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HAL_ChibiOS: allow for bare board builds

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this allows for a build with no UARTs, no SPI, no I2C, no PWM. Great
for initial board bringup with just USB
This commit is contained in:
Andrew Tridgell 2018-03-02 11:46:30 +11:00
parent 64bda71da5
commit 306d35655e
15 changed files with 116 additions and 26 deletions
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3
libraries/AP_HAL_ChibiOS/AP_HAL_ChibiOS_Namespace.h
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@ -5,6 +5,7 @@ namespace ChibiOS {
class AnalogSource;
class DigitalSource;
class GPIO;
class I2CBus;
class I2CDevice;
class I2CDeviceManager;
class OpticalFlow;
@ -13,6 +14,8 @@ namespace ChibiOS {
class RCOutput;
class Scheduler;
class Semaphore;
class SPIBus;
class SPIDesc;
class SPIDevice;
class SPIDeviceDriver;
class SPIDeviceManager;

20
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
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@ -32,8 +32,19 @@ static HAL_UARTC_DRIVER;
static HAL_UARTD_DRIVER;
static HAL_UARTE_DRIVER;
static HAL_UARTF_DRIVER;
#if HAL_USE_I2C == TRUE
static ChibiOS::I2CDeviceManager i2cDeviceManager;
#else
static Empty::I2CDeviceManager i2cDeviceManager;
#endif
#if HAL_USE_SPI == TRUE
static ChibiOS::SPIDeviceManager spiDeviceManager;
#else
static Empty::SPIDeviceManager spiDeviceManager;
#endif
static ChibiOS::AnalogIn analogIn;
#ifdef HAL_USE_EMPTY_STORAGE
static Empty::Storage storageDriver;
@ -42,7 +53,13 @@ static ChibiOS::Storage storageDriver;
#endif
static ChibiOS::GPIO gpioDriver;
static ChibiOS::RCInput rcinDriver;
#if HAL_USE_PWM == TRUE
static ChibiOS::RCOutput rcoutDriver;
#else
static Empty::RCOutput rcoutDriver;
#endif
static ChibiOS::Scheduler schedulerInstance;
static ChibiOS::Util utilInstance;
static Empty::OpticalFlow opticalFlowDriver;
@ -168,6 +185,8 @@ void HAL_ChibiOS::run(int argc, char * const argv[], Callbacks* callbacks) const
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
#ifdef HAL_STDOUT_SERIAL
//STDOUT Initialistion
SerialConfig stdoutcfg =
{
@ -177,6 +196,7 @@ void HAL_ChibiOS::run(int argc, char * const argv[], Callbacks* callbacks) const
0
};
sdStart((SerialDriver*)&HAL_STDOUT_SERIAL, &stdoutcfg);
#endif
//Setup SD Card and Initialise FATFS bindings
/*

4
libraries/AP_HAL_ChibiOS/I2CDevice.cpp
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@ -22,6 +22,8 @@
#include "ch.h"
#include "hal.h"
#if HAL_USE_I2C == TRUE
static const struct I2CInfo {
struct I2CDriver *i2c;
uint8_t dma_channel_rx;
@ -283,3 +285,5 @@ I2CDeviceManager::get_device(uint8_t bus, uint8_t address,
auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms));
return dev;
}
#endif // HAL_USE_I2C

13
libraries/AP_HAL_ChibiOS/I2CDevice.h
View File

@ -28,9 +28,11 @@
#include "Device.h"
#include "shared_dma.h"
namespace ChibiOS {
#if HAL_USE_I2C == TRUE
class I2CBus : public DeviceBus {
using namespace ChibiOS;
class ChibiOS::I2CBus : public ChibiOS::DeviceBus {
public:
I2CConfig i2ccfg;
uint8_t busnum;
@ -44,7 +46,7 @@ public:
static void clear_bus(ioline_t scl_line, uint8_t scl_af);
};
class I2CDevice : public AP_HAL::I2CDevice {
class ChibiOS::I2CDevice : public AP_HAL::I2CDevice {
public:
static I2CDevice *from(AP_HAL::I2CDevice *dev)
{
@ -100,7 +102,7 @@ private:
uint32_t _timeout_ms;
};
class I2CDeviceManager : public AP_HAL::I2CDeviceManager {
class ChibiOS::I2CDeviceManager : public AP_HAL::I2CDeviceManager {
public:
friend class I2CDevice;
@ -120,4 +122,5 @@ public:
uint32_t timeout_ms=4) override;
};
}
#endif // HAL_USE_I2C

4
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -18,6 +18,8 @@
#include <AP_Math/AP_Math.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#if HAL_USE_PWM == TRUE
using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
@ -494,3 +496,5 @@ void RCOutput::timer_tick(void)
trigger_oneshot();
}
}
#endif // HAL_USE_PWM

