HAL_ChibOS: auto-generate full PWM config

use PWM markers in hwdef.dat to mark each PWM channel

libraries/AP_HAL_ChibiOS/RCOutput.cpp

@@ -27,36 +27,7 @@ extern const AP_HAL::HAL& hal;
 extern AP_IOMCU iomcu;
 #endif
 
-#define PWM_CLK_FREQ        8000000
-#define PWM_US_WIDTH_FROM_CLK(x) ((PWM_CLK_FREQ/1000000)*x)
-
-const struct ChibiRCOutput::pwm_group ChibiRCOutput::pwm_group_list[] = 
-{
-    //Group 1 Config
-    {   //Channels in the Group and respective mapping
-        {0, 1, 2, 3},
-        //Group Initial Config
-        {
-          8000000,                                  /* 8MHz PWM clock frequency.   */
-          160000,                                    /* Initial PWM period 20ms.     */
-          NULL,
-          {
-           //Channel Config
-           {PWM_OUTPUT_ACTIVE_HIGH, NULL},
-           {PWM_OUTPUT_ACTIVE_HIGH, NULL},
-           {PWM_OUTPUT_ACTIVE_HIGH, NULL},
-           {PWM_OUTPUT_ACTIVE_HIGH, NULL}
-          },
-          0,
-          0
-        },
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV4 || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_MINDPXV2
-        &PWMD1
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
-        &PWMD3
-#endif
-    }
-};
+const struct ChibiRCOutput::pwm_group ChibiRCOutput::pwm_group_list[] = { HAL_PWM_GROUPS };
 
 #define NUM_GROUPS ARRAY_SIZE_SIMPLE(pwm_group_list)
 
@@ -65,12 +36,19 @@ void ChibiRCOutput::init()
     for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
         //Start Pwm groups
         pwmStart(pwm_group_list[i].pwm_drv, &pwm_group_list[i].pwm_cfg);
+        pwmChangePeriod(pwm_group_list[i].pwm_drv, pwm_group_list[i].pwm_cfg.frequency/50);
+        for (uint8_t j = 0; j < 4; j++ ) {
+            if (pwm_group_list[i].chan[j] != 255) {
+                total_channels = MAX(total_channels, pwm_group_list[i].chan[j]+1);
+            }
+        }
     }
 #if HAL_WITH_IO_MCU
     if (AP_BoardConfig::io_enabled()) {
         iomcu.init();
         // with IOMCU the local channels start at 8
         chan_offset = 8;
+        total_channels += chan_offset;
     }
 #endif
 }
@@ -79,7 +57,6 @@ void ChibiRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
 {
     //check if the request spans accross any of the channel groups
     uint8_t update_mask = 0;
-    uint32_t grp_ch_mask;
     // greater than 400 doesn't give enough room at higher periods for
     // the down pulse
     if (freq_hz > 400 && _output_mode != MODE_PWM_BRUSHED) {
@@ -98,11 +75,16 @@ void ChibiRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
     }
     
     for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
-        grp_ch_mask = 0XF;
+        uint16_t grp_ch_mask = 0;
+        for (uint8_t j=0; j<4; j++) {
+            if (pwm_group_list[i].chan[j] != 255) {
+                grp_ch_mask |= (1U<<pwm_group_list[i].chan[j]);
+            }
+        }
         if ((grp_ch_mask & chmask) == grp_ch_mask) {
             update_mask |= grp_ch_mask;
             pwmChangePeriod(pwm_group_list[i].pwm_drv, 
-                pwm_group_list[i].pwm_cfg.frequency/freq_hz);
+                            pwm_group_list[i].pwm_cfg.frequency/freq_hz);
         }
     }
     if (chmask != update_mask) {
@@ -112,6 +94,9 @@ void ChibiRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
 
 uint16_t ChibiRCOutput::get_freq(uint8_t chan)
 {
+    if (chan >= total_channels) {
+        return 0;
+    }
 #if HAL_WITH_IO_MCU
     if (chan < chan_offset) {
         return iomcu.get_freq(chan);
@@ -132,6 +117,9 @@ uint16_t ChibiRCOutput::get_freq(uint8_t chan)
 
 void ChibiRCOutput::enable_ch(uint8_t chan)
 {
+    if (chan >= total_channels) {
+        return;
+    }
     if (chan < chan_offset) {
         return;
     }
@@ -148,6 +136,9 @@ void ChibiRCOutput::enable_ch(uint8_t chan)
 
 void ChibiRCOutput::disable_ch(uint8_t chan)
 {
+    if (chan >= total_channels) {
+        return;
+    }
     if (chan < chan_offset) {
         return;
     }
@@ -165,6 +156,9 @@ void ChibiRCOutput::disable_ch(uint8_t chan)
 
 void ChibiRCOutput::write(uint8_t chan, uint16_t period_us)
 {
+    if (chan >= total_channels) {
+        return;
+    }
     last_sent[chan] = period_us;
     
