forked from ArduPilot/ardupilot
/
chibios_hwdef.py
3459 lines (3033 loc) · 130 KB
/
chibios_hwdef.py
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#!/usr/bin/env python
'''
setup board.h for chibios
'''
import argparse
import sys
import fnmatch
import os
import dma_resolver
import shlex
import pickle
import re
import shutil
import filecmp
class ChibiOSHWDef(object):
# output variables for each pin
f4f7_vtypes = ['MODER', 'OTYPER', 'OSPEEDR', 'PUPDR', 'ODR', 'AFRL', 'AFRH']
f1_vtypes = ['CRL', 'CRH', 'ODR']
af_labels = ['USART', 'UART', 'SPI', 'I2C', 'SDIO', 'SDMMC', 'OTG', 'JT', 'TIM', 'CAN', 'QUADSPI', 'OCTOSPI']
def __init__(self, bootloader=False, signed_fw=False, outdir=None, hwdef=[], default_params_filepath=None):
self.outdir = outdir
self.hwdef = hwdef
self.bootloader = bootloader
self.signed_fw = signed_fw
self.default_params_filepath = default_params_filepath
self.default_gpio = ['INPUT', 'FLOATING']
self.vtypes = []
# number of pins in each port
self.pincount = {
'A': 16,
'B': 16,
'C': 16,
'D': 16,
'E': 16,
'F': 16,
'G': 16,
'H': 2,
'I': 0,
'J': 0,
'K': 0
}
self.ports = self.pincount.keys()
self.portmap = {}
# dictionary of all config lines, indexed by first word
self.config = {}
# alternate pin mappings
self.altmap = {}
# list of all pins in config file order
self.allpins = []
# list of configs by type
self.bytype = {}
# list of alt configs by type
self.alttype = {}
# list of configs by label
self.bylabel = {}
# list of alt configs by label
self.altlabel = {}
# list of SPI devices
self.spidev = []
# list of WSPI devices
self.wspidev = []
# dictionary of ROMFS files
self.romfs = {}
# SPI bus list
self.spi_list = []
# list of WSPI devices
self.wspi_list = []
# all config lines in order
self.alllines = []
# allow for extra env vars
self.env_vars = {}
# build flags for ChibiOS makefiles
self.build_flags = []
# sensor lists
self.imu_list = []
self.compass_list = []
self.baro_list = []
self.airspeed_list = []
# output lines:
self.all_lines = []
self.dma_exclude_pattern = []
# map from uart names to SERIALn numbers
self.uart_serial_num = {}
self.mcu_type = None
self.dual_USB_enabled = False
# list of device patterns that can't be shared
self.dma_noshare = []
# integer defines
self.intdefines = {}
def is_int(self, str):
'''check if a string is an integer'''
try:
int(str)
except Exception:
return False
return True
def error(self, str):
'''show an error and exit'''
print("Error: " + str)
sys.exit(1)
def get_mcu_lib(self, mcu):
'''get library file for the chosen MCU'''
import importlib
try:
return importlib.import_module(mcu)
except ImportError:
self.error("Unable to find module for MCU %s" % mcu)
def setup_mcu_type_defaults(self):
'''setup defaults for given mcu type'''
lib = self.get_mcu_lib(self.mcu_type)
if hasattr(lib, 'pincount'):
self.pincount = lib.pincount
if self.mcu_series.startswith("STM32F1"):
self.vtypes = self.f1_vtypes
else:
self.vtypes = self.f4f7_vtypes
self.ports = self.pincount.keys()
# setup default as input pins
for port in self.ports:
self.portmap[port] = []
for pin in range(self.pincount[port]):
self.portmap[port].append(self.generic_pin(port, pin, None, self.default_gpio[0], self.default_gpio[1:], self.mcu_type, self.mcu_series, self.get_ADC1_chan, self.get_ADC2_chan, self.get_ADC3_chan, self.af_labels))
if self.mcu_series.startswith("STM32H7") or self.mcu_series.startswith("STM32F7"):
