Enable qemu target for STM32 emulation

doc/QEMU.txt

@@ -0,0 +1,35 @@
+Note:  The following procedure has only been tested using a x86-64 Linux host. Your luck may vary with any other setup
+
+It is possible to do debugging and profiling using the STM32 QEMU fork here:
+https://github.com/DeviationTX/deviation/files/2743535/errors_master_gcc8.2.txt
+
+Build from scratch:
+    git submodule update --init dtc
+    ./configure --enable-debug --target-list="arm-softmmu" --disable-werror
+    make
+Using docker may be easier (but it is untested):
+    docker build . -t qemu_stm32
+
+You will need arm-none-eabi-gdb-py for profiling.  This will require a more recent Embedded GCC (recommended GCC 8):
+https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads
+
+The image is built using:
+    cd src
+    make qemu
+The target is an STMF103RB (same as in devo7e).  running on an Olimex P103 board.  this is mostly irrelevant unless
+peripheral support is added in the future
+
+Once built, it can be started in qemu using:
+    qemu-system-arm -S -s -M stm32-p103 -kernel qemu.bin
+    or if you use the docker image (you're responsible for mounting your devo build area):
+    docker run --rm qemu_stm32 /usr/local/bin/qemu-system-arm -M stm32-p103 -kernel qemu
+
+And finally the profiler can be run via gdb:
+   arm-none-eabi-gdb-py
+   source ../utils/qemu.py
+
+The code to profile can be found in target/qemu/target_main.c
+The profiler will run only on the 'run_profile()' function.  All other code in main() will run 1st.
+
+Be aware that the STM32 QEMU is not feature complete.  It does not support SPI, and the Clock and Timer support is limited.
+Trying to run a full image is likely to be futile.

src/main.c

@@ -36,7 +36,7 @@ void TOUCH_Handler(); // temporarily in main()
 void VIDEO_Update();
 void PAGE_Test();
 
-#ifdef TEST
+#if defined (TEST) || defined (PROFILE)
 #define main _main
 #endif
 

src/target/qemu/Makefile.inc

@@ -0,0 +1,47 @@
+FILESYSTEMS := common base_fonts 320x240x16
+
+SCREENSIZE  := 320x240x16
+FONTS        = filesystem/$(FILESYSTEM)/media/15ascii.fon \
+               filesystem/$(FILESYSTEM)/media/23bold.fon
+
+ifndef BUILD_TARGET
+CROSS    = arm-none-eabi-
+
+ALL = $(LIBOPENCM3) $(TARGET).bin
+
+NUM_MODELS ?= 10
+
+LINKFILE = $(SDIR)/target/$(TARGET)/$(TARGET).ld
+LIBOPENCM3 = $(SDIR)/libopencm3/lib/libopencm3_stm32f1.a
+
+SRC_C   := $(wildcard $(SDIR)/target/$(TARGET)/*.c) \
+           $(wildcard $(SDIR)/target/common/stm32/*.c) \
+           $(wildcard $(SDIR)/target/common/filesystems/*.c) \
+           $(wildcard $(SDIR)/target/common/filesystems/devofs/*.c) \
+           $(wildcard $(SDIR)/target/common/filesystems/petit_fat/*.c) \
+           $(wildcard $(SDIR)/target/common/devo/msc2/*.c) \
+           $(wildcard $(SDIR)/target/common/devo/msc2/lib/*.c) \
+           $(wildcard $(SDIR)/target/common/devo/hid/*.c) \
+           $(wildcard $(SDIR)/target/common/devo/protocol/*.c) \
+           $(wildcard $(SDIR)/target/common/devo/uart.c)
+
+SRC_C := $(filter-out $(SDIR)/target/common/stm32/spi_flash.c, $(SRC_C))
+
+CFLAGS   = -DPROFILE -D"assert_param(x)=" -DSTM32F10X_HD -DSTM32F1 -mcpu=cortex-m3 -mthumb -mfix-cortex-m3-ldrd -fdata-sections -ffunction-sections -I$(SDIR)/target/common/devo/msc2/lib -I$(SDIR)/target/common/devo/msc2 -I$(SDIR)/libopencm3/include -I$(SDIR)/target/common/filesystems -fno-builtin-printf -Os --specs=nano.specs
+MODULE_FLAGS = -fno-builtin
+
+LFLAGS   = -nostartfiles -Wl,-gc-sections -Wl,-Map=$(TARGET).map,--cref -lc -lnosys -L$(SDIR) -Lobjs/$(TARGET)
+LFLAGS2  = -Wl,-T$(LINKFILE)
+
+
+else #BUILD_TARGET
+
+$(TARGET).bin: $(TARGET).elf
+	$(CP) -O binary $< $@
+	$(DUMP) -S $< > $(TARGET).list
+
+$(LIBOPENCM3):
+	+$(MAKE) -C $(SDIR)/libopencm3 TARGETS=stm32/f1 lib
+
+
+endif #BUILD_TARGET

