Add support for running IOMCU FW on CubeRedSecondary

Tools/scripts/build_iofirmware.py

@@ -72,3 +72,8 @@ def run_program(cmd_list):
             'Tools/IO_Firmware/iofirmware_f103_8MHz_dshot_lowpolh.bin')
 shutil.copy('build/iomcu-f103-8MHz-dshot/bin/iofirmware_highpolh.bin',
             'Tools/IO_Firmware/iofirmware_f103_8MHz_dshot_highpolh.bin')
+
+run_program(["./waf", "configure", "--board", 'CubeRedSecondary-IO'])
+run_program(["./waf", "clean"])
+run_program(["./waf", "iofirmware"])
+shutil.copy('build/CubeRedSecondary-IO/bin/iofirmware.bin', 'Tools/IO_Firmware/iofirmware_cubered.bin')

libraries/AP_HAL_ChibiOS/Scheduler.cpp

@@ -95,6 +95,14 @@ THD_WORKING_AREA(_monitor_thread_wa, MONITOR_THD_WA_SIZE);
 #define AP_HAL_CHIBIOS_IN_EXPECTED_DELAY_WHEN_NOT_INITIALISED 1
 #endif
 
+#if defined(STM32H7) && defined(IOMCU_FW)
+void AP_memory_guard_error(uint16_t error);
+void AP_memory_guard_error(uint16_t error) {
+    // simply fast reboot for now
+    hal.scheduler->reboot(false);
+}
+#endif
+
 Scheduler::Scheduler()
 {
 }

libraries/AP_HAL_ChibiOS/UARTDriver.cpp

@@ -545,7 +545,7 @@ void UARTDriver::dma_rx_enable(void)
     dmamode |= STM32_DMA_CR_CHSEL(sdef.dma_rx_channel_id);
     dmamode |= STM32_DMA_CR_PL(0);
 #if defined(STM32H7)
-    dmamode |= 1<<20;   // TRBUFF See 2.3.1 in the H743 errata
+    dmamode |= DMA_SxCR_TRBUFF;   // TRBUFF See 2.3.1 in the H743 errata
 #endif
     rx_bounce_idx ^= 1;
     stm32_cacheBufferInvalidate(rx_bounce_buf[rx_bounce_idx], RX_BOUNCE_BUFSIZE);
@@ -901,7 +901,7 @@ void UARTDriver::write_pending_bytes_DMA(uint32_t n)
         dmamode |= STM32_DMA_CR_CHSEL(sdef.dma_tx_channel_id);
         dmamode |= STM32_DMA_CR_PL(0);
 #if defined(STM32H7)
-        dmamode |= 1<<20;   // TRBUFF See 2.3.1 in the H743 errata
+        dmamode |= DMA_SxCR_TRBUFF;   // TRBUFF See 2.3.1 in the H743 errata
 #endif
         dmaStreamSetMode(txdma, dmamode | STM32_DMA_CR_DIR_M2P |
                         STM32_DMA_CR_MINC | STM32_DMA_CR_TCIE);

libraries/AP_HAL_ChibiOS/Util.cpp

@@ -658,14 +658,17 @@ void Util::uart_info(ExpandingString &str)
     for (uint8_t i = 0; i < HAL_UART_NUM_SERIAL_PORTS; i++) {
         auto *uart = hal.serial(i);
         if (uart) {
-            str.printf("SERIAL%u ", i);
+#if HAL_WITH_IO_MCU
+            if (i == HAL_UART_IOMCU_IDX) {
+                str.printf("IOMCU   ");
+            } else
+#endif
+            {
+                str.printf("SERIAL%u ", i);
+            }
             uart->uart_info(str, sys_uart_stats.serial[i], dt_ms);
         }
     }
-#if HAL_WITH_IO_MCU
-    str.printf("IOMCU   ");
-    uart_io.uart_info(str, sys_uart_stats.io, dt_ms);
-#endif
 }
 
 // Log UART message for each serial port
@@ -684,10 +687,6 @@ void Util::uart_log()
             uart->log_stats(i, log_uart_stats.serial[i], dt_ms);
         }
     }
-#if HAL_WITH_IO_MCU
-    // Use magic instance 100 for IOMCU
-    uart_io.log_stats(100, log_uart_stats.io, dt_ms);
-#endif
 }
 #endif // HAL_LOGGING_ENABLED
 #endif // HAL_UART_STATS_ENABLED

libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat

@@ -6,6 +6,7 @@ undef HAL_WITH_IO_MCU_BIDIR_DSHOT
 undef COMPASS
 undef BARO
 undef DEFAULT_SERIAL7_PROTOCOL
+undef IOMCU_UART
 
 define AP_ADVANCEDFAILSAFE_ENABLED 0
 

libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat

@@ -291,7 +291,16 @@ INT_FLASH_PRIMARY 1
 define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_PPP
 define DEFAULT_SERIAL7_BAUD 8000000
 