 #if HAL_WITH_IO_MCU
@@ -212,7 +206,8 @@ void ChibiRCOutput::push_local(void)
                     }
                     pwmEnableChannel(pwm_group_list[i].pwm_drv, j, period_us);
                 } else {
-                    pwmEnableChannel(pwm_group_list[i].pwm_drv, j, PWM_US_WIDTH_FROM_CLK(period_us));
+                    uint32_t width = (pwm_group_list[i].pwm_cfg.frequency/1000000) * period_us;
+                    pwmEnableChannel(pwm_group_list[i].pwm_drv, j, width);
                 }
             }
         }
@@ -221,6 +216,9 @@ void ChibiRCOutput::push_local(void)
 
 uint16_t ChibiRCOutput::read(uint8_t chan)
 {
+    if (chan >= total_channels) {
+        return 0;
+    }
 #if HAL_WITH_IO_MCU
     if (chan < chan_offset) {
         return iomcu.read_channel(chan);
@@ -232,6 +230,9 @@ uint16_t ChibiRCOutput::read(uint8_t chan)
 
 void ChibiRCOutput::read(uint16_t* period_us, uint8_t len)
 {
+    if (len > total_channels) {
+        len = total_channels;
+    }
 #if HAL_WITH_IO_MCU
     for (uint8_t i=0; i<MIN(len, chan_offset); i++) {
         period_us[i] = iomcu.read_channel(i);
@@ -248,11 +249,17 @@ void ChibiRCOutput::read(uint16_t* period_us, uint8_t len)
 
 uint16_t ChibiRCOutput::read_last_sent(uint8_t chan)
 {
+    if (chan >= total_channels) {
+        return 0;
+    }
     return last_sent[chan];
 }
 
 void ChibiRCOutput::read_last_sent(uint16_t* period_us, uint8_t len)
 {
+    if (len > total_channels) {
+        len = total_channels;
+    }
     for (uint8_t i=0; i<len; i++) {
         period_us[i] = read_last_sent(i);
     }

libraries/AP_HAL_ChibiOS/RCOutput.h

@@ -55,7 +55,7 @@ public:
     
 private:
     struct pwm_group {
-        uint8_t chan[4]; // chan number, zero based
+        uint8_t chan[4]; // chan number, zero based, 255 for disabled
         PWMConfig pwm_cfg;
         PWMDriver* pwm_drv;
     };
@@ -68,6 +68,9 @@ private:
     // offset of first local channel
     uint8_t chan_offset;
 
+    // total number of channels
+    uint8_t total_channels;
+    
     // last sent values are for all channels
     uint16_t last_sent[16];
     

libraries/AP_HAL_ChibiOS/hwdef/common/board.h

@@ -22,10 +22,6 @@
 #define PPM_ICU_CHANNEL ICU_CHANNEL_2
 #endif
 
-#ifndef HRT_TIMER
-#define HRT_TIMER GPTD5
-#endif
-
 #ifndef HAL_BOARD_INIT_HOOK_DEFINE
 #define HAL_BOARD_INIT_HOOK_DEFINE
 #endif

