add script to compute dma assigments

src/dma.ts

@@ -0,0 +1,164 @@
+import fs from "fs";
+import path from "path";
+import YAML from "yaml";
+import { walk } from "./util";
+import { stringifyTarget, target_t } from "./types";
+
+interface device_tag {
+    type: string;
+    index: number;
+    func?: string;
+}
+
+const mcus = await fs.promises.readdir("mcu");
+const gpios = await mcus.reduce(async (prev, m) => ({ ...(await prev), [m]: YAML.parse(await fs.promises.readFile(path.join("mcu", m, "gpio.yaml"), "utf8")) }), {});
+const dmas = await mcus.reduce(async (prev, m) => ({ ...(await prev), [m]: YAML.parse(await fs.promises.readFile(path.join("mcu", m, "dma.yaml"), "utf8")) }), {});
+
+const MCU_MAP = {
+    at32f435m: "at32f435",
+};
+
+function mapMCU(mcu: string) {
+    if (MCU_MAP[mcu]) {
+        return MCU_MAP[mcu];
+    } else {
+        return mcu;
+    }
+}
+
+function assEqual(lhs: any, rhs: any): boolean {
+    const ignore = ["tag", "dev"]
+    return Object.keys(lhs).every(key => ignore.includes(key) || lhs[key] == rhs[key])
+}
+function assIncludes(array: any[], ass: device_tag) {
+    return array.find((e) => assEqual(e, ass))
+}
+
+function tagEqual(lhs: device_tag, rhs: device_tag): boolean {
+    if (lhs.func && rhs.func && lhs.func != rhs.func)
+        return false;
+    return lhs.type == rhs.type && lhs.index == rhs.index;
+}
+function tagIncludes(array: device_tag[], tag: device_tag) {
+    return array.find((e) => tagEqual(e, tag))
+}
+
+export function findDmaAssigments(target: target_t): target_t {
+    const mcu = mapMCU(target.mcu);
+    const dma = dmas[mcu];
+    const gpio = gpios[mcu];
+
+    if (!dma || !gpio) {
+        return target;
+    }
+
+    const dma_assigments = [] as any[];
+    const timer_assigments = [] as device_tag[];
+
+    let motor_timers = [{ type: "timer", index: 1 }]
+    if (mcu != "stm32f411") {
+        motor_timers.push({ type: "timer", index: 8 })
+    }
+
+    const stream_max = mcu == 'at32f435' ? 7 : 8;
+
+    let dma_count = 0;
+
+    function addTimer(dev: string, tag: device_tag) {
+        motor_timers = motor_timers.filter(t => !tagEqual(t, tag))
+        timer_assigments.push({ dev, ...tag } as any);
+    }
+
+    function addDmaAssigment(dev: string, tag: device_tag) {
+        const ass = dma.find(d => tagEqual(d.tag, tag) && !assIncludes(dma_assigments, d));
+        if (!ass) {
+            return false;
+        }
+
+        const port = ass.dma ? ass.dma.port : 1 + Math.floor(dma_count / stream_max);
+        const stream = ass.dma ? ass.dma.stream : dma_count % stream_max;
+        dma_count++;
+
+        dma_assigments.push({
+            dev,
+            ...ass,
+            tag: `${tag.type}${tag.index}${tag.func ? '_' + tag.func : ''}`.toUpperCase(),
+            dma: `DMA${port}_STREAM${stream}`
+        });
+        return true;
+    }
+
+    function findTimers(dev: string, gpios: any[]) {
+        const entries = gpios.filter(g => g.tag.type == 'timer' && !tagIncludes(timer_assigments, g.tag))
+        // try to find a timer that is _not_ a motor timer
+        const timers = entries.filter(g => !tagIncludes(motor_timers, g.tag))
+        if (timers.length) {
+            return timers;
+        }
+        if (motor_timers.length == 1) {
+            console.warn("no non-motor timers found for", dev)
+            return [];
+        }
+        return entries;
+    }
+
+    if (target.rgb_led) {
+        const timers = findTimers("RGB", gpio[target.rgb_led]);
+        for (const timer of timers) {
+            if (addDmaAssigment("RGB", timer.tag)) {
+                addTimer("RGB", timer.tag);
+                break;
+            }
+        }
+    }
+
+    const motor_ports = target.motor_pins.map(p => p.slice(0, 2)).filter((v, i, a) => a.indexOf(v) === i);
+    const motor_timer = motor_timers[0];
+    if (!motor_timer) {
+        console.log(timer_assigments, dma_assigments);
+        throw new Error("no motor timer found!");
+    }
+    for (let i = 0; i < motor_ports.length; i++) {
+        const tag = { ...motor_timer, func: "ch" + (i + 1) };
+        addTimer("DSHOT", tag);
+        if (!addDmaAssigment("DSHOT_CH" + (i + 1), tag)) {
+            console.log(motor_timer, dma_assigments);
+            throw new Error("no motor dma found!");
+        }
+    }
+
+    for (const spi of target.spi_ports) {
+        const miso = gpio[spi.miso].filter(g => g.tag.type == 'spi' && g.tag.index == spi.index && g.tag.func == 'miso');
+        for (const m of miso) {
+            if (addDmaAssigment(`SPI${spi.index}_RX`, m.tag))
+                break;
+        }
+
+        const mosi = gpio[spi.mosi].filter(g => g.tag.type == 'spi' && g.tag.index == spi.index && g.tag.func == 'mosi');
+        for (const m of mosi) {
+            if (addDmaAssigment(`SPI${spi.index}_TX`, m.tag))
+                break;
+        }
+    }
+
+    const entries = {}
+    for (const ass of dma_assigments) {
+        const ignore = ["dev"]
+        entries[ass.dev] = Object.keys(ass).reduce((prev, curr) => {
+            if (!ignore.includes(curr))
+                prev[curr] = ass[curr];
+            return prev;
+        }, {});
+    }
+
+    return { ...target, dma: entries, timers: [] };
+}
+
+if (!module.parent) {
+    for await (const f of walk("targets")) {
+        console.log("processing ", f)
+
+        const target = YAML.parse(await fs.promises.readFile(f, "utf8")) as target_t;
+        await fs.promises.writeFile(f, stringifyTarget(findDmaAssigments(target)));
+    }
+}

