Allows to specify chip's silicon revision for TivaWare. (#268)

* Improving Hardware class. No more error of multiple static member definitions when including ros.h multiple times. * Forgot includes on tivac_hardware headers. * Small correction on write function. May dropped a byte when already sending * Allow python's socket reuse. Removed RosSerialServer unused method * As of TivaWare 2.1.3.156, compiling for hard float. * TivaC optional argument for specifying programmer serial id. * Allows to specify chip's silicon revision for TivaWare.
ros-drivers · Feb 14, 2017 · a268e8b · a268e8b
1 parent 1c52038
commit a268e8b
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Showing 4 changed files with 32 additions and 17 deletions.
diff --git a/rosserial_tivac/src/ros_lib/startup_gcc.c b/rosserial_tivac/src/ros_lib/startup_gcc.c
@@ -67,7 +67,7 @@ extern uint32_t _estack;
 // ensure that it ends up at physical address 0x0000.0000.
 //
 //*****************************************************************************
-#ifdef TARGET_IS_TM4C123_RA1
+#ifdef TM4C123GXL
 __attribute__ ((section(".isr_vector")))
 void (* const g_pfnVectors[])(void) =
 {
@@ -228,7 +228,7 @@ void (* const g_pfnVectors[])(void) =
     IntDefaultHandler                       // PWM 1 Fault
 };
 #endif
-#ifdef TARGET_IS_TM4C129_RA0
+#ifdef TM4C1294XL
 __attribute__ ((section(".isr_vector")))
 void (* const g_pfnVectors[])(void) =
 {

diff --git a/rosserial_tivac/src/ros_lib/tivac_hardware.h b/rosserial_tivac/src/ros_lib/tivac_hardware.h
@@ -54,14 +54,14 @@ extern "C"
 
 #define SYSTICKHZ  1000UL
 
-#ifdef TARGET_IS_TM4C123_RA1
+#ifdef TM4C123GXL
 #define LED1        GPIO_PIN_3  // Green LED
 #define LED2        GPIO_PIN_2  // Blue LED
 #define LED_PORT    GPIO_PORTF_BASE
 #define LED_PERIPH  SYSCTL_PERIPH_GPIOF
 #endif
 
-#ifdef TARGET_IS_TM4C129_RA0
+#ifdef TM4C1294XL
 #define LED1        GPIO_PIN_1  // D1 LED
 #define LED2        GPIO_PIN_0  // D2 LED
 #define LED_PORT    GPIO_PORTN_BASE
@@ -87,10 +87,10 @@ class TivaCHardware
 
     void init()
     {
-#ifdef TARGET_IS_TM4C123_RA1
+#ifdef TM4C123GXL
       this->ui32SysClkFreq = MAP_SysCtlClockGet();
 #endif
-#ifdef TARGET_IS_TM4C129_RA0
+#ifdef TM4C1294XL
       this->ui32SysClkFreq = TM4C129FREQ;
 #endif
 

diff --git a/rosserial_tivac/src/ros_lib/tivac_hardware_usb.h b/rosserial_tivac/src/ros_lib/tivac_hardware_usb.h
@@ -59,14 +59,14 @@ extern "C"
 
 #define SYSTICKHZ  1000UL
 
-#ifdef TARGET_IS_TM4C123_RA1
+#ifdef TM4C123GXL
 #define LED1        GPIO_PIN_3  // Green LED
 #define LED2        GPIO_PIN_2  // Blue LED
 #define LED_PORT    GPIO_PORTF_BASE
 #define LED_PERIPH  SYSCTL_PERIPH_GPIOF
 #endif
 
-#ifdef TARGET_IS_TM4C129_RA0
+#ifdef TM4C1294XL
 #define LED1        GPIO_PIN_1  // D1 LED
 #define LED2        GPIO_PIN_0  // D2 LED
 #define LED_PORT    GPIO_PORTN_BASE
@@ -86,10 +86,10 @@ class TivaCHardware
 
     void init()
     {
-#ifdef TARGET_IS_TM4C123_RA1
+#ifdef TM4C123GXL
       this->ui32SysClkFreq = MAP_SysCtlClockGet();
 #endif
-#ifdef TARGET_IS_TM4C129_RA0
+#ifdef TM4C1294XL
       this->ui32SysClkFreq = TM4C129FREQ;
 #endif
 
@@ -113,12 +113,12 @@ class TivaCHardware
       MAP_SysTickIntEnable();
 
       MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_USB0);
-#ifdef TARGET_IS_TM4C123_RA1
+#ifdef TM4C123GXL
       // Configure the required pins for USB operation.
       MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
       MAP_GPIOPinTypeUSBAnalog(GPIO_PORTD_BASE, GPIO_PIN_5 | GPIO_PIN_4);
 #endif
-#ifdef TARGET_IS_TM4C129_RA0
+#ifdef TM4C1294XL
       MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOL);
       MAP_GPIOPinTypeUSBAnalog(GPIO_PORTL_BASE, GPIO_PIN_6 | GPIO_PIN_7);
 #endif

diff --git a/rosserial_tivac/tivac-cmake/cmake/TivaCToolchain.cmake b/rosserial_tivac/tivac-cmake/cmake/TivaCToolchain.cmake
@@ -14,6 +14,7 @@
 # With Arguments:
 #     USB     - Optional argument, if you wish to have rosserial over USB CDC device.
 #     BOARD   - Required. Takes one argument, tm4c123gxl or tm4c1294xl.
+#     DEVICE_SILICON  - Optional argument. Defines the specific chip's silicon revision.
 #     DEVICE_SERIAL  - Optional argument. Creates flash target for specific device.
 #     STARTUP - Optional argument. Takes the name of custom startup file.
 #     SRCS    - Required. List of source files to compile.
@@ -94,16 +95,26 @@ include_directories($ENV{TIVA_WARE_PATH})
 set(FLASH_EXECUTABLE $ENV{TIVA_FLASH_EXECUTABLE})
 
 # Configures FLAGS
-function(CONFIGURE_BOARD BOARD)
+function(CONFIGURE_BOARD BOARD DEVICE_SILICON)
   message(STATUS "[TIVAC] Configuring board for ${CMAKE_PROJECT_NAME}")
 
   if(${BOARD} STREQUAL "tm4c123gxl")
+    add_definitions(-DTM4C123GXL)
     add_definitions(-DPART_TM4C123GH6PM)
-    add_definitions(-DTARGET_IS_TM4C123_RA1)
+    if(DEVICE_SILICON STREQUAL "default")
+      add_definitions(-DTARGET_IS_TM4C123_RB1)
+    else()
+      add_definitions(-D${DEVICE_SILICON})
+    endif()
     set(CMAKE_EXE_LINKER_FLAGS "-T${LINKER_SCRIPT_TM4C123GXL} -specs=${LINKER_SPECS} -Wl,-Map=memmap.map" CACHE STRING "" FORCE)
   elseif(${BOARD} STREQUAL "tm4c1294xl")
+    add_definitions(-DTM4C1294XL)
     add_definitions(-DPART_TM4C1294NCPDT)
-    add_definitions(-DTARGET_IS_TM4C129_RA0)
+    if(DEVICE_SILICON STREQUAL "default")
+      add_definitions(-DTARGET_IS_TM4C129_RA1)
+    else()
+      add_definitions(-D${DEVICE_SILICON})
+    endif()
     set(CMAKE_EXE_LINKER_FLAGS "-T${LINKER_SCRIPT_TM4C1294XL} -specs=${LINKER_SPECS} -Wl,-Map=memmap.map" CACHE STRING "" FORCE)
   else()
     message(FATAL_ERROR "${Red}[TIVAC] Invalid BOARD set for target ${CMAKE_PROJECT_NAME}${ColourReset}")
@@ -115,14 +126,18 @@ endfunction()
 function(GENERATE_TIVAC_FIRMWARE)
   message(STATUS "[TIVAC] Generating firmware ${CMAKE_PROJECT_NAME}")
   set(options USB)
-  set(oneValueArgs BOARD STARTUP DEVICE_SERIAL)
+  set(oneValueArgs BOARD STARTUP DEVICE_SILICON DEVICE_SERIAL)
   set(multiValueArgs SRCS INCS LIBS)
   cmake_parse_arguments(INPUT "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
   if(NOT INPUT_BOARD)
     message(FATAL_ERROR "${Red}[TIVAC] BOARD not set for target ${CMAKE_PROJECT_NAME}${ColourReset}")
   endif()
-  configure_board(${INPUT_BOARD})
+  if(NOT INPUT_DEVICE_SILICON)
+    set(INPUT_DEVICE_SILICON "default")
+  endif()
+  configure_board(${INPUT_BOARD} ${INPUT_DEVICE_SILICON})
+
 
   if(INPUT_USB)
     add_definitions(-DUSE_USBCON)