[modules] start adding MCU periph modules (#1989)

Modules for MCU peripherals. Previous subsystems or direct definition in firmware makefile are kept for now, until dependencies are properly handled.

conf/firmwares/subsystems/fixedwing/i2c.makefile

@@ -1,2 +0,0 @@
-#generic i2c driver
-$(error The i2c subsystem does not have to be specified explicitly anymore, it is always included now. Remove the line <subsystem name="i2c"/> from the firmware section of your airframe file!)

conf/firmwares/subsystems/fixedwing/spi_slave_hs.makefile

@@ -1,11 +0,0 @@
-# Hey Emacs, this is a -*- makefile -*-
-
-#generic spi driver
-$(TARGET).CFLAGS += -DUSE_SPI -DSPI_SLAVE_HS
-
-ifeq ($(TARGET), sim)
-else
-
-$(TARGET).srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_slave_hs_arch.c
-
-endif

conf/modules/adc.xml

@@ -0,0 +1,18 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="adc" dir="mcu_periph" task="mcu">
+  <doc>
+    <description>
+      General ADC driver
+      To activate a specific ADC input, define flag USE_ADC_X where X is your ADC input number
+    </description>
+  </doc>
+  <header>
+    <file name="adc.h" dir="mcu_periph"/>
+  </header>
+  <makefile>
+    <define name="USE_ADC"/>
+    <file_arch name="adc_arch.c" dir="mcu_periph"/>
+  </makefile>
+</module>
+

conf/modules/ahrs_chimu_spi.xml

@@ -6,6 +6,7 @@
     <define name="CHIMU_BIG_ENDIAN" value="TRUE" description="For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN"/>
   </doc>
   <autoload name="ahrs_sim"/>
+  <autoload name="spi" type="slave_hs"/>
   <header>
     <file name="ins_module.h"/>
   </header>
@@ -21,8 +22,5 @@
     <file name="imu_chimu.c"/>
     <file name="ahrs.c" dir="subsystems"/>
     <define name="AHRS_TYPE_H" value="modules/ins/ahrs_chimu.h" type="string"/>
-    <raw>
-      include $(CFG_FIXEDWING)/spi_slave_hs.makefile
-    </raw>
   </makefile>
 </module>

conf/modules/dac.xml

@@ -0,0 +1,18 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="dac" dir="mcu_periph" task="mcu">
+  <doc>
+    <description>
+      General DAC driver
+      To activate a specific DAC input, define flag USE_DACX where X is your DAC input number
+    </description>
+  </doc>
+  <header>
+    <file name="dac.h" dir="mcu_periph"/>
+  </header>
+  <makefile>
+    <define name="USE_DAC"/>
+    <file_arch name="dac_arch.c" dir="mcu_periph"/>
+  </makefile>
+</module>
+

conf/modules/i2c.xml

@@ -0,0 +1,18 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="i2c" dir="mcu_periph" task="mcu">
+  <doc>
+    <description>
+      General I2C driver
+      To activate a specific I2C peripheral, define flag USE_I2CX where X is your I2C peripheral number
+    </description>
+  </doc>
+  <header>
+    <file name="i2c.h" dir="mcu_periph"/>
+  </header>
+  <makefile>
+    <file name="i2c.c" dir="mcu_periph"/>
+    <file_arch name="i2c_arch.c" dir="mcu_periph"/>
+  </makefile>
+</module>
+

conf/modules/mcu.xml

@@ -0,0 +1,27 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="mcu" dir="mcu_periph" task="mcu">
+  <doc>
+    <description>
+      Automatic initialization module for all MCU peripherals
+      Also includes GPIO and LED drivers
+    </description>
+  </doc>
+  <header>
+    <file name="mcu.h" dir="."/>
+    <file name="gpio.h" dir="mcu_periph"/>
+    <file name="led.h" dir="."/>
+  </header>
+  <makefile>
+    <define name="PERIPHERALS_AUTO_INIT"/>
+    <defina name="USE_LED"/>
+    <file name="mcu.c" dir="."/>
+    <file_arch name="mcu_arch.c" dir="."/>
+    <file_arch name="armVIC.c" dir="." cond="ifeq ($(ARCH), lpc21)"/>
+    <file_arch name="gpio_arch.c" dir="mcu_periph" cond="ifeq ($(ARCH), stm32)"/>
+    <file_arch name="led_arch.c" dir="." cond="ifeq ($(ARCH), stm32)"/>
+    <file_arch name="gpio_arch.c" dir="mcu_periph" cond="ifeq ($(ARCH), chibios)"/>
+    <file_arch name="gpio_ardrone.c" dir="boards/ardrone" cond="ifeq ($(BOARD), ardrone)"/>
+  </makefile>
+</module>
+

conf/modules/module.dtd

@@ -92,7 +92,8 @@ cond CDATA #IMPLIED>
 
 <!ATTLIST flag
 name CDATA #REQUIRED
-value CDATA #REQUIRED>
+value CDATA #REQUIRED
+cond CDATA #IMPLIED>
 
