mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-31 13:08:34 -04:00
2b0a30a2c5
this modifies the ld script to use the maximum size available for the bootloader, so we can't accidentially grow the bootloader beyond its max size
1542 lines
51 KiB
Python
1542 lines
51 KiB
Python
#!/usr/bin/env python
|
|
'''
|
|
setup board.h for chibios
|
|
'''
|
|
|
|
import argparse, sys, fnmatch, os, dma_resolver, shlex, pickle, re
|
|
import shutil
|
|
|
|
parser = argparse.ArgumentParser("chibios_pins.py")
|
|
parser.add_argument(
|
|
'-D', '--outdir', type=str, default=None, help='Output directory')
|
|
parser.add_argument(
|
|
'--bootloader', action='store_true', default=False, help='configure for bootloader')
|
|
parser.add_argument(
|
|
'hwdef', type=str, default=None, help='hardware definition file')
|
|
|
|
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']
|
|
|
|
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 = {}
|
|
|
|
# list of all pins in config file order
|
|
allpins = []
|
|
|
|
# list of configs by type
|
|
bytype = {}
|
|
|
|
# list of configs by label
|
|
bylabel = {}
|
|
|
|
# list of SPI devices
|
|
spidev = []
|
|
|
|
# dictionary of ROMFS files
|
|
romfs = {}
|
|
|
|
# SPI bus list
|
|
spi_list = []
|
|
|
|
# all config lines in order
|
|
alllines = []
|
|
|
|
# allow for extra env vars
|
|
env_vars = {}
|
|
|
|
# build flags for ChibiOS makefiles
|
|
build_flags = []
|
|
|
|
mcu_type = None
|
|
|
|
|
|
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
|
|
lib = get_mcu_lib(mcu_type)
|
|
if hasattr(lib, 'pincount'):
|
|
pincount = lib.pincount
|
|
if mcu_series == "STM32F100":
|
|
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, 'INPUT', []))
|
|
|
|
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 not s 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 bytype.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 not pin in ADC1_map:
|
|
error("Unable to find ADC1 channel for pin %s" % pin)
|
|
return ADC1_map[pin]
|
|
|
|
|
|
class generic_pin(object):
|
|
'''class to hold pin definition'''
|
|
|
|
def __init__(self, port, pin, label, type, extra):
|
|
global mcu_series
|
|
self.portpin = "P%s%u" % (port, pin)
|
|
self.port = port
|
|
self.pin = pin
|
|
self.label = label
|
|
self.type = type
|
|
self.extra = extra
|
|
self.af = None
|
|
if type == 'OUTPUT':
|
|
self.sig_dir = 'OUTPUT'
|
|
else:
|
|
self.sig_dir = 'INPUT'
|
|
if mcu_series == "STM32F100" 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 l in af_labels:
|
|
if self.label.startswith(l):
|
|
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'
|
|
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(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 "PIN_MODE_%s(%uU)" % (v, self.pin)
|
|
|
|
def get_OTYPER(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 "PIN_OTYPE_%s(%uU)" % (v, self.pin)
|
|
|
|
def get_OSPEEDR(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 "PIN_O%s(%uU)" % (v, self.pin)
|
|
|
|
def get_PUPDR(self):
|
|
'''return one of FLOATING, PULLUP, PULLDOWN'''
|
|
values = ['FLOATING', 'PULLUP', 'PULLDOWN']
|
|
v = 'FLOATING'
|
|
if self.is_CS():
|
|
v = "PULLUP"
|
|
# generate pullups for UARTs
|
|
if (self.type.startswith('USART') or
|
|
self.type.startswith('UART')) and (
|
|
(self.label.endswith('_TX') or
|
|
self.label.endswith('_RX') or
|
|
self.label.endswith('_CTS') or
|
|
self.label.endswith('_RTS'))):
|
|
v = "PULLUP"
|
|
# generate pullups for SDIO and SDMMC
|
|
if (self.type.startswith('SDIO') or
|
|
self.type.startswith('SDMMC')) and (
|
|
(self.label.endswith('_D0') or
|
|
self.label.endswith('_D1') or
|
|
self.label.endswith('_D2') or
|
|
self.label.endswith('_D3') or
|
|
self.label.endswith('_CMD'))):
|
|
v = "PULLUP"
|
|
for e in self.extra:
|
|
if e in values:
|
|
v = e
|
|
return "PIN_PUPDR_%s(%uU)" % (v, self.pin)
|
|
|
|
def get_ODR_F1(self):
|
|
'''return one of LOW, HIGH'''
|
|
values = ['LOW', 'HIGH']
|
|
v = 'HIGH'
|
|
if self.type == 'OUTPUT':
|
|
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 "PIN_ODR_%s(%uU)" % (v, self.pin)
|
|
|
|
def get_ODR(self):
|
|
'''return one of LOW, HIGH'''
|
|
if mcu_series == "STM32F100":
|
|
return self.get_ODR_F1()
|
|
values = ['LOW', 'HIGH']
|
|
v = 'HIGH'
|
|
for e in self.extra:
|
|
if e in values:
|
|
v = e
|
|
