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

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#!/usr/bin/env python
'''
setup board.h for chibios
AP_FLAKE8_CLEAN
'''
import argparse
import sys
import fnmatch
import os
import dma_resolver
import shlex
import pickle
import re
import shutil
import filecmp
class ChibiOSHWDefIncludeNotFoundException(Exception):
def __init__(self, hwdef, includer):
self.hwdef = hwdef
self.includer = includer
class ChibiOSHWDef(object):
# output variables for each pin
f4f7_vtypes = ['MODER', 'OTYPER', 'OSPEEDR', 'PUPDR', 'ODR', 'AFRL', 'AFRH']
f1_vtypes = ['CRL', 'CRH', 'ODR']
af_labels = ['USART', 'UART', 'SPI', 'I2C', 'SDIO', 'SDMMC', 'OTG', 'JT', 'TIM', 'CAN', 'QUADSPI', 'OCTOSPI', 'ETH', 'MCO']
def __init__(self, quiet=False, bootloader=False, signed_fw=False, outdir=None, hwdef=[], default_params_filepath=None):
self.outdir = outdir
self.hwdef = hwdef
self.bootloader = bootloader
self.signed_fw = signed_fw
self.default_params_filepath = default_params_filepath
self.quiet = quiet
self.have_defaults_file = False
# if true then parameters will be appended in special apj-tool
# section at end of binary:
self.force_apj_default_parameters = False
self.default_gpio = ['INPUT', 'FLOATING']
self.vtypes = []
# number of pins in each port
self.pincount = {
'A': 16,
'B': 16,
'C': 16,
'D': 16,
'E': 16,
'F': 16,
'G': 16,
'H': 2,
'I': 0,
'J': 0,
'K': 0
}
self.ports = self.pincount.keys()
self.portmap = {}
# dictionary of all config lines, indexed by first word
self.config = {}
# alternate pin mappings
self.altmap = {}
# list of all pins in config file order
self.allpins = []
# list of configs by type
self.bytype = {}
# list of alt configs by type
self.alttype = {}
# list of configs by label
self.bylabel = {}
# list of alt configs by label
self.altlabel = {}
# list of SPI devices
self.spidev = []
# list of WSPI devices
self.wspidev = []
# dictionary of ROMFS files
self.romfs = {}
# SPI bus list
self.spi_list = []
# list of WSPI devices
self.wspi_list = []
# all config lines in order
self.alllines = []
# allow for extra env vars
self.env_vars = {}
# build flags for ChibiOS makefiles
self.build_flags = []
# sensor lists
self.imu_list = []
self.compass_list = []
self.baro_list = []
self.airspeed_list = []
# output lines:
self.all_lines = []
self.dma_exclude_pattern = []
self.mcu_type = None
self.dual_USB_enabled = False
# list of device patterns that can't be shared
self.dma_noshare = []
# integer defines
self.intdefines = {}
# list of shared up timers
self.shared_up = []
# boolean indicating whether we have read and processed self.hwdef
self.processed_hwdefs = False
def is_int(self, str):
'''check if a string is an integer'''
try:
int(str)
except Exception:
return False
return True
def error(self, str):
'''show an error and exit'''
print("Error: " + str)
sys.exit(1)
def get_mcu_lib(self, mcu):
'''get library file for the chosen MCU'''
import importlib
try:
return importlib.import_module(mcu)
except ImportError:
self.error("Unable to find module for MCU %s" % mcu)
def setup_mcu_type_defaults(self):
'''setup defaults for given mcu type'''
lib = self.get_mcu_lib(self.mcu_type)
if hasattr(lib, 'pincount'):
self.pincount = lib.pincount
if self.mcu_series.startswith("STM32F1"):
self.vtypes = self.f1_vtypes
else:
self.vtypes = self.f4f7_vtypes
self.ports = self.pincount.keys()
# setup default as input pins
for port in self.ports:
self.portmap[port] = []
for pin in range(self.pincount[port]):
self.portmap[port].append(self.generic_pin(port, pin, None, self.default_gpio[0], self.default_gpio[1:], self.mcu_type, self.mcu_series, self.get_ADC1_chan, self.get_ADC2_chan, self.get_ADC3_chan, self.af_labels)) # noqa
if self.mcu_series.startswith("STM32H7") or self.mcu_series.startswith("STM32F7"):
# default DMA off on I2C for H7, we're much better off reducing DMA sharing
self.dma_exclude_pattern = ['I2C*']
def get_alt_function(self, mcu, pin, function):
'''return alternative function number for a pin'''
lib = self.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 label in self.af_labels:
if function.startswith(label):
return 0
return None
if function and (function.endswith("_RTS") or function.endswith("_CTS_GPIO")) and (
function.startswith('USART') or function.startswith('UART')):
# we do software RTS and can do either software CTS or hardware CTS
return None
for label in self.af_labels:
if function.startswith(label):
s = pin + ":" + function
if s not in alt_map:
self.error("Unknown pin function %s for MCU %s" % (s, mcu))
return alt_map[s]
return None
def have_type_prefix(self, ptype):
'''return True if we have a peripheral starting with the given peripheral type'''
for t in list(self.bytype.keys()) + list(self.alttype.keys()):
if t.startswith(ptype):
return True
return False
def get_ADC1_chan(self, mcu, pin):
'''return ADC1 channel for an analog pin'''
import importlib
try:
lib = importlib.import_module(mcu)
ADC1_map = lib.ADC1_map
except ImportError:
self.error("Unable to find ADC1_Map for MCU %s" % mcu)
if pin not in ADC1_map:
self.error("Unable to find ADC1 channel for pin %s" % pin)
return ADC1_map[pin]
def get_ADC2_chan(self, mcu, pin):
'''return ADC2 channel for an analog pin'''
import importlib
try:
lib = importlib.import_module(mcu)
ADC2_map = lib.ADC2_map
except ImportError:
self.error("Unable to find ADC2_Map for MCU %s" % mcu)
if pin not in ADC2_map:
self.error("Unable to find ADC2 channel for pin %s" % pin)
return ADC2_map[pin]
def get_ADC3_chan(self, mcu, pin):
'''return ADC3 channel for an analog pin'''
import importlib
try:
lib = importlib.import_module(mcu)
ADC3_map = lib.ADC3_map
except ImportError:
self.error("Unable to find ADC3_Map for MCU %s" % mcu)
if pin not in ADC3_map:
self.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,
mcu_type,
mcu_series,
get_ADC1_chan,
get_ADC2_chan,
get_ADC3_chan,
af_labels
):
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
self.mcu_type = mcu_type
self.mcu_series = mcu_series
# these are methods supplied to us to resolve channel numbers:
self.get_ADC1_chan = get_ADC1_chan
self.get_ADC2_chan = get_ADC2_chan
self.get_ADC3_chan = get_ADC3_chan
self.af_labels = af_labels
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(mcu_type)
# 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]:
self.error("Peripheral prefix mismatch for %s %s %s" % (self.portpin, label, type))
def f1_pin_setup(self, mcu_type):
f1_input_sigs = ['RX', 'MISO', 'CTS']
f1_output_sigs = ['TX', 'MOSI', 'SCK', 'RTS', 'CH1', 'CH2', 'CH3', 'CH4']
for label in self.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:
self.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] != ')':
self.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:
self.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:
self.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'))):
v = "PULLUP"
# pulldown on RTS to prevent radios from staying in bootloader
if (self.type.startswith('USART') or
self.type.startswith('UART')) and (
self.label.endswith('_RTS')):
v = "PULLDOWN"
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 self.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 self.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" % self.get_ADC1_chan(self.mcu_type, self.portpin)
if self.type.startswith('ADC2'):
str += " ADC2_IN%u" % self.get_ADC2_chan(self.mcu_type, self.portpin)
