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HAL_ChibiOS: auto-generate AnalogIn pin table

master
Andrew Tridgell 7 years ago
parent
f14a847b97
commit
fbe8166c71
3 changed files with 63 additions and 35 deletions
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  1. 21
      libraries/AP_HAL_ChibiOS/AnalogIn.cpp
  2. 12
      libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
  3. 65
      libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

21
libraries/AP_HAL_ChibiOS/AnalogIn.cpp
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@ -38,25 +38,11 @@ extern const AP_HAL::HAL& hal; @@ -38,25 +38,11 @@ extern const AP_HAL::HAL& hal;
using namespace ChibiOS;
// pin number for VCC rail
#define ANALOG_VCC_5V_PIN 4
/*
scaling table between ADC count and actual input voltage, to account
for voltage dividers on the board.
*/
const AnalogIn::pin_info AnalogIn::pin_config[] = {
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
{ ANALOG_VCC_5V_PIN, 0.007734 }, // VCC 5V rail sense
#else
{ ANALOG_VCC_5V_PIN, 6.6f/4096 }, // VCC 5V rail sense
#endif
{ 2, VOLTAGE_SCALING }, // 3DR Brick voltage
{ 3, VOLTAGE_SCALING }, // 3DR Brick current
{ 13, VOLTAGE_SCALING }, // AUX ADC pin 4
{ 14, VOLTAGE_SCALING }, // AUX ADC pin 3
{ 15, VOLTAGE_SCALING*2 }, // analog airspeed sensor, 2:1 scaling
};
const AnalogIn::pin_info AnalogIn::pin_config[] = HAL_ANALOG_PINS;
#define ADC_GRP1_NUM_CHANNELS ARRAY_SIZE_SIMPLE(AnalogIn::pin_config)
@ -65,9 +51,6 @@ adcsample_t AnalogIn::samples[ADC_DMA_BUF_DEPTH*ADC_GRP1_NUM_CHANNELS]; @@ -65,9 +51,6 @@ adcsample_t AnalogIn::samples[ADC_DMA_BUF_DEPTH*ADC_GRP1_NUM_CHANNELS];
uint32_t AnalogIn::sample_sum[ADC_GRP1_NUM_CHANNELS];
uint32_t AnalogIn::sample_count;
// special pin numbers
#define ANALOG_VCC_5V_PIN 4
AnalogSource::AnalogSource(int16_t pin, float initial_value) :
_pin(pin),
_value(initial_value),
@ -266,11 +249,13 @@ void AnalogIn::_timer_tick(void) @@ -266,11 +249,13 @@ void AnalogIn::_timer_tick(void)
// match the incoming channels to the currently active pins
for (uint8_t i=0; i < ADC_GRP1_NUM_CHANNELS; i++) {
#ifdef ANALOG_VCC_5V_PIN
if (pin_config[i].channel == ANALOG_VCC_5V_PIN) {
// record the Vcc value for later use in
// voltage_average_ratiometric()
_board_voltage = buf_adc[i] * pin_config[i].scaling;
}
#endif
}
for (uint8_t i=0; i<ADC_GRP1_NUM_CHANNELS; i++) {
Debug("chan %u value=%u\n",

12
libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
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@ -39,9 +39,9 @@ IOMCU_UART USART6 @@ -39,9 +39,9 @@ IOMCU_UART USART6
# UART4 serial GPS
PA0 UART4_TX UART4
PA1 UART4_RX UART4
PA2 BATT_VOLTAGE_SENS ADC1
PA3 BATT_CURRENT_SENS ADC1
PA4 VDD_5V_SENS ADC1
PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
PA4 VDD_5V_SENS ADC1 SCALE(2)
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
@ -70,9 +70,9 @@ PB15 SPI2_MOSI SPI2 @@ -70,9 +70,9 @@ PB15 SPI2_MOSI SPI2
PC0 VBUS_VALID INPUT
PC1 MAG_CS CS
PC2 MPU_CS CS
PC3 AUX_POWER ADC1
PC4 AUX_ADC2 ADC1
PC5 PRESSURE_SENS ADC1
PC3 AUX_POWER ADC1 SCALE(1)
PC4 AUX_ADC2 ADC1 SCALE(1)
PC5 PRESSURE_SENS ADC1 SCALE(2)
# USART6 to IO
PC6 USART6_TX USART6
PC7 USART6_RX USART6