 <!ATTLIST file
 name CDATA #REQUIRED

conf/modules/spi_master.xml

@@ -0,0 +1,20 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="spi_master" dir="mcu_periph" task="mcu">
+  <doc>
+    <description>
+      General SPI driver (master mode)
+      To activate a specific SPI peripheral, define flag USE_SPIX where X is your SPI peripheral number
+    </description>
+  </doc>
+  <header>
+    <file name="spi.h" dir="mcu_periph"/>
+  </header>
+  <makefile>
+    <define name="USE_SPI"/>
+    <define name="SPI_MASTER"/>
+    <file name="spi.c" dir="mcu_periph"/>
+    <file_arch name="spi_arch.c" dir="mcu_periph"/>
+  </makefile>
+</module>
+

conf/modules/spi_slave_hs.xml

@@ -0,0 +1,20 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="spi_slave_hs" dir="mcu_periph" task="mcu">
+  <doc>
+    <description>
+      General SPI driver (high speed slave mode)
+      Only for fixedwing and boards based on LPC21
+    </description>
+  </doc>
+  <header>
+    <file name="spi.h" dir="mcu_periph"/>
+  </header>
+  <makefile target="!sim|nps" firmware="fixedwing">
+    <define name="USE_SPI"/>
+    <define name="SPI_SLAVE_HS"/>
+    <file name="spi.c" dir="mcu_periph"/>
+    <file_arch name="spi_slave_hs_arch.c" dir="mcu_periph"/>
+  </makefile>
+</module>
+

conf/modules/sys_time.xml

@@ -0,0 +1,21 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="sys_time" dir="mcu_periph" task="mcu">
+  <doc>
+    <description>
+      Sys-time peripheral
+    </description>
+    <configure name="SYS_TIME_LED" value="none|num" value="LED number used for systime heartbeat or 'none' to disable"/>
+  </doc>
+  <header>
+    <file name="sys_time.h" dir="mcu_periph"/>
+  </header>
+  <makefile>
+    <configure name="SYS_TIME_LED" default="none"/>
+    <define name="SYS_TIME_LED" value="$(SYS_TIME_LED)" cond="ifneq ($(SYS_TIME_LED), none)"/>
+    <file name="sys_time.c" dir="mcu_periph"/>
+    <file_arch name="sys_time_arch.c" dir="mcu_periph"/>
+    <flag name="LDFLAGS" value="lrt" cond="ifeq ($(ARCH), linux)">
+  </makefile>
+</module>
+

conf/modules/uart.xml

@@ -0,0 +1,23 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="uart" dir="mcu_periph" task="mcu">
+  <doc>
+    <description>
+      General UART driver
+      To activate a specific UART peripheral, define flag USE_UARTX where X is your UART peripheral number
+    </description>
+  </doc>
+  <header>
+    <file name="uart.h" dir="mcu_periph"/>
+  </header>
+  <makefile>
+    <file name="uart.c" dir="mcu_periph"/>
+    <file_arch name="uart_arch.c" dir="mcu_periph"/>
+    <file name="serial_port.c" dir="arch/linux" cond="ifeq ($(ARCH), linux)"/>
+  </makefile>
+  <makefile target="sim|nps">
+    <include name="arch/linux"/>
+    <file name="serial_port.c" dir="arch/linux"/>
+  </makefile>
+</module>
+

conf/modules/udp.xml

@@ -0,0 +1,24 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="udp" dir="mcu_periph" task="mcu">
+  <doc>
+    <description>
+      General UDP driver
+      To activate a specific UDP peripheral, define flag USE_UDPX where X is your UDP peripheral number
+    </description>
+  </doc>
+  <header>
+    <file name="udp.h" dir="mcu_periph"/>
+  </header>
+  <makefile>
+    <define name="USE_UDP"/>
+    <file name="udp.c" dir="mcu_periph"/>
+    <file_arch name="udp_arch.c" dir="mcu_periph"/>
+    <file name="udp_socket.c" dir="arch/linux" cond="ifeq ($(ARCH), linux)"/>
+  </makefile>
+  <makefile target="nps">
+    <include name="arch/linux"/>
+    <file name="udp_socket.c" dir="arch/linux"/>
+  </makefile>
+</module>
+

sw/tools/generators/gen_aircraft.ml

@@ -88,6 +88,16 @@ let include_xml2mk = fun f ?(target="$(TARGET)") ?(vpath=None) xml ->
     fprintf f "%s\n%s\nendif\n" cond flag
   with Xml.No_attribute _ -> fprintf f "%s\n" flag
 
+let flag_xml2mk = fun f ?(target="$(TARGET)") xml ->
+  let name = Xml.attrib xml "name"
+  and value = Xml.attrib xml "value" in
+  let flag = sprintf "%s.%s += -%s" target name value in
+  try
+    (* TODO: add condition in xml syntax ? *)
+    let cond = Xml.attrib xml "cond" in
+    fprintf f "%s\n%s\nendif\n" cond flag
+  with Xml.No_attribute _ -> fprintf f "%s\n" flag
+
 let define_xml2mk = fun f ?(target="$(TARGET)") xml ->
   let name = Xml.attrib xml "name"
   and value = try Some (Xml.attrib xml "value") with _ -> None in
@@ -185,10 +195,7 @@ let module_xml2mk = fun f target firmware m ->
           match Compat.bytes_lowercase (Xml.tag field) with
           | "define" -> define_xml2mk f ~target field
           | "include" -> include_xml2mk f ~target ~vpath:m.vpath field
-          | "flag" ->
+          | "flag" -> flag_xml2mk f ~target field
-              let value = Xml.attrib field "value"
-              and name = Xml.attrib field "name" in
-              fprintf f "%s.%s += -%s\n" target name value
           | "file" -> file_xml2mk f dir_name target field
           | "file_arch" -> file_xml2mk f ~arch:true dir_name target field
           | "raw" -> raw_xml2mk f name field