4
libraries/AP_HAL_ChibiOS/RCOutput.h
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@ -20,6 +20,8 @@
#include "ch.h"
#include "hal.h"
#if HAL_USE_PWM == TRUE
class ChibiOS::RCOutput : public AP_HAL::RCOutput {
public:
void init();
@ -116,3 +118,5 @@ private:
// trigger oneshot pulses
void trigger_oneshot(void);
};
#endif // HAL_USE_PWM

6
libraries/AP_HAL_ChibiOS/SPIDevice.cpp
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@ -21,6 +21,8 @@
#include "Semaphores.h"
#include <stdio.h>
#if HAL_USE_SPI == TRUE
using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
@ -45,7 +47,7 @@ static const struct SPIDriverInfo {
#define MHZ (1000U*1000U)
#define KHZ (1000U)
// device list comes from hwdef.dat
SPIDesc SPIDeviceManager::device_table[] = { HAL_SPI_DEVICE_LIST };
ChibiOS::SPIDesc SPIDeviceManager::device_table[] = { HAL_SPI_DEVICE_LIST };
SPIBus::SPIBus(uint8_t _bus) :
DeviceBus(APM_SPI_PRIORITY),
@ -323,3 +325,5 @@ SPIDeviceManager::get_device(const char *name)
return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(new SPIDevice(*busp, desc));
}
#endif

15
libraries/AP_HAL_ChibiOS/SPIDevice.h
View File

@ -21,11 +21,11 @@
#include "Scheduler.h"
#include "Device.h"
namespace ChibiOS {
#if HAL_USE_SPI == TRUE
class SPIDesc;
using namespace ChibiOS;
class SPIBus : public DeviceBus {
class ChibiOS::SPIBus : public ChibiOS::DeviceBus {
public:
SPIBus(uint8_t bus);
struct spi_dev_s *dev;
@ -36,7 +36,7 @@ public:
bool spi_started;
};
struct SPIDesc {
struct ChibiOS::SPIDesc {
SPIDesc(const char *_name, uint8_t _bus,
uint8_t _device, ioline_t _pal_line,
uint16_t _mode, uint32_t _lowspeed, uint32_t _highspeed)
@ -56,7 +56,7 @@ struct SPIDesc {
};
class SPIDevice : public AP_HAL::SPIDevice {
class ChibiOS::SPIDevice : public AP_HAL::SPIDevice {
public:
SPIDevice(SPIBus &_bus, SPIDesc &_device_desc);
@ -101,7 +101,7 @@ private:
uint16_t derive_freq_flag(uint32_t _frequency);
};
class SPIDeviceManager : public AP_HAL::SPIDeviceManager {
class ChibiOS::SPIDeviceManager : public AP_HAL::SPIDeviceManager {
public:
friend class SPIDevice;
@ -117,4 +117,5 @@ private:
SPIBus *buses;
};
}
#endif // HAL_USE_SPI

5
libraries/AP_HAL_ChibiOS/Storage.cpp
View File

@ -15,8 +15,6 @@
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include <AP_BoardConfig/AP_BoardConfig.h>
#include "Storage.h"
@ -24,6 +22,7 @@
using namespace ChibiOS;
#ifndef HAL_USE_EMPTY_STORAGE
extern const AP_HAL::HAL& hal;
@ -198,4 +197,4 @@ bool Storage::_flash_erase_ok(void)
return !hal.util->get_soft_armed();
}
#endif // CONFIG_HAL_BOARD
#endif // HAL_USE_EMPTY_STORAGE

4
libraries/AP_HAL_ChibiOS/Storage.h
View File

@ -25,6 +25,8 @@
#define CH_STORAGE_SIZE HAL_STORAGE_SIZE
#ifndef HAL_USE_EMPTY_STORAGE
// when using flash storage we use a small line size to make storage
// compact and minimise the number of erase cycles needed
#define CH_STORAGE_LINE_SHIFT 3
@ -71,3 +73,5 @@ private:
bool using_fram;
#endif
};
#endif // HAL_USE_EMPTY_STORAGE

4
libraries/AP_HAL_ChibiOS/ToneAlarm.h
View File

@ -1,6 +1,7 @@
#pragma once
#include "AP_HAL_ChibiOS.h"
#include "ch.h"
#include "hal.h"
@ -110,6 +111,8 @@
#define TONE_NUMBER_OF_TUNES 11
#ifdef HAL_PWM_ALARM
namespace ChibiOS {
class ToneAlarm {
@ -149,3 +152,4 @@ private:
};
}
#endif // HAL_PWM_ALARM

