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Add ChibiOS support for QMK (#465)

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* Modularity and gcc warnings fixes.

* Add ChibiOS support (USB stack + support files).

* Make usb_main more USB_DRIVER #define independent.

* Move chibios to tool.

* Implement jump-to-bootloader.

* Small updates.

* Fix bootloader-jump compiling.

* Move AVR specific sleep_led.c into avr.

* Add basic sleep_led for chibios.

* Update chibios README.

* NKRO fixes.

* Rename some Makefile defines.

* Move STM32 bootloader address config to separate .h file.

* Add ARM Teensies bootloader code.

* Fix chibios/usb_main GET_REPORT handing.

* Add missing #include to keymap.c.

* Make bootmagic.c code portable (_delay_ms -> wait_ms).

* Move declaration of keymap_config.

Should really not declare variables in .h files - since it's included
in different .c files, a proper linker then complains that the same
variable is declared more than once (once for each .c file that the
offending .h is included in).

* Add eeprom support for chibios/kinetis.

* Rename chibios example keyboard.

* Move chibios/cortex selection to local Makefiles.

* Chibios: use WFI in idle. WIP suspend stuff.

* ChibiOS/kinetis: sending remote wakeup.

* ChibiOS/STM32: send remote wakeup.

* Fix report size of boot protocol.

* Fix drop key stroke

Keyboard report should be checked if its transfer finishs successfully.
Otherwise key stroke can be missing when other key event occurs
before the last report transfer is done.

Boot protocol 10ms interval probably causes this problem in case
it receives key events in a row within the period. NKRO protocol
suffers less or nothing due to its interval 1ms.

* Chibios/usb_main: rename a variable for clarity.

* Add correct chibios/bootloader_jump for infinity KB.

* ChibiOS: make reset request more CMSISy.

* Chibios: Add breathing sleep LED on Kinetis MCUs.

* ChibiOS: Update infinity bootloader code to match updated ChibiOS.

* ChibiOS: prettify/document sleep_led code.

* Chibios: Remove the wait in the main loop.

* Add maple mini code.

* Do timeout when writing to CONSOLE EP queue.

Fixes TMK bug #266.

* Chibios: add 'core/protocol' to the makefiles' search path.

* Chibios: Update to new USB API.

* Chibios: add more guards for transmitting (fix a deadlock bug).

* Add update for chibios in README

* Chibios: Fix a HardFault bug (wait after start).

* Chibios: cleanup usb_main code.

* Chibios: Revert common.mk change (fix AVR linking problem).

* core: Fix chibios user compile options

Compile options can be defined in project Makefile such as UDEFS, UADEFS, UINCDIR, ULIBDIR and ULIBS.

* Sysv format for ChibiOS arm-none-eabi-size

Some new patches to ChibiOS puts heap as it's own section. So the
berkeley format is now useless, as the heap will be included in the
BSS report. The sysv format displays the bss size correctly.

* Fix hard-coded path of CHIBIOS

* Add support for new version of ChibiOS and Contrib

The Kinetis support has moved to a separate Contrib repository in
the newest version of Chibios. There has also been some structure
changes. So this adds support for those, while maintaining back-
wards compability.

* Update ChibiOS instructions

* Chibios: implement sleep LED for STM32.

* Chibios: Update the main chibios README.

* Chibios: fix STM32_BOOTLOADER_ADDRESS name.

* Chibios: make the default bootloader_jump redefinable (weak).

* Chibios: disable LTO (link-time optimisation).

With LTO enabled, sometimes things fail for mysterious reasons
(e.g. bootloader jump on WF with LEDs enabled), just because the
linker optimisation is too aggressive.

* Chibios: add default location for chibios-contrib.

* ChibiOS: update mk to match chibios/master.

* ChibiOS: update instructions.md.

* Add chibi_onekey example.

* Add comments to chibi_onekey Makefile.

* Rename some Makefile defines.

* Move STM32 bootloader address config to separate .h file.

* Rename chibios example keyboard.

* Move chibios/cortex selection to local Makefiles.

* Add Teensy LC onekey example.

* Chibios: use WFI in idle. WIP suspend stuff.

