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ardupilot/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
Andy Piper 5b43926d0a AP_HAL_ChibiOS: for H730/H750 running in XIP mode do not reset clocks 
create mcuconf file for STM32H730 (type2)
allow OTG2 to be used as OTG1 on MCUs that need it
remove redundant OTG enablement
2023-04-28 08:31:15 +10:00

3402 lines
115 KiB
Python
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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
import filecmp
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(
'--signed-fw', action='store_true', default=False, help='configure for signed FW')
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', 'OCTOSPI']
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 WSPI devices
wspidev = []
# dictionary of ROMFS files
romfs = {}
# SPI bus list
spi_list = []
# list of WSPI devices
wspi_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 = []
# integer defines
intdefines = {}
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, dma_exclude_pattern
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:]))
if mcu_series.startswith("STM32H7") or mcu_series.startswith("STM32F7"):
# default DMA off on I2C for H7, we're much better off reducing DMA sharing
dma_exclude_pattern = ['I2C*']
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]
def get_ADC2_chan(mcu, pin):
'''return ADC2 channel for an analog pin'''
import importlib
try:
lib = importlib.import_module(mcu)
ADC2_map = lib.ADC2_map
except ImportError:
error("Unable to find ADC2_Map for MCU %s" % mcu)
if pin not in ADC2_map:
error("Unable to find ADC2 channel for pin %s" % pin)
return ADC2_map[pin]
def get_ADC3_chan(mcu, pin):
'''return ADC3 channel for an analog pin'''
import importlib
try:
lib = importlib.import_module(mcu)
ADC3_map = lib.ADC3_map
except ImportError:
error("Unable to find ADC3_Map for MCU %s" % mcu)
if pin not in ADC3_map:
error("Unable to find ADC3 channel for pin %s" % pin)
return ADC3_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"
if (self.type.startswith('SWD') and
'SWDIO' in self.label):
v = "PULLUP"
if (self.type.startswith('SWD') and
'SWCLK' in self.label):
v = "PULLDOWN"
# 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.type.startswith('ADC2'):
str += " ADC2_IN%u" % get_ADC2_chan(mcu_type, self.portpin)
if self.type.startswith('ADC3'):
str += " ADC3_IN%u" % get_ADC3_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))
if mcu_series.startswith("STM32H7") and not args.bootloader:
# set maximum supported canfd bit rate in MBits/sec
canfd_supported = int(get_config('CANFD_SUPPORTED', 0, default=4, required=False))
f.write('#define HAL_CANFD_SUPPORTED %d\n' % canfd_supported)
env_vars['HAL_CANFD_SUPPORTED'] = canfd_supported
else:
canfd_supported = int(get_config('CANFD_SUPPORTED', 0, default=0, required=False))
f.write('#define HAL_CANFD_SUPPORTED %d\n' % canfd_supported)
env_vars['HAL_CANFD_SUPPORTED'] = canfd_supported
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'''
env_vars['APP_RAM_START'] = None
if args.bootloader:
ram_map = get_mcu_config('RAM_MAP_BOOTLOADER', False)
if ram_map is not None:
app_ram_map = get_mcu_config('RAM_MAP', False)
if app_ram_map is not None and app_ram_map[0][0] != ram_map[0][0]:
# we need to find the location of app_ram_map[0] in ram_map
for i in range(len(ram_map)):
if app_ram_map[0][0] == ram_map[i][0]:
env_vars['APP_RAM_START'] = i
return ram_map
elif env_vars['EXT_FLASH_SIZE_MB'] and not env_vars['INT_FLASH_PRIMARY']:
ram_map = get_mcu_config('RAM_MAP_EXTERNAL_FLASH', False)
if ram_map is not None:
return ram_map
elif int(env_vars.get('USE_ALT_RAM_MAP',0)) == 1:
print("Using ALT_RAM_MAP")
return get_mcu_config('ALT_RAM_MAP', True)
return get_mcu_config('RAM_MAP', True)
def get_flash_pages_sizes():
global mcu_series
if mcu_series.startswith('STM32F4'):
if get_config('FLASH_SIZE_KB', type=int) == 512:
return [ 16, 16, 16, 16, 64, 128, 128, 128 ]
elif get_config('FLASH_SIZE_KB', type=int) == 1024:
return [ 16, 16, 16, 16, 64, 128, 128, 128,
128, 128, 128, 128 ]
elif get_config('FLASH_SIZE_KB', type=int) == 2048:
return [ 16, 16, 16, 16, 64, 128, 128, 128,
128, 128, 128, 128,
128, 128, 128, 128,
128, 128, 128, 128,
128, 128, 128, 128 ]
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 [ 16, 16, 16, 16, 64, 128, 128, 128 ]