return "PIN_ODR_%s(%uU)" % (v, self.pin)
|
|
|
|
def get_AFIO(self):
|
|
'''return AFIO'''
|
|
af = self.af
|
|
if af is None:
|
|
af = 0
|
|
return "PIN_AFIO_AF(%uU, %uU)" % (self.pin, af)
|
|
|
|
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)
|
|
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"
|
|
else:
|
|
v = "AF_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 == "STM32F100":
|
|
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 __str__(self):
|
|
str = ''
|
|
if self.af is not None:
|
|
str += " AF%u" % self.af
|
|
if self.type.startswith('ADC1'):
|
|
str += " ADC1_IN%u" % get_ADC1_chan(mcu_type, self.portpin)
|
|
if self.extra_value('PWM', type=int):
|
|
str += " PWM%u" % self.extra_value('PWM', type=int)
|
|
return "P%s%u %s %s%s" % (self.port, self.pin, self.label, self.type,
|
|
str)
|
|
|
|
|
|
def get_config(name, column=0, required=True, default=None, type=None, spaces=False):
|
|
'''get a value from config dictionary'''
|
|
if not name in config:
|
|
if required and default is None:
|
|
error("missing required value %s in hwdef.dat" % name)
|
|
return default
|
|
if len(config[name]) < column + 1:
|
|
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 not name in lib.mcu:
|
|
if required:
|
|
error("Missing required mcu config %s for %s" % (name, mcu_type))
|
|
return None
|
|
return lib.mcu[name]
|
|
|
|
def enable_can(f):
|
|
'''setup for a CAN enabled board'''
|
|
f.write('#define HAL_WITH_UAVCAN 1\n')
|
|
env_vars['HAL_WITH_UAVCAN'] = '1'
|
|
|
|
def has_sdcard_spi():
|
|
'''check for sdcard connected to spi bus'''
|
|
for dev in spidev:
|
|
if(dev[0] == 'sdcard'):
|
|
return True
|
|
return False
|
|
|
|
def write_mcu_config(f):
|
|
'''write MCU config defines'''
|
|
f.write('// MCU type (ChibiOS define)\n')
|
|
f.write('#define %s_MCUCONF\n' % get_config('MCU'))
|
|
mcu_subtype = get_config('MCU', 1)
|
|
if mcu_subtype.endswith('xx'):
|
|
f.write('#define %s_MCUCONF\n\n' % mcu_subtype[:-2])
|
|
f.write('#define %s\n\n' % mcu_subtype)
|
|
f.write('// crystal frequency\n')
|
|
f.write('#define STM32_HSECLK %sU\n\n' % get_config('OSCILLATOR_HZ'))
|
|
f.write('// UART used for stdout (printf)\n')
|
|
if get_config('STDOUT_SERIAL', required=False):
|
|
f.write('#define HAL_STDOUT_SERIAL %s\n\n' % get_config('STDOUT_SERIAL'))
|
|
f.write('// baudrate used for stdout (printf)\n')
|
|
f.write('#define HAL_STDOUT_BAUDRATE %u\n\n' % get_config('STDOUT_BAUDRATE', type=int))
|
|
if have_type_prefix('SDIO'):
|
|
f.write('// SDIO available, enable POSIX filesystem support\n')
|
|
f.write('#define USE_POSIX\n\n')
|
|
f.write('#define HAL_USE_SDC TRUE\n')
|
|
build_flags.append('USE_FATFS=yes')
|
|
elif have_type_prefix('SDMMC'):
|
|
f.write('// SDMMC available, enable POSIX filesystem support\n')
|
|
f.write('#define USE_POSIX\n\n')
|
|
f.write('#define HAL_USE_SDC TRUE\n')
|
|
f.write('#define STM32_SDC_USE_SDMMC1 TRUE\n')
|
|
build_flags.append('USE_FATFS=yes')
|
|
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')
|
|
else:
|
|
f.write('#define HAL_USE_SDC FALSE\n')
|
|
build_flags.append('USE_FATFS=no')
|
|
if 'OTG1' in bytype:
|
|
f.write('#define STM32_USB_USE_OTG1 TRUE\n')
|
|
f.write('#define HAL_USE_USB TRUE\n')
|
|
f.write('#define HAL_USE_SERIAL_USB TRUE\n')
|
|
if 'OTG2' in bytype:
|
|
f.write('#define STM32_USB_USE_OTG2 TRUE\n')
|
|
if have_type_prefix('CAN'):
|
|
enable_can(f)
|
|
|
|
if get_config('PROCESS_STACK', required=False):
|
|
env_vars['PROCESS_STACK'] = get_config('PROCESS_STACK')
|
|
else:
|
|
env_vars['PROCESS_STACK'] = "0x2000"
|
|
|
|
if get_config('MAIN_STACK', required=False):
|
|
env_vars['MAIN_STACK'] = get_config('MAIN_STACK')
|
|
else:
|
|
env_vars['MAIN_STACK'] = "0x400"
|
|
|
|
if get_config('IOMCU_FW', required=False):
|
|
env_vars['IOMCU_FW'] = get_config('IOMCU_FW')
|
|
else:
|
|
env_vars['IOMCU_FW'] = 0
|
|
|
|
# write any custom STM32 defines
|
|
for d in alllines:
|
|
if d.startswith('STM32_'):
|
|
f.write('#define %s\n' % d)
|
|
if d.startswith('define '):
|
|
f.write('#define %s\n' % d[7:])
|
|
flash_size = get_config('FLASH_SIZE_KB', type=int)
|
|
f.write('#define BOARD_FLASH_SIZE %u\n' % flash_size)
|
|
f.write('#define CRT1_AREAS_NUMBER 1\n')
|
|
|
|
flash_reserve_start = get_config(
|
|
'FLASH_RESERVE_START_KB', default=16, type=int)
|
|
f.write('\n// location of loaded firmware\n')
