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ardupilot/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

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#!/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, nargs='+', 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', 'QUADSPI']
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 = []
# list of QSPI devices
qspidev = []
# dictionary of ROMFS files
romfs = {}
# SPI bus list
spi_list = []
# list of QSPI devices
qspi_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 = []
airspeed_list = []
all_lines = []
dma_exclude_pattern = []
# map from uart names to SERIALn numbers
uart_serial_num = {}
mcu_type = None
dual_USB_enabled = False
# list of device patterns that can't be shared
dma_noshare = []
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',
'EXTERN_GPIO*' : 'PERIPH_TYPE::GPIO',
}
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'''
if self.periph_type() == 'PERIPH_TYPE::GPIO':
result = re.match(r'[A-Z_]*([0-9]+)', self.label)
else:
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 get_ram_reserve_start():
'''get amount of memory to reserve for bootloader comms'''
ram_reserve_start = get_config('RAM_RESERVE_START', default=0, type=int)
if ram_reserve_start == 0 and int(env_vars.get('AP_PERIPH',0)) == 1:
ram_reserve_start = 256
return ram_reserve_start
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):
'''setup for a CAN enabled board'''
global mcu_series
if mcu_series.startswith("STM32H7") or mcu_series.startswith("STM32G4"):
prefix = "FDCAN"
cast = "CanType"
else:
prefix = "CAN"
cast = "bxcan::CanType"
# allow for optional CAN_ORDER option giving bus order
can_order_str = get_config('CAN_ORDER', required=False, aslist=True)
if can_order_str:
can_order = [int(s) for s in can_order_str]
else:
can_order = []
for i in range(1,3):
if 'CAN%u' % i in bytype or (i == 1 and 'CAN' in bytype):
can_order.append(i)
base_list = []
for i in can_order:
base_list.append("reinterpret_cast<%s*>(uintptr_t(%s%s_BASE))" % (cast, prefix, i))
f.write("#define HAL_CAN_IFACE%u_ENABLE\n" % i)
can_rev_order = [-1]*3
for i in range(len(can_order)):
can_rev_order[can_order[i]-1] = i
f.write('#define HAL_CAN_INTERFACE_LIST %s\n' % ','.join([str(i-1) for i in can_order]))
f.write('#define HAL_CAN_INTERFACE_REV_LIST %s\n' % ','.join([str(i) for i in can_rev_order]))
f.write('#define HAL_CAN_BASE_LIST %s\n' % ','.join(base_list))
f.write('#define HAL_NUM_CAN_IFACES %d\n' % len(base_list))
global mcu_type
if 'CAN' in bytype and mcu_type.startswith("STM32F3"):
f.write('#define CAN1_BASE CAN_BASE\n')
env_vars['HAL_NUM_CAN_IFACES'] = str(len(base_list))
def has_sdcard_spi():
'''check for sdcard connected to spi bus'''
for dev in spidev:
if(dev[0] == 'sdcard'):
return True
return False
def get_ram_map():
'''get RAM_MAP. May be different for bootloader'''
if args.bootloader:
ram_map = get_mcu_config('RAM_MAP_BOOTLOADER', False)
if ram_map is not None:
return ram_map
return get_mcu_config('RAM_MAP', True)
def get_flash_npages():
global mcu_series
if mcu_series.startswith('STM32F4'):
if get_config('FLASH_SIZE_KB', type=int) == 512:
return 8
elif get_config('FLASH_SIZE_KB', type=int) == 1024:
return 12
elif get_config('FLASH_SIZE_KB', type=int) == 2048:
return 24
else:
raise Exception("Unsupported flash size %u" % get_config('FLASH_SIZE_KB', type=int))