if self.type.startswith('ADC3'):
str += " ADC3_IN%u" % self.get_ADC3_chan(self.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(self, name, column=0, required=True, default=None, type=None, spaces=False, aslist=False):
'''get a value from config dictionary'''
if name not in self.config:
if required and default is None:
self.error("missing required value %s in hwdef.dat" % name)
return default
if aslist:
return self.config[name]
if len(self.config[name]) < column + 1:
if not required:
return None
self.error("missing required value %s in hwdef.dat (column %u)" %
(name, column))
if spaces:
ret = ' '.join(self.config[name][column:])
else:
ret = self.config[name][column]
if type is not None:
if type == int and ret.startswith('0x'):
try:
ret = int(ret, 16)
except Exception:
self.error("Badly formed config value %s (got %s)" % (name, ret))
else:
try:
ret = type(ret)
except Exception:
self.error("Badly formed config value %s (got %s)" % (name, ret))
return ret
def get_mcu_config(self, name, required=False):
'''get a value from the mcu dictionary'''
lib = self.get_mcu_lib(self.mcu_type)
if not hasattr(lib, 'mcu'):
self.error("Missing mcu config for %s" % self.mcu_type)
if name not in lib.mcu:
if required:
self.error("Missing required mcu config %s for %s" % (name, self.mcu_type))
return None
return lib.mcu[name]
def get_ram_reserve_start(self):
'''get amount of memory to reserve for bootloader comms and the address if non-zero'''
ram_reserve_start = self.get_config('RAM_RESERVE_START', default=0, type=int)
if ram_reserve_start == 0 and self.is_periph_fw():
ram_reserve_start = 256
ram_map_bootloader = self.get_ram_map(use_bootloader=True)
ram0_start_address = ram_map_bootloader[0][0]
return ram_reserve_start, ram0_start_address
def make_line(self, label):
'''return a line for a label'''
if label in self.bylabel:
p = self.bylabel[label]
line = 'PAL_LINE(GPIO%s,%uU)' % (p.port, p.pin)
else:
line = "0"
return line
def enable_can(self, f):
'''setup for a CAN enabled board'''
if self.mcu_series.startswith("STM32H7") or self.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 = self.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 self.bytype or (i == 1 and 'CAN' in self.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))
if 'CAN' in self.bytype and self.mcu_type.startswith("STM32F3"):
f.write('#define CAN1_BASE CAN_BASE\n')
self.env_vars['HAL_NUM_CAN_IFACES'] = str(len(base_list))
if self.mcu_series.startswith("STM32H7") and not self.is_bootloader_fw():
# set maximum supported canfd bit rate in MBits/sec
canfd_supported = int(self.get_config('CANFD_SUPPORTED', 0, default=4, required=False))
f.write('#define HAL_CANFD_SUPPORTED %d\n' % canfd_supported)
self.env_vars['HAL_CANFD_SUPPORTED'] = canfd_supported
else:
canfd_supported = int(self.get_config('CANFD_SUPPORTED', 0, default=0, required=False))
f.write('#define HAL_CANFD_SUPPORTED %d\n' % canfd_supported)
self.env_vars['HAL_CANFD_SUPPORTED'] = canfd_supported
def has_sdcard_spi(self):
'''check for sdcard connected to spi bus'''
for dev in self.spidev:
if dev[0] == 'sdcard':
return True
return False
def get_ram_map(self, use_bootloader=False):
'''get RAM_MAP. May be different for bootloader'''
if self.is_bootloader_fw() or use_bootloader:
ram_map = self.get_mcu_config('RAM_MAP_BOOTLOADER', False)
if ram_map is not None:
return ram_map
elif self.env_vars['EXT_FLASH_SIZE_MB'] and not self.env_vars['INT_FLASH_PRIMARY']:
ram_map = self.get_mcu_config('RAM_MAP_EXTERNAL_FLASH', False)
if ram_map is not None:
return ram_map
elif int(self.env_vars.get('USE_ALT_RAM_MAP', 0)) == 1:
self.progress("Using ALT_RAM_MAP")
return self.get_mcu_config('ALT_RAM_MAP', True)
return self.get_mcu_config('RAM_MAP', True)
def get_flash_pages_sizes(self):
mcu_series = self.mcu_series
mcu_type = self.mcu_type
if mcu_series.startswith('STM32F4') or mcu_series.startswith('CKS32F4'):
if self.get_config('FLASH_SIZE_KB', type=int) == 512:
return [16, 16, 16, 16, 64, 128, 128, 128]
elif self.get_config('FLASH_SIZE_KB', type=int) == 1024:
return [16, 16, 16, 16, 64, 128, 128, 128, 128, 128, 128, 128]
elif self.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" % self.get_config('FLASH_SIZE_KB', type=int))
elif mcu_series.startswith('STM32F7'):
if self.get_config('FLASH_SIZE_KB', type=int) == 512:
return [16, 16, 16, 16, 64, 128, 128, 128]
elif self.get_config('FLASH_SIZE_KB', type=int) == 1024:
return [32, 32, 32, 32, 128, 256, 256, 256]
elif self.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" % self.get_config('FLASH_SIZE_KB', type=int))
elif mcu_type.startswith('STM32H7A'):
return [8] * (self.get_config('FLASH_SIZE_KB', type=int)//8)
elif mcu_series.startswith('STM32H7'):
return [128] * (self.get_config('FLASH_SIZE_KB', type=int)//128)
elif mcu_series.startswith('STM32F100') or mcu_series.startswith('STM32F103'):
return [1] * self.get_config('FLASH_SIZE_KB', type=int)
elif mcu_series.startswith('STM32L4') and self.mcu_type.startswith('STM32L4R'):
# STM32L4PLUS
return [4] * (self.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] * (self.get_config('FLASH_SIZE_KB', type=int)//2)
else:
raise Exception("Unsupported flash size MCU %s" % mcu_series)
def get_flash_npages(self):
pages = self.get_flash_pages_sizes()
total_size = sum(pages)
if total_size != self.get_config('FLASH_SIZE_KB', type=int):
raise Exception("Invalid flash size MCU %s" % self.mcu_series)
return len(pages)
def get_flash_page_offset_kb(self, sector):
'''return the offset in flash of a page number'''
pages = self.get_flash_pages_sizes()
offset = 0
for i in range(sector):
offset += pages[i]
return offset
def load_file_with_include(self, 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(self.load_file_with_include(fname2))
continue
ret.append(line)
return ret
def get_storage_flash_page(self):
'''get STORAGE_FLASH_PAGE either from this hwdef or from hwdef.dat
in the same directory if this is a bootloader
'''
storage_flash_page = self.get_config('STORAGE_FLASH_PAGE', default=None, type=int, required=False)
if storage_flash_page is not None:
return storage_flash_page
if self.is_bootloader_fw() and self.hwdef[0].find("-bl") != -1:
hwdefdat = self.hwdef[0].replace("-bl", "")
if os.path.exists(hwdefdat):
ret = None
lines = self.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(self):
'''check there is room for storage with HAL_STORAGE_SIZE'''
if self.intdefines.get('HAL_WITH_RAMTRON', 0) == 1:
# no check for RAMTRON storage
return
storage_flash_page = self.get_storage_flash_page()
pages = self.get_flash_pages_sizes()
page_size = pages[storage_flash_page] * 1024
if self.intdefines.get('AP_FLASH_STORAGE_DOUBLE_PAGE', 0) == 1:
page_size *= 2
storage_size = self.intdefines.get('HAL_STORAGE_SIZE', None)
if storage_size is None:
self.error('Need HAL_STORAGE_SIZE define')
if storage_size >= page_size:
self.error("HAL_STORAGE_SIZE too large %u %u" % (storage_size, page_size))
if page_size == 16384 and storage_size > 15360:
self.error("HAL_STORAGE_SIZE invalid, needs to be 15360")
def get_numeric_board_id(self):
'''return a numeric board ID, which may require mapping a string to a
number via board_list.txt'''
some_id = self.get_config('APJ_BOARD_ID')
if some_id.isnumeric():
return some_id
board_types_filename = "board_types.txt"
topdir = os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../../..')
