HAL_ChibiOS: support building with no GPIOs

libraries/AP_HAL_ChibiOS/GPIO.cpp

@@ -37,9 +37,8 @@ using namespace ChibiOS;
 extern AP_IOMCU iomcu;
 #endif
 
-
 // GPIO pin table from hwdef.dat
-static struct gpio_entry {
+struct gpio_entry {
     uint8_t pin_num;
     bool enabled;
     uint8_t pwm_num;
@@ -51,13 +50,22 @@ static struct gpio_entry {
     uint16_t isr_quota;
     uint8_t isr_disabled_ticks;
     AP_HAL::GPIO::INTERRUPT_TRIGGER_TYPE isr_mode;
-} _gpio_tab[] = HAL_GPIO_PINS;
+};
+
+#ifdef HAL_GPIO_PINS
+#define HAVE_GPIO_PINS 1
+static struct gpio_entry _gpio_tab[] = HAL_GPIO_PINS;
+#else
+#define HAVE_GPIO_PINS 0
+#endif
+
 
 /*
   map a user pin number to a GPIO table entry
  */
 static struct gpio_entry *gpio_by_pin_num(uint8_t pin_num, bool check_enabled=true)
 {
+#if HAVE_GPIO_PINS
     for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
         const auto &t = _gpio_tab[i];
         if (pin_num == t.pin_num) {
@@ -67,6 +75,7 @@ static struct gpio_entry *gpio_by_pin_num(uint8_t pin_num, bool check_enabled=tr
             return &_gpio_tab[i];
         }
     }
+#endif
     return NULL;
 }
 
@@ -79,7 +88,9 @@ GPIO::GPIO()
 void GPIO::init()
 {
 #if !APM_BUILD_TYPE(APM_BUILD_iofirmware) && !defined(HAL_BOOTLOADER_BUILD)
+#if HAL_WITH_IO_MCU || HAVE_GPIO_PINS
     uint8_t chan_offset = 0;
+#endif
 #if HAL_WITH_IO_MCU
     if (AP_BoardConfig::io_enabled()) {
         uint8_t GPIO_mask = 0;
@@ -93,12 +104,14 @@ void GPIO::init()
     }
 #endif
     // auto-disable pins being used for PWM output
+#if HAVE_GPIO_PINS
     for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
         struct gpio_entry *g = &_gpio_tab[i];
         if (g->pwm_num != 0) {
             g->enabled = SRV_Channels::is_GPIO((g->pwm_num-1)+chan_offset);
         }
     }
+#endif // HAVE_GPIO_PINS
 #endif // HAL_BOOTLOADER_BUILD
 #ifdef HAL_PIN_ALT_CONFIG
     setup_alt_config();
@@ -139,6 +152,7 @@ void GPIO::setup_alt_config(void)
         if (alt_config == alt.alternate) {
             if (alt.periph_type == PERIPH_TYPE::GPIO) {
                 // enable pin in GPIO table
+#if HAVE_GPIO_PINS
                 for (uint8_t j=0; j<ARRAY_SIZE(_gpio_tab); j++) {
                     struct gpio_entry *g = &_gpio_tab[j];
                     if (g->pal_line == alt.line) {
@@ -146,6 +160,7 @@ void GPIO::setup_alt_config(void)
                         break;
                     }
                 }
+#endif // HAVE_GPIO_PINS
                 continue;
             }
             const iomode_t mode = alt.mode & ~PAL_STM32_HIGH;
@@ -523,7 +538,9 @@ bool GPIO::valid_pin(uint8_t pin) const
 // servo_ch uses zero-based indexing
 bool GPIO::pin_to_servo_channel(uint8_t pin, uint8_t& servo_ch) const
 {
+#if HAL_WITH_IO_MCU || HAVE_GPIO_PINS
     uint8_t fmu_chan_offset = 0;
+#endif
 #if HAL_WITH_IO_MCU
     if (AP_BoardConfig::io_enabled()) {
         // check if this is one of the main pins
@@ -537,6 +554,7 @@ bool GPIO::pin_to_servo_channel(uint8_t pin, uint8_t& servo_ch) const
     }
 #endif
 
+#if HAVE_GPIO_PINS
     // search _gpio_tab for matching pin
     for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
         if (_gpio_tab[i].pin_num == pin) {
@@ -547,6 +565,7 @@ bool GPIO::pin_to_servo_channel(uint8_t pin, uint8_t& servo_ch) const
             return true;
         }
     }
+#endif // HAVE_GPIO_PINS
     return false;
 }
 
@@ -581,6 +600,7 @@ void GPIO::timer_tick()
 {
     // allow 100k interrupts/second max for GPIO interrupt sources, which is
     // 10k per 100ms call to timer_tick()
+#if HAVE_GPIO_PINS
     const uint16_t quota = 10000U;
     for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
         if (_gpio_tab[i].isr_quota != 1) {
@@ -628,17 +648,20 @@ void GPIO::timer_tick()
             }
         }
     }
+#endif // HAVE_GPIO_PINS
 }
 
 // Check for ISR floods
 bool GPIO::arming_checks(size_t buflen, char *buffer) const
 {
+#if HAVE_GPIO_PINS
     for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
         if (_gpio_tab[i].isr_disabled_ticks != 0) {
             hal.util->snprintf(buffer, buflen, "Pin %u disabled (ISR flood)", _gpio_tab[i].pin_num);
             return false;
         }
     }
+#endif // HAVE_GPIO_PINS
     return true;
 }
 #endif // IOMCU_FW

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -2383,12 +2383,13 @@ INCLUDE common.ld
         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))
-        f.write('#define HAL_GPIO_PINS { \\\n')
+        if len(gpios) > 0:
-        for (gpio, pwm, port, pin, p, enabled) in gpios:
+            f.write('#define HAL_GPIO_PINS { \\\n')
-            f.write('{ %3u, %s, %2u, PAL_LINE(GPIO%s,%uU)}, /* %s */ \\\n' %
+            for (gpio, pwm, port, pin, p, enabled) in gpios:
-                    (gpio, enabled, pwm, port, pin, p))
+                f.write('{ %3u, %s, %2u, PAL_LINE(GPIO%s,%uU)}, /* %s */ \\\n' %
-        # and write #defines for use by config code
+                        (gpio, enabled, pwm, port, pin, p))
-        f.write('}\n\n')
+            # 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()))):