aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

HAL_ChibiOS: added parse_timer to chibios_hwdef.dat

Browse Source
This commit is contained in:
Alexander Malishev 2018-06-08 00:31:07 +04:00 committed by Andrew Tridgell
parent e440583a7c
commit 289b93c3d0
1 changed files with 29 additions and 39 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

68
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -3,7 +3,7 @@
setup board.h for chibios
'''
import argparse, sys, fnmatch, os, dma_resolver, shlex, pickle
import argparse, sys, fnmatch, os, dma_resolver, shlex, pickle, re
import shutil
parser = argparse.ArgumentParser("chibios_pins.py")
@ -639,7 +639,19 @@ def write_I2C_config(f):
% (n, n, n, n))
f.write('#define HAL_I2C_DEVICE_LIST %s\n\n' % ','.join(devlist))
def parse_timer(str):
'''parse timer channel string, i.e TIM8_CH2N'''
result = re.match(r'TIM([0-9]*)_CH([1234])(N?)', str)
if result:
tim = int(result.group(1))
chan = int(result.group(2))
compl = result.group(3) == 'N'
if tim < 1 or tim > 17:
error("Bad timer number %s in %s" % (tim, str))
return (tim, chan, compl)
else:
error("Bad timer definition %s" % str)
def write_PWM_config(f):
'''write PWM config defines'''
rc_in = None
@ -667,50 +679,37 @@ def write_PWM_config(f):
f.write('#define HAL_USE_PWM FALSE\n')
if rc_in is not None:
a = rc_in.label.split('_')
chan_str = a[1][2:]
timer_str = a[0][3:]
if chan_str[-1] == 'N':
(n, chan, compl) = parse_timer(rc_in.label)
if compl:
# it is an inverted channel
f.write('#define HAL_RCIN_IS_INVERTED\n')
chan_str = chan_str[:-1]
if not is_int(chan_str) or not is_int(timer_str):
error("Bad timer channel %s" % rc_in.label)
if int(chan_str) not in [1, 2]:
if chan not in [1, 2]:
error(
"Bad channel number, only channel 1 and 2 supported for RCIN")
n = int(a[0][3:])
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' % int(chan_str))
f.write('#define STM32_RCIN_DMA_STREAM STM32_TIM_TIM%u_CH%u_DMA_STREAM\n' % (n, int(chan_str)))
f.write('#define STM32_RCIN_DMA_CHANNEL STM32_TIM_TIM%u_CH%u_DMA_CHAN\n' % (n, int(chan_str)))
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:
a = rc_in_int.label.split('_')
chan_str = a[1][2:]
timer_str = a[0][3:]
if not is_int(chan_str) or not is_int(timer_str):
error("Bad timer channel %s" % rc_in.label)
n = int(a[0][3:])
(n, chan, compl) = parse_timer(rc_in_int.label)
if compl:
error('Complementary channel is not supported for RCININT %s' % rc_in_int.label)
f.write('// RC input config\n')
f.write('#define HAL_USE_EICU TRUE\n')
f.write('#define STM32_EICU_USE_TIM%u TRUE\n' % n)
f.write('#define RCININT_EICU_TIMER EICUD%u\n' % n)
f.write('#define RCININT_EICU_CHANNEL EICU_CHANNEL_%u\n' % int(chan_str))
f.write('#define RCININT_EICU_CHANNEL EICU_CHANNEL_%u\n' % chan)
f.write('\n')
if alarm is not None:
a = alarm.label.split('_')
chan_str = a[1][2:]
timer_str = a[0][3:]
if not is_int(chan_str) or not is_int(timer_str):
error("Bad timer channel %s" % alarm.label)
n = int(timer_str)
(n, chan, compl) = parse_timer(alarm.label)
if compl:
error("Complementary channel is not supported for ALARM %s" % alarm.label)
f.write('\n')
f.write('// Alarm PWM output config\n')
f.write('#define STM32_PWM_USE_TIM%u TRUE\n' % n)
@ -720,9 +719,6 @@ def write_PWM_config(f):
'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED',
'PWM_OUTPUT_DISABLED', 'PWM_OUTPUT_DISABLED'
]
chan = int(chan_str)
if chan not in [1, 2, 3, 4]:
error("Bad channel number %u for ALARM PWM %s" % (chan, p))
chan_mode[chan - 1] = 'PWM_OUTPUT_ACTIVE_HIGH'
pwm_clock = 1000000
@ -774,16 +770,10 @@ def write_PWM_config(f):
for p in pwm_out:
if p.type != t:
continue
chan_str = p.label[-1]
is_complementary = p.label[-1] == 'N';
if not is_int(chan_str):
error("Bad channel for PWM %s chan_str=%s" % (p, chan_str))
chan = int(chan_str)
if chan not in [1, 2, 3, 4]:
error("Bad channel number %u for PWM %s" % (chan, p))
(n, chan, compl) = parse_timer(p.label)
pwm = p.extra_value('PWM', type=int)
chan_list[chan - 1] = pwm - 1
if is_complementary:
if compl:
chan_mode[chan - 1] = 'PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH'
else:
chan_mode[chan - 1] = 'PWM_OUTPUT_ACTIVE_HIGH'