board_types_dirpath = os.path.join(topdir, "Tools", "AP_Bootloader")
board_types_filepath = os.path.join(board_types_dirpath, board_types_filename)
for line in open(board_types_filepath, 'r'):
m = re.match(r"(?P<name>[-\w]+)\s+(?P<board_id>\d+)", line)
if m is None:
continue
if m.group('name') == some_id:
return m.group('board_id')
raise ValueError("Unable to map (%s) to a board ID using %s" %
(some_id, board_types_filepath))
def enable_networking(self, f):
f.write('''
#ifndef AP_NETWORKING_ENABLED
#define AP_NETWORKING_ENABLED 1
#endif
#define CH_CFG_USE_MAILBOXES 1
''')
def write_mcu_config(self, f):
'''write MCU config defines'''
f.write('#define CHIBIOS_BOARD_NAME "%s"\n' % os.path.basename(os.path.dirname(self.hwdef[0])))
f.write('// MCU type (ChibiOS define)\n')
f.write('#define %s_MCUCONF\n' % self.get_config('MCU'))
mcu_subtype = self.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' % self.get_config('OSCILLATOR_HZ'))
f.write('// UART used for stdout (printf)\n')
if self.get_config('STDOUT_SERIAL', required=False):
f.write('#define HAL_STDOUT_SERIAL %s\n\n' % self.get_config('STDOUT_SERIAL'))
f.write('// baudrate used for stdout (printf)\n')
f.write('#define HAL_STDOUT_BAUDRATE %u\n\n' % self.get_config('STDOUT_BAUDRATE', type=int))
if self.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')
self.build_flags.append('USE_FATFS=yes')
self.env_vars['WITH_FATFS'] = "1"
elif self.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')
self.build_flags.append('USE_FATFS=yes')
self.env_vars['WITH_FATFS'] = "1"
elif self.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')
self.build_flags.append('USE_FATFS=yes')
self.env_vars['WITH_FATFS'] = "1"
elif self.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')
self.build_flags.append('USE_FATFS=yes')
self.env_vars['WITH_FATFS'] = "1"
else:
f.write('#define HAL_USE_SDC FALSE\n')
self.build_flags.append('USE_FATFS=no')
if 'OTG1' in self.bytype:
if self.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 self.bytype:
f.write('#define STM32_USB_USE_OTG2 TRUE\n')
if 'ETH1' in self.bytype:
self.enable_networking(f)
f.write('''
#define HAL_USE_MAC TRUE
#define MAC_USE_EVENTS TRUE
#define STM32_ETH_BUFFERS_EXTERN
''')
defines = self.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 self.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 self.get_config('PROCESS_STACK', required=False):
self.env_vars['PROCESS_STACK'] = self.get_config('PROCESS_STACK')
else:
self.env_vars['PROCESS_STACK'] = "0x1C00"
f.write('#define HAL_PROCESS_STACK_SIZE %s\n' % self.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 self.get_config('MAIN_STACK', required=False):
self.env_vars['MAIN_STACK'] = self.get_config('MAIN_STACK')
else:
self.env_vars['MAIN_STACK'] = "0x600"
if self.get_config('IOMCU_FW', required=False):
self.env_vars['IOMCU_FW'] = self.get_config('IOMCU_FW')
else:
self.env_vars['IOMCU_FW'] = 0
if self.get_config('PERIPH_FW', required=False):
self.env_vars['PERIPH_FW'] = self.get_config('PERIPH_FW')
else:
self.env_vars['PERIPH_FW'] = 0
# write any custom STM32 defines
using_chibios_can = False
for d in self.alllines:
if d.startswith('STM32_'):
f.write('#define %s\n' % d)
if d.startswith('define '):
if 'HAL_USE_CAN' in d:
using_chibios_can = True
f.write('#define %s\n' % d[7:])
if self.intdefines.get('AP_NETWORKING_ENABLED', 0) == 1:
self.enable_networking(f)
if self.intdefines.get('HAL_USE_USB_MSD', 0) == 1:
self.build_flags.append('USE_USB_MSD=yes')
if self.have_type_prefix('CAN') and not using_chibios_can:
self.enable_can(f)
flash_size = self.get_config('FLASH_SIZE_KB', type=int)
f.write('#define BOARD_FLASH_SIZE %u\n' % flash_size)
self.env_vars['BOARD_FLASH_SIZE'] = flash_size
flash_reserve_start = self.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 self.is_bootloader_fw() and flash_reserve_start == 0:
f.write('#define HAL_ENABLE_SAVE_PERSISTENT_PARAMS 0\n')
f.write('#define EXT_FLASH_SIZE_MB %u\n' % self.get_config('EXT_FLASH_SIZE_MB', default=0, type=int))
f.write('#define EXT_FLASH_RESERVE_START_KB %u\n' % self.get_config('EXT_FLASH_RESERVE_START_KB', default=0, type=int))
f.write('#define EXT_FLASH_RESERVE_END_KB %u\n' % self.get_config('EXT_FLASH_RESERVE_END_KB', default=0, type=int))
self.env_vars['EXT_FLASH_SIZE_MB'] = self.get_config('EXT_FLASH_SIZE_MB', default=0, type=int)
self.env_vars['INT_FLASH_PRIMARY'] = self.get_config('INT_FLASH_PRIMARY', default=False, type=bool)
if self.env_vars['EXT_FLASH_SIZE_MB'] and not self.is_bootloader_fw() and not self.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 self.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 = self.get_storage_flash_page()
flash_reserve_end = self.get_config('FLASH_RESERVE_END_KB', default=0, type=int)
if storage_flash_page is not None:
if not self.is_bootloader_fw():
f.write('#define STORAGE_FLASH_PAGE %u\n' % storage_flash_page)
self.validate_flash_storage_size()
elif self.get_config('FLASH_RESERVE_END_KB', type=int, required=False) is None:
# ensure the flash page leaves room for bootloader
offset = self.get_flash_page_offset_kb(storage_flash_page)
bl_offset = self.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
crashdump_enabled = bool(self.intdefines.get('AP_CRASHDUMP_ENABLED', (flash_size >= 2048 and not self.is_bootloader_fw()))) # noqa
# lets pick a flash sector for Crash log
f.write('#ifndef AP_CRASHDUMP_ENABLED\n')
f.write('#define AP_CRASHDUMP_ENABLED %u\n' % crashdump_enabled)
f.write('#endif\n')
self.env_vars['ENABLE_CRASHDUMP'] = crashdump_enabled
if self.is_bootloader_fw():
if self.env_vars['EXT_FLASH_SIZE_MB'] and not self.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 + self.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' % self.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' % self.get_config('APP_START_OFFSET_KB', default=0, type=int))
f.write('\n')
ram_reserve_start, ram0_start_address = self.get_ram_reserve_start()
f.write('#define HAL_RAM0_START 0x%08x\n' % ram0_start_address)
if ram_reserve_start > 0:
f.write('#define HAL_RAM_RESERVE_START 0x%08x\n' % ram_reserve_start)
ram_map = self.get_ram_map()
f.write('// memory regions\n')
regions = []
cc_regions = []
total_memory = 0
for (address, size, flags) in ram_map:
size *= 1024
cc_regions.append('{0x%08x, 0x%08x, CRASH_CATCHER_BYTE }' % (address, address + size))
if address == ram0_start_address:
address += ram_reserve_start
size -= ram_reserve_start
regions.append('{(void*)0x%08x, 0x%08x, 0x%02x }' % (address, size, 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/1024))
f.write('\n// CPU serial number (12 bytes)\n')
udid_start = self.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' % self.get_numeric_board_id())
# support ALT_BOARD_ID for px4 firmware
alt_id = self.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 = self.get_mcu_lib(self.mcu_type)
build_info = lib.build
if self.get_mcu_config('CPU_FLAGS') and self.get_mcu_config('CORTEX'):
# CPU flags specified in mcu file
cortex = self.get_mcu_config('CORTEX')
self.env_vars['CPU_FLAGS'] = self.get_mcu_config('CPU_FLAGS').split()
build_info['MCU'] = cortex
self.progress("MCU Flags: %s %s" % (cortex, self.env_vars['CPU_FLAGS']))
elif self.mcu_series.startswith("STM32F1"):
cortex = "cortex-m3"
self.env_vars['CPU_FLAGS'] = ["-mcpu=%s" % cortex]
build_info['MCU'] = cortex
else:
cortex = "cortex-m4"
self.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 self.get_config('MCU_CLOCKRATE_MHZ', required=False):
clockrate = int(self.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 self.get_mcu_config('EXPECTED_CLOCK', required=True):
f.write('#define HAL_EXPECTED_SYSCLOCK %u\n' % self.get_mcu_config('EXPECTED_CLOCK'))
if self.get_mcu_config('EXPECTED_CLOCKS', required=False):
clockrate = self.get_config('MCU_CLOCKRATE_MHZ', required=False)
for mcu_clock, mcu_clock_speed in self.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))
self.env_vars['CORTEX'] = cortex
if not self.is_bootloader_fw():
if cortex == 'cortex-m4':
self.env_vars['CPU_FLAGS'].append('-DARM_MATH_CM4')
elif cortex == 'cortex-m7':
self.env_vars['CPU_FLAGS'].append('-DARM_MATH_CM7')
if not self.mcu_series.startswith("STM32F1") and not self.is_bootloader_fw():
self.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():