|
|
f.write('#define FLASH_LOAD_ADDRESS 0x%08x\n' % (0x08000000 + flash_reserve_start*1024))
|
|
if args.bootloader:
|
|
f.write('#define FLASH_BOOTLOADER_LOAD_KB %u\n' % get_config('FLASH_BOOTLOADER_LOAD_KB', type=int))
|
|
f.write('\n')
|
|
|
|
ram_map = get_mcu_config('RAM_MAP', True)
|
|
f.write('// memory regions\n')
|
|
regions = []
|
|
for (address, size, flags) in ram_map:
|
|
regions.append('{(void*)0x%08x, 0x%08x, 0x%02x }' % (address, size*1024, flags))
|
|
f.write('#define HAL_MEMORY_REGIONS %s\n' % ', '.join(regions))
|
|
|
|
f.write('\n// CPU serial number (12 bytes)\n')
|
|
f.write('#define UDID_START 0x%08x\n\n' % get_mcu_config('UDID_START', True))
|
|
|
|
f.write('\n// APJ board ID (for bootloaders)\n')
|
|
f.write('#define APJ_BOARD_ID %s\n' % get_config('APJ_BOARD_ID'))
|
|
|
|
lib = get_mcu_lib(mcu_type)
|
|
build_info = lib.build
|
|
|
|
if mcu_series == "STM32F100":
|
|
cortex = "cortex-m3"
|
|
env_vars['CPU_FLAGS'] = ["-mcpu=%s" % cortex]
|
|
build_info['MCU'] = cortex
|
|
else:
|
|
cortex = "cortex-m4"
|
|
env_vars['CPU_FLAGS'] = [ "-mcpu=%s" % cortex, "-mfpu=fpv4-sp-d16", "-mfloat-abi=hard"]
|
|
build_info['MCU'] = cortex
|
|
if not args.bootloader:
|
|
env_vars['CPU_FLAGS'].append('-u_printf_float')
|
|
build_info['ENV_UDEFS'] = "-DCHPRINTF_USE_FLOAT=1"
|
|
# setup build variables
|
|
for v in build_info.keys():
|
|
build_flags.append('%s=%s' % (v, build_info[v]))
|
|
|
|
# setup for bootloader build
|
|
if args.bootloader:
|
|
f.write('''
|
|
#define HAL_BOOTLOADER_BUILD TRUE
|
|
#define HAL_USE_ADC FALSE
|
|
#define HAL_USE_EXT FALSE
|
|
#define HAL_NO_UARTDRIVER
|
|
#define HAL_NO_PRINTF
|
|
#define HAL_NO_CCM
|
|
#define CH_DBG_STATISTICS FALSE
|
|
#define CH_CFG_USE_TM FALSE
|
|
#define CH_CFG_USE_REGISTRY FALSE
|
|
#define CH_CFG_USE_WAITEXIT FALSE
|
|
#define CH_CFG_USE_DYNAMIC FALSE
|
|
#define CH_CFG_USE_MEMPOOLS FALSE
|
|
#define CH_CFG_USE_OBJ_FIFOS FALSE
|
|
#define CH_DBG_FILL_THREADS FALSE
|
|
#define CH_CFG_USE_SEMAPHORES FALSE
|
|
#define CH_CFG_USE_HEAP FALSE
|
|
#define CH_CFG_USE_MUTEXES FALSE
|
|
#define CH_CFG_USE_CONDVARS FALSE
|
|
#define CH_CFG_USE_CONDVARS_TIMEOUT FALSE
|
|
#define CH_CFG_USE_EVENTS FALSE
|
|
#define CH_CFG_USE_EVENTS_TIMEOUT FALSE
|
|
#define CH_CFG_USE_MESSAGES FALSE
|
|
#define CH_CFG_USE_MAILBOXES FALSE
|
|
#define CH_CFG_USE_FACTORY FALSE
|
|
#define CH_CFG_USE_MEMCORE FALSE
|
|
#define HAL_USE_I2C FALSE
|
|
#define HAL_USE_PWM FALSE
|
|
''')
|
|
|
|
def write_ldscript(fname):
|
|
'''write ldscript.ld for this board'''
|
|
flash_size = get_config('FLASH_USE_MAX_KB', type=int, default=0)
|
|
if flash_size == 0:
|
|
flash_size = get_config('FLASH_SIZE_KB', type=int)
|
|
|
|
# space to reserve for bootloader and storage at start of flash
|
|
flash_reserve_start = get_config(
|
|
'FLASH_RESERVE_START_KB', default=16, type=int)
|
|
|
|
env_vars['FLASH_RESERVE_START_KB'] = str(flash_reserve_start)
|
|
|
|
# space to reserve for storage at end of flash
|
|
flash_reserve_end = get_config('FLASH_RESERVE_END_KB', default=0, type=int)
|
|
|
|
# ram layout
|
|
ram_map = get_mcu_config('RAM_MAP', True)
|
|
|
|
flash_base = 0x08000000 + flash_reserve_start * 1024
|
|
|
|
if not args.bootloader:
|
|
flash_length = flash_size - (flash_reserve_start + flash_reserve_end)
|
|
else:
|
|
flash_length = get_config('FLASH_BOOTLOADER_LOAD_KB', type=int)
|
|
|
|
print("Generating ldscript.ld")
|
|
f = open(fname, 'w')
|
|
f.write('''/* generated ldscript.ld */
|
|
MEMORY
|
|
{
|
|
flash : org = 0x%08x, len = %uK
|
|
ram0 : org = 0x%08x, len = %uk
|
|
}
|
|
|
|
INCLUDE common.ld
|
|
''' % (flash_base, flash_length, ram_map[0][0], ram_map[0][1]))
|
|
|
|
def copy_common_linkerscript(outdir, hwdef):
|
|
dirpath = os.path.dirname(hwdef)
|
|
shutil.copy(os.path.join(dirpath, "../common/common.ld"),
|
|
os.path.join(outdir, "common.ld"))
|
|
|
|
|
|
|
|
def write_USB_config(f):
|
|
'''write USB config defines'''
|
|
if not have_type_prefix('OTG'):
|
|
return
|
|
f.write('// USB configuration\n')
|
|
f.write('#define HAL_USB_VENDOR_ID %s\n' % get_config('USB_VENDOR', default=0x0483)) # default to ST
|
|
f.write('#define HAL_USB_PRODUCT_ID %s\n' % get_config('USB_PRODUCT', default=0x5740))
|
|
f.write('#define HAL_USB_STRING_MANUFACTURER "%s"\n' % get_config("USB_STRING_MANUFACTURER", default="ArduPilot"))