elif mcu_series.startswith('STM32F7'):
if get_config('FLASH_SIZE_KB', type=int) == 512:
return 8
elif get_config('FLASH_SIZE_KB', type=int) == 1024:
return 8
elif get_config('FLASH_SIZE_KB', type=int) == 2048:
return 12
else:
raise Exception("Unsupported flash size %u" % get_config('FLASH_SIZE_KB', type=int))
elif mcu_series.startswith('STM32H7'):
return get_config('FLASH_SIZE_KB', type=int)//128
elif mcu_series.startswith('STM32F100') or mcu_series.startswith('STM32F103'):
return get_config('FLASH_SIZE_KB', type=int)
else:
return get_config('FLASH_SIZE_KB', type=int)//2
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('SDMMC2'):
f.write('// SDMMC2 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_SDMMC2 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')
defines = get_mcu_config('DEFINES', False)
if defines is not None:
for d in defines.keys():
v = defines[d]
f.write("#ifndef %s\n#define %s %s\n#endif\n" % (d, d, v))
else:
defines = {}
# enable RNG for all H7 chips
if mcu_series.startswith("STM32H7") and 'HAL_USE_HW_RNG' not in defines.keys():
f.write("#define HAL_USE_HW_RNG TRUE\n")
elif 'HAL_USE_HW_RNG' not in defines.keys():
f.write("#define HAL_USE_HW_RNG FALSE\n")
if get_config('PROCESS_STACK', required=False):
env_vars['PROCESS_STACK'] = get_config('PROCESS_STACK')
else:
env_vars['PROCESS_STACK'] = "0x1C00"
f.write('#define HAL_PROCESS_STACK_SIZE %s\n' % env_vars['PROCESS_STACK'])
# 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:
enable_can(f)
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))
f.write('#define EXTERNAL_PROG_FLASH_MB %u\n' % get_config('EXTERNAL_PROG_FLASH_MB', default=0, type=int))
env_vars['EXTERNAL_PROG_FLASH_MB'] = get_config('EXTERNAL_PROG_FLASH_MB', default=0, type=int)
if env_vars['EXTERNAL_PROG_FLASH_MB'] and not args.bootloader:
f.write('#define CRT1_RAMFUNC_ENABLE TRUE\n') # this will enable loading program sections to RAM
f.write('#define __RAMFUNC__ __attribute__ ((long_call, __section__(".ramfunc")))\n')
f.write('#define PORT_IRQ_ATTRIBUTES __RAMFUNC__')
else:
f.write('#define CRT1_RAMFUNC_ENABLE FALSE\n')
storage_flash_page = None
if not args.bootloader:
if get_config('STORAGE_FLASH_PAGE', default=0, type=int):
storage_flash_page = get_config('STORAGE_FLASH_PAGE', type=int)
f.write('#define STORAGE_FLASH_PAGE %u\n' % storage_flash_page)
if flash_size >= 2048 and not args.bootloader:
# lets pick a flash sector for Crash log
f.write('#define HAL_CRASHDUMP_ENABLE 1\n')
env_vars['ENABLE_CRASHDUMP'] = 1
else:
f.write('#define HAL_CRASHDUMP_ENABLE 0\n')
env_vars['ENABLE_CRASHDUMP'] = 0
if args.bootloader:
if env_vars['EXTERNAL_PROG_FLASH_MB']:
f.write('#define APP_START_ADDRESS 0x90000000\n')
f.write('#define BOOT_FROM_EXT_FLASH 1\n')
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_ram_map()
f.write('// memory regions\n')
regions = []
cc_regions = []
total_memory = 0
for (address, size, flags) in ram_map:
regions.append('{(void*)0x%08x, 0x%08x, 0x%02x }' % (address, size*1024, flags))
cc_regions.append('{0x%08x, 0x%08x, CRASH_CATCHER_BYTE }' % (address, address + size*1024))
total_memory += size
f.write('#define HAL_MEMORY_REGIONS %s\n' % ', '.join(regions))
f.write('#define HAL_CC_MEMORY_REGIONS %s\n' % ', '.join(cc_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_ram_reserve_start()
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')
udid_start = get_mcu_config('UDID_START')
