mirror of https://github.com/ArduPilot/ardupilot
2235 lines
75 KiB
Python
2235 lines
75 KiB
Python
#!/usr/bin/env python
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'''
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setup board.h for chibios
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'''
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import argparse
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import sys
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import fnmatch
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import os
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import dma_resolver
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import shlex
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import pickle
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import re
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import shutil
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parser = argparse.ArgumentParser("chibios_pins.py")
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parser.add_argument(
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'-D', '--outdir', type=str, default=None, help='Output directory')
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parser.add_argument(
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'--bootloader', action='store_true', default=False, help='configure for bootloader')
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parser.add_argument(
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'hwdef', type=str, default=None, help='hardware definition file')
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parser.add_argument(
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'--params', type=str, default=None, help='user default params path')
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args = parser.parse_args()
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# output variables for each pin
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f4f7_vtypes = ['MODER', 'OTYPER', 'OSPEEDR', 'PUPDR', 'ODR', 'AFRL', 'AFRH']
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f1_vtypes = ['CRL', 'CRH', 'ODR']
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f1_input_sigs = ['RX', 'MISO', 'CTS']
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f1_output_sigs = ['TX', 'MOSI', 'SCK', 'RTS', 'CH1', 'CH2', 'CH3', 'CH4']
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af_labels = ['USART', 'UART', 'SPI', 'I2C', 'SDIO', 'SDMMC', 'OTG', 'JT', 'TIM', 'CAN']
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default_gpio = ['INPUT', 'FLOATING']
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vtypes = []
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# number of pins in each port
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pincount = {
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'A': 16,
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'B': 16,
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'C': 16,
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'D': 16,
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'E': 16,
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'F': 16,
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'G': 16,
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'H': 2,
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'I': 0,
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'J': 0,
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'K': 0
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}
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ports = pincount.keys()
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portmap = {}
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# dictionary of all config lines, indexed by first word
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config = {}
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# alternate pin mappings
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altmap = {}
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# list of all pins in config file order
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allpins = []
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# list of configs by type
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bytype = {}
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# list of alt configs by type
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alttype = {}
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# list of configs by label
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bylabel = {}
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# list of alt configs by label
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altlabel = {}
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# list of SPI devices
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spidev = []
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# dictionary of ROMFS files
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romfs = {}
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# SPI bus list
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spi_list = []
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# all config lines in order
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alllines = []
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# allow for extra env vars
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env_vars = {}
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# build flags for ChibiOS makefiles
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build_flags = []
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# sensor lists
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imu_list = []
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compass_list = []
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baro_list = []
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all_lines = []
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# map from uart names to SERIALn numbers
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uart_serial_num = {}
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mcu_type = None
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dual_USB_enabled = False
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# list of device patterns that can't be shared
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dma_noshare = []
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def is_int(str):
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'''check if a string is an integer'''
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try:
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int(str)
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except Exception:
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return False
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return True
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def error(str):
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'''show an error and exit'''
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print("Error: " + str)
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sys.exit(1)
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def get_mcu_lib(mcu):
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'''get library file for the chosen MCU'''
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import importlib
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try:
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return importlib.import_module(mcu)
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except ImportError:
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error("Unable to find module for MCU %s" % mcu)
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def setup_mcu_type_defaults():
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'''setup defaults for given mcu type'''
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global pincount, ports, portmap, vtypes, mcu_type
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lib = get_mcu_lib(mcu_type)
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if hasattr(lib, 'pincount'):
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pincount = lib.pincount
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if mcu_series.startswith("STM32F1"):
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vtypes = f1_vtypes
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else:
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vtypes = f4f7_vtypes
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ports = pincount.keys()
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# setup default as input pins
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for port in ports:
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portmap[port] = []
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for pin in range(pincount[port]):
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portmap[port].append(generic_pin(port, pin, None, default_gpio[0], default_gpio[1:]))
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def get_alt_function(mcu, pin, function):
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'''return alternative function number for a pin'''
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lib = get_mcu_lib(mcu)