elif get_config('FLASH_SIZE_KB', type=int) == 1024:
return [ 32, 32, 32, 32, 128, 256, 256, 256 ]
elif get_config('FLASH_SIZE_KB', type=int) == 2048:
return [ 32, 32, 32, 32, 128, 256, 256, 256,
256, 256, 256, 256]
else:
raise Exception("Unsupported flash size %u" % get_config('FLASH_SIZE_KB', type=int))
elif mcu_series.startswith('STM32H7'):
return [ 128 ] * (get_config('FLASH_SIZE_KB', type=int)//128)
elif mcu_series.startswith('STM32F100') or mcu_series.startswith('STM32F103'):
return [ 1 ] * get_config('FLASH_SIZE_KB', type=int)
elif mcu_series.startswith('STM32L4') and mcu_type.startswith('STM32L4R'):
# STM32L4PLUS
return [ 4 ] * (get_config('FLASH_SIZE_KB', type=int)//4)
elif (mcu_series.startswith('STM32F105') or
mcu_series.startswith('STM32F3') or
mcu_series.startswith('STM32G4') or
mcu_series.startswith('STM32L4')):
return [ 2 ] * (get_config('FLASH_SIZE_KB', type=int)//2)
else:
raise Exception("Unsupported flash size MCU %s" % mcu_series)
def get_flash_npages():
page_sizes = get_flash_pages_sizes()
total_size = sum(pages)
if total_size != get_config('FLASH_SIZE_KB',type=int):
raise Exception("Invalid flash size MCU %s" % mcu_series)
return len(pages)
def get_flash_page_offset_kb(sector):
'''return the offset in flash of a page number'''
pages = get_flash_pages_sizes()
offset = 0
for i in range(sector):
offset += pages[i]
return offset
def load_file_with_include(fname):
'''load a file as an array of lines, processing any include lines'''
lines = open(fname,'r').readlines()
ret = []
for line in lines:
if line.startswith("include"):
a = shlex.split(line)
if len(a) > 1 and a[0] == "include":
fname2 = os.path.relpath(os.path.join(os.path.dirname(fname), a[1]))
ret.extend(load_file_with_include(fname2))
continue
ret.append(line)
return ret
def get_storage_flash_page():
'''get STORAGE_FLASH_PAGE either from this hwdef or from hwdef.dat
in the same directory if this is a bootloader
'''
storage_flash_page = get_config('STORAGE_FLASH_PAGE', default=None, type=int, required=False)
if storage_flash_page is not None:
return storage_flash_page
if args.bootloader and args.hwdef[0].find("-bl") != -1:
hwdefdat = args.hwdef[0].replace("-bl", "")
if os.path.exists(hwdefdat):
ret = None
lines = load_file_with_include(hwdefdat)
for line in lines:
result = re.match(r'STORAGE_FLASH_PAGE\s*([0-9]+)', line)
if result:
ret = int(result.group(1))
return ret
return None
def validate_flash_storage_size():
'''check there is room for storage with HAL_STORAGE_SIZE'''
if intdefines.get('HAL_WITH_RAMTRON',0) == 1:
# no check for RAMTRON storage
return
storage_flash_page = get_storage_flash_page()
pages = get_flash_pages_sizes()
page_size = pages[storage_flash_page] * 1024
storage_size = intdefines.get('HAL_STORAGE_SIZE', None)
if storage_size is None:
error('Need HAL_STORAGE_SIZE define')
if storage_size >= page_size:
error("HAL_STORAGE_SIZE too large %u %u" % (storage_size, page_size))
if page_size == 16384 and storage_size > 15360:
error("HAL_STORAGE_SIZE invalid, needs to be 15360")
def write_mcu_config(f):
'''write MCU config defines'''
f.write('#define CHIBIOS_BOARD_NAME "%s"\n' % os.path.basename(os.path.dirname(args.hwdef[0])))
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[-1:] == 'x' or mcu_subtype[-2:-1] == 'x':
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')
f.write('#define HAL_USE_SDMMC 1\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')
f.write('#define HAL_USE_SDMMC 1\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:
if get_mcu_config('STM32_OTG2_IS_OTG1', False) is not None:
f.write('#define STM32_USB_USE_OTG2 TRUE\n')
f.write('#define STM32_OTG2_IS_OTG1 TRUE\n')
else:
f.write('#define STM32_USB_USE_OTG1 TRUE\n')
f.write('#define STM32_OTG2_IS_OTG1 FALSE\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:])
# extract numerical defines for processing by other parts of the script
result = re.match(r'define\s*([A-Z_]+)\s*([0-9]+)', d)
if result:
intdefines[result.group(1)] = int(result.group(2))
if intdefines.get('HAL_USE_USB_MSD',0) == 1:
build_flags.append('USE_USB_MSD=yes')
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
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))
# can be no persistent parameters if no space allocated for them
if not args.bootloader and flash_reserve_start == 0:
f.write('#define HAL_ENABLE_SAVE_PERSISTENT_PARAMS 0\n')