# default DMA off on I2C for H7, we're much better off reducing DMA sharing
self.dma_exclude_pattern = ['I2C*']
def get_alt_function(self, mcu, pin, function):
'''return alternative function number for a pin'''
lib = self.get_mcu_lib(mcu)
if function.endswith('_TXINV') or function.endswith('_RXINV'):
# RXINV and TXINV are special labels for inversion pins, not alt-functions
return None
if hasattr(lib, "AltFunction_map"):
alt_map = lib.AltFunction_map
else:
# just check if Alt Func is available or not
for l in self.af_labels:
if function.startswith(l):
return 0
return None
if function and function.endswith("_RTS") and (
function.startswith('USART') or function.startswith('UART')):
# we do software RTS
return None
for l in self.af_labels:
if function.startswith(l):
s = pin + ":" + function
if s not in alt_map:
self.error("Unknown pin function %s for MCU %s" % (s, mcu))
return alt_map[s]
return None
def have_type_prefix(self, ptype):
'''return True if we have a peripheral starting with the given peripheral type'''
for t in list(self.bytype.keys()) + list(self.alttype.keys()):
if t.startswith(ptype):
return True
return False
def get_ADC1_chan(self, mcu, pin):
'''return ADC1 channel for an analog pin'''
import importlib
try:
lib = importlib.import_module(mcu)
ADC1_map = lib.ADC1_map
except ImportError:
self.error("Unable to find ADC1_Map for MCU %s" % mcu)
if pin not in ADC1_map:
self.error("Unable to find ADC1 channel for pin %s" % pin)
return ADC1_map[pin]
def get_ADC2_chan(self, mcu, pin):
'''return ADC2 channel for an analog pin'''
import importlib
try:
lib = importlib.import_module(mcu)
ADC2_map = lib.ADC2_map
except ImportError:
self.error("Unable to find ADC2_Map for MCU %s" % mcu)
if pin not in ADC2_map:
self.error("Unable to find ADC2 channel for pin %s" % pin)
return ADC2_map[pin]
def get_ADC3_chan(self, mcu, pin):
'''return ADC3 channel for an analog pin'''
import importlib
try:
lib = importlib.import_module(mcu)
ADC3_map = lib.ADC3_map
except ImportError:
self.error("Unable to find ADC3_Map for MCU %s" % mcu)
if pin not in ADC3_map:
self.error("Unable to find ADC3 channel for pin %s" % pin)
return ADC3_map[pin]
class generic_pin(object):
'''class to hold pin definition'''
def __init__(self, port, pin, label, type, extra, mcu_type, mcu_series, get_ADC1_chan, get_ADC2_chan, get_ADC3_chan, af_labels):
self.portpin = "P%s%u" % (port, pin)
self.port = port
self.pin = pin
self.label = label
self.type = type
self.extra = extra
self.af = None
self.mcu_type = mcu_type
self.mcu_series = mcu_series
# these are methods supplied to us to resolve channel numbers:
self.get_ADC1_chan = get_ADC1_chan
self.get_ADC2_chan = get_ADC2_chan
self.get_ADC3_chan = get_ADC3_chan
self.af_labels = af_labels
if type == 'OUTPUT':
self.sig_dir = 'OUTPUT'
else:
self.sig_dir = 'INPUT'
if mcu_series.startswith("STM32F1") and self.label is not None:
self.f1_pin_setup(mcu_type)
# check that labels and pin types are consistent
for prefix in ['USART', 'UART', 'TIM']:
if label is None or type is None:
continue
if type.startswith(prefix):
a1 = label.split('_')
a2 = type.split('_')
if a1[0] != a2[0]:
self.error("Peripheral prefix mismatch for %s %s %s" % (self.portpin, label, type))
def f1_pin_setup(self, mcu_type):
f1_input_sigs = ['RX', 'MISO', 'CTS']
f1_output_sigs = ['TX', 'MOSI', 'SCK', 'RTS', 'CH1', 'CH2', 'CH3', 'CH4']