23
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
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@ -186,6 +186,7 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
}
#endif
} else {
#if HAL_USE_SERIAL == TRUE
if (_baudrate != 0) {
bool was_initialised = _device_initialised;
//setup Rx DMA
@ -248,6 +249,7 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
}
}
}
#endif // HAL_USE_SERIAL
}
if (_writebuf.get_size() && _readbuf.get_size()) {
@ -261,6 +263,7 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
void UARTDriver::dma_tx_allocate(void)
{
#if HAL_USE_SERIAL == TRUE
osalDbgAssert(txdma == nullptr, "double DMA allocation");
txdma = STM32_DMA_STREAM(sdef.dma_tx_stream_id);
chSysLock();
@ -271,6 +274,7 @@ void UARTDriver::dma_tx_allocate(void)
osalDbgAssert(!dma_allocated, "stream already allocated");
chSysUnlock();
dmaStreamSetPeripheral(txdma, &((SerialDriver*)sdef.serial)->usart->DR);
#endif // HAL_USE_SERIAL
}
void UARTDriver::dma_tx_deallocate(void)
@ -303,6 +307,7 @@ void UARTDriver::tx_complete(void* self, uint32_t flags)
void UARTDriver::rx_irq_cb(void* self)
{
#if HAL_USE_SERIAL == TRUE
UARTDriver* uart_drv = (UARTDriver*)self;
if (!uart_drv->sdef.dma_rx) {
return;
@ -314,10 +319,12 @@ void UARTDriver::rx_irq_cb(void* self)
//disable dma, triggering DMA transfer complete interrupt
uart_drv->rxdma->stream->CR &= ~STM32_DMA_CR_EN;
}
#endif // HAL_USE_SERIAL
}
void UARTDriver::rxbuff_full_irq(void* self, uint32_t flags)
{
#if HAL_USE_SERIAL == TRUE
UARTDriver* uart_drv = (UARTDriver*)self;
if (uart_drv->_lock_rx_in_timer_tick) {
return;
@ -342,6 +349,7 @@ void UARTDriver::rxbuff_full_irq(void* self, uint32_t flags)
if (uart_drv->_rts_is_active) {
uart_drv->update_rts_line();
}
#endif // HAL_USE_SERIAL
}
void UARTDriver::begin(uint32_t b)
@ -360,7 +368,9 @@ void UARTDriver::end()
sduStop((SerialUSBDriver*)sdef.serial);
#endif
} else {
#if HAL_USE_SERIAL == TRUE
sdStop((SerialDriver*)sdef.serial);
#endif
}
_readbuf.set_size(0);
_writebuf.set_size(0);
@ -558,14 +568,16 @@ void UARTDriver::write_pending_bytes_NODMA(uint32_t n)
ByteBuffer::IoVec vec[2];
const auto n_vec = _writebuf.peekiovec(vec, n);
for (int i = 0; i < n_vec; i++) {
int ret;
int ret = -1;
if (sdef.is_usb) {
ret = 0;
#ifdef HAVE_USB_SERIAL
ret = chnWriteTimeout((SerialUSBDriver*)sdef.serial, vec[i].data, vec[i].len, TIME_IMMEDIATE);
#endif
} else {
#if HAL_USE_SERIAL == TRUE
ret = chnWriteTimeout((SerialDriver*)sdef.serial, vec[i].data, vec[i].len, TIME_IMMEDIATE);
#endif
}
if (ret < 0) {
break;
@ -682,7 +694,9 @@ void UARTDriver::_timer_tick(void)
#endif
} else {
ret = 0;
#if HAL_USE_SERIAL == TRUE
ret = chnReadTimeout((SerialDriver*)sdef.serial, vec[i].data, vec[i].len, TIME_IMMEDIATE);
#endif
}
if (ret < 0) {
break;
@ -721,7 +735,7 @@ void UARTDriver::set_flow_control(enum flow_control flowcontrol)
// no hw flow control available
return;
}
#if HAL_USE_SERIAL == TRUE
_flow_control = flowcontrol;
if (!_initialised) {
// not ready yet, we just set variable for when we call begin
@ -755,6 +769,7 @@ void UARTDriver::set_flow_control(enum flow_control flowcontrol)
((SerialDriver*)(sdef.serial))->usart->CR3 &= ~USART_CR3_RTSE;
break;
}
#endif // HAL_USE_SERIAL
}
/*
@ -798,6 +813,7 @@ void UARTDriver::configure_parity(uint8_t v)
// not possible
return;
}
#if HAL_USE_SERIAL == TRUE
// stop and start to take effect
sdStop((SerialDriver*)sdef.serial);
@ -826,6 +842,7 @@ void UARTDriver::configure_parity(uint8_t v)
//because we will handle them via DMA
((SerialDriver*)sdef.serial)->usart->CR1 &= ~USART_CR1_RXNEIE;
}
#endif // HAL_USE_SERIAL
}
/*
@ -837,6 +854,7 @@ void UARTDriver::set_stop_bits(int n)
// not possible
return;
}
#if HAL_USE_SERIAL
// stop and start to take effect
sdStop((SerialDriver*)sdef.serial);
@ -854,6 +872,7 @@ void UARTDriver::set_stop_bits(int n)
//because we will handle them via DMA
((SerialDriver*)sdef.serial)->usart->CR1 &= ~USART_CR1_RXNEIE;
}
#endif // HAL_USE_SERIAL
}