src/translate.ts

@@ -1,7 +1,7 @@
 import fs from "fs";
-import path from "path";
 import { walk } from "./util";
-import { GyroRotation, stringifyTarget, target_t } from "./types";
+import { GyroRotation, skipEmpty, stringifyTarget, target_t } from "./types";
+import { findDmaAssigments } from "./dma";
 
 const OUTPUT_FOLDER = "staging";
 
@@ -22,6 +22,13 @@ const MCU_MAP = {
   at32f435g: "at32f435",
 };
 
+const BLACKLIST = [
+  "nucleof722",
+  "nucleof446",
+  "atstartf435",
+  "revo_at"
+];
+
 function mapMCU(mcu: string) {
   if (MCU_MAP[mcu]) {
     return MCU_MAP[mcu];
@@ -286,12 +293,16 @@ async function translate(filename: string, output?: string) {
     handle(target, parts);
   }
 
+  if (BLACKLIST.includes(target.name)) {
+    return;
+  }
+
   if (!output) {
     output = `${OUTPUT_FOLDER}/${target.manufacturer.toLowerCase()}-${
       target.name
     }.yaml`;
   }
-  await fs.promises.writeFile(output, stringifyTarget(target));
+  await fs.promises.writeFile(output, stringifyTarget(findDmaAssigments(skipEmpty(target))));
 }
 
 const args = process.argv.slice(2);

src/types.ts

@@ -141,7 +141,7 @@ function sortMapEntries(
   return aIndex - bIndex;
 }
 
-function skipEmpty(val: any) {
+export function skipEmpty(val: any) {
   if (val === undefined) {
     return undefined;
   }

staging/afng-alienflightf4.yaml

@@ -56,3 +56,36 @@ motor_pins:
   - PA1
   - PB8
   - PB9
+dma:
+  DSHOT_CH1:
+    channel: 2
+    dma: DMA1_STREAM0
+    tag: TIMER4_CH1
+  DSHOT_CH2:
+    channel: 2
+    dma: DMA1_STREAM3
+    tag: TIMER4_CH2
+  SPI1_RX:
+    channel: 3
+    dma: DMA2_STREAM0
+    tag: SPI1_MISO
+  SPI1_TX:
+    channel: 3
+    dma: DMA2_STREAM3
+    tag: SPI1_MOSI
+  SPI2_RX:
+    channel: 0
+    dma: DMA1_STREAM3
+    tag: SPI2_MISO
+  SPI2_TX:
+    channel: 0
+    dma: DMA1_STREAM4
+    tag: SPI2_MOSI
+  SPI3_RX:
+    channel: 0
+    dma: DMA1_STREAM0
+    tag: SPI3_MISO
+  SPI3_TX:
+    channel: 0
+    dma: DMA1_STREAM5
+    tag: SPI3_MOSI