f.write('#define EXT_FLASH_SIZE_MB %u\n' % get_config('EXT_FLASH_SIZE_MB', default=0, type=int))
f.write('#define EXT_FLASH_RESERVE_START_KB %u\n' % get_config('EXT_FLASH_RESERVE_START_KB', default=0, type=int))
f.write('#define EXT_FLASH_RESERVE_END_KB %u\n' % get_config('EXT_FLASH_RESERVE_END_KB', default=0, type=int))
env_vars['EXT_FLASH_SIZE_MB'] = get_config('EXT_FLASH_SIZE_MB', default=0, type=int)
env_vars['INT_FLASH_PRIMARY'] = get_config('INT_FLASH_PRIMARY', default=False, type=bool)
if env_vars['EXT_FLASH_SIZE_MB'] and not args.bootloader and not env_vars['INT_FLASH_PRIMARY']:
f.write('#define CRT0_AREAS_NUMBER 4\n')
f.write('#define __FASTRAMFUNC__ __attribute__ ((__section__(".fastramfunc")))\n')
f.write('#define __RAMFUNC__ __attribute__ ((__section__(".ramfunc")))\n')
f.write('#define PORT_IRQ_ATTRIBUTES __FASTRAMFUNC__\n')
else:
f.write('#define CRT0_AREAS_NUMBER 1\n')
if env_vars['INT_FLASH_PRIMARY']:
# this will put methods with low latency requirements into external flash
# and save internal flash space
f.write('#define __EXTFLASHFUNC__ __attribute__ ((__section__(".extflash")))\n')
else:
f.write('#define __EXTFLASHFUNC__\n')
storage_flash_page = get_storage_flash_page()
flash_reserve_end = get_config('FLASH_RESERVE_END_KB', default=0, type=int)
if storage_flash_page is not None:
if not args.bootloader:
f.write('#define STORAGE_FLASH_PAGE %u\n' % storage_flash_page)
validate_flash_storage_size()
elif get_config('FLASH_RESERVE_END_KB', type=int, required = False) is None:
# ensure the flash page leaves room for bootloader
offset = get_flash_page_offset_kb(storage_flash_page)
bl_offset = get_config('FLASH_BOOTLOADER_LOAD_KB', type=int)
# storage at end of flash - leave room
if offset > bl_offset:
flash_reserve_end = flash_size - offset
if flash_size >= 2048 and not args.bootloader:
# lets pick a flash sector for Crash log
f.write('#define AP_CRASHDUMP_ENABLED 1\n')
env_vars['ENABLE_CRASHDUMP'] = 1
else:
f.write('#define AP_CRASHDUMP_ENABLED 0\n')
env_vars['ENABLE_CRASHDUMP'] = 0
if args.bootloader:
if env_vars['EXT_FLASH_SIZE_MB'] and not env_vars['INT_FLASH_PRIMARY']:
f.write('\n// location of loaded firmware in external flash\n')
f.write('#define APP_START_ADDRESS 0x%08x\n' % (0x90000000 + get_config(
'EXT_FLASH_RESERVE_START_KB', default=0, type=int)*1024))
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' % flash_reserve_end)
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:
cc_regions.append('{0x%08x, 0x%08x, CRASH_CATCHER_BYTE }' % (address, address + size*1024))
if env_vars['APP_RAM_START'] is not None and address == ram_map[env_vars['APP_RAM_START']][0]:
ram_reserve_start = get_ram_reserve_start()
address += ram_reserve_start
size -= ram_reserve_start
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_CC_MEMORY_REGIONS %s\n' % ', '.join(cc_regions))
f.write('#define HAL_MEMORY_TOTAL_KB %u\n' % total_memory)
if env_vars['APP_RAM_START'] is not None:
f.write('#define HAL_RAM0_START 0x%08x\n' % ram_map[env_vars['APP_RAM_START']][0])
else:
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'))
# support ALT_BOARD_ID for px4 firmware
alt_id = get_config('ALT_BOARD_ID', required=False)
if alt_id is not None:
f.write('#define ALT_BOARD_ID %s\n' % alt_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_config('MCU_CLOCKRATE_MHZ', required=False):
clockrate = int(get_config('MCU_CLOCKRATE_MHZ'))
f.write('#define HAL_CUSTOM_MCU_CLOCKRATE %u\n' % (clockrate * 1000000))
f.write('#define HAL_EXPECTED_SYSCLOCK %u\n' % (clockrate * 1000000))
elif get_mcu_config('EXPECTED_CLOCK', required=True):
f.write('#define HAL_EXPECTED_SYSCLOCK %u\n' % get_mcu_config('EXPECTED_CLOCK'))
if get_mcu_config('EXPECTED_CLOCKS', required=False):
clockrate = get_config('MCU_CLOCKRATE_MHZ', required=False)
for mcu_clock, mcu_clock_speed in get_mcu_config('EXPECTED_CLOCKS'):
if (mcu_clock == 'STM32_HCLK' or mcu_clock == 'STM32_SYS_CK') and clockrate:
f.write('#define HAL_EXPECTED_%s %u\n' % (mcu_clock, int(clockrate) * 1000000))
else:
f.write('#define HAL_EXPECTED_%s %u\n' % (mcu_clock, mcu_clock_speed))
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
#ifndef CH_CFG_USE_DYNAMIC
#define CH_CFG_USE_DYNAMIC FALSE
#endif
#define HAL_USE_EMPTY_STORAGE 1
#ifndef HAL_STORAGE_SIZE
#define HAL_STORAGE_SIZE 16384
#define DISABLE_WATCHDOG 1
#endif