|
|
default_product = "%BOARD%"
|
|
if args.bootloader:
|
|
default_product += "-BL"
|
|
f.write('#define HAL_USB_STRING_PRODUCT "%s"\n' % get_config("USB_STRING_PRODUCT", default=default_product))
|
|
f.write('#define HAL_USB_STRING_SERIAL "%s"\n' % get_config("USB_STRING_SERIAL", default="%SERIAL%"))
|
|
|
|
f.write('\n\n')
|
|
|
|
|
|
def write_SPI_table(f):
|
|
'''write SPI device table'''
|
|
f.write('\n// SPI device table\n')
|
|
devlist = []
|
|
for dev in spidev:
|
|
if len(dev) != 7:
|
|
print("Badly formed SPIDEV line %s" % dev)
|
|
name = '"' + dev[0] + '"'
|
|
bus = dev[1]
|
|
devid = dev[2]
|
|
cs = dev[3]
|
|
mode = dev[4]
|
|
lowspeed = dev[5]
|
|
highspeed = dev[6]
|
|
if not bus.startswith('SPI') or not bus 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 not cs in bylabel or not bylabel[cs].is_CS():
|
|
error("Bad CS pin in SPIDEV line %s" % dev)
|
|
if not mode 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))
|
|
|
|
|
|
def write_SPI_config(f):
|
|
'''write SPI config defines'''
|
|
global spi_list
|
|
for t in bytype.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 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 write_UART_config(f):
|
|
'''write UART config defines'''
|
|
get_config('UART_ORDER')
|
|
uart_list = config['UART_ORDER']
|
|
f.write('\n// UART configuration\n')
|
|
|
|
# write out driver declarations for HAL_ChibOS_Class.cpp
|
|
devnames = "ABCDEFGH"
|
|
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]))
|
|
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), 7):
|
|
f.write('#define HAL_UART%s_DRIVER Empty::UARTDriver uart%sDriver\n' %
|
|
(devnames[idx], devnames[idx]))
|
|
|
|
if 'IOMCU_UART' in config:
|
|
f.write('#define HAL_WITH_IO_MCU 1\n')
|
|
idx = len(uart_list)
|
|
f.write('#define HAL_UART_IOMCU_IDX %u\n' % idx)
|
|
f.write(
|
|
'#define HAL_UART_IO_DRIVER ChibiOS::UARTDriver uart_io(HAL_UART_IOMCU_IDX)\n'
|
|
)
|
|
uart_list.append(config['IOMCU_UART'][0])
|
|
f.write('#define HAL_HAVE_SERVO_VOLTAGE 1\n') # make the assumption that IO gurantees servo monitoring
|
|
else:
|
|
f.write('#define HAL_WITH_IO_MCU 0\n')
|
|
f.write('\n')
|
|
|
|
need_uart_driver = False
|
|
devlist = []
|
|
for dev in uart_list:
|
|
if dev.startswith('UART'):
|
|
n = int(dev[4:])
|
|
elif dev.startswith('USART'):
|
|
n = int(dev[5:])
|
|
elif dev.startswith('OTG'):
|
|
n = int(dev[3:])
|
|
elif dev.startswith('EMPTY'):
|
|
continue
|
|
else:
|
|
error("Invalid element %s in UART_ORDER" % dev)
|
|
devlist.append('HAL_%s_CONFIG' % dev)
|
|
if dev + "_RTS" in bylabel:
|
|
p = bylabel[dev + '_RTS']
|
|
rts_line = 'PAL_LINE(GPIO%s,%uU)' % (p.port, p.pin)
|
|
else:
|
|
rts_line = "0"
|
|
if dev.startswith('OTG'):
|
|
f.write(
|
|
'#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU1, true, false, 0, 0, false, 0, 0}\n'
|
|
% dev)
|
|
else:
|
|
need_uart_driver = True
|
|
f.write(
|
|
"#define HAL_%s_CONFIG { (BaseSequentialStream*) &SD%u, false, "
|
|
% (dev, n))
|
|
f.write("STM32_%s_RX_DMA_CONFIG, STM32_%s_TX_DMA_CONFIG, %s, " %
|
|
(dev, dev, rts_line))
|
|
|
|
# add inversion pins, if any
|
|
f.write("%d, " % get_gpio_bylabel(dev + "_RXINV"))
|
|
f.write("%s, " % get_extra_bylabel(dev + "_RXINV", "POL", "0"))
|
|
f.write("%d, " % get_gpio_bylabel(dev + "_TXINV"))
|
|
f.write("%s}\n" % get_extra_bylabel(dev + "_TXINV", "POL", "0"))
|
|
|
|
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
|
|
''')
|
|
|
|
def write_UART_config_bootloader(f):
|
|
'''write UART config defines'''
|
|
get_config('UART_ORDER')
|
|
uart_list = config['UART_ORDER']
|
|
f.write('\n// UART configuration\n')
|
|
devlist = []
|
|
have_uart = False
|
|
for u in uart_list:
|
|
if u.startswith('OTG'):
|
|
devlist.append('(BaseChannel *)&SDU1')
|
|
else:
|
|
unum = int(u[-1])
|
|
devlist.append('(BaseChannel *)&SD%u' % unum)
|
|
have_uart = True
|
|
f.write('#define BOOTLOADER_DEV_LIST %s\n' % ','.join(devlist))
|
|
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('#define HAL_USE_I2C FALSE\n')
|
|
return
|
|
if not 'I2C_ORDER' 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)
|
|
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, STM32_I2C_I2C%u_RX_DMA_STREAM, STM32_I2C_I2C%u_TX_DMA_STREAM, HAL_GPIO_PIN_I2C%u_SCL, HAL_GPIO_PIN_I2C%u_SDA }
|
|
#else
|
|