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if function.endswith('_TXINV') or function.endswith('_RXINV'):
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# RXINV and TXINV are special labels for inversion pins, not alt-functions
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return None
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if hasattr(lib, "AltFunction_map"):
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alt_map = lib.AltFunction_map
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else:
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# just check if Alt Func is available or not
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for l in af_labels:
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if function.startswith(l):
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return 0
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return None
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if function and function.endswith("_RTS") and (
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function.startswith('USART') or function.startswith('UART')):
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# we do software RTS
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return None
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for l in af_labels:
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if function.startswith(l):
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s = pin + ":" + function
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if s not in alt_map:
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error("Unknown pin function %s for MCU %s" % (s, mcu))
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return alt_map[s]
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return None
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def have_type_prefix(ptype):
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'''return True if we have a peripheral starting with the given peripheral type'''
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for t in list(bytype.keys()) + list(alttype.keys()):
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if t.startswith(ptype):
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return True
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return False
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def get_ADC1_chan(mcu, pin):
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'''return ADC1 channel for an analog pin'''
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import importlib
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try:
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lib = importlib.import_module(mcu)
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ADC1_map = lib.ADC1_map
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except ImportError:
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error("Unable to find ADC1_Map for MCU %s" % mcu)
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if pin not in ADC1_map:
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error("Unable to find ADC1 channel for pin %s" % pin)
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return ADC1_map[pin]
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class generic_pin(object):
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'''class to hold pin definition'''
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def __init__(self, port, pin, label, type, extra):
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global mcu_series
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self.portpin = "P%s%u" % (port, pin)
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self.port = port
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self.pin = pin
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self.label = label
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self.type = type
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self.extra = extra
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self.af = None
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if type == 'OUTPUT':
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self.sig_dir = 'OUTPUT'
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else:
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self.sig_dir = 'INPUT'
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if mcu_series.startswith("STM32F1") and self.label is not None:
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self.f1_pin_setup()
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# check that labels and pin types are consistent
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for prefix in ['USART', 'UART', 'TIM']:
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if label is None or type is None:
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continue
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if type.startswith(prefix):
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a1 = label.split('_')
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a2 = type.split('_')
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if a1[0] != a2[0]:
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error("Peripheral prefix mismatch for %s %s %s" % (self.portpin, label, type))
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def f1_pin_setup(self):
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for label in af_labels:
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if self.label.startswith(label):
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if self.label.endswith(tuple(f1_input_sigs)):
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self.sig_dir = 'INPUT'
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self.extra.append('FLOATING')
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elif self.label.endswith(tuple(f1_output_sigs)):
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self.sig_dir = 'OUTPUT'
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elif label == 'I2C':
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self.sig_dir = 'OUTPUT'
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elif label == 'OTG':
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self.sig_dir = 'OUTPUT'
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else:
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error("Unknown signal type %s:%s for %s!" % (self.portpin, self.label, mcu_type))
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def has_extra(self, v):
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'''return true if we have the given extra token'''
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return v in self.extra
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def extra_prefix(self, prefix):
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'''find an extra token starting with the given prefix'''
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for e in self.extra:
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if e.startswith(prefix):
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return e
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return None
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def extra_value(self, name, type=None, default=None):
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'''find an extra value of given type'''
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v = self.extra_prefix(name)
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if v is None:
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return default
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if v[len(name)] != '(' or v[-1] != ')':
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error("Badly formed value for %s: %s\n" % (name, v))
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ret = v[len(name) + 1:-1]
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if type is not None:
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try:
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ret = type(ret)
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except Exception:
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error("Badly formed value for %s: %s\n" % (name, ret))
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return ret
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def is_RTS(self):
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'''return true if this is a RTS pin'''
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if self.label and self.label.endswith("_RTS") and (
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self.type.startswith('USART') or self.type.startswith('UART')):
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return True
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return False
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def is_CS(self):
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'''return true if this is a CS pin'''
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return self.has_extra("CS") or self.type == "CS"
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def get_MODER_value(self):
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'''return one of ALTERNATE, OUTPUT, ANALOG, INPUT'''
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if self.af is not None:
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v = "ALTERNATE"
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elif self.type == 'OUTPUT':
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v = "OUTPUT"
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elif self.type.startswith('ADC'):
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v = "ANALOG"
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elif self.is_CS():
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v = "OUTPUT"
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elif self.is_RTS():
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v = "OUTPUT"
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else:
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v = "INPUT"
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return v
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def get_MODER(self):
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'''return one of ALTERNATE, OUTPUT, ANALOG, INPUT'''
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return "PIN_MODE_%s(%uU)" % (self.get_MODER_value(), self.pin)
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def get_OTYPER_value(self):
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'''return one of PUSHPULL, OPENDRAIN'''
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v = 'PUSHPULL'
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if self.type.startswith('I2C'):
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# default I2C to OPENDRAIN
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v = 'OPENDRAIN'
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values = ['PUSHPULL', 'OPENDRAIN']
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for e in self.extra:
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if e in values:
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v = e
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return v
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def get_OTYPER(self):
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'''return one of PUSHPULL, OPENDRAIN'''
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return "PIN_OTYPE_%s(%uU)" % (self.get_OTYPER_value(), self.pin)
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def get_OSPEEDR_value(self):
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'''return one of SPEED_VERYLOW, SPEED_LOW, SPEED_MEDIUM, SPEED_HIGH'''
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# on STM32F4 these speeds correspond to 2MHz, 25MHz, 50MHz and 100MHz
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values = ['SPEED_VERYLOW', 'SPEED_LOW', 'SPEED_MEDIUM', 'SPEED_HIGH']
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v = 'SPEED_MEDIUM'
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for e in self.extra:
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if e in values:
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v = e
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return v
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def get_OSPEEDR_int(self):
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'''return value from 0 to 3 for speed'''
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values = ['SPEED_VERYLOW', 'SPEED_LOW', 'SPEED_MEDIUM', 'SPEED_HIGH']
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v = self.get_OSPEEDR_value()
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if v not in values:
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error("Bad OSPEED %s" % v)
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return values.index(v)
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def get_OSPEEDR(self):
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'''return one of SPEED_VERYLOW, SPEED_LOW, SPEED_MEDIUM, SPEED_HIGH'''
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return "PIN_O%s(%uU)" % (self.get_OSPEEDR_value(), self.pin)
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def get_PUPDR_value(self):
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'''return one of FLOATING, PULLUP, PULLDOWN'''
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values = ['FLOATING', 'PULLUP', 'PULLDOWN']
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v = 'FLOATING'
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if self.is_CS():
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v = "PULLUP"
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# generate pullups for UARTs
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if (self.type.startswith('USART') or
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self.type.startswith('UART')) and (
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(self.label.endswith('_TX') or
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self.label.endswith('_RX') or
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self.label.endswith('_CTS') or
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self.label.endswith('_RTS'))):
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v = "PULLUP"
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# generate pullups for SDIO and SDMMC
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if (self.type.startswith('SDIO') or
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self.type.startswith('SDMMC')) and (
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(self.label.endswith('_D0') or
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self.label.endswith('_D1') or
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self.label.endswith('_D2') or
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self.label.endswith('_D3') or
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self.label.endswith('_CMD'))):
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v = "PULLUP"
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for e in self.extra:
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if e in values:
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v = e
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return v
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def get_PUPDR(self):
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'''return one of FLOATING, PULLUP, PULLDOWN wrapped in PIN_PUPDR_ macro'''
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return "PIN_PUPDR_%s(%uU)" % (self.get_PUPDR_value(), self.pin)
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def get_ODR_F1_value(self):
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'''return one of LOW, HIGH'''
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values = ['LOW', 'HIGH']
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v = 'HIGH'
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if self.type == 'OUTPUT':
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v = 'LOW'
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elif self.label is not None and self.label.startswith('I2C'):
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v = 'LOW'
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for e in self.extra:
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if e in values:
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v = e
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# for some controllers input pull up down is selected by ODR
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if self.type == "INPUT":
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v = 'LOW'
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if 'PULLUP' in self.extra:
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v = "HIGH"
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return v
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def get_ODR_value(self):
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'''return one of LOW, HIGH'''
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if mcu_series.startswith("STM32F1"):
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return self.get_ODR_F1_value()
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values = ['LOW', 'HIGH']
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v = 'HIGH'
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for e in self.extra:
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if e in values:
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v = e
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return v
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def get_ODR(self):
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'''return one of LOW, HIGH wrapped in PIN_ODR macro'''
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return "PIN_ODR_%s(%uU)" % (self.get_ODR_value(), self.pin)
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def get_AFIO_value(self):
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'''return AFIO'''
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af = self.af
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if af is None:
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af = 0
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return af
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def get_AFIO(self):
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'''return AFIO wrapped in PIN_AFIO_AF macro'''
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return "PIN_AFIO_AF(%uU, %uU)" % (self.pin, self.get_AFIO_value())