src/target/qemu/backlight.c

@@ -0,0 +1,75 @@
+/*
+    This project is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    Deviation is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with Deviation.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/timer.h>
+#include "common.h"
+
+// FIXME introduce constants for Timer (TIM4), compare (TIM_Oc4)
+// timer clock (RCC_APB1ENR_TIM4EN), Port (GPIOB), Pin (GPIO9)
+// Port clock RCC_APB2ENR_IOPBEN
+
+void BACKLIGHT_Init()
+{
+    // Pin PB9, Timer 4 channel 4
+    rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+    //Turn off backlight
+    gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
+                  GPIO_CNF_INPUT_FLOAT, GPIO9);
+
+    //Configure Backlight PWM
+    rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_TIM4EN);
+    timer_set_mode(TIM4, TIM_CR1_CKD_CK_INT,
+                   TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
+    timer_set_period(TIM4, 0x2CF);
+    timer_set_prescaler(TIM4, 0);
+    timer_generate_event(TIM4, TIM_EGR_UG);
+    //timer_set_repetition_counter(TIM3, 0);
+    timer_set_oc_mode(TIM4, TIM_OC4, TIM_OCM_PWM1);
+    timer_enable_oc_preload(TIM4, TIM_OC4);
+
+    timer_set_oc_polarity_high(TIM4, TIM_OC4);
+    timer_enable_oc_output(TIM4, TIM_OC4);
+
+    timer_enable_preload(TIM4);
+}
+
+void BACKLIGHT_Brightness(unsigned brightness)
+{
+    timer_disable_counter(TIM4);
+    if (brightness == 0) {
+        // Turn off Backlight
+        gpio_set_mode(GPIOB, GPIO_MODE_INPUT,
+                  GPIO_CNF_INPUT_FLOAT, GPIO9);
+    } else if(brightness > 9) {
+        // Turn on Backlight full
+        gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+                  GPIO_CNF_OUTPUT_PUSHPULL, GPIO9);
+        gpio_set(GPIOB, GPIO9);
+    } else {
+        gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
+                  GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO9);
+        u32 duty_cycle = 720 * brightness / 10 ;
+        timer_set_oc_value(TIM4, TIM_OC4, duty_cycle);
+        timer_enable_counter(TIM4);
+    }
+}
+
+void LCD_Contrast(unsigned contrast)
+{
+    (void)contrast; // dummy method for devo8. Only valid in devo10 now
+}
+

