diff --git a/libraries/AP_HAL_ChibiOS/GPIO.cpp b/libraries/AP_HAL_ChibiOS/GPIO.cpp
index a9b927c942..ad6326dca3 100644
--- a/libraries/AP_HAL_ChibiOS/GPIO.cpp
+++ b/libraries/AP_HAL_ChibiOS/GPIO.cpp
@@ -67,7 +67,46 @@ 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)
{
diff --git a/libraries/AP_HAL_ChibiOS/GPIO.h b/libraries/AP_HAL_ChibiOS/GPIO.h
index 3aa5f941da..75241983e5 100644
--- a/libraries/AP_HAL_ChibiOS/GPIO.h
+++ b/libraries/AP_HAL_ChibiOS/GPIO.h
@@ -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 {
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 3dd1d7cdbb..86561d158b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -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])