if udid_start is None:
f.write('#define UDID_START UID_BASE\n\n')
else:
f.write('#define UDID_START 0x%08x\n\n' % udid_start)
f.write('\n// APJ board ID (for bootloaders)\n')
f.write('#define APJ_BOARD_ID %s\n' % get_config('APJ_BOARD_ID'))
f.write('''
#ifndef HAL_ENABLE_THREAD_STATISTICS
#define HAL_ENABLE_THREAD_STATISTICS FALSE
#endif
''')
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
f.write('''
#ifndef HAL_HAVE_HARDWARE_DOUBLE
#define HAL_HAVE_HARDWARE_DOUBLE 0
#endif
''')
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:
if get_config('FULL_CHIBIOS_BOOTLOADER', required=False, default=False):
# we got enough space to fit everything so we enable almost everything
f.write('''
#define HAL_BOOTLOADER_BUILD TRUE
#define HAL_USE_ADC FALSE
#define HAL_USE_EXT FALSE
#define HAL_USE_I2C FALSE
#define HAL_USE_PWM FALSE
#define HAL_NO_UARTDRIVER
#define CH_CFG_USE_DYNAMIC FALSE
#define HAL_USE_EMPTY_STORAGE 1
#define HAL_STORAGE_SIZE 16384
''')
else:
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 HAL_USE_I2C FALSE
#define HAL_USE_PWM FALSE
#define CH_DBG_ENABLE_STACK_CHECK FALSE
#define CH_CFG_USE_DYNAMIC FALSE
// avoid timer and RCIN threads to save memory
#define HAL_NO_TIMER_THREAD
#define HAL_NO_RCOUT_THREAD
#define HAL_NO_RCIN_THREAD
#define HAL_NO_SHARED_DMA FALSE
#define HAL_NO_ROMFS_SUPPORT TRUE
#define CH_CFG_USE_TM FALSE
#define CH_CFG_USE_REGISTRY FALSE
#define CH_CFG_USE_WAITEXIT FALSE
#define CH_CFG_USE_MEMPOOLS FALSE
#define CH_DBG_FILL_THREADS FALSE
#define CH_CFG_USE_MUTEXES FALSE
#define CH_CFG_USE_EVENTS FALSE
#define CH_CFG_USE_EVENTS_TIMEOUT FALSE
#define HAL_USE_EMPTY_STORAGE 1
#define HAL_STORAGE_SIZE 16384
#define HAL_USE_RTC FALSE
#define DISABLE_SERIAL_ESC_COMM TRUE
''')
if not env_vars['EXTERNAL_PROG_FLASH_MB']:
f.write('''
#define CH_CFG_USE_HEAP FALSE
#define CH_CFG_USE_SEMAPHORES FALSE
#define CH_CFG_USE_MEMCORE 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_ram_map()
instruction_ram = get_mcu_config('INSTRUCTION_RAM', False)
flash_base = 0x08000000 + flash_reserve_start * 1024
ext_flash_base = 0x90000000
if instruction_ram is not None:
instruction_ram_base = instruction_ram[0]
instruction_ram_length = instruction_ram[1]
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_ram_reserve_start()
ram0_start += ram_reserve_start
ram0_len -= ram_reserve_start
ext_flash_length = get_config('EXTERNAL_PROG_FLASH_MB', default=0, type=int)
if ext_flash_length == 0 or args.bootloader:
env_vars['HAS_EXTERNAL_FLASH_SECTIONS'] = 0
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))
else:
if ext_flash_length > 32:
error("We only support 24bit addressing over external flash")
env_vars['HAS_EXTERNAL_FLASH_SECTIONS'] = 1
f.write('''/* generated ldscript.ld */
MEMORY
{
default_flash : org = 0x%08x, len = %uM
instram : org = 0x%08x, len = %uK
ram0 : org = 0x%08x, len = %u
}
INCLUDE common_extf.ld
''' % (ext_flash_base, ext_flash_length,
instruction_ram_base, instruction_ram_length,
ram0_start, ram0_len))
def copy_common_linkerscript(outdir, hwdef):
dirpath = os.path.dirname(hwdef)
if not get_config('EXTERNAL_PROG_FLASH_MB', default=0, type=int) or args.bootloader:
shutil.copy(os.path.join(dirpath, "../common/common.ld"),
os.path.join(outdir, "common.ld"))
else:
shutil.copy(os.path.join(dirpath, "../common/common_extf.ld"),