self.build_flags.append('%s=%s' % (v, build_info[v]))
# setup for bootloader build
if self.is_bootloader_fw():
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
#ifndef HAL_RCIN_THREAD_ENABLED
#define HAL_RCIN_THREAD_ENABLED 0
#endif
#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
#ifndef CH_CFG_USE_EVENTS
#define CH_CFG_USE_EVENTS FALSE
#endif
#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 STM32_FLASH_DISABLE_ISR 0
''')
# get bootloader flash space, if larger than 128k we can enable Heap
flash_size = self.get_config('FLASH_USE_MAX_KB', type=int, default=0)
if flash_size == 0:
flash_size = self.get_config('FLASH_SIZE_KB', type=int)
flash_length = min(flash_size, self.get_config('FLASH_BOOTLOADER_LOAD_KB', type=int))
if not self.env_vars['EXT_FLASH_SIZE_MB'] and not self.signed_fw and flash_length < 128:
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 self.env_vars.get('ROMFS_UNCOMPRESSED', False):
f.write('#define HAL_ROMFS_UNCOMPRESSED\n')
if not self.is_bootloader_fw():
f.write('''#define STM32_DMA_REQUIRED TRUE\n\n''')
if self.is_bootloader_fw():
# 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(self, fname):
'''write ldscript.ld for this board'''
flash_size = self.get_config('FLASH_USE_MAX_KB', type=int, default=0)
if flash_size == 0:
flash_size = self.get_config('FLASH_SIZE_KB', type=int)
# space to reserve for bootloader and storage at start of flash
flash_reserve_start = self.get_config(
'FLASH_RESERVE_START_KB', default=16, type=int)
storage_flash_page = self.get_storage_flash_page()
if storage_flash_page is not None:
offset = self.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 = self.get_flash_page_offset_kb(storage_flash_page+2)
if flash_reserve_start < offset2:
self.error("Storage overlaps flash")
self.env_vars['FLASH_RESERVE_START_KB'] = str(flash_reserve_start)
# space to reserve for storage at end of flash
flash_reserve_end = self.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 = self.get_config(
'EXT_FLASH_RESERVE_START_KB', default=0, type=int)
self.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 = self.get_config('EXT_FLASH_RESERVE_END_KB', default=0, type=int)
# ram layout
ram_map = self.get_ram_map()
instruction_ram = self.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 = self.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 = self.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 = self.get_config('EXT_FLASH_SIZE_MB', default=0, type=int)
int_flash_primary = self.get_config('INT_FLASH_PRIMARY', default=False, type=int)
if not self.is_bootloader_fw():
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, self.get_config('FLASH_BOOTLOADER_LOAD_KB', type=int))
ext_flash_length = 0
self.env_vars['FLASH_TOTAL'] = flash_length * 1024
self.progress("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:
self.error("We only support 24bit addressing over external flash")
ram_reserve_start, ram0_start_address = self.get_ram_reserve_start()
if ram_reserve_start > 0 and ram0_start_address == ram0_start:
ram0_start += ram_reserve_start
ram0_len -= ram_reserve_start
if ext_flash_length == 0 or self.is_bootloader_fw():
self.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:
self.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:
self.env_vars['HAS_EXTERNAL_FLASH_SECTIONS'] = 1
self.build_flags.append('COPY_VECTORS_TO_RAM=yes')
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)) # noqa
f.close()
def copy_common_linkerscript(self, outdir):
dirpath = os.path.dirname(os.path.realpath(__file__))
if self.is_bootloader_fw():
linker = 'common.ld'
else:
linker = self.get_mcu_config('LINKER_CONFIG')
if linker is None:
if not self.get_config('EXT_FLASH_SIZE_MB', default=0, type=int):
linker = 'common.ld'
elif self.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(self):
'''return tuple of USB VID/PID'''
if self.dual_USB_enabled:
# use pidcodes allocated ID
default_vid = 0x1209
default_pid = 0x5740
else:
default_vid = 0x1209
default_pid = 0x5741
return (self.get_config('USB_VENDOR', type=int, default=default_vid),
self.get_config('USB_PRODUCT', type=int, default=default_pid))
def write_USB_config(self, f):
'''write USB config defines'''
if not self.have_type_prefix('OTG'):
return
f.write('// USB configuration\n')
(USB_VID, USB_PID) = self.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' %
self.get_config("USB_STRING_MANUFACTURER", default="\"ArduPilot\""))
default_product = "%BOARD%"
if self.is_bootloader_fw():
default_product += "-BL"
product_string = self.get_config("USB_STRING_PRODUCT", default="\"%s\"" % default_product)
if self.is_bootloader_fw() and self.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' % self.get_config("USB_STRING_SERIAL", default="\"%SERIAL%\""))
f.write('\n\n')
def write_SPI_table(self, f):
'''write SPI device table'''
f.write('\n// SPI device table\n')
devlist = []
for dev in self.spidev:
if len(dev) != 7:
self.error("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 self.spi_list:
self.error("Bad SPI bus in SPIDEV line %s" % dev)
if not devid.startswith('DEVID') or not self.is_int(devid[5:]):
self.error("Bad DEVID in SPIDEV line %s" % dev)
if cs not in self.bylabel or not self.bylabel[cs].is_CS():
self.error("Bad CS pin in SPIDEV line %s" % dev)
if mode not in ['MODE0', 'MODE1', 'MODE2', 'MODE3']:
self.error("Bad MODE in SPIDEV line %s" % dev)
if not lowspeed.endswith('*MHZ') and not lowspeed.endswith('*KHZ'):
self.error("Bad lowspeed value %s in SPIDEV line %s" % (lowspeed, dev))
if not highspeed.endswith('*MHZ') and not highspeed.endswith('*KHZ'):
self.error("Bad highspeed value %s in SPIDEV line %s" %
(highspeed, dev))
cs_pin = self.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, self.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 self.spidev:
f.write("#define HAL_WITH_SPI_%s 1\n" % dev[0].upper().replace("-", "_"))
f.write("\n")
def write_SPI_config(self, f):
'''write SPI config defines'''
for t in list(self.bytype.keys()) + list(self.alttype.keys()):
if t.startswith('SPI'):
self.spi_list.append(t)
self.spi_list = sorted(self.spi_list)
if len(self.spidev) != 0 and len(self.spi_list) == 0:
self.error("Have SPI devices but no SPI bus?!")
if len(self.spidev) == 0:
f.write('#define HAL_USE_SPI FALSE\n')
return
devlist = []
for dev in self.spi_list:
n = int(dev[3:])
devlist.append('HAL_SPI%u_CONFIG' % n)
sck_pin = self.bylabel['SPI%s_SCK' % n]
sck_line = 'PAL_LINE(GPIO%s,%uU)' % (sck_pin.port, sck_pin.pin)
f.write(
'#define HAL_SPI%u_CONFIG { &SPID%u, %u, STM32_SPI_SPI%u_DMA_STREAMS, %s }\n'
% (n, n, n, n, sck_line))
f.write('#define HAL_SPI_BUS_LIST %s\n\n' % ','.join(devlist))
self.write_SPI_table(f)
def write_WSPI_table(self, f):
'''write SPI device table'''
f.write('\n// WSPI device table\n')
devlist = []
for dev in self.wspidev:
if len(dev) != 6:
self.progress("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 self.wspi_list:
self.error("Bad QUADSPI/OCTOSPI bus in QSPIDEV line %s" % dev)
if mode not in ['MODE1', 'MODE3']:
self.error("Bad MODE in WSPIDEV line %s" % dev)
if not speed.endswith('*MHZ') and not speed.endswith('*KHZ'):
self.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, self.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 self.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(self, f):
'''write SPI config defines'''
# 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(self.bytype.keys()) + list(self.alttype.keys()):
if (t.startswith('QUADSPI') or t.startswith('OCTOSPI')) and not self.is_bootloader_fw():
f.write('#define HAL_XIP_ENABLED TRUE\n')
if len(self.wspidev) == 0:
# nothing else to do
return
for t in list(self.bytype.keys()) + list(self.alttype.keys()):
self.progress(t)
if t.startswith('QUADSPI') or t.startswith('OCTOSPI'):
self.wspi_list.append(t)
wspi_list = sorted(self.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))
self.write_WSPI_table(f)
def write_check_firmware(self, f):
'''add AP_CHECK_FIRMWARE_ENABLED if needed'''
if self.is_periph_fw() or self.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(self, dev):
'''parse a SPI:xxx device item'''
a = dev.split(':')
if len(a) != 2:
self.error("Bad SPI device: %s" % dev)
return 'hal.spi->get_device("%s")' % a[1]
def parse_i2c_device(self, dev):
'''parse a I2C:xxx:xxx device item'''