* Update chibi/teensy instructions.

* Update chibios/Teensy instructions.

* Add infinity_chibios

* Add keymap_hasu.c

* Infinity_chibios: select correct bootloader_jump.

* Infinity_chibios: improve comments.

* Add generic STM32F103C8T6 example.

* Add maple mini code.

* STM32F103x fixes.

* Add maple mini pinout pic.

* Chibios: updates for 3.0.4 git.

* Chibios: rename example stm32_onekey -> stm32_f072_onekey.

* Chibios: add makefiles for Teensy 3.x examples.

* Chibios: update Teensy 3.x instructions.

* Chibios: Tsy LC is cortex-m0plus.

* Chibios: add more guards for transmitting (fix a deadlock bug).

* Change README for chibios

* Chibios: update examples to current chibios git.

Match the changes in mainline chibios:
 - update chconf.h
 - update supplied ld scripts structure
 - update Teensy instructions (switch to official
    chibios and introduce contrib)

* Add ChibiOS and ChibiOS-Contrib submodules

Also fix the makefile path for them.

* Moves chibios keyboards to keyboards folder

* First version of ChibiOS compilation

Only the stm32_f072_onkey keyboard is ported at the moment. It
compiles, but still doesn't link.

* More chibios fixes

It now compiles without warnings and links

* Move the teensy_lc_onekey to the keyboards folder

* Clean up the make file rule structure

* Remove keymap_fn_to_action

* Update more ChibiOS keyboards to QMK

Most of them does not compile at the moment though.

* Use older version of Chibios libraries

The newest ones have problems with compilation

* Remove USB_UNCONFIGURED event

It isn't present in the older version of ChibiOS

* Fix the infinity_chibios compilation

* Fix potentially uninitialized variable

* Add missing include

* Fix the ChibiOS makefile

* Fix some Chibios keyboard compilation

* Revert the rules.mk file back to master version

* Combine the chibios and AVR makefiles

With just the required overrides in the respective platform
specific one.

* Slight makefile restrucuring

Platform specific compiler options

* Move avr specific targets out of the main rules

* Fix ChibiOS objcopy

The ChibiOS objcopy needs different parameters, so the parameters
are moved to the corresponding platform rule file

* Fix the objcopy for real this time

The comands were moved around, so chibios used avr and the ohter
way around.

Also change the objsize output format

* Fix the thumb flags

* Fix the infinity hasu keymap

* Per platform cpp flags

* Add gcc-arm-none-eabi package to travis

* Add arm-none-eabi-newlib to travis

* Fix the name of the libnewlib-arm-none-eabi lib

* Fix the ChibiOS paths

So that they are properly relative, and builds don't generate
extra folders

* Fix the board path of stm32_f103_onekey

* Only consider folders with Makefiles as subproject
This commit is contained in:
fredizzimo 2016-07-01 17:04:53 +03:00 • committed by Jack Humbert
parent a8b55f8c85
commit 4d4f7684e6
100 changed files with 10366 additions and 258 deletions
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10
tmk_core/protocol/chibios.mk Normal file
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PROTOCOL_DIR = protocol
CHIBIOS_DIR = $(PROTOCOL_DIR)/chibios
SRC += $(CHIBIOS_DIR)/usb_main.c
SRC += $(CHIBIOS_DIR)/main.c
VPATH += $(TMK_PATH)/$(PROTOCOL_DIR)
VPATH += $(TMK_PATH)/$(CHIBIOS_DIR)

