[chibios] Initial support for Lia board (untested)

conf/boards/lia_1.1_chibios.makefile

@@ -1,11 +1,11 @@
 # Hey Emacs, this is a -*- makefile -*-
 #
-# Lisa_MX_2.1_chibios.makefile
+# Lia_1.1_chibios.makefile
 #
 #
 
-BOARD=lisa
+BOARD=lia
-BOARD_VERSION=2.1
+BOARD_VERSION=1.1
 BOARD_DIR=$(BOARD)/chibios/v$(BOARD_VERSION)
 BOARD_CFG=\"boards/$(BOARD_DIR)/board.h\"
 
@@ -42,8 +42,7 @@ FLASH_MODE ?= DFU
 
 HAS_LUFTBOOT ?= 1
 ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE))
-$(TARGET).CFLAGS+=-DLUFTBOOT
+$(TARGET).CFLAGS+=-DLUFTBOOT -DCORTEX_VTOR_INIT=0x00002000
-$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8002000
 endif
 
 #

sw/airborne/boards/lia/chibios/v1.1/board.c

@@ -0,0 +1,54 @@
+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "hal.h"
+
+/**
+ * @brief   PAL setup.
+ * @details Digital I/O ports static configuration as defined in @p board.h.
+ *          This variable is used by the HAL when initializing the PAL driver.
+ */
+#if HAL_USE_PAL || defined(__DOXYGEN__)
+const PALConfig pal_default_config =
+{
+  {VAL_GPIOAODR, VAL_GPIOACRL, VAL_GPIOACRH},
+  {VAL_GPIOBODR, VAL_GPIOBCRL, VAL_GPIOBCRH},
+  {VAL_GPIOCODR, VAL_GPIOCCRL, VAL_GPIOCCRH},
+  {VAL_GPIODODR, VAL_GPIODCRL, VAL_GPIODCRH},
+  {VAL_GPIOEODR, VAL_GPIOECRL, VAL_GPIOECRH},
+};
+#endif
+
+/*
+ * Early initialization code.
+ * This initialization must be performed just after stack setup and before
+ * any other initialization.
+ */
+void __early_init(void) {
+
+  stm32_clock_init();
+}
+
+/*
+ * Board-specific initialization code.
+ */
+void boardInit(void) {
+  /*
+   * Several I/O pins are re-mapped:
+   *   JTAG TRST to LED
+   */
+  AFIO->MAPR |= AFIO_MAPR_USART3_REMAP_PARTIALREMAP | AFIO_MAPR_SWJ_CFG_NOJNTRST | AFIO_MAPR_TIM3_REMAP_FULLREMAP;
+}

sw/airborne/boards/lia/chibios/v1.1/board.mk

@@ -0,0 +1,20 @@
+#
+#    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+#
+#    Licensed under the Apache License, Version 2.0 (the "License");
+#    you may not use this file except in compliance with the License.
+#    You may obtain a copy of the License at
+#
+#        http://www.apache.org/licenses/LICENSE-2.0
+#
+#    Unless required by applicable law or agreed to in writing, software
+#    distributed under the License is distributed on an "AS IS" BASIS,
+#    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#    See the License for the specific language governing permissions and
+#    limitations under the License.
+#
+# Required include directories
+BOARDINC = $(CHIBIOS_BOARD_DIR)
+
+# List of all the board related files.
+BOARDSRC = ${BOARDINC}/board.c