os.path.join(outdir, "common_extf.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 write_QSPI_table(f):
'''write SPI device table'''
f.write('\n// QSPI device table\n')
devlist = []
for dev in qspidev:
if len(dev) != 6:
print("Badly formed QSPIDEV line %s" % dev)
name = '"' + dev[0] + '"'
bus = dev[1]
mode = dev[2]
speed = dev[3]
size_pow2 = dev[4]
ncs_clk_delay = dev[5]
if not bus.startswith('QUADSPI') or bus not in qspi_list:
error("Bad QUADSPI bus in QSPIDEV line %s" % dev)
if mode not in ['MODE1', 'MODE3']:
error("Bad MODE in QSPIDEV line %s" % dev)
if not speed.endswith('*MHZ') and not speed.endswith('*KHZ'):
error("Bad speed value %s in SPIDEV line %s" % (speed, dev))
devidx = len(devlist)
f.write(
'#define HAL_QSPI_DEVICE%-2u QSPIDesc(%-17s, %2u, QSPIDEV_%s, %7s, %2u, %2u)\n'
% (devidx, name, qspi_list.index(bus), mode, speed, int(size_pow2), int(ncs_clk_delay)))
devlist.append('HAL_QSPI_DEVICE%u' % devidx)
f.write('#define HAL_QSPI_DEVICE_LIST %s\n\n' % ','.join(devlist))
for dev in qspidev:
f.write("#define HAL_HAS_WSPI_%s 1\n" % dev[0].upper().replace("-", "_"))
f.write("#define HAL_QSPI%d_CLK (%s)" % (int(bus[7:]), speed))
f.write("\n")
def write_QSPI_config(f):
'''write SPI config defines'''
global qspi_list
if len(qspidev) == 0:
# nothing to do
return
for t in list(bytype.keys()) + list(alttype.keys()):
if t.startswith('QUADSPI'):
qspi_list.append(t)
qspi_list = sorted(qspi_list)
if len(qspi_list) == 0:
return
f.write('#define HAL_USE_WSPI TRUE\n')
devlist = []
for dev in qspi_list:
n = int(dev[7:])
devlist.append('HAL_QSPI%u_CONFIG' % n)
f.write(
'#define HAL_QSPI%u_CONFIG { &WSPID%u, %u}\n'
% (n, n, n))
f.write('#define HAL_QSPI_BUS_LIST %s\n\n' % ','.join(devlist))
write_QSPI_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_AIRSPEED_config(f):
'''write airspeed config defines'''
global airspeed_list
devlist = []
seen = set()
idx = 0
for dev in airspeed_list:
if seen_str(dev) in seen:
error("Duplicate AIRSPEED: %s" % seen_str(dev))
seen.add(seen_str(dev))
driver = dev[0]
wrapper = ''
a = driver.split(':')
driver = a[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])
if dev[i].startswith('hal.i2c_mgr'):
dev[i] = 'std::move(%s)' % dev[i]
n = len(devlist)+1
devlist.append('HAL_AIRSPEED_PROBE%u' % n)
args = ['*this', str(idx)] + dev[1:]
f.write(
'#define HAL_AIRSPEED_PROBE%u %s ADD_BACKEND(AP_Airspeed_%s::probe(%s))\n'
% (n, wrapper, driver, ','.join(args)))
idx += 1
if len(devlist) > 0:
f.write('#define HAL_AIRSPEED_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 = "ABCDEFGHIJ"
sdev = 0
idx = 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]))
sdev += 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:
if not 'io_firmware.bin' in romfs:
error("Need io_firmware.bin in ROMFS for IOMCU")
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
crash_uart = None
# write config for CrashCatcher UART
if not uart_list[0].startswith('OTG') and not uart_list[0].startswith('EMPTY'):
crash_uart = uart_list[0]
elif not uart_list[2].startswith('OTG') and not uart_list[2].startswith('EMPTY'):
crash_uart = uart_list[2]
if crash_uart is not None and get_config('FLASH_SIZE_KB', type=int) >= 2048:
f.write('#define HAL_CRASH_SERIAL_PORT %s\n' % crash_uart)
f.write('#define IRQ_DISABLE_HAL_CRASH_SERIAL_PORT() nvicDisableVector(STM32_%s_NUMBER)\n' % crash_uart)
f.write('#define RCC_RESET_HAL_CRASH_SERIAL_PORT() rccReset%s(); rccEnable%s(true)\n' % (crash_uart, crash_uart))