#define HAL_I2C%u_CONFIG { &I2CD%u, SHARED_DMA_NONE, SHARED_DMA_NONE, HAL_GPIO_PIN_I2C%u_SCL, HAL_GPIO_PIN_I2C%u_SDA }
|
|
#endif
|
|
'''
|
|
% (n, n, n, n, n, n, n, n, n, n, n, n))
|
|
f.write('\n#define HAL_I2C_DEVICE_LIST %s\n\n' % ','.join(devlist))
|
|
|
|
def parse_timer(str):
|
|
'''parse timer channel string, i.e TIM8_CH2N'''
|
|
result = re.match(r'TIM([0-9]*)_CH([1234])(N?)', str)
|
|
if result:
|
|
tim = int(result.group(1))
|
|
chan = int(result.group(2))
|
|
compl = result.group(3) == 'N'
|
|
if tim < 1 or tim > 17:
|
|
error("Bad timer number %s in %s" % (tim, str))
|
|
return (tim, chan, compl)
|
|
else:
|
|
error("Bad timer definition %s" % str)
|
|
|
|
def write_PWM_config(f):
|
|
'''write PWM config defines'''
|
|
rc_in = None
|
|
rc_in_int = None
|
|
alarm = None
|
|
pwm_out = []
|
|
pwm_timers = []
|
|
for l in bylabel.keys():
|
|
p = bylabel[l]
|
|
if p.type.startswith('TIM'):
|
|
if p.has_extra('RCIN'):
|
|
rc_in = p
|
|
elif p.has_extra('RCININT'):
|
|
rc_in_int = p
|
|
elif p.has_extra('ALARM'):
|
|
alarm = p
|
|
else:
|
|
if p.extra_value('PWM', type=int) is not None:
|
|
pwm_out.append(p)
|
|
if p.type not in pwm_timers:
|
|
pwm_timers.append(p.type)
|
|
|
|
if not pwm_out:
|
|
print("No PWM output defined")
|
|
f.write('''
|
|
#ifndef HAL_USE_PWM
|
|
#define HAL_USE_PWM FALSE
|
|
#endif
|
|
''')
|
|
|
|
if rc_in is not None:
|
|
(n, chan, compl) = parse_timer(rc_in.label)
|
|
if compl:
|
|
# it is an inverted channel
|
|
f.write('#define HAL_RCIN_IS_INVERTED\n')
|
|
if chan not in [1, 2]:
|
|
error(
|
|
"Bad channel number, only channel 1 and 2 supported for RCIN")
|
|
f.write('// RC input config\n')
|
|
f.write('#define HAL_USE_ICU TRUE\n')
|
|
f.write('#define STM32_ICU_USE_TIM%u TRUE\n' % n)
|
|
f.write('#define RCIN_ICU_TIMER ICUD%u\n' % n)
|
|
f.write('#define RCIN_ICU_CHANNEL ICU_CHANNEL_%u\n' % chan)
|
|
f.write('#define STM32_RCIN_DMA_STREAM STM32_TIM_TIM%u_CH%u_DMA_STREAM\n' % (n, chan))
|
|
f.write('#define STM32_RCIN_DMA_CHANNEL STM32_TIM_TIM%u_CH%u_DMA_CHAN\n' % (n, chan))
|
|
f.write('\n')
|
|
|
|
if rc_in_int is not None:
|
|
(n, chan, compl) = parse_timer(rc_in_int.label)
|
|
if compl:
|
|
error('Complementary channel is not supported for RCININT %s' % rc_in_int.label)
|
|
f.write('// RC input config\n')
|
|
f.write('#define HAL_USE_EICU TRUE\n')
|
|
f.write('#define STM32_EICU_USE_TIM%u TRUE\n' % n)
|
|
f.write('#define RCININT_EICU_TIMER EICUD%u\n' % n)
|
|
f.write('#define RCININT_EICU_CHANNEL EICU_CHANNEL_%u\n' % chan)
|
|
f.write('\n')
|
|
|
|
if alarm is not None:
|
|
(n, chan, compl) = parse_timer(alarm.label)
|
|
if compl:
|
|
error("Complementary channel is not supported for ALARM %s" % alarm.label)
|
|
f.write('\n')
|
|
f.write('// Alarm PWM output config\n')
|
|
f.write('#define STM32_PWM_USE_TIM%u TRUE\n' % n)
|
|
f.write('#define STM32_TIM%u_SUPPRESS_ISR\n' % n)
|
|
|
|
chan_mode = [
|
|
'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED',
|
|
'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED'
|
|
]
|
|
chan_mode[chan - 1] = 'PWM_OUTPUT_ACTIVE_HIGH'
|
|
|
|
pwm_clock = 1000000
|
|
period = 1000
|
|
|
|
f.write('''#define HAL_PWM_ALARM \\
|
|
{ /* pwmGroup */ \\
|
|
%u, /* Timer channel */ \\
|
|
{ /* PWMConfig */ \\
|
|
%u, /* PWM clock frequency. */ \\
|
|
%u, /* Initial PWM period 20ms. */ \\
|
|
NULL, /* no callback */ \\
|
|
{ /* Channel Config */ \\
|
|
{%s, NULL}, \\
|
|
{%s, NULL}, \\
|
|
{%s, NULL}, \\
|
|
{%s, NULL} \\
|
|
}, \\
|
|
0, 0 \\
|
|
}, \\
|
|
&PWMD%u /* PWMDriver* */ \\
|
|
}\n''' %
|
|
(chan-1, pwm_clock, period, chan_mode[0],
|
|
chan_mode[1], chan_mode[2], chan_mode[3], n))
|
|
else:
|
|
f.write('\n')
|
|
f.write('// No Alarm output pin defined\n')
|
|
f.write('#undef HAL_PWM_ALARM\n')
|
|
f.write('\n')
|
|
|
|
f.write('// PWM timer config\n')
|
|
for t in sorted(pwm_timers):
|
|
n = int(t[3:])
|
|
f.write('#define STM32_PWM_USE_TIM%u TRUE\n' % n)
|
|
f.write('#define STM32_TIM%u_SUPPRESS_ISR\n' % n)
|
|
f.write('\n')
|
|
f.write('// PWM output config\n')
|
|
groups = []
|
|
for t in sorted(pwm_timers):
|
|
group = len(groups) + 1
|
|
n = int(t[3:])
|
|
chan_list = [255, 255, 255, 255]
|
|
chan_mode = [
|
|
'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED',
|
|
'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED'
|
|
]
|
|