''')
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
// avoid timer and RCIN threads to save memory
#define HAL_NO_TIMER_THREAD
#define HAL_NO_RCOUT_THREAD
#define HAL_NO_RCIN_THREAD
#ifndef AP_HAL_SHARED_DMA_ENABLED
#define AP_HAL_SHARED_DMA_ENABLED 0
#endif
#define HAL_NO_ROMFS_SUPPORT TRUE
#define CH_CFG_USE_TM FALSE
#ifndef CH_CFG_USE_REGISTRY
#define CH_CFG_USE_REGISTRY FALSE
#endif
#ifndef CH_CFG_USE_WAITEXIT
#define CH_CFG_USE_WAITEXIT FALSE
#endif
#ifndef CH_CFG_USE_MEMPOOLS
#define CH_CFG_USE_MEMPOOLS FALSE
#endif
#define CH_DBG_FILL_THREADS FALSE
#ifndef CH_CFG_USE_MUTEXES
#define CH_CFG_USE_MUTEXES FALSE
#endif
#define CH_CFG_USE_EVENTS FALSE
#define CH_CFG_USE_EVENTS_TIMEOUT FALSE
#define CH_CFG_OPTIMIZE_SPEED FALSE
#define HAL_USE_EMPTY_STORAGE 1
#ifndef HAL_STORAGE_SIZE
#define HAL_STORAGE_SIZE 16384
#endif
#define HAL_USE_RTC FALSE
#define DISABLE_SERIAL_ESC_COMM TRUE
#ifndef CH_CFG_USE_DYNAMIC
#define CH_CFG_USE_DYNAMIC FALSE
#endif
#define DISABLE_WATCHDOG 1
''')
if not env_vars['EXT_FLASH_SIZE_MB'] and not args.signed_fw:
f.write('''
#ifndef CH_CFG_USE_MEMCORE
#define CH_CFG_USE_MEMCORE FALSE
#endif
#ifndef CH_CFG_USE_SEMAPHORES
#define CH_CFG_USE_SEMAPHORES FALSE
#endif
#ifndef CH_CFG_USE_HEAP
#define CH_CFG_USE_HEAP FALSE
#endif
''')
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''')
if args.bootloader:
# do not enable flash protection in bootloader, even if hwdef
# requests it:
f.write('''
#undef HAL_FLASH_PROTECTION
#define HAL_FLASH_PROTECTION 0
''')
else:
# flash protection is off by default:
f.write('''
#ifndef HAL_FLASH_PROTECTION
#define HAL_FLASH_PROTECTION 0
#endif
''')
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)
storage_flash_page = get_storage_flash_page()
if storage_flash_page is not None:
offset = get_flash_page_offset_kb(storage_flash_page)
if offset > flash_reserve_start:
# storage is after flash, need to ensure flash doesn't encroach on it
flash_size = min(flash_size, offset)
else:
# storage is before flash, need to ensure storage fits
offset2 = get_flash_page_offset_kb(storage_flash_page+2)
if flash_reserve_start < offset2:
error("Storage overlaps flash")
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)
# space to reserve for bootloader and storage at start of external flash
ext_flash_reserve_start = get_config(
'EXT_FLASH_RESERVE_START_KB', default=0, type=int)
env_vars['EXT_FLASH_RESERVE_START_KB'] = str(ext_flash_reserve_start)
# space to reserve for storage at end of flash
ext_flash_reserve_end = get_config('EXT_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 + ext_flash_reserve_start * 1024
if instruction_ram is not None:
instruction_ram_base = instruction_ram[0]
instruction_ram_length = instruction_ram[1]
ram1_start = 0
ram1_len = 0
flash_ram = get_mcu_config('FLASH_RAM', False)
if flash_ram is not None:
ram1_start = flash_ram[0]
ram1_len = flash_ram[1] * 1024
ram2_start = 0
ram2_len = 0
data_ram = get_mcu_config('DATA_RAM', False)
if data_ram is not None:
ram2_start = data_ram[0]
ram2_len = data_ram[1] * 1024
# get external flash if any
ext_flash_size = get_config('EXT_FLASH_SIZE_MB', default=0, type=int)
int_flash_primary = get_config('INT_FLASH_PRIMARY', default=False, type=int)
if not args.bootloader:
flash_length = flash_size - (flash_reserve_start + flash_reserve_end)
ext_flash_length = ext_flash_size * 1024 - (ext_flash_reserve_start + ext_flash_reserve_end)
else:
flash_length = min(flash_size, get_config('FLASH_BOOTLOADER_LOAD_KB', type=int))
ext_flash_length = 0
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
if ext_flash_size > 32:
error("We only support 24bit addressing over external flash")
if env_vars['APP_RAM_START'] is None:
# default to start of ram for shared ram
# 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
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))
elif int_flash_primary:
env_vars['HAS_EXTERNAL_FLASH_SECTIONS'] = 1
f.write('''/* generated ldscript.ld */
MEMORY
{
flash : org = 0x%08x, len = %uK
ext_flash : org = 0x%08x, len = %uK
ram0 : org = 0x%08x, len = %u
}
INCLUDE common_mixf.ld
''' % (flash_base, flash_length, ext_flash_base, ext_flash_length, ram0_start, ram0_len))
else:
env_vars['HAS_EXTERNAL_FLASH_SECTIONS'] = 1
f.write('''/* generated ldscript.ld */
MEMORY
{
default_flash (rx) : org = 0x%08x, len = %uK
instram : org = 0x%08x, len = %uK