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def get_AFRL(self):
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'''return AFIO low 8'''
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if self.pin >= 8:
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return None
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return self.get_AFIO()
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def get_AFRH(self):
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'''return AFIO high 8'''
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if self.pin < 8:
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return None
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return self.get_AFIO()
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def get_CR_F1(self):
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'''return CR FLAGS for STM32F1xx'''
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# Check Speed
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if self.sig_dir != "INPUT" or self.af is not None:
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speed_values = ['SPEED_LOW', 'SPEED_MEDIUM', 'SPEED_HIGH']
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v = 'SPEED_MEDIUM'
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for e in self.extra:
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if e in speed_values:
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v = e
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speed_str = "PIN_%s(%uU) |" % (v, self.pin)
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elif self.is_CS():
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speed_str = "PIN_SPEED_LOW(%uU) |" % (self.pin)
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else:
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speed_str = ""
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if self.af is not None:
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if self.label.endswith('_RX'):
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# uart RX is configured as a input, and can be pullup, pulldown or float
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if 'PULLUP' in self.extra or 'PULLDOWN' in self.extra:
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v = 'PUD'
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else:
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v = "NOPULL"
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elif self.label.startswith('I2C'):
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v = "AF_OD"
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else:
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v = "AF_PP"
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elif self.is_CS():
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v = "OUTPUT_PP"
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elif self.sig_dir == 'OUTPUT':
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if 'OPENDRAIN' in self.extra:
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v = 'OUTPUT_OD'
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else:
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v = "OUTPUT_PP"
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elif self.type.startswith('ADC'):
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v = "ANALOG"
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else:
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v = "PUD"
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if 'FLOATING' in self.extra:
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v = "NOPULL"
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mode_str = "PIN_MODE_%s(%uU)" % (v, self.pin)
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return "%s %s" % (speed_str, mode_str)
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def get_CR(self):
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'''return CR FLAGS'''
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if mcu_series.startswith("STM32F1"):
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return self.get_CR_F1()
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if self.sig_dir != "INPUT":
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speed_values = ['SPEED_LOW', 'SPEED_MEDIUM', 'SPEED_HIGH']
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v = 'SPEED_MEDIUM'
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for e in self.extra:
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if e in speed_values:
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v = e
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speed_str = "PIN_%s(%uU) |" % (v, self.pin)
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else:
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speed_str = ""
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# Check Alternate function
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if self.type.startswith('I2C'):
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v = "AF_OD"
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elif self.sig_dir == 'OUTPUT':
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if self.af is not None:
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v = "AF_PP"
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else:
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v = "OUTPUT_PP"
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elif self.type.startswith('ADC'):
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v = "ANALOG"
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elif self.is_CS():
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v = "OUTPUT_PP"
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elif self.is_RTS():
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v = "OUTPUT_PP"
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else:
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v = "PUD"
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if 'FLOATING' in self.extra:
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v = "NOPULL"
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mode_str = "PIN_MODE_%s(%uU)" % (v, self.pin)
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return "%s %s" % (speed_str, mode_str)
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def get_CRH(self):
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if self.pin < 8:
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return None
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return self.get_CR()
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def get_CRL(self):
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if self.pin >= 8:
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return None
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return self.get_CR()
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def pal_modeline(self):
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'''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):
|
|
'''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 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')
|
|
|
|
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))
|
|
|
|
if get_config('PROCESS_STACK', required=False):
|
|
env_vars['PROCESS_STACK'] = get_config('PROCESS_STACK')
|
|
else:
|
|
env_vars['PROCESS_STACK'] = "0x1C00"
|
|
|
|
# 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))
|
|
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')
|
|
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:
|
|
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_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_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_EVENTS FALSE
|
|
#define CH_CFG_USE_EVENTS_TIMEOUT FALSE
|
|
#define CH_CFG_USE_MEMCORE FALSE
|
|
#define HAL_USE_I2C FALSE
|
|
#define HAL_USE_PWM FALSE
|
|
#define CH_DBG_ENABLE_STACK_CHECK FALSE
|
|
// avoid timer and RCIN threads to save memory
|
|
#define HAL_NO_TIMER_THREAD
|
|
#define HAL_NO_RCOUT_THREAD
|
|
#define HAL_NO_RCIN_THREAD
|
|
''')
|
|
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
|
|
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:
|
|
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'):
|
|
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}\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, %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}\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)
|
|
|
|
|
|
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
|
|
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 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)
|
|
|
|
|
|
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
|
|
|
|
''')
|
|
|
|
dma_noshare.extend(get_config('DMA_NOSHARE', default='', aslist=True))
|
|
|
|
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)
|
|
add_apperiph_defaults(f)
|
|
|
|
write_peripheral_enable(f)
|
|
|
|
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), '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':
|
|
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 = []
|
|
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
|
|
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
|
|
// 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
|
|
''')
|
|
|
|
|
|
# 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"))
|