alt_functions = [ 0, 0, 0, 0 ]
|
|
pal_lines = [ '0', '0', '0', '0' ]
|
|
for p in pwm_out:
|
|
if p.type != t:
|
|
continue
|
|
(n, chan, compl) = parse_timer(p.label)
|
|
pwm = p.extra_value('PWM', type=int)
|
|
chan_list[chan - 1] = pwm - 1
|
|
if compl:
|
|
chan_mode[chan - 1] = 'PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH'
|
|
else:
|
|
chan_mode[chan - 1] = 'PWM_OUTPUT_ACTIVE_HIGH'
|
|
alt_functions[chan - 1] = p.af
|
|
pal_lines[chan - 1] = 'PAL_LINE(GPIO%s, %uU)' % (p.port, p.pin)
|
|
groups.append('HAL_PWM_GROUP%u' % group)
|
|
if n in [1, 8]:
|
|
# only the advanced timers do 8MHz clocks
|
|
advanced_timer = 'true'
|
|
else:
|
|
advanced_timer = 'false'
|
|
pwm_clock = 1000000
|
|
period = 20000 * pwm_clock / 1000000
|
|
f.write('''#if defined(STM32_TIM_TIM%u_UP_DMA_STREAM) && defined(STM32_TIM_TIM%u_UP_DMA_CHAN)
|
|
# define HAL_PWM%u_DMA_CONFIG true, STM32_TIM_TIM%u_UP_DMA_STREAM, STM32_TIM_TIM%u_UP_DMA_CHAN
|
|
#else
|
|
# define HAL_PWM%u_DMA_CONFIG false, 0, 0
|
|
#endif\n''' % (n, n, n, n, n, n))
|
|
f.write('''#define HAL_PWM_GROUP%u { %s, \\
|
|
{%u, %u, %u, %u}, \\
|
|
/* Group Initial Config */ \\
|
|
{ \\
|
|
%u, /* PWM clock frequency. */ \\
|
|
%u, /* Initial PWM period 20ms. */ \\
|
|
NULL, /* no callback */ \\
|
|
{ \\
|
|
/* Channel Config */ \\
|
|
{%s, NULL}, \\
|
|
{%s, NULL}, \\
|
|
{%s, NULL}, \\
|
|
{%s, NULL} \\
|
|
}, 0, 0}, &PWMD%u, \\
|
|
HAL_PWM%u_DMA_CONFIG, \\
|
|
{ %u, %u, %u, %u }, \\
|
|
{ %s, %s, %s, %s }}\n''' %
|
|
(group, advanced_timer,
|
|
chan_list[0], chan_list[1], chan_list[2], chan_list[3],
|
|
pwm_clock, period,
|
|
chan_mode[0], chan_mode[1], chan_mode[2], chan_mode[3],
|
|
n, n,
|
|
alt_functions[0], alt_functions[1], alt_functions[2], alt_functions[3],
|
|
pal_lines[0], pal_lines[1], pal_lines[2], pal_lines[3]))
|
|
f.write('#define HAL_PWM_GROUPS %s\n\n' % ','.join(groups))
|
|
|
|
|
|
def write_ADC_config(f):
|
|
'''write ADC config defines'''
|
|
f.write('// ADC config\n')
|
|
adc_chans = []
|
|
for l in bylabel:
|
|
p = bylabel[l]
|
|
if not p.type.startswith('ADC'):
|
|
continue
|
|
chan = get_ADC1_chan(mcu_type, p.portpin)
|
|
scale = p.extra_value('SCALE', default=None)
|
|
if p.label == 'VDD_5V_SENS':
|
|
f.write('#define ANALOG_VCC_5V_PIN %u\n' % chan)
|
|
f.write('#define HAL_HAVE_BOARD_VOLTAGE 1\n')
|
|
adc_chans.append((chan, scale, p.label, p.portpin))
|
|
adc_chans = sorted(adc_chans)
|
|
vdd = get_config('STM32_VDD')
|
|
if vdd[-1] == 'U':
|
|
vdd = vdd[:-1]
|
|
vdd = float(vdd) * 0.01
|
|
f.write('#define HAL_ANALOG_PINS { \\\n')
|
|
for (chan, scale, label, portpin) in adc_chans:
|
|
scale_str = '%.2f/4096' % vdd
|
|
if scale is not None and scale != '1':
|
|
scale_str = scale + '*' + scale_str
|
|
f.write('{ %2u, %12s }, /* %s %s */ \\\n' % (chan, scale_str, portpin,
|
|
label))
|
|
f.write('}\n\n')
|
|
|
|
|
|
def write_GPIO_config(f):
|
|
'''write GPIO config defines'''
|
|
f.write('// GPIO config\n')
|
|
gpios = []
|
|
gpioset = set()
|
|
for l in bylabel:
|
|
p = bylabel[l]
|
|
gpio = p.extra_value('GPIO', type=int)
|
|
if gpio is None:
|
|
continue
|
|
if gpio in gpioset:
|
|
error("Duplicate GPIO value %u" % gpio)
|
|
gpioset.add(gpio)
|
|
# see if it is also a PWM pin
|
|
pwm = p.extra_value('PWM', type=int, default=0)
|
|
port = p.port
|
|
pin = p.pin
|
|
gpios.append((gpio, pwm, port, pin, p))
|
|
gpios = sorted(gpios)
|
|
for (gpio, pwm, port, pin, p) in gpios:
|
|
f.write('#define HAL_GPIO_LINE_GPIO%u PAL_LINE(GPIO%s, %2uU)\n' % (gpio, port, pin))
|
|
f.write('#define HAL_GPIO_PINS { \\\n')
|
|
for (gpio, pwm, port, pin, p) in gpios:
|
|
f.write('{ %3u, true, %2u, PAL_LINE(GPIO%s, %2uU)}, /* %s */ \\\n' %
|
|
(gpio, pwm, port, pin, p))
|
|
# and write #defines for use by config code
|
|
f.write('}\n\n')
|
|
f.write('// full pin define list\n')
|
|
last_label = None
|
|
for l in sorted(list(set(bylabel.keys()))):
|
|
p = bylabel[l]
|
|
label = p.label
|
|
label = label.replace('-', '_')
|
|
if label == last_label:
|
|
continue
|
|
last_label = label
|
|
f.write('#define HAL_GPIO_PIN_%-20s PAL_LINE(GPIO%s,%uU)\n' %
|
|
(label, p.port, p.pin))
|
|
f.write('\n')
|
|
|
|
def bootloader_path():
|
|
# always embed a bootloader if it is available
|
|
this_dir = os.path.realpath(__file__)
|
|
rootdir = os.path.relpath(os.path.join(this_dir, "../../../../.."))
