s in %s" % (tim, str)) return (tim, chan, compl) else: error("Bad timer definition %s" % str) def write_PWM_config(f): '''write PWM config defines''' rc_in = None rc_in_int = None alarm = None pwm_out = [] pwm_timers = [] for l in bylabel.keys(): p = bylabel[l] if p.type.startswith('TIM'): if p.has_extra('RCIN'): rc_in = p elif p.has_extra('RCININT'): rc_in_int = p elif p.has_extra('ALARM'): alarm = p else: 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) f.write('#define HAL_PWM_COUNT %u\n' % len(pwm_out)) if not pwm_out and not alarm: print("No PWM output defined") f.write(''' #ifndef HAL_USE_PWM #define HAL_USE_PWM FALSE #endif ''') if rc_in is not None: (n, chan, compl) = parse_timer(rc_in.label) if compl: # it is an inverted channel f.write('#define HAL_RCIN_IS_INVERTED\n') if chan not in [1, 2]: error( "Bad channel number, only channel 1 and 2 supported for RCIN") f.write('// RC input config\n') f.write('#define HAL_USE_ICU TRUE\n') f.write('#define STM32_ICU_USE_TIM%u TRUE\n' % n) f.write('#define RCIN_ICU_TIMER ICUD%u\n' % n) f.write('#define RCIN_ICU_CHANNEL ICU_CHANNEL_%u\n' % chan) f.write('#define STM32_RCIN_DMA_STREAM STM32_TIM_TIM%u_CH%u_DMA_STREAM\n' % (n, chan)) f.write('#define STM32_RCIN_DMA_CHANNEL STM32_TIM_TIM%u_CH%u_DMA_CHAN\n' % (n, chan)) f.write('\n') if rc_in_int is not None: (n, chan, compl) = parse_timer(rc_in_int.label) if compl: error('Complementary channel is not supported for RCININT %s' % rc_in_int.label) f.write('// RC input config\n') f.write('#define HAL_USE_EICU TRUE\n') f.write('#define STM32_EICU_USE_TIM%u TRUE\n' % n) f.write('#define RCININT_EICU_TIMER EICUD%u\n' % n) f.write('#define RCININT_EICU_CHANNEL EICU_CHANNEL_%u\n' % chan) f.write('\n') if alarm is not None: (n, chan, compl) = parse_timer(alarm.label) if compl: error("Complementary channel is not supported for ALARM %s" % alarm.label) f.write('\n') f.write('// Alarm PWM output config\n') f.write('#define STM32_PWM_USE_TIM%u TRUE\n' % n) f.write('#define STM32_TIM%u_SUPPRESS_ISR\n' % n) chan_mode = [ 'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED' ] chan_mode[chan - 1] = 'PWM_OUTPUT_ACTIVE_HIGH' pwm_clock = 1000000 period = 1000 f.write('''#define HAL_PWM_ALARM \\ { /* pwmGroup */ \\ %u, /* Timer channel */ \\ { /* PWMConfig */ \\ %u, /* PWM clock frequency. */ \\ %u, /* Initial PWM period 20ms. */ \\ NULL, /* no callback */ \\ { /* Channel Config */ \\ {%s, NULL}, \\ {%s, NULL}, \\ {%s, NULL}, \\ {%s, NULL} \\ }, \\ 0, 0 \\ }, \\ &PWMD%u /* PWMDriver* */ \\ }\n''' % (chan-1, pwm_clock, period, chan_mode[0], chan_mode[1], chan_mode[2], chan_mode[3], n)) else: f.write('\n') f.write('// No Alarm output pin defined\n') f.write('#undef HAL_PWM_ALARM\n') f.write('\n') f.write('// PWM timer 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('#define STM32_TIM%u_SUPPRESS_ISR\n' % n) f.write('\n') f.write('// PWM output config\n') groups = [] have_complementary = False for t in sorted(pwm_timers): group = len(groups) + 1 n = int(t[3:]) chan_list = [255, 255, 255, 255] chan_mode = [ 'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED' ] alt_functions = [0, 0, 0, 0] pal_lines = ['0', '0', '0', '0'] for p in pwm_out: if p.type != t: continue (n, chan, compl) = parse_timer(p.label) pwm = p.extra_value('PWM', type=int) chan_list[chan - 1] = pwm - 1 if compl: chan_mode[chan - 1] = 'PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH' have_complementary = True else: chan_mode[chan - 1] = 'PWM_OUTPUT_ACTIVE_HIGH' alt_functions[chan - 1] = p.af pal_lines[chan - 1] = 'PAL_LINE(GPIO%s, %uU)' % (p.port, p.pin) groups.append('HAL_PWM_GROUP%u' % group) if n in [1, 8]: # only the advanced timers do 8MHz clocks advanced_timer = 'true' else: advanced_timer = 'false' pwm_clock = 1000000 period = 20000 * pwm_clock / 1000000 f.write('''#if defined(STM32_TIM_TIM%u_UP_DMA_STREAM) && defined(STM32_TIM_TIM%u_UP_DMA_CHAN) # define HAL_PWM%u_DMA_CONFIG true, STM32_TIM_TIM%u_UP_DMA_STREAM, STM32_TIM_TIM%u_UP_DMA_CHAN #else # define HAL_PWM%u_DMA_CONFIG false, 0, 0 #endif\n''' % (n, n, n, n, n, n)) f.write('''#define HAL_PWM_GROUP%u { %s, \\ {%u, %u, %u, %u}, \\ /* Group Initial Config */ \\ { \\ %u, /* PWM clock frequency. */ \\ %u, /* Initial PWM period 20ms. */ \\ NULL, /* no callback */ \\ { \\ /* Channel Config */ \\ {%s, NULL}, \\ {%s, NULL}, \\ {%s, NULL}, \\ {%s, NULL} \\ }, 0, 0}, &PWMD%u, \\ HAL_PWM%u_DMA_CONFIG, \\ { %u, %u, %u, %u }, \\ { %s, %s, %s, %s }}\n''' % (group, advanced_timer, chan_list[0], chan_list[1], chan_list[2], chan_list[3], pwm_clock, period, chan_mode[0], chan_mode[1], chan_mode[2], chan_mode[3], n, n, alt_functions[0], alt_functions[1], alt_functions[2], alt_functions[3], pal_lines[0], pal_lines[1], pal_lines[2], pal_lines[3])) f.write('#define HAL_PWM_GROUPS %s\n\n' % ','.join(groups)) if have_complementary: f.write('#define STM32_PWM_USE_ADVANCED TRUE\n') def write_ADC_config(f): '''write ADC config defines''' f.write('// ADC config\n') adc_chans = [] for l in bylabel: p = bylabel[l] if not p.type.startswith('ADC'): continue chan = get_ADC1_chan(mcu_type, p.portpin) scale = p.extra_value('SCALE', default=None) if p.label == 'VDD_5V_SENS': f.write('#define ANALOG_VCC_5V_PIN %u\n' % chan) f.write('#define HAL_HAVE_BOARD_VOLTAGE 1\n') if p.label == 'FMU_SERVORAIL_VCC_SENS': f.write('#define FMU_SERVORAIL_ADC_CHAN %u\n' % chan) f.write('#define HAL_HAVE_SERVO_VOLTAGE 1\n') adc_chans.append((chan, scale, p.label, p.portpin)) adc_chans = sorted(adc_chans) vdd = get_config('STM32_VDD', default='330U') if vdd[-1] == 'U': vdd = vdd[:-1] vdd = float(vdd) * 0.01 f.write('#define HAL_ANALOG_PINS { \\\n') for (chan, scale, label, portpin) in adc_chans: scale_str = '%.2f/4096' % vdd if scale is not None and scale != '1': scale_str = scale + '*' + scale_str f.write('{ %2u, %12s }, /* %s %s */ \\\n' % (chan, scale_str, portpin, label)) f.write('}\n\n') def write_GPIO_config(f): '''write GPIO config defines''' f.write('// GPIO config\n') gpios = [] gpioset = set() for l in bylabel: p = bylabel[l] gpio = p.extra_value('GPIO', type=int) if gpio is None: continue if gpio in gpioset: error("Duplicate GPIO value %u" % gpio) gpioset.add(gpio) # 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) for (gpio, pwm, port, pin, p) in gpios: f.write('#define HAL_GPIO_LINE_GPIO%u PAL_LINE(GPIO%s, %2uU)\n' % (gpio, port, pin)) 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') 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') def bootloader_path(): # always embed a bootloader if it is available