sw/airborne/boards/lia/chibios/v1.1/mcuconf.h

@@ -0,0 +1,278 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+#ifndef _MCUCONF_H_
+#define _MCUCONF_H_
+
+
+#define STM32F107_MCUCONF
+
+/*
+ * STM32F1xx drivers configuration.
+ * The following settings override the default settings present in
+ * the various device driver implementation headers.
+ * Note that the settings for each driver only have effect if the whole
+ * driver is enabled in halconf.h.
+ *
+ * IRQ priorities:
+ * 15...0       Lowest...Highest.
+ *
+ * DMA priorities:
+ * 0...3        Lowest...Highest.
+ */
+
+/*
+ * HAL driver system settings.
+ */
+#define STM32_NO_INIT                       FALSE
+#define STM32_HSI_ENABLED                   TRUE
+#define STM32_LSI_ENABLED                   FALSE
+#define STM32_HSE_ENABLED                   TRUE
+#define STM32_LSE_ENABLED                   FALSE
+#define STM32_SW                            STM32_SW_PLL
+#define STM32_PLLSRC                        STM32_PLLSRC_PREDIV1
+#define STM32_PREDIV1_VALUE                 1
+#define STM32_PLLMUL_VALUE                  6
+#define STM32_PREDIV2_VALUE                 3
+#define STM32_PLL2MUL_VALUE                 10
+#define STM32_PLL3MUL_VALUE                 12
+#define STM32_PLLXTPRE                      STM32_PLLXTPRE_DIV1
+#define STM32_HPRE                          STM32_HPRE_DIV1
+#define STM32_PPRE1                         STM32_PPRE1_DIV2
+#define STM32_PPRE2                         STM32_PPRE2_DIV2
+#define STM32_ADCPRE                        STM32_ADCPRE_DIV4
+#define STM32_USB_CLOCK_REQUIRED            TRUE
+#define STM32_USBPRE                        STM32_USBPRE_DIV1P5
+#define STM32_MCOSEL                        STM32_MCOSEL_NOCLOCK
+#define STM32_RTCSEL                        STM32_RTCSEL_HSEDIV
+#define STM32_PVD_ENABLE                    FALSE
+#define STM32_PLS                           STM32_PLS_LEV0
+
+/*
+ * ADC driver system settings.
+ */
+#define STM32_ADC_USE_ADC1                  TRUE
+#define STM32_ADC_ADC1_DMA_PRIORITY         2
+#define STM32_ADC_ADC1_IRQ_PRIORITY         6
+
+/*
+ * CAN driver system settings.
+ */
+#if USE_CAN1
+#define STM32_CAN_USE_CAN1                  TRUE
+#else
+#define STM32_CAN_USE_CAN1                  FALSE
+#endif
+#define STM32_CAN_CAN1_IRQ_PRIORITY         11
+
+/*
+ * EXT driver system settings.
+ */
+#define STM32_EXT_EXTI0_IRQ_PRIORITY        6
+#define STM32_EXT_EXTI1_IRQ_PRIORITY        6
+#define STM32_EXT_EXTI2_IRQ_PRIORITY        6
+#define STM32_EXT_EXTI3_IRQ_PRIORITY        6
+#define STM32_EXT_EXTI4_IRQ_PRIORITY        6
+#define STM32_EXT_EXTI5_9_IRQ_PRIORITY      6
+#define STM32_EXT_EXTI10_15_IRQ_PRIORITY    6
+#define STM32_EXT_EXTI16_IRQ_PRIORITY       6
+#define STM32_EXT_EXTI17_IRQ_PRIORITY       6
+#define STM32_EXT_EXTI18_IRQ_PRIORITY       6
+#define STM32_EXT_EXTI19_IRQ_PRIORITY       6
+
+/*
+ * GPT driver system settings.
+ */
+#define STM32_GPT_USE_TIM1                  FALSE
+#define STM32_GPT_USE_TIM2                  FALSE
+#define STM32_GPT_USE_TIM3                  FALSE
+#define STM32_GPT_USE_TIM4                  FALSE
+#define STM32_GPT_USE_TIM5                  FALSE
+#define STM32_GPT_USE_TIM8                  FALSE
+#define STM32_GPT_TIM1_IRQ_PRIORITY         7
+#define STM32_GPT_TIM2_IRQ_PRIORITY         7
+#define STM32_GPT_TIM3_IRQ_PRIORITY         7
+#define STM32_GPT_TIM4_IRQ_PRIORITY         7
+#define STM32_GPT_TIM5_IRQ_PRIORITY         7
+#define STM32_GPT_TIM8_IRQ_PRIORITY         7
+
+/*
+ * I2C driver system settings.
+ */
+#if USE_I2C1
+#define STM32_I2C_USE_I2C1                  TRUE
+#else
+#define STM32_I2C_USE_I2C1                  FALSE
+#endif
+#if USE_I2C2
+#define STM32_I2C_USE_I2C2                  TRUE
+#else
+#define STM32_I2C_USE_I2C2                  FALSE
+#endif
+#define STM32_I2C_BUSY_TIMEOUT              50
+#define STM32_I2C_I2C1_IRQ_PRIORITY         5
+#define STM32_I2C_I2C2_IRQ_PRIORITY         5
+#define STM32_I2C_I2C1_DMA_PRIORITY         3
+#define STM32_I2C_I2C2_DMA_PRIORITY         3
+#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      osalSysHalt("DMA failure")
+
+/*
+ * ICU driver system settings.
+ */
+#define STM32_ICU_USE_TIM1                  TRUE
+#define STM32_ICU_USE_TIM2                  FALSE