f.write('#define HAL_CRASH_SERIAL_PORT_CLOCK STM32_%sCLK\n' % crash_uart)
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'):
devlist.append('{}')
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')
cts_line = make_line(dev + '_CTS')
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, 2}\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, 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, %s, " % (tx_line, rx_line, rts_line, cts_line))
else:
f.write("STM32_%s_RX_DMA_CONFIG, STM32_%s_TX_DMA_CONFIG, %s, %s, %s, %s, " %
(dev, dev, tx_line, rx_line, rts_line, cts_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, 0}\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('#define HAL_HAVE_DUAL_USB_CDC 1\n')
if env_vars.get('AP_PERIPH', 0) == 0:
f.write('''
#if defined(HAL_NUM_CAN_IFACES) && 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_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 > 10:
error("Exceeded max num UARTs of 10 (%u)" % num_uarts)
f.write('#define HAL_UART_NUM_SERIAL_PORTS %u\n' % num_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, ordered_timers):
'''write PWM config defines'''
rc_in = None
rc_in_int = None
alarm = None
bidir = None
pwm_out = []
# start with the ordered list from the dma resolver
pwm_timers = ordered_timers
has_bidir = False
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.has_extra('BIDIR'):
bidir = 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')
if bidir is not None:
f.write('#define HAL_WITH_BIDIR_DSHOT\n')
for t in 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 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
hal_icu_def = ''
hal_icu_cfg = ''
if bidir is not None:
hal_icu_cfg = '\n {'
hal_icu_def = '\n'
for i in range(1,5):
hal_icu_cfg += '{HAL_IC%u_CH%u_DMA_CONFIG},' % (n, i)
hal_icu_def +='''#if defined(STM32_TIM_TIM%u_CH%u_DMA_STREAM) && defined(STM32_TIM_TIM%u_CH%u_DMA_CHAN)
# define HAL_IC%u_CH%u_DMA_CONFIG true, STM32_TIM_TIM%u_CH%u_DMA_STREAM, STM32_TIM_TIM%u_CH%u_DMA_CHAN
#else
# define HAL_IC%u_CH%u_DMA_CONFIG false, 0, 0
#endif
''' % (n, i, n, i, n, i, n, i, n, i, n, i)
hal_icu_cfg += '}, \\'
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%s''' % (n, n, n, n, n, n, hal_icu_def))
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, \\%s
{ %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, hal_icu_cfg,
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
# default config always enabled
gpios.append((gpio, pwm, port, pin, p, 'true'))
for alt in altmap.keys():
for pp in altmap[alt].keys():
p = altmap[alt][pp]
gpio = p.extra_value('GPIO', type=int)
if gpio is None:
continue
if gpio in gpioset:
# check existing entry
existing_gpio = [item for item in gpios if item[0] == gpio]
if (existing_gpio[0][4].label == p.label) and (existing_gpio[0][3] == p.pin) and (existing_gpio[0][2] == p.port):
# alt item is identical to exiting, do not add again
continue
error("Duplicate GPIO value %u, %s != %s" % (gpio, p, existing_gpio[0][4]))
pwm = p.extra_value('PWM', type=int, default=0)
if pwm != 0:
error("PWM not supported for alt config: %s" % p)
gpioset.add(gpio)
port = p.port
pin = p.pin
# aux config disabled by defualt
gpios.append((gpio, pwm, port, pin, p, 'false'))
gpios = sorted(gpios)
for (gpio, pwm, port, pin, p, enabled) in gpios:
f.write('#define HAL_GPIO_LINE_GPIO%u PAL_LINE(GPIO%s,%uU)\n' % (gpio, port, pin))