ram0 : org = 0x%08x, len = %u
flashram : org = 0x%08x, len = %u
dataram : org = 0x%08x, len = %u
}
INCLUDE common.ld
''' % (ext_flash_base, ext_flash_length,
instruction_ram_base, instruction_ram_length,
ram0_start, ram0_len,
ram1_start, ram1_len,
ram2_start, ram2_len))
def copy_common_linkerscript(outdir):
dirpath = os.path.dirname(os.path.realpath(__file__))
if args.bootloader:
linker = 'common.ld'
else:
linker = get_mcu_config('LINKER_CONFIG')
if linker is None:
if not get_config('EXT_FLASH_SIZE_MB', default=0, type=int):
linker = 'common.ld'
elif get_config('INT_FLASH_PRIMARY', default=False, type=int):
linker = 'common_mixf.ld'
else:
linker = 'common_extf.ld'
shutil.copy(os.path.join(dirpath, "../common", linker),
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"
product_string = get_config("USB_STRING_PRODUCT", default="\"%s\""%default_product)
if args.bootloader and args.signed_fw:
product_string = product_string.replace("-BL", "-Secure-BL-v10")
f.write('#define HAL_USB_STRING_PRODUCT %s\n' % product_string)
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_WSPI_table(f):
'''write SPI device table'''
f.write('\n// WSPI device table\n')
devlist = []
for dev in wspidev:
if len(dev) != 6:
print("Badly formed WSPIDEV 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') and not bus.startswith('OCTOSPI') or bus not in wspi_list:
error("Bad QUADSPI/OCTOSPI bus in QSPIDEV line %s" % dev)
if mode not in ['MODE1', 'MODE3']:
error("Bad MODE in WSPIDEV line %s" % dev)
if not speed.endswith('*MHZ') and not speed.endswith('*KHZ'):
error("Bad speed value %s in WSPIDEV line %s" % (speed, dev))
devidx = len(devlist)
f.write(
'#define HAL_WSPI_DEVICE%-2u WSPIDesc(%-17s, %2u, WSPIDEV_%s, %7s, %2u, %2u)\n'
% (devidx, name, wspi_list.index(bus), mode, speed, int(size_pow2), int(ncs_clk_delay)))
devlist.append('HAL_WSPI_DEVICE%u' % devidx)
f.write('#define HAL_WSPI_DEVICE_LIST %s\n\n' % ','.join(devlist))
for dev in wspidev:
f.write("#define HAL_HAS_WSPI_%s 1\n" % dev[0].upper().replace("-", "_"))
if dev[1].startswith('QUADSPI'):
f.write("#define HAL_QSPI%d_CLK (%s)" % (int(bus[7:]), speed))
else:
f.write("#define HAL_OSPI%d_CLK (%s)" % (int(bus[7:]), speed))
f.write("\n")
def write_WSPI_config(f):
'''write SPI config defines'''
global wspi_list
# only the bootloader must run the hal lld (and QSPI clock) otherwise it is not possible to
# bootstrap into external flash
for t in list(bytype.keys()) + list(alttype.keys()):
if t.startswith('QUADSPI') and not args.bootloader:
f.write('#define STM32_QSPI_NO_RESET TRUE\n')
if t.startswith('OCTOSPI') and not args.bootloader:
f.write('#define STM32_OSPI1_NO_RESET TRUE\n')
if len(wspidev) == 0:
# nothing else to do
return
for t in list(bytype.keys()) + list(alttype.keys()):
print(t)
if t.startswith('QUADSPI') or t.startswith('OCTOSPI'):
wspi_list.append(t)
wspi_list = sorted(wspi_list)
if len(wspi_list) == 0:
return
f.write('#define HAL_USE_WSPI TRUE\n')
devlist = []
for dev in wspi_list:
n = int(dev[7:])
devlist.append('HAL_WSPI%u_CONFIG' % n)
f.write(
'#define HAL_WSPI%u_CONFIG { &WSPID%u, %u}\n'
% (n, n, n))
f.write('#define HAL_WSPI_BUS_LIST %s\n\n' % ','.join(devlist))
write_WSPI_table(f)
def write_check_firmware(f):
'''add AP_CHECK_FIRMWARE_ENABLED if needed'''
if env_vars.get('AP_PERIPH',0) != 0 or intdefines.get('AP_OPENDRONEID_ENABLED',0) == 1:
f.write('''
#ifndef AP_CHECK_FIRMWARE_ENABLED
#define AP_CHECK_FIRMWARE_ENABLED 1
#endif
''')
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'''
ret = dev[:2]
if dev[-1].startswith("BOARD_MATCH("):
ret.append(dev[-1])
return str(ret)
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]
# get instance number if mentioned
instance = -1
aux_devid = -1
if dev[-1].startswith("INSTANCE:"):
instance = int(dev[-1][9:])
dev = dev[:-1]
if dev[-1].startswith("AUX:"):
aux_devid = int(dev[-1][4:])
dev = dev[:-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_INS_PROBE%u' % n)
if aux_devid != -1:
f.write(
'#define HAL_INS_PROBE%u %s ADD_BACKEND_AUX(AP_InertialSensor_%s::probe(*this,%s),%d)\n'
% (n, wrapper, driver, ','.join(dev[1:]), aux_devid))
elif instance != -1:
f.write(
'#define HAL_INS_PROBE%u %s ADD_BACKEND_INSTANCE(AP_InertialSensor_%s::probe(*this,%s),%d)\n'
% (n, wrapper, driver, ','.join(dev[1:]), instance))
elif dev[-1].startswith("BOARD_MATCH("):