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tmk_core/protocol/chibios/README.md Normal file
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## TMK running on top of ChibiOS
This code can be used to run TMK keyboard logic on top of [ChibiOS], meaning that you can run TMK on whatever [ChibiOS] supports. The notable examples are ARM-based Teensies (3.x and LC) and on the boards with STM32 MCUs.
### Usage
- To use, [get a zip of chibios](https://github.com/ChibiOS/ChibiOS/archive/a7df9a891067621e8e1a5c2a2c0ceada82403afe.zip) and unpack/rename it to `tmk_core/tool/chibios/chibios`; or you can just clone [the repo](https://github.com/ChibiOS/ChibiOS) there. For Freescale/NXP Kinetis support (meaning ARM Teensies and the Infinity keyboard), you'll also need [a zip of chibios-contrib](https://github.com/ChibiOS/ChibiOS-Contrib/archive/e1311c4db6cd366cf760673f769e925741ac0ad3.zip), unpacked/renamed to `tmk_core/tool/chibios/chibios-contrib`. Likewise, for git-savvy people, just clone [the repo](https://github.com/ChibiOS/ChibiOS-Contrib) there.
- Note: the abovementioned directories are the defaults. You can have the two chibios repositories wherever you want, just define their location in `CHIBIOS` and `CHIBIOS_CONTRIB` variables in your `Makefile`.
- You will also need to install an ARM toolchain, for instance from [here](https://launchpad.net/gcc-arm-embedded). On linux, this is usually also present as a package for your distribution (as `gcc-arm` or something similar). On OS X, you can use [homebrew](http://brew.sh/) with an appropriate tap.
### Notes
- Some comments about ChibiOS syntax and the most commonly used GPIO functions are, as well as an example for ARM Teensies, is [here](https://github.com/tmk/tmk_keyboard/blob/master/keyboard/teensy_lc_onekey/instructions.md).
- For gcc options, inspect `tmk_core/tool/chibios/chibios.mk`. For instance, I enabled `-Wno-missing-field-initializers`, because TMK common bits generated a lot of warnings on that.
- For debugging, it is sometimes useful disable gcc optimisations, you can do that by adding `-O0` to `OPT_DEFS` in your `Makefile`.
- USB string descriptors are messy. I did not find a way to cleanly generate the right structures from actual strings, so the definitions in individual keyboards' `config.h` are ugly as heck.
- It is easy to add some code for testing (e.g. blink LED, do stuff on button press, etc...) - just create another thread in `main.c`, it will run independently of the keyboard business.
- Jumping to (the built-in) bootloaders on STM32 works, but it is not entirely pleasant, since it is very much MCU dependent. So, one needs to dig out the right address to jump to, and either pass it to the compiler in the `Makefile`, or better, define it in `<your_kb>/bootloader_defs.h`. An additional startup code is also needed; the best way to deal with this is to define custom board files. (Example forthcoming.) In any case, there are no problems for Teensies.
### Immediate todo
- power saving for suspend
### Not tested, but possibly working
- backlight
### Missing / not working (TMK vs ChibiOS bits)
- eeprom / bootmagic for STM32 (will be chip dependent; eeprom needs to be emulated in flash, which means less writes; wear-levelling?) There is a semi-official ST "driver" for eeprom, with wear-levelling, but I think it consumes a lot of RAM (like 2 pages, i.e. 1kB or so).
### Tried with
- Infinity, WhiteFox keyboards
- all ARM-based Teensies
- some STM32-based boards (e.g. ST-F072RB-DISCOVERY board, STM32F042 breakout board, Maple Mini (STM32F103-based))
## ChibiOS-supported MCUs
- Pretty much all STM32 chips.
- K20x and KL2x Freescale/NXP chips (i.e. Teensy 3.x/LC, mchck, FRDM-KL2{5,6}Z, FRDM-K20D50M), via the [ChibiOS-Contrib](https://github.com/ChibiOS/ChibiOS-Contrib) repository.
- There is also support for AVR8, but the USB stack is not implemented for them yet (some news on that front recently though), and also the kernel itself takes about 1k of RAM. I think people managed to get ChibiOS running on atmega32[8p/u4] though.
- There is also support for Nordic NRF51822 (the chip in Adafruit's Bluefruit bluetooth-low-energy boards), but be aware that that chip does *not* have USB, and the BLE softdevice (i.e. Bluetooth) is not supported directly at the moment.
## STM32-based keyboard design considerations
- STM32F0x2 chips can do crystal-less USB, but they still need a 3.3V voltage regulator.
- The BOOT0 pin should be tied to GND.
- For a hardware way of accessing the in-built DFU bootloader, in addition to the reset button, put another button between the BOOT0 pin and 3V3.
- There is a working example of a STM32F042-based keyboard: [firmware here](https://github.com/flabbergast/flabber_kbs/tree/master/kb45p) and [hardware (kicad) here](https://github.com/flabbergast/kicad/tree/master/kb45p). You can check this example firmware for custom board files, and a more complicated matrix than just one key.
[ChibiOS]: http://chibios.org

