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HAL_ChibiOS: added support for alternative pin configs

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This commit is contained in:
Andrew Tridgell 2019-12-29 19:08:56 +11:00
parent 06a9baeb9b
commit 66dd5925cf
3 changed files with 164 additions and 35 deletions
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39
libraries/AP_HAL_ChibiOS/GPIO.cpp
View File

@ -67,8 +67,47 @@ void GPIO::init()
g->enabled = g->pwm_num > pwm_count;
}
}
#ifdef HAL_PIN_ALT_CONFIG
setup_alt_config();
#endif
}
#ifdef HAL_PIN_ALT_CONFIG
/*
alternative config table, selected using BRD_ALT_CONFIG
*/
static const struct alt_config {
uint8_t alternate;
uint16_t mode;
ioline_t line;
} alternate_config[] HAL_PIN_ALT_CONFIG;
/*
change pin configuration based on ALT() lines in hwdef.dat
*/
void GPIO::setup_alt_config(void)
{
AP_BoardConfig *bc = AP::boardConfig();
if (!bc) {
return;
}
const uint8_t alt = bc->get_alt_config();
if (alt == 0) {
// use defaults
return;
}
for (uint8_t i=0; i<ARRAY_SIZE(alternate_config); i++) {
if (alt == alternate_config[i].alternate) {
const iomode_t mode = alternate_config[i].mode & ~PAL_STM32_HIGH;
const uint8_t odr = (alternate_config[i].mode & PAL_STM32_HIGH)?1:0;
palSetLineMode(alternate_config[i].line, mode);
palWriteLine(alternate_config[i].line, odr);
}
}
}
#endif // HAL_PIN_ALT_CONFIG
void GPIO::pinMode(uint8_t pin, uint8_t output)
{
struct gpio_entry *g = gpio_by_pin_num(pin);

3
libraries/AP_HAL_ChibiOS/GPIO.h
View File

@ -61,6 +61,9 @@ private:
bool _ext_started;
bool _attach_interrupt(ioline_t line, palcallback_t cb, void *p, uint8_t mode);
#ifdef HAL_PIN_ALT_CONFIG
void setup_alt_config(void);
#endif
};
class ChibiOS::DigitalSource : public AP_HAL::DigitalSource {