src/target/qemu/capabilities.h

@@ -0,0 +1,62 @@
+#ifdef CHANDEF
+  CHANDEF(AILERON)
+  CHANDEF(ELEVATOR)
+  CHANDEF(THROTTLE)
+  CHANDEF(RUDDER)
+  CHANDEF(AUX4)
+  CHANDEF(AUX5)
+  CHANDEF(AUX6)
+  CHANDEF(AUX7)
+  CHANDEF(SWA0)
+  CHANDEF(SWA1)
+  CHANDEF(SWB0)
+  CHANDEF(SWB1)
+  CHANDEF(SWC0)
+  CHANDEF(SWC1)
+  CHANDEF(SWC2)
+  CHANDEF(SWD0)
+  CHANDEF(SWD1)
+  CHANDEF(SWE0)
+  CHANDEF(SWE1)
+  CHANDEF(SWE2)
+  CHANDEF(SWF0)
+  CHANDEF(SWF1)
+  CHANDEF(SWG0)
+  CHANDEF(SWG1)
+  CHANDEF(SWG2)
+  CHANDEF(SWH0)
+  CHANDEF(SWH1)
+#endif
+
+#ifdef UNDEF_INP
+#define INP_RUD_DR0 INP_SWA0
+#define INP_RUD_DR1 INP_SWA1
+#define INP_ELE_DR0 INP_SWB0
+#define INP_ELE_DR1 INP_SWB1
+#define INP_AIL_DR0 INP_SWC0
+#define INP_AIL_DR1 INP_SWC1
+#define INP_FMOD0  INP_SWD0
+#define INP_MIX0   INP_SWE0
+#define INP_MIX1   INP_SWE1
+#define INP_MIX2   INP_SWE2
+#define INP_GEAR0  INP_SWF0
+#define INP_GEAR1  INP_SWF1
+#endif
+
+
+#ifdef BUTTONDEF
+  BUTTONDEF(TRIM_LV_NEG) /* LEFT-VERTICAL */
+  BUTTONDEF(TRIM_LV_POS)
+  BUTTONDEF(TRIM_RV_NEG) /* RIGHT-VERTICAL */
+  BUTTONDEF(TRIM_RV_POS)
+  BUTTONDEF(TRIM_LH_NEG) /* LEFT-HORIZONTAL */
+  BUTTONDEF(TRIM_LH_POS)
+  BUTTONDEF(TRIM_RH_NEG) /* RIGHT-HORIZONTAL */
+  BUTTONDEF(TRIM_RH_POS)
+  BUTTONDEF(LEFT)
+  BUTTONDEF(RIGHT)
+  BUTTONDEF(DOWN)
+  BUTTONDEF(UP)
+  BUTTONDEF(ENTER)
+  BUTTONDEF(EXIT)
+#endif