+#define STM32_ICU_USE_TIM3                  FALSE
+#define STM32_ICU_USE_TIM4                  FALSE
+#define STM32_ICU_USE_TIM5                  FALSE
+#define STM32_ICU_USE_TIM8                  FALSE
+#define STM32_ICU_TIM1_IRQ_PRIORITY         7
+#define STM32_ICU_TIM2_IRQ_PRIORITY         7
+#define STM32_ICU_TIM3_IRQ_PRIORITY         7
+#define STM32_ICU_TIM4_IRQ_PRIORITY         7
+#define STM32_ICU_TIM5_IRQ_PRIORITY         7
+#define STM32_ICU_TIM8_IRQ_PRIORITY         7
+
+/*
+ * PWM driver system settings.
+ */
+#define STM32_PWM_USE_ADVANCED              FALSE
+#define STM32_PWM_USE_TIM1                  FALSE
+#define STM32_PWM_USE_TIM2                  FALSE
+#define STM32_PWM_USE_TIM3                  TRUE
+#define STM32_PWM_USE_TIM4                  FALSE
+#define STM32_PWM_USE_TIM5                  TRUE
+#define STM32_PWM_USE_TIM8                  FALSE
+#define STM32_PWM_TIM1_IRQ_PRIORITY         7
+#define STM32_PWM_TIM2_IRQ_PRIORITY         7
+#define STM32_PWM_TIM3_IRQ_PRIORITY         7
+#define STM32_PWM_TIM4_IRQ_PRIORITY         7
+#define STM32_PWM_TIM5_IRQ_PRIORITY         7
+#define STM32_PWM_TIM8_IRQ_PRIORITY         7
+
+/*
+ * RTC driver system settings.
+ */
+#define STM32_RTC_IRQ_PRIORITY              15
+
+/*
+ * SERIAL driver system settings.
+ */
+#if USE_UART1
+#define STM32_SERIAL_USE_USART1             TRUE
+#else
+#define STM32_SERIAL_USE_USART1             FALSE
+#endif
+#if USE_UART2
+#define STM32_SERIAL_USE_USART2             TRUE
+#else
+#define STM32_SERIAL_USE_USART2             FALSE
+#endif
+#if USE_UART3
+#define STM32_SERIAL_USE_USART3             TRUE
+#else
+#define STM32_SERIAL_USE_USART3             FALSE
+#endif
+#if USE_UART4
+#define STM32_SERIAL_USE_UART4              TRUE
+#else
+#define STM32_SERIAL_USE_UART4              FALSE
+#endif
+#if USE_UART5
+#define STM32_SERIAL_USE_UART5              TRUE
+#else
+#define STM32_SERIAL_USE_UART5              FALSE
+#endif
+#define STM32_SERIAL_USART1_PRIORITY        12
+#define STM32_SERIAL_USART2_PRIORITY        12
+#define STM32_SERIAL_USART3_PRIORITY        12
+#define STM32_SERIAL_UART4_PRIORITY         12
+#define STM32_SERIAL_UART5_PRIORITY         12
+
+/*
+ * SPI driver system settings.
+ */
+#if USE_SPI1
+#define STM32_SPI_USE_SPI1                  TRUE
+#else
+#define STM32_SPI_USE_SPI1                  FALSE
+#endif
+#if USE_SPI2
+#define STM32_SPI_USE_SPI2                  TRUE
+#else
+#define STM32_SPI_USE_SPI2                  FALSE
+#endif
+#if USE_SPI3
+#define STM32_SPI_USE_SPI3                  TRUE
+#else
+#define STM32_SPI_USE_SPI3                  FALSE
+#endif
+#define STM32_SPI_SPI1_DMA_PRIORITY         1
+#define STM32_SPI_SPI2_DMA_PRIORITY         1
+#define STM32_SPI_SPI3_DMA_PRIORITY         1
+#define STM32_SPI_SPI1_IRQ_PRIORITY         10
+#define STM32_SPI_SPI2_IRQ_PRIORITY         10
+#define STM32_SPI_SPI3_IRQ_PRIORITY         10
+#define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")
+
+/*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+#define STM32_ST_USE_TIMER                  2
+
+/*
+ * UART driver system settings.
+ */
+#if USE_UARTD1
+#define STM32_UART_USE_USART1               TRUE
+#else
+#define STM32_UART_USE_USART1               FALSE
+#endif
+#if USE_UARTD2
+#define STM32_UART_USE_USART2               TRUE
+#else
+#define STM32_UART_USE_USART2               FALSE
+#endif
+#if USE_UARTD3
+#define STM32_UART_USE_USART3               TRUE
+#else
+#define STM32_UART_USE_USART3               FALSE
+#endif
+#define STM32_UART_USART1_IRQ_PRIORITY      12
+#define STM32_UART_USART2_IRQ_PRIORITY      12
+#define STM32_UART_USART3_IRQ_PRIORITY      12
+#define STM32_UART_USART1_DMA_PRIORITY      0
+#define STM32_UART_USART2_DMA_PRIORITY      0
+#define STM32_UART_USART3_DMA_PRIORITY      0
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
+
+/*
+ * USB driver system settings.
+ */
+#if USE_USB_SERIAL
+#define STM32_USB_USE_OTG1                  TRUE
+#else
+#define STM32_USB_USE_OTG1                  FALSE
+#endif
+#define STM32_USB_LOW_POWER_ON_SUSPEND      FALSE
+#define STM32_USB_USB1_HP_IRQ_PRIORITY      13
+#define STM32_USB_USB1_LP_IRQ_PRIORITY      14
+
+/*
+ * WDG driver system settings.
+ */
+#define STM32_WDG_USE_IWDG                  FALSE
+
+#endif /* _MCUCONF_H_ */