for label in self.af_labels:
if self.label.startswith(label):
if self.label.endswith(tuple(f1_input_sigs)):
self.sig_dir = 'INPUT'
self.extra.append('FLOATING')
elif self.label.endswith(tuple(f1_output_sigs)):
self.sig_dir = 'OUTPUT'
elif label == 'I2C':
self.sig_dir = 'OUTPUT'
elif label == 'OTG':
self.sig_dir = 'OUTPUT'
else:
self.error("Unknown signal type %s:%s for %s!" % (self.portpin, self.label, mcu_type))
def has_extra(self, v):
'''return true if we have the given extra token'''
return v in self.extra
def extra_prefix(self, prefix):
'''find an extra token starting with the given prefix'''
for e in self.extra:
if e.startswith(prefix):
return e
return None
def extra_value(self, name, type=None, default=None):
'''find an extra value of given type'''
v = self.extra_prefix(name)
if v is None:
return default
if v[len(name)] != '(' or v[-1] != ')':
self.error("Badly formed value for %s: %s\n" % (name, v))
ret = v[len(name) + 1:-1]
if type is not None:
try:
ret = type(ret)
except Exception:
self.error("Badly formed value for %s: %s\n" % (name, ret))
return ret
def is_RTS(self):
'''return true if this is a RTS pin'''
if self.label and self.label.endswith("_RTS") and (
self.type.startswith('USART') or self.type.startswith('UART')):
return True
return False
def is_CS(self):
'''return true if this is a CS pin'''
return self.has_extra("CS") or self.type == "CS"
def get_MODER_value(self):
'''return one of ALTERNATE, OUTPUT, ANALOG, INPUT'''
if self.af is not None:
v = "ALTERNATE"
elif self.type == 'OUTPUT':
v = "OUTPUT"
elif self.type.startswith('ADC'):
v = "ANALOG"
elif self.is_CS():
v = "OUTPUT"
elif self.is_RTS():
v = "OUTPUT"
else:
v = "INPUT"
return 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'):
# default I2C to OPENDRAIN
v = 'OPENDRAIN'
values = ['PUSHPULL', 'OPENDRAIN']
for e in self.extra:
if e in values:
v = e
return v
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']
v = 'SPEED_MEDIUM'
for e in self.extra:
if e in values:
v = e
return v
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 v not in values:
self.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'
if self.is_CS():
v = "PULLUP"
# generate pullups for UARTs
if (self.type.startswith('USART') or
self.type.startswith('UART')) and (
(self.label.endswith('_TX') or
self.label.endswith('_RX') or
self.label.endswith('_CTS') or
self.label.endswith('_RTS'))):
v = "PULLUP"
if (self.type.startswith('SWD') and
'SWDIO' in self.label):
v = "PULLUP"
if (self.type.startswith('SWD') and
'SWCLK' in self.label):
v = "PULLDOWN"
# generate pullups for SDIO and SDMMC
if (self.type.startswith('SDIO') or
self.type.startswith('SDMMC')) and (
(self.label.endswith('_D0') or
self.label.endswith('_D1') or
self.label.endswith('_D2') or
self.label.endswith('_D3') or
self.label.endswith('_CMD'))):
v = "PULLUP"
for e in self.extra:
if e in values:
v = e
return v
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'
if self.type == 'OUTPUT':
v = 'LOW'
elif self.label is not None and self.label.startswith('I2C'):
v = 'LOW'
for e in self.extra:
if e in values:
v = e
# for some controllers input pull up down is selected by ODR
if self.type == "INPUT":
v = 'LOW'
if 'PULLUP' in self.extra:
v = "HIGH"
return v
def get_ODR_value(self):
'''return one of LOW, HIGH'''
if self.mcu_series.startswith("STM32F1"):
return self.get_ODR_F1_value()
values = ['LOW', 'HIGH']
v = 'HIGH'