a = dev.split(':')
if len(a) != 3:
self.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(self, 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(self, f):
'''write IMU config defines'''
devlist = []
wrapper = ''
seen = set()
for dev in self.imu_list:
if self.seen_str(dev) in seen:
self.error("Duplicate IMU: %s" % self.seen_str(dev))
seen.add(self.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] = self.parse_spi_device(dev[i])
elif dev[i].startswith("I2C:"):
(wrapper, dev[i]) = self.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(self, f):
'''write MAG config defines'''
devlist = []
seen = set()
for dev in self.compass_list:
if self.seen_str(dev) in seen:
self.error("Duplicate MAG: %s" % self.seen_str(dev))
seen.add(self.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] = self.parse_spi_device(dev[i])
elif dev[i].startswith("I2C:"):
(wrapper, dev[i]) = self.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(self, f):
'''write barometer config defines'''
devlist = []
seen = set()
for dev in self.baro_list:
if self.seen_str(dev) in seen:
self.error("Duplicate BARO: %s" % self.seen_str(dev))
seen.add(self.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] = self.parse_spi_device(dev[i])
elif dev[i].startswith("I2C:"):
(wrapper, dev[i]) = self.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(self, f):
'''write airspeed config defines'''
devlist = []
seen = set()
idx = 0
for dev in self.airspeed_list:
if self.seen_str(dev) in seen:
self.error("Duplicate AIRSPEED: %s" % self.seen_str(dev))
seen.add(self.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] = self.parse_spi_device(dev[i])
elif dev[i].startswith("I2C:"):
(wrapper, dev[i]) = self.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(self, f):
'''write board validation macro'''
validate_string = ''
validate_dict = {}
if 'BOARD_VALIDATE' in self.config:
for check in self.config['BOARD_VALIDATE']:
check_name = check
check_string = check
while True:
def substitute_alias(m):
return '(' + self.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(self, label):
'''get GPIO(n) setting on a pin label, or -1'''
p = self.bylabel.get(label)
if p is None:
return -1
return p.extra_value('GPIO', type=int, default=-1)
def get_extra_bylabel(self, label, name, default=None):
'''get extra setting for a label by name'''
p = self.bylabel.get(label)
if p is None:
return default
return p.extra_value(name, type=str, default=default)
def write_UART_config(self, f):
'''write UART config defines'''
serial_list = self.get_config('SERIAL_ORDER', required=False, aslist=True)
if serial_list is None:
return
while len(serial_list) < 3: # enough ports for CrashCatcher UART discovery
serial_list += ['EMPTY']
f.write('\n// UART configuration\n')
# write out which serial ports we actually have
nports = 0
for idx, serial in enumerate(serial_list):
if serial == 'EMPTY':
f.write('#define HAL_HAVE_SERIAL%u 0\n' % idx)
else:
f.write('#define HAL_HAVE_SERIAL%u 1\n' % idx)
nports = nports + 1
f.write('#define HAL_NUM_SERIAL_PORTS %u\n' % nports)
# write out driver declarations for HAL_ChibOS_Class.cpp
sdev = 0
for idx, dev in enumerate(serial_list):
if dev == 'EMPTY':
f.write('#define HAL_SERIAL%s_DRIVER Empty::UARTDriver serial%sDriver\n' %
(idx, idx))
sdev += 1
else:
f.write(
'#define HAL_SERIAL%s_DRIVER ChibiOS::UARTDriver serial%sDriver(%u)\n'
% (idx, idx, sdev))
sdev += 1
for idx in range(len(serial_list), 10):
f.write('#define HAL_SERIAL%s_DRIVER Empty::UARTDriver serial%sDriver\n' %
(idx, idx))
if 'IOMCU_UART' in self.config:
if 'io_firmware.bin' not in self.romfs:
self.error("Need io_firmware.bin in ROMFS for IOMCU")
self.write_defaulting_define(f, 'HAL_WITH_IO_MCU', 1)
f.write('#define HAL_UART_IOMCU_IDX %u\n' % len(serial_list))
f.write(
'#define HAL_UART_IO_DRIVER ChibiOS::UARTDriver uart_io(HAL_UART_IOMCU_IDX)\n'
)
serial_list.append(self.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
have_low_noise = False
crash_uart = None
# write config for CrashCatcher UART
if not serial_list[0].startswith('OTG') and not serial_list[0].startswith('EMPTY'):
crash_uart = serial_list[0]
elif not serial_list[2].startswith('OTG') and not serial_list[2].startswith('EMPTY'):
crash_uart = serial_list[2]
if crash_uart is not None and self.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)
# check if we have a UART with a low noise RX pin
for num, dev in enumerate(serial_list):
if not dev.startswith('UART') and not dev.startswith('USART'):
continue
rx_port = dev + '_RX'
if rx_port in self.bylabel and self.bylabel[rx_port].has_extra('LOW_NOISE'):
have_low_noise = True
break
for num, dev in enumerate(serial_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:
self.error("Invalid element %s in SERIAL_ORDER" % dev)
devlist.append('HAL_%s_CONFIG' % dev)
tx_line = self.make_line(dev + '_TX')
rx_line = self.make_line(dev + '_RX')
rts_line_name = dev + '_RTS'
rts_line = self.make_line(rts_line_name)
cts_line = self.make_line(dev + '_CTS')
if cts_line == "0":
cts_line = self.make_line(dev + '_CTS_GPIO')
if rts_line != "0":
have_rts_cts = True
f.write('#define HAL_HAVE_RTSCTS_SERIAL%u\n' % num)
if dev.startswith('OTG2'):
f.write(
'#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU2, 2, true, false, 0, 0, false, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2, UINT8_MAX,' % dev) # noqa
if have_low_noise:
f.write('false}\n')
else:
f.write('}\n')
OTG2_index = serial_list.index(dev)
self.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, 0, 0, 0, 0, 0, 0, 0, 0, UINT8_MAX,' % dev) # noqa
if have_low_noise:
f.write('false}\n')
else:
f.write('}\n')
else:
need_uart_driver = True
f.write(
"#define HAL_%s_CONFIG { (BaseSequentialStream*) &SD%u, %u, false, "
% (dev, n, n))
if self.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, " % self.get_gpio_bylabel(dev + "_RXINV"))
f.write("%s, " % self.get_extra_bylabel(dev + "_RXINV", "POL", "0"))
f.write("%d, " % self.get_gpio_bylabel(dev + "_TXINV"))
f.write("%s, " % self.get_extra_bylabel(dev + "_TXINV", "POL", "0"))
# USB endpoint ID, not used
f.write("0, ")
# Find and add RTS alt fuction number if avalable
def get_RTS_alt_function():
# Typicaly we do software RTS control, so there is
# no requirement for the pin to have valid UART
# RTS alternative function
# If it does this enables hardware flow control for RS-485
lib = self.get_mcu_lib(self.mcu_type)
if (rts_line == "0") or (rts_line_name not in self.bylabel) or not hasattr(lib, "AltFunction_map"):
# No pin, 0 is a valid alt function, use UINT8_MAX for invalid
return "UINT8_MAX"
pin = self.bylabel[rts_line_name]
for label in self.af_labels:
if rts_line_name.startswith(label):
s = pin.portpin + ":" + rts_line_name
if s not in lib.AltFunction_map:
return "UINT8_MAX"
return lib.AltFunction_map[s]
if have_low_noise:
low_noise = 'false'
rx_port = dev + '_RX'
if rx_port in self.bylabel and self.bylabel[rx_port].has_extra('LOW_NOISE'):
low_noise = 'true'
f.write("%s, %s}\n" % (get_RTS_alt_function(), low_noise))
else:
f.write("%s}\n" % get_RTS_alt_function())
if have_low_noise:
f.write('#define HAL_HAVE_LOW_NOISE_UART 1\n')
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 not self.is_periph_fw():
f.write('''
#if defined(HAL_NUM_CAN_IFACES) && HAL_NUM_CAN_IFACES
#ifndef HAL_OTG2_PROTOCOL
#define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
#endif
#define DEFAULT_SERIAL%d_PROTOCOL HAL_OTG2_PROTOCOL
#define DEFAULT_SERIAL%d_BAUD 115200
#endif
''' % (OTG2_index, OTG2_index))
f.write('#define HAL_SERIAL_DEVICE_LIST %s\n\n' % ','.join(devlist))
if not need_uart_driver and not self.is_bootloader_fw():
f.write('''
#ifndef HAL_USE_SERIAL
#define HAL_USE_SERIAL HAL_USE_SERIAL_USB
#endif
''')
num_ports = len(devlist)
if 'IOMCU_UART' in self.config:
num_ports -= 1
if num_ports > 10:
self.error("Exceeded max num SERIALs of 10 (%u)" % num_ports)
f.write('#define HAL_UART_NUM_SERIAL_PORTS %u\n' % num_ports)
def write_UART_config_bootloader(self, f):
'''write UART config defines'''
serial_list = self.get_config('SERIAL_ORDER', required=False, aslist=True)
if serial_list is None:
return
f.write('\n// UART configuration\n')
devlist = []
have_serial = False
OTG2_index = None
for s in serial_list:
if s.startswith('OTG2'):
devlist.append('(BaseChannel *)&SDU2')
OTG2_index = serial_list.index(s)