f.write('#define HAL_GPIO_PINS { \\\n')
for (gpio, pwm, port, pin, p, enabled) in gpios:
f.write('{ %3u, %s, %2u, PAL_LINE(GPIO%s,%uU)}, /* %s */ \\\n' %
(gpio, enabled, 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[0]))
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 and int(get_config('BOOTLOADER_EMBED', required=False, default='1')):
romfs["bootloader.bin"] = bp
env_vars['BOOTLOADER_EMBED'] = 1
else:
env_vars['BOOTLOADER_EMBED'] = 0
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)
if type.startswith('QUADSPI'):
f.write('#define STM32_WSPI_USE_%s TRUE\n' % type)
def get_dma_exclude(periph_list):
'''return list of DMA devices to exclude from DMA'''
dma_exclude = set()
for p in dma_exclude_pattern:
for periph in periph_list:
if fnmatch.fnmatch(periph, p):
dma_exclude.add(periph)
for periph in periph_list:
if periph in bylabel:
p = bylabel[periph]
if p.has_extra('NODMA'):
dma_exclude.add(periph)
if periph in altlabel:
p = altlabel[periph]
if p.has_extra('NODMA'):
dma_exclude.add(periph)
return list(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
#define MHZ (1000U*1000U)
#define KHZ (1000U)
''')
dma_noshare.extend(get_config('DMA_NOSHARE', default='', aslist=True))
write_mcu_config(f)
write_SPI_config(f)
write_QSPI_config(f)
write_ADC_config(f)
write_GPIO_config(f)
write_IMU_config(f)
write_MAG_config(f)
write_BARO_config(f)
write_AIRSPEED_config(f)
write_board_validate_macro(f)
add_apperiph_defaults(f)
write_peripheral_enable(f)
if mcu_series.startswith("STM32H7"):
# add in ADC3 on H7 to get MCU temperature and reference voltage
periph_list.append('ADC3')
dma_unassigned, ordered_timers = 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=dma_noshare)
if not args.bootloader:
write_PWM_config(f, ordered_timers)
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.startswith('TIM'):
# we need to independently demand DMA for each channel
type = p.label
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)
# RCIN DMA channel cannot be shared as it is running all the time
dma_noshare.append(label)
elif not p.has_extra('ALARM') and not p.has_extra('RCININT'):
# get the TIMn_UP DMA channels for DShot
label = p.type + '_UP'
if label not in peripherals and not p.has_extra('NODMA'):
peripherals.append(label)
ch_label = type
(_, _, compl) = parse_timer(ch_label)
if ch_label not in peripherals and p.has_extra('BIDIR') and not compl:
peripherals.append(ch_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[0]), 'defaults.parm')
defaults_path = os.path.join(os.path.dirname(args.hwdef[0]), 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[0]), 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 valid_type(ptype, label):
'''check type of a pin line is valid'''
patterns = [ 'INPUT', 'OUTPUT', 'TIM\d+', 'USART\d+', 'UART\d+', 'ADC\d+',
'SPI\d+', 'OTG\d+', 'SWD', 'CAN\d?', 'I2C\d+', 'CS',
'SDMMC\d+', 'SDIO', 'QUADSPI\d' ]
matches = False
for p in patterns:
if re.match(p, ptype):
matches = True
break
if not matches:
return False
# special checks for common errors
m1 = re.match('TIM(\d+)', ptype)
m2 = re.match('TIM(\d+)_CH\d+', label)
if (m1 and not m2) or (m2 and not m1) or (m1 and m1.group(1) != m2.group(1)):
'''timer numbers need to match'''
return False
m1 = re.match('CAN(\d+)', ptype)
m2 = re.match('CAN(\d+)_(RX|TX)', label)
if (m1 and not m2) or (m2 and not m1) or (m1 and m1.group(1) != m2.group(1)):