for e in self.extra:
if e in values:
v = e
return v
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 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'''
if self.pin >= 8:
return None
return self.get_AFIO()
def get_AFRH(self):
'''return AFIO high 8'''
if self.pin < 8:
return None
return self.get_AFIO()
def get_CR_F1(self):
'''return CR FLAGS for STM32F1xx'''
# Check Speed
if self.sig_dir != "INPUT" or self.af is not None:
speed_values = ['SPEED_LOW', 'SPEED_MEDIUM', 'SPEED_HIGH']
v = 'SPEED_MEDIUM'
for e in self.extra:
if e in speed_values:
v = e
speed_str = "PIN_%s(%uU) |" % (v, self.pin)
elif self.is_CS():
speed_str = "PIN_SPEED_LOW(%uU) |" % (self.pin)
else:
speed_str = ""
if self.af is not None:
if self.label.endswith('_RX'):
# uart RX is configured as a input, and can be pullup, pulldown or float
if 'PULLUP' in self.extra or 'PULLDOWN' in self.extra:
v = 'PUD'
else:
v = "NOPULL"
elif self.label.startswith('I2C'):
v = "AF_OD"
else:
v = "AF_PP"
elif self.is_CS():
v = "OUTPUT_PP"
elif self.sig_dir == 'OUTPUT':
if 'OPENDRAIN' in self.extra:
v = 'OUTPUT_OD'
else:
v = "OUTPUT_PP"
elif self.type.startswith('ADC'):
v = "ANALOG"
else:
v = "PUD"
if 'FLOATING' in self.extra:
v = "NOPULL"
mode_str = "PIN_MODE_%s(%uU)" % (v, self.pin)
return "%s %s" % (speed_str, mode_str)
def get_CR(self):
'''return CR FLAGS'''
if self.mcu_series.startswith("STM32F1"):
return self.get_CR_F1()
if self.sig_dir != "INPUT":
speed_values = ['SPEED_LOW', 'SPEED_MEDIUM', 'SPEED_HIGH']
v = 'SPEED_MEDIUM'
for e in self.extra:
if e in speed_values:
v = e
speed_str = "PIN_%s(%uU) |" % (v, self.pin)
else:
speed_str = ""
# Check Alternate function
if self.type.startswith('I2C'):
v = "AF_OD"
elif self.sig_dir == 'OUTPUT':
if self.af is not None:
v = "AF_PP"
else:
v = "OUTPUT_PP"
elif self.type.startswith('ADC'):
v = "ANALOG"
elif self.is_CS():
v = "OUTPUT_PP"
elif self.is_RTS():
v = "OUTPUT_PP"
else:
v = "PUD"
if 'FLOATING' in self.extra:
v = "NOPULL"
mode_str = "PIN_MODE_%s(%uU)" % (v, self.pin)
return "%s %s" % (speed_str, mode_str)
def get_CRH(self):
if self.pin < 8:
return None
return self.get_CR()
def get_CRL(self):
if self.pin >= 8:
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 periph_type(self):
'''return peripheral type from GPIO_PIN_TYPE class'''
patterns = {
'USART*RX' : 'PERIPH_TYPE::UART_RX',
'UART*RX' : 'PERIPH_TYPE::UART_RX',
'USART*TX' : 'PERIPH_TYPE::UART_TX',
'UART*TX' : 'PERIPH_TYPE::UART_TX',
'I2C*SDA' : 'PERIPH_TYPE::I2C_SDA',
'I2C*SCL' : 'PERIPH_TYPE::I2C_SCL',
'EXTERN_GPIO*' : 'PERIPH_TYPE::GPIO',
}
for k in patterns.keys():
if fnmatch.fnmatch(self.label, k):
return patterns[k]
return 'PERIPH_TYPE::OTHER'
def periph_instance(self):
'''return peripheral instance'''
if self.periph_type() == 'PERIPH_TYPE::GPIO':
result = re.match(r'[A-Z_]*([0-9]+)', self.label)
else:
result = re.match(r'[A-Z_]*([0-9]+)', self.type)
if result:
return int(result.group(1))
return 0
def __str__(self):
str = ''
if self.af is not None:
str += " AF%u" % self.af
if self.type.startswith('ADC1'):
str += " ADC1_IN%u" % self.get_ADC1_chan(self.mcu_type, self.portpin)
if self.type.startswith('ADC2'):
str += " ADC2_IN%u" % self.get_ADC2_chan(self.mcu_type, self.portpin)
if self.type.startswith('ADC3'):
str += " ADC3_IN%u" % self.get_ADC3_chan(self.mcu_type, self.portpin)
if self.extra_value('PWM', type=int):
str += " PWM%u" % self.extra_value('PWM', type=int)