65
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
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@ -114,6 +114,21 @@ class generic_pin(object): @@ -114,6 +114,21 @@ class generic_pin(object):
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] != ')':
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:
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')):
@ -220,7 +235,7 @@ for port in ports: @@ -220,7 +235,7 @@ for port in ports:
for pin in range(pincount[port]):
portmap[port].append(generic_pin(port, pin, None, 'INPUT', []))
def get_config(name, column=0, required=True, default=None, need_int=False):
def get_config(name, column=0, required=True, default=None, type=None):
'''get a value from config dictionary'''
if not name in config:
if required and default is None:
@ -229,10 +244,11 @@ def get_config(name, column=0, required=True, default=None, need_int=False): @@ -229,10 +244,11 @@ def get_config(name, column=0, required=True, default=None, need_int=False):
if len(config[name]) < column+1:
error("Error: missing required value %s in hwdef.dat (column %u)" % (name, column))
ret = config[name][column]
if need_int:
if not is_int(ret):
error("Config value %s must be an integer (got %s)" % (name, ret))
ret = int(ret)
if type is not None:
try:
ret = type(ret)
except Exception:
error("Badly formed config value %s (got %s)" % (name, ret))
return ret
def process_line(line):
@ -282,7 +298,7 @@ def write_mcu_config(f): @@ -282,7 +298,7 @@ def write_mcu_config(f):
f.write('// UART used for stdout (printf)\n')
f.write('#define HAL_STDOUT_SERIAL %s\n\n' % get_config('STDOUT_SERIAL'))
f.write('// baudrate used for stdout (printf)\n')
f.write('#define HAL_STDOUT_BAUDRATE %u\n\n' % get_config('STDOUT_BAUDRATE', need_int=True))
f.write('#define HAL_STDOUT_BAUDRATE %u\n\n' % get_config('STDOUT_BAUDRATE', type=int))
if 'SDIO' in bytype:
f.write('// SDIO available, enable POSIX filesystem support\n')
f.write('#define USE_POSIX\n\n')
@ -304,14 +320,14 @@ def write_mcu_config(f): @@ -304,14 +320,14 @@ def write_mcu_config(f):
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)
flash_size = get_config('FLASH_SIZE_KB', need_int=True)
flash_size = get_config('FLASH_SIZE_KB', type=int)
f.write('#define BOARD_FLASH_SIZE %u\n' % flash_size)
f.write('#define CRT1_AREAS_NUMBER 1\n')
if mcu_type in ['STM32F427xx', 'STM32F405xx']:
def_ccm_size = 64
else:
def_ccm_size = None
ccm_size = get_config('CCM_RAM_SIZE_KB', default=def_ccm_size, required=False, need_int=True)
ccm_size = get_config('CCM_RAM_SIZE_KB', default=def_ccm_size, required=False, type=int)
if ccm_size is not None:
f.write('#define CCM_RAM_SIZE %u\n' % ccm_size)
f.write('\n')
@ -319,13 +335,13 @@ def write_mcu_config(f): @@ -319,13 +335,13 @@ def write_mcu_config(f):
def write_ldscript(fname):
'''write ldscript.ld for this board'''
flash_size = get_config('FLASH_SIZE_KB', need_int=True)
flash_size = get_config('FLASH_SIZE_KB', type=int)
# space to reserve for bootloader and storage at start of flash
flash_reserve_start = get_config('FLASH_RESERVE_START_KB', default=16, need_int=True)
flash_reserve_start = get_config('FLASH_RESERVE_START_KB', default=16, type=int)
# space to reserve for storage at end of flash
flash_reserve_end = get_config('FLASH_RESERVE_END_KB', default=0, need_int=True)
flash_reserve_end = get_config('FLASH_RESERVE_END_KB', default=0, type=int)
# ram size
ram_size = get_config('RAM_SIZE_KB', default=192)
@ -563,6 +579,32 @@ def write_PWM_config(f): @@ -563,6 +579,32 @@ def write_PWM_config(f):
f.write('#define HAL_PWM_GROUPS %s\n\n' % ','.join(groups))
def write_ADC_config(f):
'''write ADC config defines'''
f.write('// ADC config\n')
adc_chans = []
for l in bylabel:
p = bylabel[l]
if not p.type.startswith('ADC'):
continue
chan = get_ADC1_chan(mcu_type, p.portpin)
scale = p.extra_value('SCALE', default=None)
if p.label == 'VDD_5V_SENS':
f.write('#define ANALOG_VCC_5V_PIN %u\n' % chan)
adc_chans.append((chan, scale, p.label, p.portpin))
adc_chans = sorted(adc_chans)
vdd = get_config('STM32_VDD')
if vdd[-1] == 'U':
vdd = vdd[:-1]
vdd = float(vdd) * 0.01
f.write('#define HAL_ANALOG_PINS { \\\n')
for (chan, scale, label, portpin) in adc_chans:
scale_str = '%.2f/4096' % vdd
if scale is not None and scale != '1':
scale_str = scale + '*' + scale_str
f.write('{ %2u, %12s }, /* %s %s */ \\\n' % (chan, scale_str, portpin, label))
f.write('}\n\n')
def write_prototype_file():
'''write the prototype file for apj generation'''
@ -613,6 +655,7 @@ def write_hwdef_header(outfilename): @@ -613,6 +655,7 @@ def write_hwdef_header(outfilename):
write_I2C_config(f)
write_SPI_config(f)
write_PWM_config(f)
write_ADC_config(f)
write_peripheral_enable(f)
write_prototype_file()

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