elif s.startswith('OTG'):
devlist.append('(BaseChannel *)&SDU1')
else:
snum = int(s[-1])
devlist.append('(BaseChannel *)&SD%u' % snum)
have_serial = 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_serial:
f.write('''
#ifndef HAL_USE_SERIAL
#define HAL_USE_SERIAL FALSE
#endif
''')
def write_I2C_config(self, f):
'''write I2C config defines'''
if not self.have_type_prefix('I2C'):
self.progress("No I2C peripherals")
f.write('''
#ifndef HAL_USE_I2C
#define HAL_USE_I2C FALSE
#endif
''')
return
if 'I2C_ORDER' not in self.config:
self.error("Missing I2C_ORDER config")
i2c_list = self.config['I2C_ORDER']
f.write('// I2C configuration\n')
if len(i2c_list) == 0:
self.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":
self.error("Bad I2C_ORDER element %s" % dev)
n = int(dev[3:])
devlist.append('HAL_I2C%u_CONFIG' % n)
sda_line = self.make_line('I2C%u_SDA' % n)
scl_line = self.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(self, 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:
self.error("Bad timer number %s in %s" % (tim, str))
return (tim, chan, compl)
else:
self.error("Bad timer definition %s" % str)
def write_PWM_config(self, f, ordered_timers):
'''write PWM config defines'''
rc_in = None
rc_in_int = None
alarm = None
bidir = None
up_shared = None
pwm_out = []
# start with the ordered list from the dma resolver
pwm_timers = ordered_timers
for label in self.bylabel.keys():
p = self.bylabel[label]
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.has_extra('UP_SHARED'):
up_shared = 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:
self.progress("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) = self.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]:
self.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) = self.parse_timer(rc_in_int.label)
if compl:
self.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) = self.parse_timer(alarm.label)
if compl:
self.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')
if up_shared is not None:
f.write('#define HAL_TIM_UP_SHARED\n')
for t in self.shared_up:
f.write('#define HAL_%s_SHARED true\n' % t)
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) = self.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)
if up_shared is not None:
hal_icu_cfg += '}, HAL_TIM%u_UP_SHARED, \\' % n
else:
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('''#if !defined(HAL_TIM%u_UP_SHARED)
#define HAL_TIM%u_UP_SHARED false
#endif\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, %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(self, 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 label in self.bylabel:
p = self.bylabel[label]
if not p.type.startswith('ADC'):
continue
if p.type.startswith('ADC1'):
index = 0
chan = self.get_ADC1_chan(self.mcu_type, p.portpin)
elif p.type.startswith('ADC2'):
index = 1
chan = self.get_ADC2_chan(self.mcu_type, p.portpin)
elif p.type.startswith('ADC3'):
index = 2
chan = self.get_ADC3_chan(self.mcu_type, p.portpin)
else:
self.error("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:
self.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
# add dummy channels that are not already in adc_chans[1]
for chan in [c[0] for c in adc_chans[0]]:
if chan not in [c[0] for c in adc_chans[1]]:
adc_chans[1].append((chan, 255, None, 'dummy', 'dummy'))
# add dummy channels that are not already in adc_chans[0]
for chan in [c[0] for c in adc_chans[1]]:
if chan not in [c[0] for c in adc_chans[0]]:
adc_chans[0].append((chan, 255, None, 'dummy', 'dummy'))
# 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 = self.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(self, f):
'''write GPIO config defines'''
f.write('// GPIO config\n')
gpios = []
gpioset = set()
for label in self.bylabel:
p = self.bylabel[label]
if 'SPI' in label and ('RX' in label or 'TX' in label):
continue
gpio = p.extra_value('GPIO', type=int)
if gpio is None:
continue
if gpio in gpioset:
self.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 self.altmap.keys():
for pp in self.altmap[alt].keys():
p = self.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): # noqa
# alt item is identical to exiting, do not add again
continue
self.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:
self.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))
if len(gpios) > 0:
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 label in sorted(list(set(self.bylabel.keys()))):
p = self.bylabel[label]
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(self):
# 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(self.hwdef[0]))
# allow re-using of bootloader from different build:
use_bootloader_from_board = self.get_config('USE_BOOTLOADER_FROM_BOARD', default=None, required=False)
if use_bootloader_from_board is not None:
hwdef_dirname = use_bootloader_from_board
bootloader_filename = "%s_bl.bin" % (hwdef_dirname,)
bootloader_path = os.path.join(rootdir,
"Tools",
"bootloaders",
bootloader_filename)
return bootloader_path
def embed_bootloader(self, f):
'''added bootloader to ROMFS'''
if not self.intdefines.get('AP_BOOTLOADER_FLASHING_ENABLED', 1):
# or, you know, not...
return
if self.is_bootloader_fw():
return
if self.is_io_fw():
return
bp = self.bootloader_path()
if not os.path.exists(bp):
self.error('''Bootloader (%s) does not exist and AP_BOOTLOADER_FLASHING_ENABLED
Please run: Tools/scripts/build_bootloaders.py %s
''' %
(bp, os.path.basename(os.path.dirname(self.hwdef[0]))))
bp = os.path.realpath(bp)
self.romfs["bootloader.bin"] = bp
f.write("#define AP_BOOTLOADER_FLASHING_ENABLED 1\n")
def write_ROMFS(self, outdir):
'''create ROMFS embedded header'''
romfs_list = []
for k in self.romfs.keys():
romfs_list.append((k, self.romfs[k]))
self.env_vars['ROMFS_FILES'] = romfs_list
def setup_apj_IDs(self):
'''setup the APJ board IDs'''
self.env_vars['APJ_BOARD_ID'] = self.get_numeric_board_id()
self.env_vars['APJ_BOARD_TYPE'] = self.get_config('APJ_BOARD_TYPE', default=self.mcu_type)
(USB_VID, USB_PID) = self.get_USB_IDs()
self.env_vars['USBID'] = '0x%04x/0x%04x' % (USB_VID, USB_PID)
def write_peripheral_enable(self, f):
'''write peripheral enable lines'''
f.write('// peripherals enabled\n')
for type in sorted(list(self.bytype.keys()) + list(self.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(self, periph_list):
'''return list of DMA devices to exclude from DMA'''
dma_exclude = set()
for p in self.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 self.bylabel:
p = self.bylabel[periph]
if p.has_extra('NODMA'):
dma_exclude.add(periph)
if periph in self.altlabel:
p = self.altlabel[periph]
if p.has_extra('NODMA'):
dma_exclude.add(periph)
return list(dma_exclude)
def write_alt_config(self, f):
'''write out alternate config settings'''
if len(self.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(self.altmap.keys()):
for pp in sorted(self.altmap[alt].keys()):
p = self.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(self, hwdat):
f = open(hwdat, 'w')
f.write('\n'.join(self.all_lines))
f.close()
if not self.is_periph_fw() and not os.getenv("NO_ROMFS_HWDEF", False):
self.romfs["hwdef.dat"] = hwdat
def write_defaulting_define(self, f, name, value):
f.write(f"#ifndef {name}\n")
f.write(f"#define {name} {value}\n")
f.write("#endif\n")
def write_define(self, f, name, value):
f.write(f"#define {name} {value}\n")
def write_hwdef_header(self, outfilename):
'''write hwdef header file'''
self.progress("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 self.signed_fw:
f.write('''
#define AP_SIGNED_FIRMWARE 1
''')
else:
f.write('''
#define AP_SIGNED_FIRMWARE 0
''')
enable_dfu_boot = self.get_config('ENABLE_DFU_BOOT', default=0)
if enable_dfu_boot:
self.env_vars['ENABLE_DFU_BOOT'] = 1
f.write('''
#define HAL_ENABLE_DFU_BOOT TRUE
''')
else:
self.env_vars['ENABLE_DFU_BOOT'] = 0
f.write('''
#define HAL_ENABLE_DFU_BOOT FALSE
''')
self.dma_noshare.extend(self.get_config('DMA_NOSHARE', default='', aslist=True))
self.write_mcu_config(f)
self.write_SPI_config(f)
self.write_WSPI_config(f)
self.write_ADC_config(f)
self.write_GPIO_config(f)
self.write_IMU_config(f)
self.write_MAG_config(f)
self.write_BARO_config(f)
self.write_AIRSPEED_config(f)
self.write_board_validate_macro(f)
self.write_check_firmware(f)
if self.have_defaults_file:
f.write('''