return "P%s%u %s %s%s" % (self.port, self.pin, self.label, self.type,
str)
def get_config(self, name, column=0, required=True, default=None, type=None, spaces=False, aslist=False):
'''get a value from config dictionary'''
if name not in self.config:
if required and default is None:
self.error("missing required value %s in hwdef.dat" % name)
return default
if aslist:
return self.config[name]
if len(self.config[name]) < column + 1:
if not required:
return None
self.error("missing required value %s in hwdef.dat (column %u)" % (name,
column))
if spaces:
ret = ' '.join(self.config[name][column:])
else:
ret = self.config[name][column]
if type is not None:
if type == int and ret.startswith('0x'):
try:
ret = int(ret, 16)
except Exception:
self.error("Badly formed config value %s (got %s)" % (name, ret))
else:
try:
ret = type(ret)
except Exception:
self.error("Badly formed config value %s (got %s)" % (name, ret))
return ret
def get_mcu_config(self, name, required=False):
'''get a value from the mcu dictionary'''
lib = self.get_mcu_lib(self.mcu_type)
if not hasattr(lib, 'mcu'):
self.error("Missing mcu config for %s" % self.mcu_type)
if name not in lib.mcu:
if required:
self.error("Missing required mcu config %s for %s" % (name, self.mcu_type))
return None
return lib.mcu[name]
def get_ram_reserve_start(self):
'''get amount of memory to reserve for bootloader comms'''
ram_reserve_start = self.get_config('RAM_RESERVE_START', default=0, type=int)
if ram_reserve_start == 0 and self.is_periph_fw():
ram_reserve_start = 256
return ram_reserve_start
def make_line(self, label):
'''return a line for a label'''
if label in self.bylabel:
p = self.bylabel[label]
line = 'PAL_LINE(GPIO%s,%uU)' % (p.port, p.pin)
else:
line = "0"
return line
def enable_can(self, f):
'''setup for a CAN enabled board'''
if self.mcu_series.startswith("STM32H7") or self.mcu_series.startswith("STM32G4"):
prefix = "FDCAN"
cast = "CanType"
else:
prefix = "CAN"
cast = "bxcan::CanType"
# allow for optional CAN_ORDER option giving bus order
can_order_str = self.get_config('CAN_ORDER', required=False, aslist=True)
if can_order_str:
can_order = [int(s) for s in can_order_str]
else:
can_order = []
for i in range(1,3):
if 'CAN%u' % i in self.bytype or (i == 1 and 'CAN' in self.bytype):
can_order.append(i)
base_list = []
for i in can_order:
base_list.append("reinterpret_cast<%s*>(uintptr_t(%s%s_BASE))" % (cast, prefix, i))
f.write("#define HAL_CAN_IFACE%u_ENABLE\n" % i)
can_rev_order = [-1]*3
for i in range(len(can_order)):
can_rev_order[can_order[i]-1] = i
f.write('#define HAL_CAN_INTERFACE_LIST %s\n' % ','.join([str(i-1) for i in can_order]))
f.write('#define HAL_CAN_INTERFACE_REV_LIST %s\n' % ','.join([str(i) for i in can_rev_order]))
f.write('#define HAL_CAN_BASE_LIST %s\n' % ','.join(base_list))
f.write('#define HAL_NUM_CAN_IFACES %d\n' % len(base_list))
if 'CAN' in self.bytype and self.mcu_type.startswith("STM32F3"):
f.write('#define CAN1_BASE CAN_BASE\n')
self.env_vars['HAL_NUM_CAN_IFACES'] = str(len(base_list))
if self.mcu_series.startswith("STM32H7") and not args.bootloader:
# set maximum supported canfd bit rate in MBits/sec
canfd_supported = int(self.get_config('CANFD_SUPPORTED', 0, default=4, required=False))
f.write('#define HAL_CANFD_SUPPORTED %d\n' % canfd_supported)
self.env_vars['HAL_CANFD_SUPPORTED'] = canfd_supported
else:
canfd_supported = int(self.get_config('CANFD_SUPPORTED', 0, default=0, required=False))
f.write('#define HAL_CANFD_SUPPORTED %d\n' % canfd_supported)
self.env_vars['HAL_CANFD_SUPPORTED'] = canfd_supported
def has_sdcard_spi(self):
'''check for sdcard connected to spi bus'''
for dev in self.spidev:
if(dev[0] == 'sdcard'):
return True
return False
def get_ram_map(self):
'''get RAM_MAP. May be different for bootloader'''
self.env_vars['APP_RAM_START'] = None
if args.bootloader:
ram_map = self.get_mcu_config('RAM_MAP_BOOTLOADER', False)
if ram_map is not None:
app_ram_map = self.get_mcu_config('RAM_MAP', False)
if app_ram_map is not None and app_ram_map[0][0] != ram_map[0][0]:
# we need to find the location of app_ram_map[0] in ram_map
for i in range(len(ram_map)):
if app_ram_map[0][0] == ram_map[i][0]:
self.env_vars['APP_RAM_START'] = i
return ram_map
elif self.env_vars['EXT_FLASH_SIZE_MB'] and not self.env_vars['INT_FLASH_PRIMARY']:
ram_map = self.get_mcu_config('RAM_MAP_EXTERNAL_FLASH', False)
if ram_map is not None:
return ram_map
elif int(self.env_vars.get('USE_ALT_RAM_MAP',0)) == 1:
print("Using ALT_RAM_MAP")
return self.get_mcu_config('ALT_RAM_MAP', True)
return self.get_mcu_config('RAM_MAP', True)
def get_flash_pages_sizes(self):
mcu_series = self.mcu_series
if mcu_series.startswith('STM32F4'):
if self.get_config('FLASH_SIZE_KB', type=int) == 512:
return [ 16, 16, 16, 16, 64, 128, 128, 128 ]
elif self.get_config('FLASH_SIZE_KB', type=int) == 1024:
return [ 16, 16, 16, 16, 64, 128, 128, 128,
128, 128, 128, 128 ]
elif self.get_config('FLASH_SIZE_KB', type=int) == 2048:
return [ 16, 16, 16, 16, 64, 128, 128, 128,
128, 128, 128, 128,
128, 128, 128, 128,
128, 128, 128, 128,
128, 128, 128, 128 ]
else:
raise Exception("Unsupported flash size %u" % self.get_config('FLASH_SIZE_KB', type=int))
elif mcu_series.startswith('STM32F7'):
if self.get_config('FLASH_SIZE_KB', type=int) == 512:
return [ 16, 16, 16, 16, 64, 128, 128, 128 ]
elif self.get_config('FLASH_SIZE_KB', type=int) == 1024:
return [ 32, 32, 32, 32, 128, 256, 256, 256 ]
elif self.get_config('FLASH_SIZE_KB', type=int) == 2048:
return [ 32, 32, 32, 32, 128, 256, 256, 256,
256, 256, 256, 256]
else:
raise Exception("Unsupported flash size %u" % self.get_config('FLASH_SIZE_KB', type=int))
elif mcu_series.startswith('STM32H7'):
return [ 128 ] * (self.get_config('FLASH_SIZE_KB', type=int)//128)
elif mcu_series.startswith('STM32F100') or mcu_series.startswith('STM32F103'):
return [ 1 ] * self.get_config('FLASH_SIZE_KB', type=int)
elif mcu_series.startswith('STM32L4') and self.mcu_type.startswith('STM32L4R'):
# STM32L4PLUS
return [ 4 ] * (self.get_config('FLASH_SIZE_KB', type=int)//4)
elif (mcu_series.startswith('STM32F105') or
mcu_series.startswith('STM32F3') or
mcu_series.startswith('STM32G4') or
mcu_series.startswith('STM32L4')):
return [ 2 ] * (self.get_config('FLASH_SIZE_KB', type=int)//2)
else:
raise Exception("Unsupported flash size MCU %s" % mcu_series)
def get_flash_npages(self):
page_sizes = self.get_flash_pages_sizes()
total_size = sum(pages)
if total_size != self.get_config('FLASH_SIZE_KB',type=int):
raise Exception("Invalid flash size MCU %s" % self.mcu_series)
return len(pages)
def get_flash_page_offset_kb(self, sector):
'''return the offset in flash of a page number'''
pages = self.get_flash_pages_sizes()
offset = 0
for i in range(sector):
offset += pages[i]
return offset