src/target/qemu/channels.c

@@ -0,0 +1,124 @@
+/*
+    This project is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    Deviation is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with Deviation.  If not, see <http://www.gnu.org/licenses/>.
+*/
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/gpio.h>
+#include "common.h"
+#include "mixer.h"
+#include "config/tx.h"
+#include "../common/devo/devo.h"
+
+//Order is MODE1: AIL, ELE, THR, RUD, LeftDial, Right Dial, Left Shoulder, Right Shoulder, Vdd, Voltage
+//                PA0  PA1, PA2, PA3, PA5,      PA6,        PB0            PA4,                 PB1
+const u8 adc_chan_sel[NUM_ADC_CHANNELS] =  
+                 {0,   1,   2,   3,   5,        6,          8,             4,              16,  9};
+
+void CHAN_Init()
+{
+    rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
+    rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPBEN);
+    rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
+    ADC_Init();
+
+    /* configure channels for analog */
+    gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, GPIO0);
+    gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, GPIO1);
+    gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, GPIO2);
+    gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, GPIO3);
+    gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, GPIO4);
+    gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, GPIO5);
+    gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, GPIO6);
+    /* Enable Voltage measurement */
+    gpio_set_mode(GPIOB, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, GPIO0);
+    gpio_set_mode(GPIOB, GPIO_MODE_INPUT, GPIO_CNF_INPUT_ANALOG, GPIO1);
+
+    /* configure switches for digital I/O */
+    gpio_set_mode(GPIOC, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN,
+                   GPIO0 | GPIO1 | GPIO2 | GPIO3 | GPIO4 |
+                   GPIO5 | GPIO6 | GPIO7 | GPIO8 | GPIO9);
+    gpio_set(GPIOC,
+                   GPIO0 | GPIO1 | GPIO2 | GPIO3 | GPIO4 |
+                   GPIO5 | GPIO6 | GPIO7 | GPIO8 | GPIO9);
+    gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, GPIO8);
+    gpio_set(GPIOA, GPIO8);
+}
+
+s32 CHAN_ReadRawInput(int channel)
+{
+    s32 value = 0;
+    switch(channel) {
+    case INP_AILERON:  value = adc_array_raw[0]; break;  // bug fix: right vertical
+    case INP_ELEVATOR: value = adc_array_raw[1]; break;  // bug fix: right horizon
+    case INP_THROTTLE: value = adc_array_raw[2]; break;  // bug fix: left horizon
+    case INP_RUDDER:   value = adc_array_raw[3]; break;  // bug fix: left vertical
+    case INP_AUX4:     value = adc_array_raw[4]; break;
+    case INP_AUX5:     value = adc_array_raw[5]; break;
+    case INP_AUX6:     value = adc_array_raw[6]; break;
+    case INP_AUX7:     value = adc_array_raw[7]; break;
+    case INP_SWA0:     value = gpio_get(GPIOC, GPIO0); break;
+    case INP_SWA1:     value = ! gpio_get(GPIOC, GPIO0); break;
+    case INP_SWB0:     value = gpio_get(GPIOC, GPIO1); break;
+    case INP_SWB1:     value = ! gpio_get(GPIOC, GPIO1); break;
+    case INP_SWC0:     value = ! gpio_get(GPIOC, GPIO2); break;
+    case INP_SWC1:     value = (gpio_get(GPIOC, GPIO2) && gpio_get(GPIOC, GPIO3)); break;
+    case INP_SWC2:     value = ! gpio_get(GPIOC, GPIO3); break;
+    case INP_SWD0:     value = gpio_get(GPIOC, GPIO6); break;
+    case INP_SWD1:     value = ! gpio_get(GPIOC, GPIO6); break;
+    case INP_SWE0:     value = ! gpio_get(GPIOC, GPIO4); break;
+    case INP_SWE1:     value = (gpio_get(GPIOC, GPIO4) && gpio_get(GPIOC, GPIO5)); break;
+    case INP_SWE2:     value = ! gpio_get(GPIOC, GPIO5); break;
+    case INP_SWF0:     value = gpio_get(GPIOC, GPIO7); break;
+    case INP_SWF1:     value = ! gpio_get(GPIOC, GPIO7); break;
+    case INP_SWG0:     value = ! gpio_get(GPIOC, GPIO8); break;
+    case INP_SWG1:     value = (gpio_get(GPIOC, GPIO8) && gpio_get(GPIOC, GPIO9)); break;
+    case INP_SWG2:     value = ! gpio_get(GPIOC, GPIO9); break;
+    case INP_SWH0:     value = gpio_get(GPIOA, GPIO8); break;
+    case INP_SWH1:     value = ! gpio_get(GPIOA, GPIO8); break;
+    }
+    return value;
+}
+s32 CHAN_ReadInput(int channel)
+{
+    s32 value = CHAN_ReadRawInput(channel);
+    if(channel <= INP_HAS_CALIBRATION) {
+        s32 max = Transmitter.calibration[channel - 1].max;
+        s32 min = Transmitter.calibration[channel - 1].min;
+        s32 zero = Transmitter.calibration[channel - 1].zero;
+        if(! zero) {
+            //If this input doesn't have a zero, calculate from max/min
+            zero = ((u32)max + min) / 2;
+        }
+        // Derate min and max by 1% to ensure we can get all the way to 100%
+        max = (max - zero) * 99 / 100;
+        min = (min - zero) * 99 / 100;
+        if(value >= zero) {
+            value = (value - zero) * CHAN_MAX_VALUE / max;
+        } else {
+            value = (value - zero) * CHAN_MIN_VALUE / min;
+        }
+        //Bound output
+        if (value > CHAN_MAX_VALUE)
+            value = CHAN_MAX_VALUE;
+        if (value < CHAN_MIN_VALUE)
+            value = CHAN_MIN_VALUE;
+    } else {
+        value = value ? CHAN_MAX_VALUE : CHAN_MIN_VALUE;
+    }
+    if (channel == INP_AILERON || channel == INP_ELEVATOR ||
+        channel == INP_THROTTLE || channel == INP_RUDDER)
+    {
+        value = -value;
+    }
+    return value;
+}