f.write(
'#define HAL_INS_PROBE%u %s ADD_BACKEND_BOARD_MATCH(%s, AP_InertialSensor_%s::probe(*this,%s))\n'
% (n, wrapper, dev[-1], driver, ','.join(dev[1:-1])))
else:
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 sorted(validate_dict.keys()):
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:
error("Missing I2C_ORDER config")
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 = []
# complementary channels require advanced features
# which are only available on timers 1 and 8
need_advanced = 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'
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
need_advanced = True
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, %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, 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 need_advanced:
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 = [[], [], []]
analogset = {252, 253, 254} # reserved values for VSENSE, VREF and VBAT in H7
for l in bylabel:
p = bylabel[l]
if not p.type.startswith('ADC'):
continue
if p.type.startswith('ADC1'):
index = 0
chan = get_ADC1_chan(mcu_type, p.portpin)
elif p.type.startswith('ADC2'):
index = 1
chan = get_ADC2_chan(mcu_type, p.portpin)
elif p.type.startswith('ADC3'):
index = 2
chan = get_ADC3_chan(mcu_type, p.portpin)
else:
raise ValueError("Unknown ADC type %s" % p.type)
scale = p.extra_value('SCALE', default=None)
analog = p.extra_value('ANALOG', type=int, default=chan) # default to ADC channel if not specified
if analog in analogset:
error("Duplicate analog pin %u" % analog)
analogset.add(analog)
if p.label == 'VDD_5V_SENS':
f.write('#define ANALOG_VCC_5V_PIN %u\n' % (analog))
f.write('#define HAL_HAVE_BOARD_VOLTAGE 1\n')
if p.label == 'FMU_SERVORAIL_VCC_SENS':
f.write('#define FMU_SERVORAIL_ADC_PIN %u\n' % (analog))
f.write('#define HAL_HAVE_SERVO_VOLTAGE 1\n')
adc_chans[index].append((chan, analog, scale, p.label, p.portpin))
# sort by ADC channel
for index in range(3):
adc_chans[index] = sorted(adc_chans[index])
if len(adc_chans[1]) > 0:
# ensure ADC1 and ADC2 are of same size
if len(adc_chans[0]) > len(adc_chans[1]):
# add dummy channel that's not already in adc_chans[1]
for chan in range(1,19):
if chan not in [c[0] for c in adc_chans[1]]:
adc_chans[1].append((chan, 255, None, 'dummy', 'dummy'))
break
elif len(adc_chans[0]) < len(adc_chans[1]):
# add dummy channel that's not already in adc_chans[0]
for chan in range(1,19):
if chan not in [c[0] for c in adc_chans[0]]:
adc_chans[0].append((chan, 255, None, 'dummy', 'dummy'))
break
# check if ADC1 and ADC2 list if they have the same channel for same index
# if not then jumble the channels around to have no matching channels
for i in range(len(adc_chans[0])):
if adc_chans[0][i][0] == adc_chans[1][i][0]:
# found a match, jumble the channels around
for j in range(len(adc_chans[0])):
if adc_chans[0][j][0] != adc_chans[1][j][0]:
# found a non-match, swap the channels
adc_chans[0][i], adc_chans[0][j] = adc_chans[0][j], adc_chans[0][i]
break
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, analog, scale, label, portpin) in adc_chans[0]:
scale_str = '%.2f/4096' % vdd
if scale is not None and scale != '1':
scale_str = scale + '*' + scale_str
f.write('{ %2u, %2u, %12s }, /* %s %s */ \\\n' % (chan, analog, scale_str, portpin,
label))
f.write('\n\n')
if len(adc_chans[1]) > 0:
f.write('#define STM32_ADC_SAMPLES_SIZE 32\n')
f.write('#define ADC12_CCR_DUAL ADC_CCR_DUAL_REG_INTERL\n')
f.write('#define STM32_ADC_DUAL_MODE TRUE\n')
f.write('#define HAL_ANALOG2_PINS \\\n')
for (chan, analog, scale, label, portpin) in adc_chans[1]:
scale_str = '%.2f/4096' % vdd
if scale is not None and scale != '1':
scale_str = scale + '*' + scale_str
f.write('{ %2u, %2u, %12s }, /* %s %s */ \\\n' % (chan, analog, scale_str, portpin,
label))
f.write('\n\n')
if len(adc_chans[2]) > 0:
f.write('#define STM32_ADC_USE_ADC3 TRUE\n')
f.write('#define HAL_ANALOG3_PINS \\\n')
for (chan, analog, scale, label, portpin) in adc_chans[2]:
scale_str = '%.2f/4096' % vdd
if scale is not None and scale != '1':
scale_str = scale + '*' + scale_str
f.write('{ %2u, %2u, %12s }, /* %s %s */ \\\n' % (chan, analog, 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)
return bootloader_path
def embed_bootloader(f):
'''added bootloader to ROMFS'''
if not intdefines.get('AP_BOOTLOADER_FLASHING_ENABLED', 1):