def load_file_with_include(self, fname):
'''load a file as an array of lines, processing any include lines'''
lines = open(fname,'r').readlines()
ret = []
for line in lines:
if line.startswith("include"):
a = shlex.split(line)
if len(a) > 1 and a[0] == "include":
fname2 = os.path.relpath(os.path.join(os.path.dirname(fname), a[1]))
ret.extend(self.load_file_with_include(fname2))
continue
ret.append(line)
return ret
def get_storage_flash_page(self):
'''get STORAGE_FLASH_PAGE either from this hwdef or from hwdef.dat
in the same directory if this is a bootloader
'''
storage_flash_page = self.get_config('STORAGE_FLASH_PAGE', default=None, type=int, required=False)
if storage_flash_page is not None:
return storage_flash_page
if args.bootloader and args.hwdef[0].find("-bl") != -1:
hwdefdat = args.hwdef[0].replace("-bl", "")
if os.path.exists(hwdefdat):
ret = None
lines = self.load_file_with_include(hwdefdat)
for line in lines:
result = re.match(r'STORAGE_FLASH_PAGE\s*([0-9]+)', line)
if result:
ret = int(result.group(1))
return ret
return None
def validate_flash_storage_size(self):
'''check there is room for storage with HAL_STORAGE_SIZE'''
if self.intdefines.get('HAL_WITH_RAMTRON',0) == 1:
# no check for RAMTRON storage
return
storage_flash_page = self.get_storage_flash_page()
pages = self.get_flash_pages_sizes()
page_size = pages[storage_flash_page] * 1024
storage_size = self.intdefines.get('HAL_STORAGE_SIZE', None)
if storage_size is None:
self.error('Need HAL_STORAGE_SIZE define')
if storage_size >= page_size:
self.error("HAL_STORAGE_SIZE too large %u %u" % (storage_size, page_size))
if page_size == 16384 and storage_size > 15360:
self.error("HAL_STORAGE_SIZE invalid, needs to be 15360")
def write_mcu_config(self, f):
'''write MCU config defines'''
f.write('#define CHIBIOS_BOARD_NAME "%s"\n' % os.path.basename(os.path.dirname(args.hwdef[0])))
f.write('// MCU type (ChibiOS define)\n')
f.write('#define %s_MCUCONF\n' % self.get_config('MCU'))
mcu_subtype = self.get_config('MCU', 1)
if mcu_subtype[-1:] == 'x' or mcu_subtype[-2:-1] == 'x':
f.write('#define %s_MCUCONF\n\n' % mcu_subtype[:-2])
f.write('#define %s\n\n' % mcu_subtype)
f.write('// crystal frequency\n')
f.write('#define STM32_HSECLK %sU\n\n' % self.get_config('OSCILLATOR_HZ'))
f.write('// UART used for stdout (printf)\n')
if self.get_config('STDOUT_SERIAL', required=False):
f.write('#define HAL_STDOUT_SERIAL %s\n\n' % self.get_config('STDOUT_SERIAL'))
f.write('// baudrate used for stdout (printf)\n')
f.write('#define HAL_STDOUT_BAUDRATE %u\n\n' % self.get_config('STDOUT_BAUDRATE', type=int))
if self.have_type_prefix('SDIO'):
f.write('// SDIO available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n\n')
f.write('#define HAL_USE_SDC TRUE\n')
self.build_flags.append('USE_FATFS=yes')
self.env_vars['WITH_FATFS'] = "1"
elif self.have_type_prefix('SDMMC2'):
f.write('// SDMMC2 available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n\n')
f.write('#define HAL_USE_SDC TRUE\n')
f.write('#define STM32_SDC_USE_SDMMC2 TRUE\n')
f.write('#define HAL_USE_SDMMC 1\n')
self.build_flags.append('USE_FATFS=yes')
self.env_vars['WITH_FATFS'] = "1"
elif self.have_type_prefix('SDMMC'):
f.write('// SDMMC available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n\n')
f.write('#define HAL_USE_SDC TRUE\n')
f.write('#define STM32_SDC_USE_SDMMC1 TRUE\n')
f.write('#define HAL_USE_SDMMC 1\n')