libraries/AP_HAL_ChibiOS/hwdef/common/mcuconf.h

@@ -166,18 +166,48 @@
 /*
  * GPT driver system settings.
  */
+#ifndef STM32_GPT_USE_TIM1
 #define STM32_GPT_USE_TIM1                  FALSE
+#endif
+#ifndef STM32_GPT_USE_TIM2
 #define STM32_GPT_USE_TIM2                  FALSE
+#endif
+#ifndef STM32_GPT_USE_TIM3
 #define STM32_GPT_USE_TIM3                  FALSE
+#endif
+#ifndef STM32_GPT_USE_TIM4
 #define STM32_GPT_USE_TIM4                  FALSE
-#define STM32_GPT_USE_TIM5                  TRUE
+#endif
+#ifndef STM32_GPT_USE_TIM5
+#define STM32_GPT_USE_TIM5                  FALSE
+#endif
+#ifndef STM32_GPT_USE_TIM6
 #define STM32_GPT_USE_TIM6                  FALSE
+#endif
+#ifndef STM32_GPT_USE_TIM7
 #define STM32_GPT_USE_TIM7                  FALSE
+#endif
+#ifndef STM32_GPT_USE_TIM8
 #define STM32_GPT_USE_TIM8                  FALSE
+#endif
+#ifndef STM32_GPT_USE_TIM9
 #define STM32_GPT_USE_TIM9                  FALSE
+#endif
+#ifndef STM32_GPT_USE_TIM10
+#define STM32_GPT_USE_TIM10                 FALSE
+#endif
+#ifndef STM32_GPT_USE_TIM11
 #define STM32_GPT_USE_TIM11                 FALSE
+#endif
+#ifndef STM32_GPT_USE_TIM12
 #define STM32_GPT_USE_TIM12                 FALSE
+#endif
+#ifndef STM32_GPT_USE_TIM13
+#define STM32_GPT_USE_TIM13                 FALSE
+#endif
+#ifndef STM32_GPT_USE_TIM14
 #define STM32_GPT_USE_TIM14                 FALSE
+#endif
 #define STM32_GPT_TIM1_IRQ_PRIORITY         7
 #define STM32_GPT_TIM2_IRQ_PRIORITY         7
 #define STM32_GPT_TIM3_IRQ_PRIORITY         7
@@ -285,7 +315,9 @@
  * ST driver system settings.
  */
 #define STM32_ST_IRQ_PRIORITY               8
+#ifndef STM32_ST_USE_TIMER
 #define STM32_ST_USE_TIMER                  2
+#endif
 
 /*
  * UART driver system settings.

libraries/AP_HAL_ChibiOS/hwdef/common/stubs.c

@@ -195,7 +195,7 @@ int _isatty(struct _reent *r, int fd)
 }
 
 __attribute__((used))
-pid_t _getpid()
+pid_t _getpid(void)
 {
   return 0;
 }

libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat

@@ -99,8 +99,8 @@ PD9 USART3_RX USART3
 PD10 FRAM_CS CS
 PD11 USART3_CTS USART3
 PD12 USART3_RTS USART3
-PD13 TIM4_CH2 TIM4
-PD14 TIM4_CH3 TIM4
+PD13 TIM4_CH2 TIM4 PWM5
+PD14 TIM4_CH3 TIM4 PWM6
 PD15 MPU_DRDY INPUT
 
 # UART8 serial4 GPS2
@@ -114,12 +114,12 @@ PE6 SPI4_MOSI SPI4
 # UART7 debug console
 PE7 UART7_RX UART7
 PE8 UART7_TX UART7
-PE9 TIM1_CH1 TIM1
+PE9 TIM1_CH1 TIM1 PWM4
 PE10 VDD_5V_HIPOWER_OC INPUT
-PE11 TIM1_CH2 TIM1
+PE11 TIM1_CH2 TIM1 PWM3
 PE12 FMU_LED_AMBER OUTPUT
-PE13 TIM1_CH3 TIM1
-PE14 TIM1_CH4 TIM1
+PE13 TIM1_CH3 TIM1 PWM2
+PE14 TIM1_CH4 TIM1 PWM1
 PE15 VDD_5V_PERIPH_OC INPUT
 
 # SPI device table. The DEVID values are chosen to match the PX4 port

libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat

@@ -111,8 +111,8 @@ PD10 FRAM_CS CS
 PD11 USART3_CTS USART3
 PD12 USART3_RTS USART3
 
-PD13 TIM4_CH2 TIM4 # FMU_CH5
-PD14 TIM4_CH3 TIM4 # FMU_CH6
+PD13 TIM4_CH2 TIM4 PWM5
+PD14 TIM4_CH3 TIM4 PWM6
 
 PD15 MPU9250_DRDY INPUT
 
@@ -128,12 +128,12 @@ PE6 8266_RST OUTPUT LOW
 # UART7 is debug
 PE7 UART7_RX UART7 
 PE8 UART7_TX UART7
-PE9 TIM1_CH1 TIM1 # FMU_CH4
+PE9 TIM1_CH1 TIM1 PWM4
 PE10 8266_CTS OUTPUT HIGH
-PE11 TIM1_CH2 TIM1 # FMU_CH3
+PE11 TIM1_CH2 TIM1 PWM3
 PE12 MAG_DRDY INPUT
-PE13 TIM1_CH3 TIM1 # FMU_CH2
-PE14 TIM1_CH4 TIM1 # FMU_CH1
+PE13 TIM1_CH3 TIM1 PWM2
+PE14 TIM1_CH4 TIM1 PWM1
 PE15 MAG_CS CS
 