this_dir = os.path.realpath(__file__) rootdir = os.path.relpath(os.path.join(this_dir, "../../../../..")) hwdef_dirname = os.path.basename(os.path.dirname(args.hwdef)) bootloader_filename = "%s_bl.bin" % (hwdef_dirname,) bootloader_path = os.path.join(rootdir, "Tools", "bootloaders", bootloader_filename) if os.path.exists(bootloader_path): return os.path.realpath(bootloader_path) return None def add_bootloader(): '''added bootloader to ROMFS''' bp = bootloader_path() if bp is not None: romfs["bootloader.bin"] = bp def write_ROMFS(outdir): '''create ROMFS embedded header''' romfs_list = [] for k in romfs.keys(): romfs_list.append((k, romfs[k])) env_vars['ROMFS_FILES'] = romfs_list def setup_apj_IDs(): '''setup the APJ board IDs''' env_vars['APJ_BOARD_ID'] = get_config('APJ_BOARD_ID') env_vars['APJ_BOARD_TYPE'] = get_config('APJ_BOARD_TYPE', default=mcu_type) (USB_VID, USB_PID) = get_USB_IDs() env_vars['USBID'] = '0x%04x/0x%04x' % (USB_VID, USB_PID) def write_peripheral_enable(f): '''write peripheral enable lines''' f.write('// peripherals enabled\n') for type in sorted(list(bytype.keys()) + list(alttype.keys())): if type.startswith('USART') or type.startswith('UART'): dstr = 'STM32_SERIAL_USE_%-6s' % type f.write('#ifndef %s\n' % dstr) f.write('#define %s TRUE\n' % dstr) f.write('#endif\n') if type.startswith('SPI'): f.write('#define STM32_SPI_USE_%s TRUE\n' % type) if type.startswith('OTG'): f.write('#define STM32_USB_USE_%s TRUE\n' % type) if type.startswith('I2C'): f.write('#define STM32_I2C_USE_%s TRUE\n' % type) def get_dma_exclude(periph_list): '''return list of DMA devices to exclude from DMA''' dma_exclude = [] for periph in periph_list: if periph in bylabel: p = bylabel[periph] if p.has_extra('NODMA'): dma_exclude.append(periph) if periph in altlabel: p = altlabel[periph] if p.has_extra('NODMA'): dma_exclude.append(periph) return dma_exclude def write_alt_config(f): '''write out alternate config settings''' if len(altmap.keys()) == 0: # no alt configs return f.write(''' /* alternative configurations */ #define PAL_STM32_SPEED(n) ((n&3U)<<3U) #define PAL_STM32_HIGH 0x8000U #define HAL_PIN_ALT_CONFIG { \\ ''') for alt in altmap.keys(): for pp in altmap[alt].keys(): p = altmap[alt][pp] f.write(" { %u, %s, PAL_LINE(GPIO%s,%uU), %s, %u}, /* %s */ \\\n" % (alt, p.pal_modeline(), p.port, p.pin, p.periph_type(), p.periph_instance(), str(p))) f.write('}\n\n') def write_all_lines(hwdat): f = open(hwdat, 'w') f.write('\n'.join(all_lines)) f.close() if not 'AP_PERIPH' in env_vars: romfs["hwdef.dat"] = hwdat def write_hwdef_header(outfilename): '''write hwdef header file''' print("Writing hwdef setup in %s" % outfilename) f = open(outfilename, 'w') f.write('''/* generated hardware definitions from hwdef.dat - DO NOT EDIT */ #pragma once #ifndef TRUE #define TRUE 1 #endif #ifndef FALSE #define FALSE 0 #endif ''') write_mcu_config(f) write_SPI_config(f) write_ADC_config(f) write_GPIO_config(f) write_IMU_config(f) write_MAG_config(f) write_BARO_config(f) write_board_validate_macro(f) write_peripheral_enable(f) dma_unassigned = dma_resolver.write_dma_header(f, periph_list, mcu_type, dma_exclude=get_dma_exclude(periph_list), dma_priority=get_config('DMA_PRIORITY', default='TIM* SPI*', spaces=True), dma_noshare=get_config('DMA_NOSHARE', default='', spaces=True)) if