+IOMCU_UART UART7
+define HAL_IOMCU_UART_OPTIONS 8
+
 define AP_NETWORKING_DEFAULT_STATIC_IP_ADDR "192.168.144.100"
 define AP_NETWORKING_DEFAULT_STATIC_NETMASK "255.255.255.0"
 define AP_NETWORKING_DEFAULT_STATIC_GW_ADDR "192.168.144.11"
 define AP_NETWORKING_BACKEND_PPP 1
+
+ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_cubered.bin
+define HAL_IOMCU_FW_FLASH_SIZE (0x200000 - 0x20000 - 0x40000)
+define HAL_IOMCU_BOOTLOADER_BAUDRATE 2000000
+
+DMA_NOSHARE SPI1* SPI2* SPI4* UART7*

libraries/AP_HAL_ChibiOS/hwdef/CubeRedSecondary-IO/hwdef.dat

@@ -0,0 +1,170 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H757
+
+# MCU class and specific type
+MCU STM32H7xx STM32H757xx
+
+define CORE_CM7
+define SMPS_PWR
+
+env OPTIMIZE -O3
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1070
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 128
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+define HAL_LED_ON 0
+
+define IOMCU_FW TRUE
+define AP_FASTBOOT_ENABLED 1
+IOMCU_FW 1
+
+define HAL_USE_RTC FALSE
+define HAL_NO_UARTDRIVER TRUE
+define HAL_LOGGING_ENABLED 0
+define AP_CRASHDUMP_ENABLED 0
+define HAL_ENABLE_SAVE_PERSISTENT_PARAMS 0
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# avoid timer threads to save memory
+define HAL_NO_TIMER_THREAD
+define HAL_NO_RCOUT_THREAD  # also disables LED thread
+
+# ADC setup
+PF11 FMU_SERVORAIL_VCC_SENS ADC1
+PA6 RSSI_IN  ADC1 SCALE(2)
+
+define HAL_IOMCU_RSSI_ADC_CHANNEL 3
+
+# CAN config
+PB14 GPIOCAN2_TERM OUTPUT LOW
+PC12 GPIOCAN1_SHUTDOWN OUTPUT HIGH
+PF1  GPIOCAN2_SHUTDOWN OUTPUT HIGH
+
+define HAL_CHIBIOS_ARCH_FMUV3 1
+
+define BOARD_TYPE_DEFAULT 3
+
+# RCIN
+PC8  TIM8_CH3 TIM8 RCININT  PULLDOWN
+
+# SWD
+PA13    JTMS-SWDIO    SWD
+PA14    JTCK-SWCLK    SWD
+
+# GPIO
+PD10 AMBER_LED OUTPUT HIGH OPENDRAIN GPIO(0)
+PE15 VDD_BRICK_nVALID INPUT PULLUP
+PG0 VDD_BRICK2_nVALID INPUT PULLUP
+PG5 VDD_SERVO_FAULT INPUT PULLUP
+PG1 PWM_VOLT_SEL OUTPUT HIGH GPIO(3)
+
+# Control of Spektrum power pin
+PB2 SPEKTRUM_PWR_EN OUTPUT HIGH GPIO(73)
+define HAL_GPIO_SPEKTRUM_PWR 73
+
+# Spektrum Power is Active High
+define HAL_SPEKTRUM_PWR_ENABLED 1
+
+
+# Timer
+PA8 TIM1_CH1 TIM1 PWM(1) GPIO(50)
+PA9 TIM1_CH2 TIM1 PWM(2) GPIO(51)
+PA10 TIM1_CH3 TIM1 PWM(3) GPIO(52)
+PA11 TIM1_CH4 TIM1 PWM(4) GPIO(53)
+PA5 TIM2_CH1 TIM2 PWM(5) GPIO(54)
+PA1 TIM2_CH2 TIM2 PWM(6) GPIO(55)
+PB10 TIM2_CH3 TIM2 PWM(7) GPIO(56)
+PB11 TIM2_CH4 TIM2 PWM(8) GPIO(57)
+
+# Correctly set Direction of PWMs
+# if UNIDIR is set then BIDIR must be reset
+PA7 HP_UNIDIR_ENABLED OUTPUT HIGH GPIO(5)
+
+
+# UART connected to FMU, uses DMA
+PE7    UART7_RX    UART7 SPEED_VERYLOW
+PE8    UART7_TX    UART7 SPEED_VERYLOW
+
+# UART for SBUS out
+PC7 USART6_RX USART6 SPEED_HIGH LOW
+PC6 USART6_TX USART6
+
+# UART for DSM input
+# TX side is for IO debug, and is unused
+PC10  USART3_TX USART3 SPEED_HIGH
+PC11 USART3_RX USART3 SPEED_HIGH
+
+# UART for debug
+PE1 UART8_TX UART8
+PE0 UART8_RX UART8
+
+# UART for RCIN
+PD1 UART4_TX UART4
+
+# USART for future use
+PD5 USART2_TX USART2 SPEED_HIGH
+PD6 USART2_RX USART2 SPEED_HIGH
+PD4 USART2_RTS USART2 SPEED_HIGH
+PD3 USART2_CTS USART2 SPEED_HIGH
+
+# order of UARTs
+SERIAL_ORDER EMPTY EMPTY EMPTY EMPTY
+
+define HAL_USE_UART TRUE
+define STM32_UART_USE_UART7 TRUE
+define HAL_IO_FMU_COMMS UARTD7
+define HAL_IO_FMU_COMMS_TX_DMA_STREAM STM32_UART_UART7_TX_DMA_STREAM
+define HAL_IO_FMU_COMMS_TX_DMA_CHANNEL STM32_UART_UART7_TX_DMA_CHAN
+define HAL_IO_FMU_COMMS_TX_IRQ_PRIORITY STM32_UART_UART7_IRQ_PRIORITY
+define HAL_IO_FMU_COMMS_RX_DMA_STREAM STM32_UART_UART7_RX_DMA_STREAM
+define HAL_IO_FMU_COMMS_RX_DMA_CHANNEL STM32_UART_UART7_RX_DMA_CHAN
+
+define HAL_USE_SERIAL TRUE
+define STM32_SERIAL_USE_UART7 FALSE
+define STM32_SERIAL_USE_UART4 TRUE
+define STM32_SERIAL_USE_USART3 TRUE
+define STM32_SERIAL_USE_USART6 TRUE
+
+define HAL_IOMCU_RCIN_SERIAL_DRIVER SD4
+define HAL_IOMCU_DSM_SERIAL_DRIVER SD3
+define HAL_IOMCU_SBUS_OUT_SERIAL_DRIVER SD6
+define HAL_GPIO_PIN_SPEKTRUM_OUT PAL_LINE(GPIOC,11U)
+
+
+define AP_NETWORKING_BACKEND_PPP 1
+
+# only use pulse input for PPM, other protocols
+# are on serial
+define HAL_RCIN_PULSE_PPM_ONLY
+
+
+define HAL_DSHOT_ENABLED TRUE
+define HAL_IOMCU_SEPARATE_SBUS_OUT_RCIN 1
+
+
+PC4 SAFETY_INPUT INPUT PULLDOWN
+PE3 SAFETY_LED OUTPUT HIGH OPENDRAIN
+
+define HAL_IOMCU_APP_SIZE_MAX (0x200000 - 0x20000 - 0x40000)
+define HAL_IOMCU_APP_LOAD_ADDRESS 0x08020000
+
+define IOMCU_DEBUG SD8
+define STM32_SERIAL_USE_UART8 TRUE
+define HAL_BL_IOMCU_FW_DETECT 1
+
+define AP_HAL_UARTDRIVER_ENABLED 0
+define HAL_SERIAL_SBUS_SWAPPED 1