#ifndef AP_FILESYSTEM_ROMFS_ENABLED
#define AP_FILESYSTEM_ROMFS_ENABLED 1
#endif
''')
self.write_peripheral_enable(f)
if os.path.exists(self.processed_defaults_filepath()):
self.write_define(f, 'AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED', 1)
else:
self.write_define(f, 'AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED', 0)
if self.mcu_series.startswith("STM32H7"):
# add in ADC3 on H7 to get MCU temperature and reference voltage
self.periph_list.append('ADC3')
if self.get_config('DMA_NOMAP', required=False) is not None:
dma_unassigned, ordered_timers = [], []
else:
dma_unassigned, ordered_timers = dma_resolver.write_dma_header(
f,
self.periph_list,
self.mcu_type,
dma_exclude=self.get_dma_exclude(self.periph_list),
dma_priority=self.get_config('DMA_PRIORITY', default='TIM* SPI*', spaces=True),
dma_noshare=self.dma_noshare,
quiet=self.quiet,
)
if not self.is_bootloader_fw():
self.write_PWM_config(f, ordered_timers)
self.write_I2C_config(f)
self.write_UART_config(f)
else:
self.write_UART_config_bootloader(f)
self.setup_apj_IDs()
self.write_USB_config(f)
self.embed_bootloader(f)
if self.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(self.ports):
f.write("/* PORT%s:\n" % port)
for pin in range(self.pincount[port]):
p = self.portmap[port][pin]
if p.label is not None:
f.write(" %s\n" % p)
f.write("*/\n\n")
if self.pincount[port] == 0:
# handle blank ports
for vtype in self.vtypes:
f.write("#define VAL_GPIO%s_%-7s 0x0\n" % (port,
vtype))
f.write("\n\n\n")
continue
for vtype in self.vtypes:
f.write("#define VAL_GPIO%s_%-7s (" % (p.port, vtype))
first = True
for pin in range(self.pincount[port]):
p = self.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")
self.write_alt_config(f)
if not self.mcu_series.startswith("STM32F1"):
dma_required = ['SPI*', 'ADC*']
if 'IOMCU_UART' in self.config:
dma_required.append(self.config['IOMCU_UART'][0] + '*')
for d in dma_unassigned:
for r in dma_required:
if fnmatch.fnmatch(d, r):
self.error("Missing required DMA for %s" % d)
self.add_apperiph_defaults(f)
self.add_bootloader_defaults(f)
self.add_iomcu_firmware_defaults(f)
self.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):
self.progress("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(self):
'''build a list of peripherals for DMA resolver to work on'''
peripherals = []
self.shared_up = []
done = set()
prefixes = ['SPI', 'USART', 'UART', 'I2C']
periph_pins = self.allpins[:]
for alt in self.altmap.keys():
for p in self.altmap[alt].keys():
periph_pins.append(self.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 self.bylabel:
self.bylabel[ptx] = p
if prx not in self.bylabel:
self.bylabel[prx] = p
if prx in self.bylabel or prx in self.altlabel:
peripherals.append(prx)
if ptx in self.bylabel or ptx in self.altlabel:
peripherals.append(ptx)
if type.startswith('ADC'):
peripherals.append(type)
if type.startswith('SDIO') or type.startswith('SDMMC'):
if not self.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
self.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) = self.parse_timer(ch_label)
if ch_label not in peripherals and p.has_extra('BIDIR') and not compl:
peripherals.append(ch_label)
if label not in self.shared_up and p.has_extra('UP_SHARED') and not compl:
self.shared_up.append(label)
done.add(type)
return peripherals
def get_processed_defaults_file(self, defaults_filepath, depth=0):
'''reads defaults_filepath, expanding any @include lines to include
the contents of the so-references file - recursively.'''
if depth > 10:
raise Exception("include loop")
ret = ""
with open(defaults_filepath, 'r') as defaults_fh:
while True:
line = defaults_fh.readline()
if line == "":
break
m = re.match(r"^@include\s*([^\s]+)", line)
if m is None:
ret += line
continue
# we've found an include; do that...
include_filepath = os.path.join(os.path.dirname(defaults_filepath), m.group(1))
try:
# ret += "# Begin included file (%s)" % include_filepath
ret += self.get_processed_defaults_file(include_filepath, depth=depth+1)
# ret += "# End included file (%s)" % include_filepath
except FileNotFoundError:
raise Exception("%s includes %s but that filepath was not found" %
(defaults_filepath, include_filepath))
return ret
def write_processed_defaults_file(self, filepath):
# see if board has a defaults.parm file or a --default-parameters file was specified
defaults_filename = os.path.join(os.path.dirname(self.hwdef[0]), 'defaults.parm')
defaults_path = os.path.join(os.path.dirname(self.hwdef[0]), args.params)
defaults_abspath = None
if os.path.exists(defaults_path):
defaults_abspath = os.path.abspath(self.default_params_filepath)
self.progress("Default parameters path from command line: %s" % self.default_params_filepath)
elif os.path.exists(defaults_filename):
defaults_abspath = os.path.abspath(defaults_filename)
self.progress("Default parameters path from hwdef: %s" % defaults_filename)
if defaults_abspath is None:
self.progress("No default parameter file found")
return False
content = self.get_processed_defaults_file(defaults_abspath)
with open(filepath, "w") as processed_defaults_fh:
processed_defaults_fh.write(content)
return True
def write_env_py(self, filename):
'''write out env.py for environment variables to control the build process'''
# CHIBIOS_BUILD_FLAGS is passed to the ChibiOS makefile
self.env_vars['CHIBIOS_BUILD_FLAGS'] = ' '.join(self.build_flags)
pickle.dump(self.env_vars, open(filename, "wb"))
def romfs_add(self, romfs_filename, filename):
'''add a file to ROMFS'''
self.romfs[romfs_filename] = filename
def romfs_wildcard(self, 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):
self.romfs[f] = os.path.join(pattern_dir, f)
def romfs_add_dir(self, subdirs, relative_to_base=False):
'''add a filesystem directory to ROMFS'''
for dirname in subdirs:
if relative_to_base:
romfs_dir = os.path.join(os.path.dirname(__file__), '..', '..', '..', '..', dirname)
else:
romfs_dir = os.path.join(os.path.dirname(self.hwdef[0]), dirname)
if not self.is_bootloader_fw() 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))
if relative_to_base:
relpath = relpath[len(dirname)+1:]
self.romfs[relpath] = fullpath
def valid_type(self, ptype, label):
'''check type of a pin line is valid'''
patterns = [
r'INPUT', r'OUTPUT', r'TIM\d+', r'USART\d+', r'UART\d+', r'ADC\d+',
r'SPI\d+', r'OTG\d+', r'SWD', r'CAN\d?', r'I2C\d+', r'CS',
r'SDMMC\d+', r'SDIO', r'QUADSPI\d', r'OCTOSPI\d', r'ETH\d', r'RCC',
]
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(r'TIM(\d+)', ptype)
m2 = re.match(r'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(r'CAN(\d+)', ptype)
m2 = re.match(r'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(r'US?ART\d+_(TXINV|RXINV)', label):
return True
m1 = re.match(r'USART(\d+)', ptype)
m2 = re.match(r'USART(\d+)_(RX|TX|CTS|RTS|CTS_GPIO)', 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(r'UART(\d+)', ptype)
m2 = re.match(r'UART(\d+)_(RX|TX|CTS|RTS|CTS_GPIO)', 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(self, line, depth):
'''process one line of pin definition file'''
self.all_lines.append(line)
a = shlex.split(line, posix=False)
# keep all config lines for later use
self.alllines.append(line)
p = None
if a[0].startswith('P') and a[0][1] in self.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:
self.error("Bad pin line: %s" % a)
return
if not self.valid_type(type, label):
self.error("bad type on line: %s" % a)
p = self.generic_pin(port, pin, label, type, extra, self.mcu_type, self.mcu_series, self.get_ADC1_chan, self.get_ADC2_chan, self.get_ADC3_chan, self.af_labels) # noqa
af = self.get_alt_function(self.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 self.mcu_series.startswith("STM32F1"):
self.error("Alt config not allowed for F1 MCU")
if alt not in self.altmap:
self.altmap[alt] = {}
if p.portpin in self.altmap[alt]:
self.error("Pin %s ALT(%u) redefined" % (p.portpin, alt))
self.altmap[alt][p.portpin] = p
# we need to add alt pins into self.bytype[] so they are enabled in chibios config
if type not in self.alttype:
self.alttype[type] = []
self.alttype[type].append(p)
self.altlabel[label] = p
return
if a[0] in self.config:
self.error("Pin %s redefined" % a[0])
if p is None and line.find('ALT(') != -1:
self.error("ALT() invalid for %s" % a[0])
if a[0] == 'DEFAULTGPIO':