not args.bootloader: write_PWM_config(f) write_I2C_config(f) write_UART_config(f) else: write_UART_config_bootloader(f) setup_apj_IDs() write_USB_config(f) add_bootloader() if len(romfs) > 0: f.write('#define HAL_HAVE_AP_ROMFS_EMBEDDED_H 1\n') if mcu_series.startswith('STM32F1'): f.write(''' /* * I/O ports initial setup, this configuration is established soon after reset * in the initialization code. * Please refer to the STM32 Reference Manual for details. */ #define PIN_MODE_OUTPUT_PP(n) (0U << (((n) & 7) * 4)) #define PIN_MODE_OUTPUT_OD(n) (4U << (((n) & 7) * 4)) #define PIN_MODE_AF_PP(n) (8U << (((n) & 7) * 4)) #define PIN_MODE_AF_OD(n) (12U << (((n) & 7) * 4)) #define PIN_MODE_ANALOG(n) (0U << (((n) & 7) * 4)) #define PIN_MODE_NOPULL(n) (4U << (((n) & 7) * 4)) #define PIN_MODE_PUD(n) (8U << (((n) & 7) * 4)) #define PIN_SPEED_MEDIUM(n) (1U << (((n) & 7) * 4)) #define PIN_SPEED_LOW(n) (2U << (((n) & 7) * 4)) #define PIN_SPEED_HIGH(n) (3U << (((n) & 7) * 4)) #define PIN_ODR_HIGH(n) (1U << (((n) & 15))) #define PIN_ODR_LOW(n) (0U << (((n) & 15))) #define PIN_PULLUP(n) (1U << (((n) & 15))) #define PIN_PULLDOWN(n) (0U << (((n) & 15))) #define PIN_UNDEFINED(n) PIN_INPUT_PUD(n) ''') else: f.write(''' /* * I/O ports initial setup, this configuration is established soon after reset * in the initialization code. * Please refer to the STM32 Reference Manual for details. */ #define PIN_MODE_INPUT(n) (0U << ((n) * 2U)) #define PIN_MODE_OUTPUT(n) (1U << ((n) * 2U)) #define PIN_MODE_ALTERNATE(n) (2U << ((n) * 2U)) #define PIN_MODE_ANALOG(n) (3U << ((n) * 2U)) #define PIN_ODR_LOW(n) (0U << (n)) #define PIN_ODR_HIGH(n) (1U << (n)) #define PIN_OTYPE_PUSHPULL(n) (0U << (n)) #define PIN_OTYPE_OPENDRAIN(n) (1U << (n)) #define PIN_OSPEED_VERYLOW(n) (0U << ((n) * 2U)) #define PIN_OSPEED_LOW(n) (1U << ((n) * 2U)) #define PIN_OSPEED_MEDIUM(n) (2U << ((n) * 2U)) #define PIN_OSPEED_HIGH(n) (3U << ((n) * 2U)) #define PIN_PUPDR_FLOATING(n) (0U << ((n) * 2U)) #define PIN_PUPDR_PULLUP(n) (1U << ((n) * 2U)) #define PIN_PUPDR_PULLDOWN(n) (2U << ((n) * 2U)) #define PIN_AFIO_AF(n, v) ((v) << (((n) % 8U) * 4U)) ''') for port in sorted(ports): f.write("/* PORT%s:\n" % port) for pin in range(pincount[port]): p = portmap[port][pin] if p.label is not None: f.write(" %s\n" % p) f.write("*/\n\n") if pincount[port] == 0: # handle blank ports for vtype in vtypes: f.write("#define VAL_GPIO%s_%-7s 0x0\n" % (port, vtype)) f.write("\n\n\n") continue for vtype in vtypes: f.write("#define VAL_GPIO%s_%-7s (" % (p.port, vtype)) first = True for pin in range(pincount[port]): p = portmap[port][pin] modefunc = getattr(p, "get_" + vtype) v = modefunc() if v is None: continue if not first: f.write(" | \\\n ") f.write(v) first = False if first: # there were no pin definitions, use 0 f.write("0") f.write(")\n\n") write_alt_config(f) if not mcu_series.startswith("STM32F1"): dma_required = ['SPI*', 'ADC*'] if 'IOMCU_UART' in config: dma_required.append(config['IOMCU_UART'][0] + '*') for d in dma_unassigned: for r in dma_required: if fnmatch.fnmatch(d, r): error("Missing required DMA for %s" % d) def build_peripheral_list(): '''build a list of peripherals for DMA resolver to work on''' peripherals = [] done = set() prefixes = ['SPI', 'USART', 'UART', 'I2C'] periph_pins = allpins[:] for alt in altmap.keys(): for p in altmap[alt].keys(): periph_pins.append(altmap[alt][p]) for p in periph_pins: type = p.type if type in done: continue for prefix in prefixes: if type.startswith(prefix): ptx = type + "_TX" prx = type + "_RX" if prefix in ['SPI', 'I2C']: # in DMA map I2C and SPI has RX and TX suffix if ptx not in bylabel: bylabel[ptx] = p if prx not in bylabel: bylabel[prx] = p if prx in bylabel or prx in altlabel: peripherals.append(prx) if ptx in bylabel or ptx in altlabel: peripherals.append(ptx) if type.startswith('ADC'): peripherals.append(type) if type.startswith('SDIO') or type.startswith('SDMMC'): if not mcu_series.startswith("STM32H7"): peripherals.append(type) if type.startswith('TIM'): if p.has_extra('RCIN'): label = p.label if label[-1] == 'N': label = label[:-1] peripherals.append(label) elif not p.has_extra('ALARM') and not p.has_extra('RCININT'): # get the TIMn_UP DMA channels for DShot label = type + '_UP' if label not in peripherals and not p.has_extra('NODMA'): peripherals.append(label) done.add(type) return peripherals def write_env_py(filename): '''write out env.py for environment variables to control the build process''' # see if board has a defaults.parm file or a --default-parameters file was specified defaults_filename = os.path.join(os.path.dirname(args.hwdef), 'defaults.parm') defaults_path = os.path.join(os.path.dirname(args.hwdef), args.params) if not args.bootloader: if os.path.exists(defaults_path): env_vars['DEFAULT_PARAMETERS'] = os.path.abspath(defaults_path) print("Default parameters path from command line: %s" % defaults_path) elif os.path.exists(defaults_filename): env_vars['DEFAULT_PARAMETERS'] = os.path.abspath(defaults_filename) print("Default parameters path from hwdef: %s" % defaults_filename) else: print("No default parameter file found") # CHIBIOS_BUILD_FLAGS is passed to the ChibiOS makefile 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[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[f] = os.path.join(pattern_dir, f) def romfs_add_dir(subdirs): '''add a filesystem directory to ROMFS''' for dirname in subdirs: romfs_dir = os.path.join(os.path.dirname(args.hwdef), dirname) if not args.bootloader and os.path.exists(romfs_dir): for root, d, files in os.walk(romfs_dir): for f in files: if fnmatch.fnmatch(f, '*~'): # skip editor backup files continue fullpath = os.path.join(root, f) relpath = os.path.normpath(os.path.join(dirname, os.path.relpath(root, romfs_dir), f)) romfs[relpath] = fullpath def process_line(line): '''process one line of pin definition file''' global allpins, imu_list, compass_list, baro_list global mcu_type, mcu_series, default_gpio all_lines.append(line) a = shlex.split(line, posix=False) # keep all config lines for later use alllines.append(line) p = None if a[0].startswith('P') and a[0][1] in ports: # it is a port/pin definition try: port = a[0][1] pin = int(a[0][2:]) label = a[1] type = a[2] extra = a[3:] except Exception: error("Bad pin line: %s" % a) return p = generic_pin(port, pin, label, type, extra) af = get_alt_function(mcu_type, a[0], label) if af is not None: p.af = af alt = p.extra_value("ALT", type=int, default=0) if alt != 0: if