157
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -47,6 +47,9 @@ portmap = {}
# dictionary of all config lines, indexed by first word
config = {}
# alternate pin mappings
altmap = {}
# list of all pins in config file order
allpins = []
@ -255,7 +258,7 @@ class generic_pin(object):
'''return true if this is a CS pin'''
return self.has_extra("CS") or self.type == "CS"
def get_MODER(self):
def get_MODER_value(self):
'''return one of ALTERNATE, OUTPUT, ANALOG, INPUT'''
if self.af is not None:
v = "ALTERNATE"
@ -269,9 +272,18 @@ class generic_pin(object):
v = "OUTPUT"
else:
v = "INPUT"
return "PIN_MODE_%s(%uU)" % (v, self.pin)
return v
def get_OTYPER(self):
def get_MODER_mode(self):
'''return one of ALTERNATE, OUTPUT, ANALOG, INPUT'''
return 'PAL_STM32_MODE_' + 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'):
@ -281,9 +293,13 @@ class generic_pin(object):
for e in self.extra:
if e in values:
v = e
return "PIN_OTYPE_%s(%uU)" % (v, self.pin)
return v
def get_OSPEEDR(self):
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']
@ -291,9 +307,21 @@ class generic_pin(object):
for e in self.extra:
if e in values:
v = e
return "PIN_O%s(%uU)" % (v, self.pin)
return v
def get_PUPDR(self):
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 not v in values:
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'
@ -319,9 +347,13 @@ class generic_pin(object):
for e in self.extra:
if e in values:
v = e
return "PIN_PUPDR_%s(%uU)" % (v, self.pin)
return v
def get_ODR_F1(self):
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'
@ -337,25 +369,33 @@ class generic_pin(object):
v = 'LOW'
if 'PULLUP' in self.extra:
v = "HIGH"
return "PIN_ODR_%s(%uU)" % (v, self.pin)
return v
def get_ODR(self):
def get_ODR_value(self):
'''return one of LOW, HIGH'''
if mcu_series.startswith("STM32F1"):
return self.get_ODR_F1()
return self.get_ODR_F1_value()
values = ['LOW', 'HIGH']
v = 'HIGH'
for e in self.extra:
if e in values:
v = e
return "PIN_ODR_%s(%uU)" % (v, self.pin)
return v
def get_AFIO(self):
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 "PIN_AFIO_AF(%uU, %uU)" % (self.pin, af)
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'''
@ -454,6 +494,19 @@ class generic_pin(object):
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 __str__(self):
str = ''
if self.af is not None:
@ -1437,6 +1490,24 @@ def get_dma_exclude(periph_list):
dma_exclude.append(periph)
return dma_exclude
def write_alt_config(f):
'''write out alternate config settings'''
if len(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 altmap.keys():
for pp in altmap[alt].keys():
p = altmap[alt][pp]
f.write(" { %u, %s, PAL_LINE(GPIO%s,%uU)}, /* %s */ \\\n" % (alt, p.pal_modeline(), p.port, p.pin, str(p)))
f.write('}\n\n')
def write_hwdef_header(outfilename):
'''write hwdef header file'''
print("Writing hwdef setup in %s" % outfilename)
@ -1569,6 +1640,7 @@ def write_hwdef_header(outfilename):
# there were no pin definitions, use 0
f.write("0")
f.write(")\n\n")
write_alt_config(f)
if not mcu_series.startswith("STM32F1"):
dma_required = ['SPI*', 'ADC*']
@ -1655,15 +1727,7 @@ def process_line(line):
# keep all config lines for later use
alllines.append(line)
if a[0].startswith('P') and a[0][1] in ports and a[0] in config:
error("Pin %s redefined" % a[0])
config[a[0]] = a[1:]
if a[0] == 'MCU':
global mcu_type, mcu_series
mcu_type = a[2]
mcu_series = a[1]
setup_mcu_type_defaults()
p = None
if a[0].startswith('P') and a[0][1] in ports:
# it is a port/pin definition
try:
@ -1677,28 +1741,51 @@ def process_line(line):
return
p = generic_pin(port, pin, label, type, extra)
af = get_alt_function(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 mcu_series.startswith("STM32F1"):
error("Alt config not allowed for F1 MCU")
if not alt in altmap:
altmap[alt] = {}
if p.portpin in altmap[alt]:
error("Pin %s ALT(%u) redefined" % (p.portpin, alt))
altmap[alt][p.portpin] = p
return
if a[0] in config:
error("Pin %s redefined" % a[0])
config[a[0]] = a[1:]
if p is not None:
# add to set of pins for primary config
portmap[port][pin] = p
allpins.append(p)
if not type in bytype:
bytype[type] = []
bytype[type].append(p)
bylabel[label] = p
af = get_alt_function(mcu_type, a[0], label)
if af is not None:
p.af = af
if a[0] == 'SPIDEV':
elif a[0] == 'MCU':
global mcu_type, mcu_series
mcu_type = a[2]
mcu_series = a[1]
setup_mcu_type_defaults()
elif a[0] == 'SPIDEV':
spidev.append(a[1:])
if a[0] == 'IMU':
elif a[0] == 'IMU':
imu_list.append(a[1:])
if a[0] == 'COMPASS':
elif a[0] == 'COMPASS':
compass_list.append(a[1:])
if a[0] == 'BARO':
elif a[0] == 'BARO':
baro_list.append(a[1:])
if a[0] == 'ROMFS':
elif a[0] == 'ROMFS':
romfs_add(a[1],a[2])
if a[0] == 'ROMFS_WILDCARD':
elif a[0] == 'ROMFS_WILDCARD':
romfs_wildcard(a[1])
if a[0] == 'undef':
elif a[0] == 'undef':
print("Removing %s" % a[1])
config.pop(a[1], '')
bytype.pop(a[1],'')
@ -1723,7 +1810,7 @@ def process_line(line):
compass_list = []
if a[1] == 'BARO':
baro_list = []
if a[0] == 'env':
elif a[0] == 'env':
print("Adding environment %s" % ' '.join(a[1:]))
if len(a[1:]) < 2:
error("Bad env line for %s" % a[0])