2
libraries/AP_HAL_ChibiOS/UARTDriver.h
View File

@ -90,7 +90,9 @@ private:
uint32_t _baudrate;
uint16_t tx_len;
#if HAL_USE_SERIAL == TRUE
SerialConfig sercfg;
#endif
const thread_t* _uart_owner_thd;
struct {

5
libraries/AP_HAL_ChibiOS/hwdef/common/stdio.c
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@ -99,7 +99,12 @@ int asprintf(char **strp, const char *fmt, ...)
int vprintf(const char *fmt, va_list arg)
{
#ifdef HAL_STDOUT_SERIAL
return chvprintf ((BaseSequentialStream*)&HAL_STDOUT_SERIAL, fmt, arg);
#else
(void)arg;
return strlen(fmt);
#endif
}
int printf(const char *fmt, ...)

30
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -100,6 +100,12 @@ def get_alt_function(mcu, pin, function):
return alt_map[s]
return None
def have_type_prefix(ptype):
'''return True if we have a peripheral starting with the given peripheral type'''
for t in bytype.keys():
if t.startswith(ptype):
return True
return False
def get_ADC1_chan(mcu, pin):
'''return ADC1 channel for an analog pin'''
@ -290,10 +296,10 @@ def write_mcu_config(f):
f.write('// crystal frequency\n')
f.write('#define STM32_HSECLK %sU\n\n' % get_config('OSCILLATOR_HZ'))
f.write('// UART used for stdout (printf)\n')
f.write('#define HAL_STDOUT_SERIAL %s\n\n' % get_config('STDOUT_SERIAL'))
f.write('// baudrate used for stdout (printf)\n')
f.write('#define HAL_STDOUT_BAUDRATE %u\n\n' % get_config(
'STDOUT_BAUDRATE', type=int))
if get_config('STDOUT_SERIAL', required=False):
f.write('#define HAL_STDOUT_SERIAL %s\n\n' % get_config('STDOUT_SERIAL'))
f.write('// baudrate used for stdout (printf)\n')
f.write('#define HAL_STDOUT_BAUDRATE %u\n\n' % get_config('STDOUT_BAUDRATE', type=int))
if 'SDIO' in bytype:
f.write('// SDIO available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n\n')
@ -308,7 +314,7 @@ def write_mcu_config(f):
f.write('#define HAL_USE_SERIAL_USB TRUE\n')
if 'OTG2' in bytype:
f.write('#define STM32_USB_USE_OTG2 TRUE\n')
if 'CAN1' in bytype or 'CAN2' in bytype or 'CAN3' in bytype:
if have_type_prefix('CAN'):
enable_can(f)
# write any custom STM32 defines
for d in alllines:
@ -362,7 +368,7 @@ INCLUDE common.ld
def write_USB_config(f):
'''write USB config defines'''
if not 'OTG1' in bytype:
if not have_type_prefix('OTG'):
return;
f.write('// USB configuration\n')
f.write('#define HAL_USB_VENDOR_ID %s\n' % get_config('USB_VENDOR', default=0x0483)) # default to ST
@ -505,13 +511,16 @@ def write_UART_config(f):
def write_I2C_config(f):
'''write I2C config defines'''
if not have_type_prefix('I2C'):
print("No I2C peripherals")
f.write('#define HAL_USE_I2C FALSE\n')
return
if not 'I2C_ORDER' in config:
error("Missing I2C_ORDER config")
i2c_list = config['I2C_ORDER']
f.write('// I2C configuration\n')
if len(i2c_list) == 0:
f.write('#define HAL_USE_I2C FALSE\n')
return
error("I2C_ORDER invalid")
devlist = []
for dev in i2c_list:
if not dev.startswith('I2C') or dev[3] not in "1234":
@ -547,6 +556,11 @@ def write_PWM_config(f):
pwm_out.append(p)
if p.type not in pwm_timers:
pwm_timers.append(p.type)
if not pwm_out:
print("No PWM output defined")
f.write('#define HAL_USE_PWM FALSE\n')
if rc_in is not None:
a = rc_in.label.split('_')
chan_str = a[1][2:]