self.build_flags.append('USE_FATFS=yes')
self.env_vars['WITH_FATFS'] = "1"
elif self.has_sdcard_spi():
f.write('// MMC via SPI available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n\n')
f.write('#define HAL_USE_MMC_SPI TRUE\n')
f.write('#define HAL_USE_SDC FALSE\n')
f.write('#define HAL_SDCARD_SPI_HOOK TRUE\n')
self.build_flags.append('USE_FATFS=yes')
self.env_vars['WITH_FATFS'] = "1"
else:
f.write('#define HAL_USE_SDC FALSE\n')
self.build_flags.append('USE_FATFS=no')
if 'OTG1' in self.bytype:
if self.get_mcu_config('STM32_OTG2_IS_OTG1', False) is not None:
f.write('#define STM32_USB_USE_OTG2 TRUE\n')
f.write('#define STM32_OTG2_IS_OTG1 TRUE\n')
else:
f.write('#define STM32_USB_USE_OTG1 TRUE\n')
f.write('#define STM32_OTG2_IS_OTG1 FALSE\n')
f.write('#define HAL_USE_USB TRUE\n')
f.write('#define HAL_USE_SERIAL_USB TRUE\n')
if 'OTG2' in self.bytype:
f.write('#define STM32_USB_USE_OTG2 TRUE\n')
defines = self.get_mcu_config('DEFINES', False)
if defines is not None:
for d in defines.keys():
v = defines[d]
f.write("#ifndef %s\n#define %s %s\n#endif\n" % (d, d, v))
else:
defines = {}
# enable RNG for all H7 chips
if self.mcu_series.startswith("STM32H7") and 'HAL_USE_HW_RNG' not in defines.keys():
f.write("#define HAL_USE_HW_RNG TRUE\n")
elif 'HAL_USE_HW_RNG' not in defines.keys():
f.write("#define HAL_USE_HW_RNG FALSE\n")
if self.get_config('PROCESS_STACK', required=False):
self.env_vars['PROCESS_STACK'] = self.get_config('PROCESS_STACK')
else:
self.env_vars['PROCESS_STACK'] = "0x1C00"
f.write('#define HAL_PROCESS_STACK_SIZE %s\n' % self.env_vars['PROCESS_STACK'])
# MAIN_STACK is location of initial stack on startup and is also the stack
# used for slow interrupts. It needs to be big enough for maximum interrupt
# nesting
if self.get_config('MAIN_STACK', required=False):
self.env_vars['MAIN_STACK'] = self.get_config('MAIN_STACK')
else:
self.env_vars['MAIN_STACK'] = "0x600"
if self.get_config('IOMCU_FW', required=False):
self.env_vars['IOMCU_FW'] = self.get_config('IOMCU_FW')
else:
self.env_vars['IOMCU_FW'] = 0
if self.get_config('PERIPH_FW', required=False):
self.env_vars['PERIPH_FW'] = self.get_config('PERIPH_FW')
else:
self.env_vars['PERIPH_FW'] = 0
# write any custom STM32 defines
using_chibios_can = False
for d in self.alllines:
if d.startswith('STM32_'):
f.write('#define %s\n' % d)
if d.startswith('define '):
if 'HAL_USE_CAN' in d:
using_chibios_can = True
f.write('#define %s\n' % d[7:])
# extract numerical defines for processing by other parts of the script
result = re.match(r'define\s*([A-Z_]+)\s*([0-9]+)', d)
if result:
self.intdefines[result.group(1)] = int(result.group(2))
if self.intdefines.get('HAL_USE_USB_MSD',0) == 1:
self.build_flags.append('USE_USB_MSD=yes')
if self.have_type_prefix('CAN') and not using_chibios_can:
self.enable_can(f)
flash_size = self.get_config('FLASH_SIZE_KB', type=int)
f.write('#define BOARD_FLASH_SIZE %u\n' % flash_size)
self.env_vars['BOARD_FLASH_SIZE'] = flash_size
flash_reserve_start = self.get_config(
'FLASH_RESERVE_START_KB', default=16, type=int)
f.write('\n// location of loaded firmware\n')
f.write('#define FLASH_LOAD_ADDRESS 0x%08x\n' % (0x08000000 + flash_reserve_start*1024))
# can be no persistent parameters if no space allocated for them
if not args.bootloader and flash_reserve_start == 0:
f.write('#define HAL_ENABLE_SAVE_PERSISTENT_PARAMS 0\n')