|
|
hwdef_dirname = os.path.basename(os.path.dirname(args.hwdef))
|
|
bootloader_filename = "%s_bl.bin" % (hwdef_dirname,)
|
|
bootloader_path = os.path.join(rootdir,
|
|
"Tools",
|
|
"bootloaders",
|
|
bootloader_filename)
|
|
if os.path.exists(bootloader_path):
|
|
return os.path.realpath(bootloader_path)
|
|
|
|
return None
|
|
|
|
def add_bootloader():
|
|
'''added bootloader to ROMFS'''
|
|
bp = bootloader_path()
|
|
if bp is not None:
|
|
romfs["bootloader.bin"] = bp
|
|
|
|
def write_ROMFS(outdir):
|
|
'''create ROMFS embedded header'''
|
|
romfs_list = []
|
|
for k in romfs.keys():
|
|
romfs_list.append((k, romfs[k]))
|
|
env_vars['ROMFS_FILES'] = romfs_list
|
|
|
|
def setup_apj_IDs():
|
|
'''setup the APJ board IDs'''
|
|
env_vars['APJ_BOARD_ID'] = get_config('APJ_BOARD_ID')
|
|
env_vars['APJ_BOARD_TYPE'] = get_config('APJ_BOARD_TYPE', default=mcu_type)
|
|
|
|
def write_peripheral_enable(f):
|
|
'''write peripheral enable lines'''
|
|
f.write('// peripherals enabled\n')
|
|
for type in sorted(bytype.keys()):
|
|
if type.startswith('USART') or type.startswith('UART'):
|
|
dstr = 'STM32_SERIAL_USE_%-6s' % type
|
|
f.write('#ifndef %s\n' % dstr)
|
|
f.write('#define %s TRUE\n' % dstr)
|
|
f.write('#endif\n')
|
|
if type.startswith('SPI'):
|
|
f.write('#define STM32_SPI_USE_%s TRUE\n' % type)
|
|
if type.startswith('OTG'):
|
|
f.write('#define STM32_USB_USE_%s TRUE\n' % type)
|
|
if type.startswith('I2C'):
|
|
f.write('#define STM32_I2C_USE_%s TRUE\n' % type)
|
|
|
|
def get_dma_exclude(periph_list):
|
|
'''return list of DMA devices to exclude from DMA'''
|
|
dma_exclude = []
|
|
for periph in periph_list:
|
|
if periph not in bylabel:
|
|
continue
|
|
p = bylabel[periph]
|
|
if p.has_extra('NODMA'):
|
|
dma_exclude.append(periph)
|
|
return dma_exclude
|
|
|
|
def write_hwdef_header(outfilename):
|
|
'''write hwdef header file'''
|
|
print("Writing hwdef setup in %s" % outfilename)
|
|
f = open(outfilename, 'w')
|
|
|
|
f.write('''/*
|
|
generated hardware definitions from hwdef.dat - DO NOT EDIT
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#ifndef TRUE
|
|
#define TRUE 1
|
|
#endif
|
|
|
|
#ifndef FALSE
|
|
#define FALSE 0
|
|
#endif
|
|
|
|
''')
|
|
|
|
write_mcu_config(f)
|
|
write_USB_config(f)
|
|
write_SPI_config(f)
|
|
write_ADC_config(f)
|
|
write_GPIO_config(f)
|
|
|
|
write_peripheral_enable(f)
|
|
setup_apj_IDs()
|
|
|
|
dma_resolver.write_dma_header(f, periph_list, mcu_type,
|
|
dma_exclude=get_dma_exclude(periph_list),
|
|
dma_priority=get_config('DMA_PRIORITY',default='TIM* SPI*', spaces=True),
|
|
dma_noshare=get_config('DMA_NOSHARE',default='', spaces=True))
|
|
|
|
if not args.bootloader:
|
|
write_PWM_config(f)
|
|
write_I2C_config(f)
|
|
write_UART_config(f)
|
|
else:
|
|
write_UART_config_bootloader(f)
|
|
|
|
add_bootloader()
|
|
|
|
if len(romfs) > 0:
|
|
f.write('#define HAL_HAVE_AP_ROMFS_EMBEDDED_H 1\n')
|
|
|
|
if mcu_series == 'STM32F100':
|
|
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) (0 << (((n) & 7) * 4))
|
|
#define PIN_MODE_OUTPUT_OD(n) (4 << (((n) & 7) * 4))
|
|
#define PIN_MODE_AF_PP(n) (8 << (((n) & 7) * 4))
|
|
#define PIN_MODE_AF_OD(n) (12 << (((n) & 7) * 4))
|
|
#define PIN_MODE_ANALOG(n) (0 << (((n) & 7) * 4))
|
|
#define PIN_MODE_NOPULL(n) (4 << (((n) & 7) * 4))
|
|
#define PIN_MODE_PUD(n) (8 << (((n) & 7) * 4))
|
|
#define PIN_SPEED_MEDIUM(n) (1 << (((n) & 7) * 4))
|
|
#define PIN_SPEED_LOW(n) (2 << (((n) & 7) * 4))
|
|
#define PIN_SPEED_HIGH(n) (3 << (((n) & 7) * 4))
|
|
#define PIN_ODR_HIGH(n) (1 << (((n) & 15)))
|
|
#define PIN_ODR_LOW(n) (0 << (((n) & 15)))
|
|
#define PIN_PULLUP(n) (1 << (((n) & 15)))
|
|
#define PIN_PULLDOWN(n) (0 << (((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")
|
|
|
|
|
|
def build_peripheral_list():
|
|
'''build a list of peripherals for DMA resolver to work on'''
|
|
peripherals = []
|
|
done = set()
|
|
prefixes = ['SPI', 'USART', 'UART', 'I2C']
|
|
for p in allpins:
|
|
type = p.type
|
|
if type in done:
|
|
continue
|
|
for prefix in prefixes:
|
|
if type.startswith(prefix):
|
|
ptx = type + "_TX"
|
|
prx = type + "_RX"
|
|
peripherals.append(ptx)
|
|
peripherals.append(prx)
|
|
if not ptx in bylabel:
|
|
bylabel[ptx] = p
|
|
if not prx in bylabel:
|
|
bylabel[prx] = p
|
|
|
|
if type.startswith('ADC'):
|
|
peripherals.append(type)
|
|
if type.startswith('SDIO') or type.startswith('SDMMC'):
|
|
if not mcu_series.startswith("STM32H7"):
|
|
peripherals.append(type)
|
|
if type.startswith('TIM'):
|
|
if p.has_extra('RCIN'):
|
|
label = p.label
|
|
if label[-1] == 'N':
|
|
label = label[:-1]
|
|
peripherals.append(label)
|
|
elif not p.has_extra('ALARM') and not p.has_extra('RCININT'):
|
|
# get the TIMn_UP DMA channels for DShot
|
|
label = type + '_UP'
|
|
if not label in peripherals and not p.has_extra('NODMA'):
|
|
peripherals.append(label)
|
|
done.add(type)
|
|
return peripherals
|
|
|
|
|
|
def write_env_py(filename):
|
|
'''write out env.py for environment variables to control the build process'''
|
|
|
|
# see if board has a defaults.parm file
|
|
defaults_filename = os.path.join(os.path.dirname(args.hwdef), 'defaults.parm')
|
|
if os.path.exists(defaults_filename) and not args.bootloader:
|
|
print("Adding defaults.parm")
|
|
env_vars['DEFAULT_PARAMETERS'] = os.path.abspath(defaults_filename)
|
|
|
|
# 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 process_line(line):
|
|
'''process one line of pin definition file'''
|
|
global allpins
|
|
a = shlex.split(line)
|
|
# keep all config lines for later use
|
|
alllines.append(line)
|
|
|
|
if a[0].startswith('P') and a[0][1] in ports and a[0] in config:
|
|
error("Pin %s redefined" % a[0])
|
|
|
|
config[a[0]] = a[1:]
|
|
if a[0] == 'MCU':
|
|
global mcu_type, mcu_series
|
|
mcu_type = a[2]
|
|
mcu_series = a[1]
|
|
setup_mcu_type_defaults()
|
|
if a[0].startswith('P') and a[0][1] in ports:
|
|
# it is a port/pin definition
|
|
try:
|
|
port = a[0][1]
|
|
pin = int(a[0][2:])
|
|
label = a[1]
|
|
type = a[2]
|
|
extra = a[3:]
|
|
except Exception:
|
|
error("Bad pin line: %s" % a)
|
|
return
|
|
|
|
p = generic_pin(port, pin, label, type, extra)
|
|
portmap[port][pin] = p
|
|
allpins.append(p)
|
|
if not type in bytype:
|
|
bytype[type] = []
|
|
bytype[type].append(p)
|
|
bylabel[label] = p
|
|
af = get_alt_function(mcu_type, a[0], label)
|
|
if af is not None:
|
|
p.af = af
|
|
if a[0] == 'SPIDEV':
|
|
spidev.append(a[1:])
|
|
if a[0] == 'ROMFS':
|
|
romfs_add(a[1],a[2])
|
|
if a[0] == 'ROMFS_WILDCARD':
|
|
romfs_wildcard(a[1])
|
|
if a[0] == 'undef':
|
|
print("Removing %s" % a[1])
|
|
config.pop(a[1], '')
|
|
bytype.pop(a[1],'')
|
|
bylabel.pop(a[1],'')
|
|
#also remove all occurences of defines in previous lines if any
|
|
for line in alllines[:]:
|
|
if line.startswith('define') and a[1] in line:
|
|
alllines.remove(line)
|
|
newpins = []
|
|
for pin in allpins:
|
|
if pin.type == a[1]:
|
|
continue
|
|
if pin.label == a[1]:
|
|
continue
|
|
if pin.portpin == a[1]:
|
|
continue
|
|
newpins.append(pin)
|
|
allpins = newpins
|
|
if a[0] == 'env':
|
|
print("Adding environment %s" % ' '.join(a[1:]))
|
|
if len(a[1:]) < 2:
|
|
error("Bad env line for %s" % a[0])
|
|
env_vars[a[1]] = ' '.join(a[2:])
|
|
|
|
|
|
def process_file(filename):
|
|
'''process a hwdef.dat file'''
|
|
try:
|
|
f = open(filename, "r")
|
|
except Exception:
|
|
error("Unable to open file %s" % filename)
|
|
for line in f.readlines():
|
|
line = line.strip()
|
|
if len(line) == 0 or line[0] == '#':
|
|
continue
|
|
a = shlex.split(line)
|
|
if a[0] == "include" and len(a) > 1:
|
|
include_file = a[1]
|
|
if include_file[0] != '/':
|
|
dir = os.path.dirname(filename)
|
|
include_file = os.path.normpath(
|
|
os.path.join(dir, include_file))
|
|
print("Including %s" % include_file)
|
|
process_file(include_file)
|
|
else:
|
|
process_line(line)
|
|
|
|
|
|
# process input file
|
|
process_file(args.hwdef)
|
|
|
|
outdir = args.outdir
|
|
if outdir is None:
|
|
outdir = '/tmp'
|
|
|
|
if not "MCU" 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 hwdef.h
|
|
write_hwdef_header(os.path.join(outdir, "hwdef.h"))
|
|
|
|
# write out ldscript.ld
|
|
write_ldscript(os.path.join(outdir, "ldscript.ld"))
|
|
|
|
write_ROMFS(outdir)
|
|
|
|
# copy the shared linker script into the build directory; it must
|
|
# exist in the same directory as the ldscript.ld file we generate.
|
|
copy_common_linkerscript(outdir, args.hwdef)
|
|
|
|
write_env_py(os.path.join(outdir, "env.py"))
|