 # SPI device table. The DEVID values are chosen to match the PX4 port

libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat

@@ -1,3 +1,4 @@
+
 # hw definition file for processing by chibios_hwdef.py
 # for MindPX-v2 hardware
 
@@ -11,6 +12,9 @@ APJ_BOARD_ID 88
 OSCILLATOR_HZ 8000000
 STM32_PLLM_VALUE 8
 
+STM32_ST_USE_TIMER 5
+HRT_TIMER 6
+
 # board voltage
 STM32_VDD 330U
 
@@ -34,8 +38,8 @@ UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1
 # UART4 is GPS
 PA0 UART4_TX UART4
 PA1 UART4_RX UART4
-PA2 TIM2_CH3 TIM2 # PWM_OUT7
-PA3 TIM2_CH4 TIM2 # PWM_OUT8
+PA2 TIM2_CH3 TIM2 PWM15
+PA3 TIM2_CH4 TIM2 PWM16
 PA4 VDD_5V_SENS ADC1
 
 # SPI1 is fram bus
@@ -53,13 +57,13 @@ PA12 OTG_FS_DP OTG1
 PA13 JTMS-SWDIO SWD
 PA14 JTCK-SWCLK SWD
 
-PA15 TIM2_CH1 TIM2 # PWM_OUT5
+PA15 TIM2_CH1 TIM2 PWM13
 
-PB0 TIM3_CH3 TIM3 # PWM_OUT3
-PB1 TIM3_CH4 TIM3 # PWM_OUT4
+PB0 TIM3_CH3 TIM3 PWM11
+PB1 TIM3_CH4 TIM3 PWM12
 PB2 GYRO_CS CS
-PB3 TIM2_CH2 TIM2 # PWM_OUT6
-PB4 TIM3_CH1 TIM3 # PWM_OUT1
+PB3 TIM2_CH2 TIM2 PWM14
+PB4 TIM3_CH1 TIM3 PWM9
 PB5 SPI1_MOSI SPI1
 
 # USART1 is SBUS
@@ -87,8 +91,8 @@ PC2 BAT_VOLT_SENS ADC1
 PC3 FMU_ADC1 ADC1
 PC4 FMU_ADC2 ADC1
 PC5 FMU_ADC3 ADC1
-PC6 FMU_GPIO2 INPUT # RCIN
-PC7 TIM3_CH2 TIM3 # PWM_OUT2
+PC6 TIM8_CH1 TIM8 PPMIN # RC PPM input
+PC7 TIM3_CH2 TIM3 PWM10
 
 PC8 SDIO_D0 SDIO
 PC9 SDIO_D1 SDIO
@@ -117,10 +121,10 @@ PD9 USART3_RX USART3
 PD10 NRF_INT INPUT
 PD11 ACCEL_MAG_CS CS
 
-PD12 TIM4_CH1 TIM4 # FMU_CH5
-PD13 TIM4_CH2 TIM4 # FMU_CH6
-PD14 TIM4_CH3 TIM4 # FMU_CH7
-PD15 TIM4_CH4 TIM4 # FMU_CH8
+PD12 TIM4_CH1 TIM4 PWM5
+PD13 TIM4_CH2 TIM4 PWM6
+PD14 TIM4_CH3 TIM4 PWM7
+PD15 TIM4_CH4 TIM4 PWM8
 
 # UART8 is FrSky
 PE0 UART8_RX UART8
@@ -137,12 +141,12 @@ PE6 SPI4_MOSI SPI4
 PE7 UART7_RX UART7 
 PE8 UART7_TX UART7
 
-PE9 TIM1_CH1 TIM1 # FMU_CH1
+PE9 TIM1_CH1 TIM1 PWM1
 PE10 MPU_DRDY INPUT
-PE11 TIM1_CH2 TIM1 # FMU_CH2
+PE11 TIM1_CH2 TIM1 PWM2
 PE12 FRAM_CS CS
-PE13 TIM1_CH3 TIM1 # FMU_CH3
-PE14 TIM1_CH4 TIM1 # FMU_CH4
+PE13 TIM1_CH3 TIM1 PWM3
+PE14 TIM1_CH4 TIM1 PWM4
 PE15 NRF_CS CS
 