# or, you know, not...
return
bp = bootloader_path()
if not os.path.exists(bp):
return
bp = os.path.realpath(bp)
romfs["bootloader.bin"] = bp
f.write("#define AP_BOOTLOADER_FLASHING_ENABLED 1\n")
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('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)
if type.startswith('OCTOSPI'):
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 sorted(altmap.keys()):
for pp in sorted(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)
tmpfile = outfilename + ".tmp"
f = open(tmpfile, '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)
''')
if args.signed_fw:
f.write('''
#define AP_SIGNED_FIRMWARE 1
''')
else:
f.write('''
#define AP_SIGNED_FIRMWARE 0
''')
enable_dfu_boot = get_config('ENABLE_DFU_BOOT', default=0)
if enable_dfu_boot:
env_vars['ENABLE_DFU_BOOT'] = 1
f.write('''
#define HAL_ENABLE_DFU_BOOT TRUE
''')
else:
env_vars['ENABLE_DFU_BOOT'] = 0
f.write('''
#define HAL_ENABLE_DFU_BOOT FALSE
''')
dma_noshare.extend(get_config('DMA_NOSHARE', default='', aslist=True))
write_mcu_config(f)
write_SPI_config(f)
write_WSPI_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)
write_check_firmware(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)
embed_bootloader(f)
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)
add_apperiph_defaults(f)
add_bootloader_defaults(f)
add_iomcu_firmware_defaults(f)
add_normal_firmware_defaults(f)
f.close()
# see if we ended up with the same file, on an unnecessary reconfigure
try:
if filecmp.cmp(outfilename, tmpfile):
print("No change in hwdef.h")
os.unlink(tmpfile)
return
except Exception:
pass
try:
os.unlink(outfilename)
except Exception:
pass
os.rename(tmpfile, outfilename)
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', 'OCTOSPI\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':
wspidev.append(a[1:])
elif a[0] == 'OSPIDEV':
wspidev.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, '')
alttype.pop(u, '')
altlabel.pop(u, '')
for dev in spidev:
if u == dev[0]:
spidev.remove(dev)
# 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
print("Setting up as AP_Periph")
f.write('''
// AP_Periph defaults
#ifndef AP_SCHEDULER_ENABLED
#define AP_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 AP_MISSION_ENABLED
#define AP_MISSION_ENABLED 0
#endif
#ifndef HAL_RALLY_ENABLED
#define HAL_RALLY_ENABLED 0
#endif
#ifndef HAL_NMEA_OUTPUT_ENABLED
#define HAL_NMEA_OUTPUT_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
#ifndef AP_KDECAN_ENABLED
#define AP_KDECAN_ENABLED 0
#endif
#ifndef HAL_GENERATOR_ENABLED
#define HAL_GENERATOR_ENABLED 0
#endif
#ifndef HAL_BARO_WIND_COMP_ENABLED
#define HAL_BARO_WIND_COMP_ENABLED 0
#endif
#ifndef HAL_UART_STATS_ENABLED
#define HAL_UART_STATS_ENABLED (HAL_GCS_ENABLED || HAL_LOGGING_ENABLED)
#endif
#ifndef HAL_SUPPORT_RCOUT_SERIAL
#define HAL_SUPPORT_RCOUT_SERIAL 0
#endif
#ifndef AP_AIRSPEED_AUTOCAL_ENABLE
#define AP_AIRSPEED_AUTOCAL_ENABLE 0
#endif
#ifndef AP_STATS_ENABLED
#define AP_STATS_ENABLED 0
#endif
#ifndef AP_VOLZ_ENABLED
#define AP_VOLZ_ENABLED 0
#endif
#ifndef AP_ROBOTISSERVO_ENABLED
#define AP_ROBOTISSERVO_ENABLED 0
#endif
// by default an AP_Periph defines as many servo output channels as
// there are PWM outputs:
#ifndef NUM_SERVO_CHANNELS
#ifdef HAL_PWM_COUNT
#define NUM_SERVO_CHANNELS HAL_PWM_COUNT
#else
#define NUM_SERVO_CHANNELS 0
#endif
#endif
#ifndef AP_STATS_ENABLED
#define AP_STATS_ENABLED 0
#endif
#ifndef AP_BATTERY_ESC_ENABLED
#define AP_BATTERY_ESC_ENABLED 0
#endif
// disable compass calibrations on periphs; cal is done on the autopilot
#ifndef COMPASS_CAL_ENABLED
#define COMPASS_CAL_ENABLED 0
#endif
#ifndef COMPASS_MOT_ENABLED
#define COMPASS_MOT_ENABLED 0
#endif
#ifndef COMPASS_LEARN_ENABLED
#define COMPASS_LEARN_ENABLED 0
#endif
#ifndef HAL_EXTERNAL_AHRS_ENABLED
#define HAL_EXTERNAL_AHRS_ENABLED 0
#endif
// disable RC_Channels library:
#ifndef AP_RC_CHANNEL_ENABLED
#define AP_RC_CHANNEL_ENABLED 0
#endif
/*
* GPS Backends - we selectively turn backends on.
* Note also that f103-GPS explicitly disables some of these backends.
*/
#define AP_GPS_BACKEND_DEFAULT_ENABLED 0
#ifndef AP_GPS_ERB_ENABLED
#define AP_GPS_ERB_ENABLED 0
#endif
#ifndef AP_GPS_GSOF_ENABLED
#define AP_GPS_GSOF_ENABLED defined(HAL_PERIPH_ENABLE_GPS)
#endif
#ifndef AP_GPS_NMEA_ENABLED
#define AP_GPS_NMEA_ENABLED 0
#endif
#ifndef AP_GPS_SBF_ENABLED
#define AP_GPS_SBF_ENABLED defined(HAL_PERIPH_ENABLE_GPS)
#endif
#ifndef AP_GPS_SBP_ENABLED
#define AP_GPS_SBP_ENABLED 0
#endif
#ifndef AP_GPS_SBP2_ENABLED
#define AP_GPS_SBP2_ENABLED 0
#endif
#ifndef AP_GPS_SIRF_ENABLED
#define AP_GPS_SIRF_ENABLED 0
#endif
#ifndef AP_GPS_MAV_ENABLED
#define AP_GPS_MAV_ENABLED 0
#endif