staging/afng-alienflightngf7.yaml

@@ -58,3 +58,40 @@ motor_pins:
   - PB0
   - PC6
   - PC7
+dma:
+  DSHOT_CH1:
+    channel: 2
+    dma: DMA1_STREAM0
+    tag: TIMER4_CH1
+  DSHOT_CH2:
+    channel: 2
+    dma: DMA1_STREAM3
+    tag: TIMER4_CH2
+  RGB:
+    channel: 6
+    dma: DMA2_STREAM1
+    tag: TIMER1_CH1
+  SPI1_RX:
+    channel: 3
+    dma: DMA2_STREAM0
+    tag: SPI1_MISO
+  SPI1_TX:
+    channel: 3
+    dma: DMA2_STREAM3
+    tag: SPI1_MOSI
+  SPI2_RX:
+    channel: 0
+    dma: DMA1_STREAM3
+    tag: SPI2_MISO
+  SPI2_TX:
+    channel: 0
+    dma: DMA1_STREAM4
+    tag: SPI2_MOSI
+  SPI3_RX:
+    channel: 0
+    dma: DMA1_STREAM0
+    tag: SPI3_MISO
+  SPI3_TX:
+    channel: 0
+    dma: DMA1_STREAM5
+    tag: SPI3_MOSI

staging/afng-alienflightngf7_dual.yaml

@@ -55,3 +55,40 @@ motor_pins:
   - PB0
   - PC6
   - PC7
+dma:
+  DSHOT_CH1:
+    channel: 2
+    dma: DMA1_STREAM0
+    tag: TIMER4_CH1
+  DSHOT_CH2:
+    channel: 2
+    dma: DMA1_STREAM3
+    tag: TIMER4_CH2
+  RGB:
+    channel: 6
+    dma: DMA2_STREAM1
+    tag: TIMER1_CH1
+  SPI1_RX:
+    channel: 3
+    dma: DMA2_STREAM0
+    tag: SPI1_MISO
+  SPI1_TX:
+    channel: 3
+    dma: DMA2_STREAM3
+    tag: SPI1_MOSI
+  SPI2_RX:
+    channel: 0
+    dma: DMA1_STREAM3
+    tag: SPI2_MISO
+  SPI2_TX:
+    channel: 0
+    dma: DMA1_STREAM4
+    tag: SPI2_MOSI
+  SPI3_RX:
+    channel: 0
+    dma: DMA1_STREAM0
+    tag: SPI3_MISO
+  SPI3_TX:
+    channel: 0
+    dma: DMA1_STREAM5
+    tag: SPI3_MOSI

staging/afng-alienflightngf7_elrs.yaml

@@ -55,3 +55,40 @@ motor_pins:
   - PB0
   - PC6
   - PC7
+dma:
+  DSHOT_CH1:
+    channel: 2
+    dma: DMA1_STREAM0
+    tag: TIMER4_CH1
+  DSHOT_CH2:
+    channel: 2
+    dma: DMA1_STREAM3
+    tag: TIMER4_CH2
+  RGB:
+    channel: 6
+    dma: DMA2_STREAM1
+    tag: TIMER1_CH1
+  SPI1_RX:
+    channel: 3
+    dma: DMA2_STREAM0
+    tag: SPI1_MISO
+  SPI1_TX:
+    channel: 3
+    dma: DMA2_STREAM3
+    tag: SPI1_MOSI
+  SPI2_RX:
+    channel: 0
+    dma: DMA1_STREAM3
+    tag: SPI2_MISO
+  SPI2_TX:
+    channel: 0
+    dma: DMA1_STREAM4
+    tag: SPI2_MOSI
+  SPI3_RX:
+    channel: 0
+    dma: DMA1_STREAM0
+    tag: SPI3_MISO
+  SPI3_TX:
+    channel: 0
+    dma: DMA1_STREAM5
+    tag: SPI3_MOSI