self.default_gpio = a[1:]
return
if a[0] == 'NODMA':
self.dma_exclude_pattern.extend(a[1:])
return
self.config[a[0]] = a[1:]
if p is not None:
# add to set of pins for primary config
self.portmap[port][pin] = p
self.allpins.append(p)
if type not in self.bytype:
self.bytype[type] = []
self.bytype[type].append(p)
self.bylabel[label] = p
elif a[0] == 'MCU':
self.mcu_type = a[2]
self.mcu_series = a[1]
self.setup_mcu_type_defaults()
elif a[0] == 'SPIDEV':
self.spidev.append(a[1:])
elif a[0] == 'QSPIDEV':
self.wspidev.append(a[1:])
elif a[0] == 'OSPIDEV':
self.wspidev.append(a[1:])
elif a[0] == 'IMU':
self.imu_list.append(a[1:])
elif a[0] == 'COMPASS':
self.compass_list.append(a[1:])
elif a[0] == 'BARO':
self.baro_list.append(a[1:])
elif a[0] == 'AIRSPEED':
self.airspeed_list.append(a[1:])
elif a[0] == 'ROMFS':
self.romfs_add(a[1], a[2])
elif a[0] == 'ROMFS_WILDCARD':
self.romfs_wildcard(a[1])
elif a[0] == 'ROMFS_DIRECTORY':
self.romfs_add_dir([a[1]], relative_to_base=True)
elif a[0] == 'undef':
for u in a[1:]:
self.progress("Removing %s" % u)
self.config.pop(u, '')
self.bytype.pop(u, '')
self.bylabel.pop(u, '')
self.alttype.pop(u, '')
self.altlabel.pop(u, '')
self.intdefines.pop(u, '')
for dev in self.spidev:
if u == dev[0]:
self.spidev.remove(dev)
# also remove all occurences of defines in previous lines if any
for line in self.alllines[:]:
if line.startswith('define') and u == line.split()[1] or line.startswith('STM32_') and u == line.split()[0]: # noqa
self.alllines.remove(line)
newpins = []
for pin in self.allpins:
if pin.type == u or pin.label == u or pin.portpin == u:
if pin.label is not None:
self.bylabel.pop(pin.label, '')
self.portmap[pin.port][pin.pin] = self.generic_pin(pin.port, pin.pin, None, 'INPUT', [], self.mcu_type, self.mcu_series, self.get_ADC1_chan, self.get_ADC2_chan, self.get_ADC3_chan, self.af_labels) # noqa
continue
newpins.append(pin)
self.allpins = newpins
if u == 'IMU':
self.imu_list = []
if u == 'COMPASS':
self.compass_list = []
if u == 'BARO':
self.baro_list = []
if u == 'AIRSPEED':
self.airspeed_list = []
if u == 'ROMFS':
self.romfs = {}
elif a[0] == 'env':
self.progress("Adding environment %s" % ' '.join(a[1:]))
if len(a[1:]) < 2:
self.error("Bad env line for %s" % a[0])
name = a[1]
value = ' '.join(a[2:])
if name == 'AP_PERIPH' and value != "1":
raise ValueError("AP_PERIPH may only have value 1")
self.env_vars[name] = value
elif a[0] == 'define':
# extract numerical defines for processing by other parts of the script
result = re.match(r'define\s*([A-Z_0-9]+)\s+([0-9]+)', line)
if result:
(name, intvalue) = (result.group(1), int(result.group(2)))
if name in self.intdefines and self.intdefines[name] == intvalue:
msg = f"{name} already in defines with same value"
if depth == 0:
print(msg)
# raise ValueError(msg)
self.intdefines[name] = intvalue
def progress(self, message):
if self.quiet:
return
print(message)
def process_file(self, filename, depth=0):
'''process a hwdef.dat file'''
try:
f = open(filename, "r")
except Exception:
self.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))
self.progress("Including %s" % include_file)
self.process_file(include_file, depth+1)
else:
self.process_line(line, depth)
def add_apperiph_defaults(self, f):
'''add default defines for peripherals'''
if not self.is_periph_fw():
# not AP_Periph
return
self.add_firmware_defaults_from_file(f, "defaults_periph.h", "AP_Periph")
def is_bootloader_fw(self):
return self.bootloader
def add_bootloader_defaults(self, f):
'''add default defines for peripherals'''
if not self.is_bootloader_fw():
return
self.add_firmware_defaults_from_file(f, "defaults_bootloader.h", "bootloader")
def add_firmware_defaults_from_file(self, f, filename, description):
self.progress("Setting up as %s" % description)
dirpath = os.path.dirname(os.path.realpath(__file__))
filepath = os.path.join(dirpath, filename)
content = open(filepath, 'r').read()
f.write('''
// %s defaults
%s
// end %s defaults
''' % (description, content, description))
def is_io_fw(self):
return int(self.env_vars.get('IOMCU_FW', 0)) != 0
def add_iomcu_firmware_defaults(self, f):
'''add default defines IO firmwares'''
if not self.is_io_fw():
# not IOMCU firmware
return
self.add_firmware_defaults_from_file(f, "defaults_iofirmware.h", "IOMCU Firmware")
def is_periph_fw_unprocessed_file(self, hwdef, includer=None):
'''helper/recursion function for is_periph_fw_unprocessed'''
if not os.path.exists(hwdef):
raise ChibiOSHWDefIncludeNotFoundException(
os.path.normpath(hwdef),
os.path.normpath(includer)
)
with open(hwdef, "r") as f:
content = f.read()
if 'AP_PERIPH' in content:
return True
# process any include lines:
for m in re.finditer(r"^include\s+([^\s]*)", content, re.MULTILINE):
include_path = os.path.join(os.path.dirname(hwdef), m.group(1))
if self.is_periph_fw_unprocessed_file(include_path, includer=hwdef):
return True
def is_periph_fw_unprocessed(self):
'''it takes ~2 seconds to process all hwdefs. This is a shortcut to
make things much faster in the case we are filtering boards to
just peripherals. Note that this parsing is very coarse -
AP_PERIPH could be in a comment or part of a define
(e.g. AP_PERIPH_GPS_SUPPORT), for example, and this method
will still return True. Also can't "undef" AP_PERIPH - if we
ever see the string we return true.
'''
for hwdef in self.hwdef:
if self.is_periph_fw_unprocessed_file(hwdef):
return True
return False
def is_periph_fw(self):
if not self.processed_hwdefs:
raise ValueError("Need to process_hwdefs() first")
return int(self.env_vars.get('AP_PERIPH', 0)) != 0
def is_normal_fw(self):
if self.is_io_fw():
# IOMCU firmware
return False
if self.is_periph_fw():
# Periph firmware
return False
if self.is_bootloader_fw():
# guess
return False
return True
def add_normal_firmware_defaults(self, f):
'''add default defines to builds with are not bootloader, periph or IOMCU'''
if not self.is_normal_fw():
return
self.add_firmware_defaults_from_file(f, "defaults_normal.h", "normal")
def processed_defaults_filepath(self):
return os.path.join(self.outdir, "processed_defaults.parm")
def write_default_parameters(self):
'''handle default parameters'''
if self.is_bootloader_fw():
return
if self.is_io_fw():
return
filepath = self.processed_defaults_filepath()
if not self.write_processed_defaults_file(filepath):
return
if self.get_config('FORCE_APJ_DEFAULT_PARAMETERS', default=False):
# set env variable so that post-processing in waf uses
# apj-tool to append parameters to image:
if os.path.exists(filepath):
self.env_vars['DEFAULT_PARAMETERS'] = filepath
return
self.romfs_add('defaults.parm', filepath)
self.have_defaults_file = True
def process_hwdefs(self):
for fname in self.hwdef:
self.process_file(fname)
self.processed_hwdefs = True
def run(self):
# process input file
self.process_hwdefs()
if "MCU" not in self.config:
self.error("Missing MCU type in config")
self.mcu_type = self.get_config('MCU', 1)
self.progress("Setup for MCU %s" % self.mcu_type)
# build a list for peripherals for DMA resolver
self.periph_list = self.build_peripheral_list()
# write out a default parameters file, decide how to use it:
self.write_default_parameters()
# write out hw.dat for ROMFS
self.write_all_lines(os.path.join(self.outdir, "hw.dat"))
# Add ROMFS directories
self.romfs_add_dir(['scripts'])
self.romfs_add_dir(['param'])
# write out hwdef.h
self.write_hwdef_header(os.path.join(self.outdir, "hwdef.h"))
# write out ldscript.ld
self.write_ldscript(os.path.join(self.outdir, "ldscript.ld"))
self.write_ROMFS(self.outdir)
# copy the shared linker script into the build directory; it must
# exist in the same directory as the ldscript.ld file we generate.
self.copy_common_linkerscript(self.outdir)
self.write_env_py(os.path.join(self.outdir, "env.py"))
if __name__ == '__main__':
parser = argparse.ArgumentParser("chibios_pins.py")
parser.add_argument(
'-D', '--outdir', type=str, default="/tmp", 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')
parser.add_argument(
'--quiet', action='store_true', default=False, help='quiet running')
args = parser.parse_args()
c = ChibiOSHWDef(
outdir=args.outdir,
bootloader=args.bootloader,
signed_fw=args.signed_fw,
hwdef=args.hwdef,
default_params_filepath=args.params,
quiet=args.quiet,
)
c.run()
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