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AP_HAL_ChibiOS: support EXPECTED_CLOCKS and assert on meaningful ones for H7

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This commit is contained in:
Andy Piper 2023-01-30 16:18:13 +00:00 committed by Andrew Tridgell
parent d9d252a1b7
commit 39b226c46b
5 changed files with 43 additions and 3 deletions
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3
libraries/AP_HAL_ChibiOS/QSPIDevice.cpp
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@ -45,9 +45,6 @@ static const struct QSPIDriverInfo {
QSPIDesc QSPIDeviceManager::device_table[] = { HAL_QSPI_DEVICE_LIST };
// Check clock sanity during runtime
#define XSTR(x) STR(x)
#define STR(x) #x
#if (STM32_QSPICLK < HAL_QSPI1_CLK)
#error "Flash speed must not be greater than QSPI Clock"
#endif

8
libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H743xx.py
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@ -58,6 +58,14 @@ mcu = {
'EXPECTED_CLOCK' : 400000000,
'EXPECTED_CLOCKS' : [
('STM32_SYS_CK', 400000000),
('STM32_QSPICLK', 200000000),
('STM32_SDMMC1CLK', 80000000),
('STM32_SPI45CLK', 100000000),
('STM32_FDCANCLK', 80000000),
],
# this MCU has M7 instructions and hardware double precision
'CORTEX' : 'cortex-m7',
'CPU_FLAGS' : '-mcpu=cortex-m7 -mfpu=fpv5-d16 -mfloat-abi=hard',

7
libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H750xx.py
View File

@ -63,6 +63,13 @@ mcu = {
'EXPECTED_CLOCK' : 400000000,
'EXPECTED_CLOCKS' : [
('STM32_SYS_CK', 400000000),
('STM32_QSPICLK', 200000000),
('STM32_SDMMC1CLK', 80000000),
('STM32_SPI45CLK', 100000000),
],
# this MCU has M7 instructions and hardware double precision
'CORTEX' : 'cortex-m7',
'CPU_FLAGS' : '-mcpu=cortex-m7 -mfpu=fpv5-d16 -mfloat-abi=hard',

8
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
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@ -1082,6 +1082,14 @@ def write_mcu_config(f):
elif get_mcu_config('EXPECTED_CLOCK', required=True):
f.write('#define HAL_EXPECTED_SYSCLOCK %u\n' % get_mcu_config('EXPECTED_CLOCK'))
if get_mcu_config('EXPECTED_CLOCKS', required=False):
clockrate = get_config('MCU_CLOCKRATE_MHZ', required=False)
for mcu_clock, mcu_clock_speed in get_mcu_config('EXPECTED_CLOCKS'):
if (mcu_clock == 'STM32_HCLK' or mcu_clock == 'STM32_SYS_CK') and clockrate:
f.write('#define HAL_EXPECTED_%s %u\n' % (mcu_clock, int(clockrate) * 1000000))
else:
f.write('#define HAL_EXPECTED_%s %u\n' % (mcu_clock, mcu_clock_speed))
env_vars['CORTEX'] = cortex
if not args.bootloader:

20
libraries/AP_HAL_ChibiOS/system.cpp
View File

@ -53,6 +53,26 @@ static_assert(HAL_EXPECTED_SYSCLOCK == STM32_HCLK, "unexpected STM32_HCLK value"
#define AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED 1
#endif
#define QUOTE(str) #str
#define EXPAND_AND_QUOTE(str) QUOTE(str)
#define ASSERT_CLOCK(clk) static_assert(HAL_EXPECTED_ ##clk == (clk), "unexpected " #clk " value: '" EXPAND_AND_QUOTE(clk) "'")
#if defined(HAL_EXPECTED_STM32_SYS_CK) && defined(STM32_SYS_CK)
ASSERT_CLOCK(STM32_SYS_CK);
#endif
#if defined(HAL_EXPECTED_STM32_HCLK) && defined(STM32_HCLK)
ASSERT_CLOCK(STM32_HCLK);
#endif
#if defined(HAL_EXPECTED_STM32_SDMMC1CLK) && defined(STM32_SDMMC1CLK)
ASSERT_CLOCK(STM32_SDMMC1CLK);
#endif
#if defined(HAL_EXPECTED_STM32_SPI45CLK) && defined(STM32_SPI45CLK)
ASSERT_CLOCK(STM32_SPI45CLK);
#endif
#if defined(HAL_EXPECTED_STM32_FDCANCLK) && defined(STM32_FDCANCLK)
ASSERT_CLOCK(STM32_FDCANCLK);
#endif
extern const AP_HAL::HAL& hal;
extern "C"
{