 # SPI device table

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -104,7 +104,15 @@ class generic_pin(object):
                 self.af = None
 
         def has_extra(self, v):
-                return v in self.extra
+            '''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 is_RTS(self):
             '''return true if this is a RTS pin'''
@@ -197,13 +205,14 @@ class generic_pin(object):
                 return self.get_AFIO()
 
         def __str__(self):
-                afstr = ''
-                adcstr = ''
+                str = ''
                 if self.af is not None:
-                    afstr = " AF%u" % self.af
+                    str += " AF%u" % self.af
                 if self.type.startswith('ADC1'):
-                    adcstr = " ADC1_IN%u" % get_ADC1_chan(mcu_type, self.portpin)
-                return "P%s%u %s %s%s%s" % (self.port, self.pin, self.label, self.type, afstr, adcstr)
+                    str += " ADC1_IN%u" % get_ADC1_chan(mcu_type, self.portpin)
+                if self.extra_prefix('PWM'):
+                    str += " %s" % self.extra_prefix('PWM')
+                return "P%s%u %s %s%s" % (self.port, self.pin, self.label, self.type, str)
 
 # setup default as input pins
 for port in ports:
@@ -286,7 +295,12 @@ def write_mcu_config(f):
                 f.write('#define %s\n' % d)
             if d.startswith('define '):
                 f.write('#define %s\n' % d[7:])
+        hrt_timer = get_config('HRT_TIMER', default='5')
+        hrt_timer = int(hrt_timer)
+        f.write('#define HRT_TIMER GPTD%u\n' % hrt_timer)
+        f.write('#define STM32_GPT_USE_TIM%u TRUE\n' % hrt_timer)
         f.write('\n')
+            
 
 def write_USB_config(f):
         '''write USB config defines'''
@@ -433,7 +447,8 @@ def write_PWM_config(f):
                 if p.has_extra('PPMIN'):
                     ppm_in = p
                 else:
-                    pwm_out.append(p)
+                    if p.extra_prefix('PWM') is not None:
+                        pwm_out.append(p)
                     if p.type not in pwm_timers:
                         pwm_timers.append(p.type)
         if ppm_in is not None:
@@ -445,11 +460,55 @@ def write_PWM_config(f):
             f.write('#define STM32_ICU_USE_TIM%u TRUE\n' % n)
             f.write('#define HAL_ICU_CHANNEL ICU_CHANNEL_%u\n' % chan)
             f.write('\n')
-        f.write('// PWM output config\n')
+        f.write('// PWM timer config\n')
         for t in sorted(pwm_timers):
             n = int(t[3])
             f.write('#define STM32_PWM_USE_TIM%u TRUE\n' % n)
-            f.write('\n')
+            f.write('#define STM32_TIM%u_SUPPRESS_ISR\n' % n)
+        f.write('\n')
+        f.write('// PWM output config\n')
+        groups = []
+        for t in sorted(pwm_timers):
+            group = len(groups)+1
+            n = int(t[3])
+            chan_list = [255, 255, 255, 255]
+            for p in pwm_out:
+                if p.type != t:
+                    continue
+                chan_str = p.label[7]
+                if not is_int(chan_str):
+                    error("Bad channel for PWM %s" % p)                
+                chan = int(chan_str)
+                if chan not in [1,2,3,4]:
+                    error("Bad channel number %u for PWM %s" % (chan, p))
+                pwm = p.extra_prefix('PWM')
+                pwmchan_str = pwm[3:]
+                if not is_int(pwmchan_str):
+                    errors("Bad PWM number in %s" % p)
+                pwmchan = int(pwmchan_str)
+                chan_list[chan-1] = pwmchan-1
+            groups.append('HAL_PWM_GROUP%u' % group)
+            if n in [1, 8]:
+                # only the advanced timers do 8MHz clocks
+                pwm_clock = 8000000
+            else:
+                pwm_clock = 1000000
+            period = 20000 * pwm_clock / 1000000
+            f.write('''#define HAL_PWM_GROUP%u { \\
+        {%u, %u, %u, %u}, \\
+        /* Group Initial Config */ \\
+        { \\
+          %u,  /* PWM clock frequency. */ \\
+          %u,   /* Initial PWM period 20ms. */ \\
+          NULL,     /* no callback */ \\
+          { \\
+           /* Channel Config */ \\
+           {PWM_OUTPUT_ACTIVE_HIGH, NULL}, \\
+           {PWM_OUTPUT_ACTIVE_HIGH, NULL}, \\
+           {PWM_OUTPUT_ACTIVE_HIGH, NULL}, \\
+           {PWM_OUTPUT_ACTIVE_HIGH, NULL}  \\
+          }, 0, 0}, &PWMD%u}\n''' % (group, chan_list[0], chan_list[1], chan_list[2], chan_list[3], pwm_clock, period, n))
+        f.write('#define HAL_PWM_GROUPS %s\n\n' % ','.join(groups))