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/*
* (c) 2015 flabberast <s3+flabbergast@sdfeu.org>
*
* Based on the following work:
* - Guillaume Duc's raw hid example (MIT License)
* https://github.com/guiduc/usb-hid-chibios-example
* - PJRC Teensy examples (MIT License)
* https://www.pjrc.com/teensy/usb_keyboard.html
* - hasu's TMK keyboard code (GPL v2 and some code Modified BSD)
* https://github.com/tmk/tmk_keyboard/
* - ChibiOS demo code (Apache 2.0 License)
* http://www.chibios.org
*
* Since some GPL'd code is used, this work is licensed under
* GPL v2 or later.
*/
#include "ch.h"
#include "hal.h"
#include "usb_main.h"
/* TMK includes */
#include "report.h"
#include "host.h"
#include "host_driver.h"
#include "keyboard.h"
#include "action.h"
#include "action_util.h"
#include "mousekey.h"
#include "led.h"
#include "sendchar.h"
#include "debug.h"
#include "printf.h"
#ifdef SLEEP_LED_ENABLE
#include "sleep_led.h"
#endif
#include "suspend.h"
/* -------------------------
* TMK host driver defs
* -------------------------
*/
/* declarations */
uint8_t keyboard_leds(void);
void send_keyboard(report_keyboard_t *report);
void send_mouse(report_mouse_t *report);
void send_system(uint16_t data);
void send_consumer(uint16_t data);
/* host struct */
host_driver_t chibios_driver = {
keyboard_leds,
send_keyboard,
send_mouse,
send_system,
send_consumer
};
/* TESTING
* Amber LED blinker thread, times are in milliseconds.
*/
/* set this variable to non-zero anywhere to blink once */
// uint8_t blinkLed = 0;
// static THD_WORKING_AREA(waBlinkerThread, 128);
// static THD_FUNCTION(blinkerThread, arg) {
// (void)arg;
// chRegSetThreadName("blinkOrange");
// while(true) {
// if(blinkLed) {
// blinkLed = 0;
// palSetPad(TEENSY_PIN13_IOPORT, TEENSY_PIN13);
// chThdSleepMilliseconds(100);
// palClearPad(TEENSY_PIN13_IOPORT, TEENSY_PIN13);
// }
// chThdSleepMilliseconds(100);
// }
// }
/* Main thread
*/
int main(void) {
/* ChibiOS/RT init */
halInit();
chSysInit();
// TESTING
// chThdCreateStatic(waBlinkerThread, sizeof(waBlinkerThread), NORMALPRIO, blinkerThread, NULL);
/* Init USB */
init_usb_driver(&USB_DRIVER);
/* init printf */
init_printf(NULL,sendchar_pf);
/* Wait until the USB is active */
while(USB_DRIVER.state != USB_ACTIVE)
chThdSleepMilliseconds(50);
/* Do need to wait here!
* Otherwise the next print might start a transfer on console EP
* before the USB is completely ready, which sometimes causes
* HardFaults.
*/
chThdSleepMilliseconds(50);
print("USB configured.\n");
/* init TMK modules */
keyboard_init();
host_set_driver(&chibios_driver);
#ifdef SLEEP_LED_ENABLE
sleep_led_init();
#endif
print("Keyboard start.\n");
/* Main loop */
while(true) {
if(USB_DRIVER.state == USB_SUSPENDED) {
print("[s]");
while(USB_DRIVER.state == USB_SUSPENDED) {
/* Do this in the suspended state */
suspend_power_down(); // on AVR this deep sleeps for 15ms
/* Remote wakeup */
if((USB_DRIVER.status & 2) && suspend_wakeup_condition()) {
send_remote_wakeup(&USB_DRIVER);
}
}
/* Woken up */
// variables has been already cleared by the wakeup hook
send_keyboard_report();
#ifdef MOUSEKEY_ENABLE
mousekey_send();
#endif /* MOUSEKEY_ENABLE */
}
keyboard_task();
}
}