#ifndef AP_GPS_NOVA_ENABLED
#define AP_GPS_NOVA_ENABLED defined(HAL_PERIPH_ENABLE_GPS)
#endif
#ifndef HAL_SIM_GPS_ENABLED
#define HAL_SIM_GPS_ENABLED (AP_SIM_ENABLED && defined(HAL_PERIPH_ENABLE_GPS))
#endif
/*
* Airspeed Backends - we selectively turn backends *off*
*/
#ifndef AP_AIRSPEED_ANALOG_ENABLED
#define AP_AIRSPEED_ANALOG_ENABLED 0
#endif
// disable various rangefinder backends
#define AP_RANGEFINDER_ANALOG_ENABLED 0
#define AP_RANGEFINDER_HC_SR04_ENABLED 0
#define AP_RANGEFINDER_PWM_ENABLED 0
// no CAN manager in AP_Periph:
#define HAL_CANMANAGER_ENABLED 0
// SLCAN is off by default:
#ifndef AP_CAN_SLCAN_ENABLED
#define AP_CAN_SLCAN_ENABLED 0
#endif
// Periphs don't use the FFT library:
#ifndef HAL_GYROFFT_ENABLED
#define HAL_GYROFFT_ENABLED 0
#endif
// MSP parsing is off by default in AP_Periph:
#ifndef HAL_MSP_ENABLED
#define HAL_MSP_ENABLED 0
#endif
// periph does not make use of compass scaling or diagonals
#ifndef AP_COMPASS_DIAGONALS_ENABLED
#define AP_COMPASS_DIAGONALS_ENABLED 0
#endif
// disable various battery monitor backends:
#ifndef AP_BATTERY_SYNTHETIC_CURRENT_ENABLED
#define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0
#endif
#ifndef AP_BATT_MONITOR_MAX_INSTANCES
#define AP_BATT_MONITOR_MAX_INSTANCES 1
#endif
#ifndef RANGEFINDER_MAX_INSTANCES
#define RANGEFINDER_MAX_INSTANCES 1
#endif
// by default AP_Periphs don't use INS:
#ifndef AP_INERTIALSENSOR_ENABLED
#define AP_INERTIALSENSOR_ENABLED 0
#endif
// no fence by default in AP_Periph:
#ifndef AP_FENCE_ENABLED
#define AP_FENCE_ENABLED 0
#endif
// periph does not save temperature cals etc:
#ifndef HAL_ENABLE_SAVE_PERSISTENT_PARAMS
#define HAL_ENABLE_SAVE_PERSISTENT_PARAMS 0
#endif
#ifndef AP_WINCH_ENABLED
#define AP_WINCH_ENABLED 0
#endif
// end AP_Periph defaults
''')
def add_bootloader_defaults(f):
'''add default defines for peripherals'''
if not args.bootloader:
return
print("Setting up as Bootloader")
f.write('''
// AP_Bootloader defaults
#define HAL_DSHOT_ALARM_ENABLED 0
#define HAL_LOGGING_ENABLED 0
#define HAL_SCHEDULER_ENABLED 0
// bootloaders *definitely* don't use the FFT library:
#ifndef HAL_GYROFFT_ENABLED
#define HAL_GYROFFT_ENABLED 0
#endif
// bootloaders don't talk to the GCS:
#ifndef HAL_GCS_ENABLED
#define HAL_GCS_ENABLED 0
#endif
// by default bootloaders don't use INS:
#ifndef AP_INERTIALSENSOR_ENABLED
#define AP_INERTIALSENSOR_ENABLED 0
#endif
#define HAL_MAX_CAN_PROTOCOL_DRIVERS 0
// bootloader does not save temperature cals etc:
#ifndef HAL_ENABLE_SAVE_PERSISTENT_PARAMS
#define HAL_ENABLE_SAVE_PERSISTENT_PARAMS 0
#endif
#ifndef HAL_GCS_ENABLED
#define HAL_GCS_ENABLED 0
#endif
// make diagnosing Faults (e.g. HardFault) harder, but save bytes:
#ifndef AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
#define AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED 0
#endif
#ifndef AP_WATCHDOG_SAVE_FAULT_ENABLED
#define AP_WATCHDOG_SAVE_FAULT_ENABLED 0
#endif
// end AP_Bootloader defaults
''')
def add_iomcu_firmware_defaults(f):
'''add default defines IO firmwares'''
if env_vars.get('IOMCU_FW', 0) == 0:
# not IOMCU firmware
return
print("Setting up as IO firmware")
f.write('''
// IOMCU Firmware defaults
#define HAL_DSHOT_ALARM_ENABLED 0
// IOMCUs *definitely* don't use the FFT library:
#ifndef HAL_GYROFFT_ENABLED
#define HAL_GYROFFT_ENABLED 0
#endif
// by default IOMCUs don't use INS:
#ifndef AP_INERTIALSENSOR_ENABLED
#define AP_INERTIALSENSOR_ENABLED 0
#endif
// no RC_Channels library:
#ifndef AP_RC_CHANNEL_ENABLED
#define AP_RC_CHANNEL_ENABLED 0
#endif
#ifndef AP_VIDEOTX_ENABLED
#define AP_VIDEOTX_ENABLED 0
#endif
// make diagnosing Faults (e.g. HardFault) harder, but save bytes:
#ifndef AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
#define AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED 0
#endif
// disable some protocols on iomcu:
#define AP_RCPROTOCOL_FASTSBUS_ENABLED 0
// no crossfire telemetry from iomcu!
#define HAL_CRSF_TELEM_ENABLED 0
// end IOMCU Firmware defaults
''')
def add_normal_firmware_defaults(f):
'''add default defines to builds with are not bootloader, periph or IOMCU'''
if env_vars.get('IOMCU_FW', 0) != 0:
# IOMCU firmware
return
if env_vars.get('AP_PERIPH', 0) != 0:
# Periph firmware
return
if args.bootloader:
# guess
return
print("Setting up as normal firmware")
f.write('''
// firmware defaults
#ifndef HAL_DSHOT_ALARM_ENABLED
#define HAL_DSHOT_ALARM_ENABLED (HAL_PWM_COUNT>0)
#endif
// end firmware defaults
''')
# 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'])
romfs_add_dir(['param'])
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)
write_env_py(os.path.join(outdir, "env.py"))
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