mcu_series.startswith("STM32F1"): error("Alt config not allowed for F1 MCU") if alt not in altmap: altmap[alt] = {} if p.portpin in altmap[alt]: error("Pin %s ALT(%u) redefined" % (p.portpin, alt)) altmap[alt][p.portpin] = p # we need to add alt pins into bytype[] so they are enabled in chibios config if type not in alttype: alttype[type] = [] alttype[type].append(p) altlabel[label] = p return if a[0] in config: error("Pin %s redefined" % a[0]) if p is None and line.find('ALT(') != -1: error("ALT() invalid for %s" % a[0]) if a[0] == 'DEFAULTGPIO': default_gpio = a[1:] return config[a[0]] = a[1:] if p is not None: # add to set of pins for primary config portmap[port][pin] = p allpins.append(p) if type not in bytype: bytype[type] = [] bytype[type].append(p) bylabel[label] = p elif a[0] == 'MCU': mcu_type = a[2] mcu_series = a[1] setup_mcu_type_defaults() elif a[0] == 'SPIDEV': spidev.append(a[1:]) elif a[0] == 'IMU': imu_list.append(a[1:]) elif a[0] == 'COMPASS': compass_list.append(a[1:]) elif a[0] == 'BARO': baro_list.append(a[1:]) elif a[0] == 'ROMFS': romfs_add(a[1], a[2]) elif a[0] == 'ROMFS_WILDCARD': romfs_wildcard(a[1]) elif a[0] == 'undef': print("Removing %s" % a[1]) config.pop(a[1], '') bytype.pop(a[1], '') bylabel.pop(a[1], '') # also remove all occurences of defines in previous lines if any for line in alllines[:]: if line.startswith('define') and a[1] == line.split()[1]: alllines.remove(line) newpins = [] for pin in allpins: if pin.type == a[1] or pin.label == a[1] or pin.portpin == a[1]: portmap[pin.port][pin.pin] = generic_pin(pin.port, pin.pin, None, 'INPUT', []) continue newpins.append(pin) allpins = newpins if a[1] == 'IMU': imu_list = [] if a[1] == 'COMPASS': compass_list = [] if a[1] == 'BARO': baro_list = [] elif a[0] == 'env': print("Adding environment %s" % ' '.join(a[1:])) if len(a[1:]) < 2: error("Bad env line for %s" % a[0]) env_vars[a[1]] = ' '.join(a[2:]) def process_file(filename): '''process a hwdef.dat file''' try: f = open(filename, "r") except Exception: error("Unable to open file %s" % filename) for line in f.readlines(): line = line.strip() if len(line) == 0 or line[0] == '#': continue a = shlex.split(line) if a[0] == "include" and len(a) > 1: include_file = a[1] if include_file[0] != '/': dir = os.path.dirname(filename) include_file = os.path.normpath( os.path.join(dir, include_file)) print("Including %s" % include_file) process_file(include_file) else: process_line(line) # process input file process_file(args.hwdef) outdir = args.outdir if outdir is None: outdir = '/tmp' if "MCU" not in config: error("Missing MCU type in config") mcu_type = get_config('MCU', 1) print("Setup for MCU %s" % mcu_type) # build a list for peripherals for DMA resolver periph_list = build_peripheral_list() # write out hw.dat for ROMFS write_all_lines(os.path.join(outdir, "hw.dat")) # write out hwdef.h write_hwdef_header(os.path.join(outdir, "hwdef.h")) # write out ldscript.ld write_ldscript(os.path.join(outdir, "ldscript.ld")) romfs_add_dir(['scripts']) write_ROMFS(outdir) # copy the shared linker script into the build directory; it must # exist in the same directory as the ldscript.ld file we generate. copy_common_linkerscript(outdir, args.hwdef) write_env_py(os.path.join(outdir, "env.py"))