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tmk_core/protocol/chibios/usb_main.c Normal file
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tmk_core/protocol/chibios/usb_main.h Normal file
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/*
* (c) 2015 flabberast <s3+flabbergast@sdfeu.org>
*
* Based on the following work:
* - Guillaume Duc's raw hid example (MIT License)
* https://github.com/guiduc/usb-hid-chibios-example
* - PJRC Teensy examples (MIT License)
* https://www.pjrc.com/teensy/usb_keyboard.html
* - hasu's TMK keyboard code (GPL v2 and some code Modified BSD)
* https://github.com/tmk/tmk_keyboard/
* - ChibiOS demo code (Apache 2.0 License)
* http://www.chibios.org
*
* Since some GPL'd code is used, this work is licensed under
* GPL v2 or later.
*/
#ifndef _USB_MAIN_H_
#define _USB_MAIN_H_
// TESTING
// extern uint8_t blinkLed;
#include "ch.h"
#include "hal.h"
/* -------------------------
* General USB driver header
* -------------------------
*/
/* The USB driver to use */
#define USB_DRIVER USBD1
/* Initialize the USB driver and bus */
void init_usb_driver(USBDriver *usbp);
/* Send remote wakeup packet */
void send_remote_wakeup(USBDriver *usbp);
/* ---------------
* Keyboard header
* ---------------
*/
/* main keyboard (6kro) */
#define KBD_INTERFACE 0
#define KBD_ENDPOINT 1
#define KBD_EPSIZE 8
#define KBD_REPORT_KEYS (KBD_EPSIZE - 2)
/* secondary keyboard */
#ifdef NKRO_ENABLE
#define NKRO_INTERFACE 4
#define NKRO_ENDPOINT 5
#define NKRO_EPSIZE 16
#define NKRO_REPORT_KEYS (NKRO_EPSIZE - 1)
#endif
/* extern report_keyboard_t keyboard_report_sent; */
/* keyboard IN request callback handler */
void kbd_in_cb(USBDriver *usbp, usbep_t ep);
/* start-of-frame handler */
void kbd_sof_cb(USBDriver *usbp);
#ifdef NKRO_ENABLE
/* nkro IN callback hander */
void nkro_in_cb(USBDriver *usbp, usbep_t ep);
#endif /* NKRO_ENABLE */
/* ------------
* Mouse header
* ------------
*/
#ifdef MOUSE_ENABLE
#define MOUSE_INTERFACE 1
#define MOUSE_ENDPOINT 2
#define MOUSE_EPSIZE 8
/* mouse IN request callback handler */
void mouse_in_cb(USBDriver *usbp, usbep_t ep);
#endif /* MOUSE_ENABLE */
/* ---------------
* Extrakey header
* ---------------
*/
#ifdef EXTRAKEY_ENABLE
#define EXTRA_INTERFACE 3
#define EXTRA_ENDPOINT 4
#define EXTRA_EPSIZE 8
/* extrakey IN request callback handler */
void extra_in_cb(USBDriver *usbp, usbep_t ep);
/* extra report structure */
typedef struct {
uint8_t report_id;
uint16_t usage;
} __attribute__ ((packed)) report_extra_t;
#endif /* EXTRAKEY_ENABLE */
/* --------------
* Console header
* --------------
*/
#ifdef CONSOLE_ENABLE
#define CONSOLE_INTERFACE 2
#define CONSOLE_ENDPOINT 3
#define CONSOLE_EPSIZE 16
/* Number of IN reports that can be stored inside the output queue */
#define CONSOLE_QUEUE_CAPACITY 4
/* Console flush time */
#define CONSOLE_FLUSH_MS 50
/* Putchar over the USB console */
int8_t sendchar(uint8_t c);
/* Flush output (send everything immediately) */
void console_flush_output(void);
/* console IN request callback handler */
void console_in_cb(USBDriver *usbp, usbep_t ep);
#endif /* CONSOLE_ENABLE */
void sendchar_pf(void *p, char c);
#endif /* _USB_MAIN_H_ */