'''CAN numbers need to match'''
return False
if ptype == 'OUTPUT' and re.match('US?ART\d+_(TXINV|RXINV)', label):
return True
m1 = re.match('USART(\d+)', ptype)
m2 = re.match('USART(\d+)_(RX|TX|CTS|RTS)', label)
if (m1 and not m2) or (m2 and not m1) or (m1 and m1.group(1) != m2.group(1)):
'''usart numbers need to match'''
return False
m1 = re.match('UART(\d+)', ptype)
m2 = re.match('UART(\d+)_(RX|TX|CTS|RTS)', label)
if (m1 and not m2) or (m2 and not m1) or (m1 and m1.group(1) != m2.group(1)):
'''uart numbers need to match'''
return False
return True
def process_line(line):
'''process one line of pin definition file'''
global allpins, imu_list, compass_list, baro_list, airspeed_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
if not valid_type(type, label):
error("bad type on line: %s" % a)
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
if a[0] == 'NODMA':
dma_exclude_pattern.extend(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] == 'QSPIDEV':
qspidev.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] == 'AIRSPEED':
airspeed_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':
for u in a[1:]:
print("Removing %s" % u)
config.pop(u, '')
bytype.pop(u, '')
bylabel.pop(u, '')
# also remove all occurences of defines in previous lines if any
for line in alllines[:]:
if line.startswith('define') and u == line.split()[1]:
alllines.remove(line)
newpins = []
for pin in allpins:
if pin.type == u or pin.label == u or pin.portpin == u:
if pin.label is not None:
bylabel.pop(pin.label, '')
portmap[pin.port][pin.pin] = generic_pin(pin.port, pin.pin, None, 'INPUT', [])
continue
newpins.append(pin)
allpins = newpins
if u == 'IMU':
imu_list = []
if u == 'COMPASS':
compass_list = []
if u == 'BARO':
baro_list = []
if u == 'AIRSPEED':
airspeed_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.split('#')[0] # ensure we discard the comments
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)
def add_apperiph_defaults(f):
'''add default defines for peripherals'''
if env_vars.get('AP_PERIPH',0) == 0:
# not AP_Periph
return
if not args.bootloader:
# use the app descriptor needed by MissionPlanner for CAN upload
env_vars['APP_DESCRIPTOR'] = 'MissionPlanner'
print("Setting up as AP_Periph")
f.write('''
#ifndef HAL_SCHEDULER_ENABLED
#define HAL_SCHEDULER_ENABLED 0
#endif
#ifndef HAL_LOGGING_ENABLED
#define HAL_LOGGING_ENABLED 0
#endif
#ifndef HAL_GCS_ENABLED
#define HAL_GCS_ENABLED 0
#endif
// default to no protocols, AP_Periph enables with params
#define HAL_SERIAL1_PROTOCOL -1
#define HAL_SERIAL2_PROTOCOL -1
#define HAL_SERIAL3_PROTOCOL -1
#define HAL_SERIAL4_PROTOCOL -1
#ifndef HAL_LOGGING_MAVLINK_ENABLED
#define HAL_LOGGING_MAVLINK_ENABLED 0
#endif
#ifndef HAL_MISSION_ENABLED
#define HAL_MISSION_ENABLED 0
#endif
#ifndef HAL_RALLY_ENABLED
#define HAL_RALLY_ENABLED 0
#endif
#ifndef HAL_CAN_DEFAULT_NODE_ID
#define HAL_CAN_DEFAULT_NODE_ID 0
#endif
#define PERIPH_FW TRUE
#define HAL_BUILD_AP_PERIPH
#ifndef HAL_WATCHDOG_ENABLED_DEFAULT
#define HAL_WATCHDOG_ENABLED_DEFAULT true
#endif
#ifndef AP_FETTEC_ONEWIRE_ENABLED
#define AP_FETTEC_ONEWIRE_ENABLED 0
#endif
''')
# process input file
for fname in args.hwdef:
process_file(fname)
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[0])
write_env_py(os.path.join(outdir, "env.py"))
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