libraries/AP_HAL_ChibiOS/hwdef/common/common_mixf.ld

@@ -74,6 +74,7 @@ SECTIONS
         *(.ap_romfs*)
         /* moving GCS_MAVLink to ext_flash */
         lib/lib*.a:GCS*.*(.text* .rodata*)
+        lib/lib*.a:tables.*(.text* .rodata*) /* tables for AP_Declination */
         *(.extflash)
     } > ext_flash
 

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -1052,6 +1052,12 @@ def write_mcu_config(self, f):
         else:
             self.env_vars['IOMCU_FW'] = 0
 
+        # check if heater pin defined
+        if 'HEATER' in self.bylabel.keys():
+            self.env_vars['IOMCU_FW_WITH_HEATER'] = 1
+        else:
+            self.env_vars['IOMCU_FW_WITH_HEATER'] = 0
+
         if self.get_config('PERIPH_FW', required=False):
             self.env_vars['PERIPH_FW'] = self.get_config('PERIPH_FW')
         else:
@@ -1866,6 +1872,8 @@ def get_extra_bylabel(self, label, name, default=None):
     def write_UART_config(self, f):
         '''write UART config defines'''
         serial_list = self.get_config('SERIAL_ORDER', required=False, aslist=True)
+        if 'IOMCU_UART' in self.config and self.config['IOMCU_UART'][0] not in serial_list:
+            serial_list.append(self.config['IOMCU_UART'][0])
         if serial_list is None:
             return
         while len(serial_list) < 3: # enough ports for CrashCatcher UART discovery
@@ -1903,11 +1911,15 @@ def write_UART_config(self, f):
                 self.error("Need io_firmware.bin in ROMFS for IOMCU")
 
             self.write_defaulting_define(f, 'HAL_WITH_IO_MCU', 1)
-            f.write('#define HAL_UART_IOMCU_IDX %u\n' % len(serial_list))
-            f.write(
-                '#define HAL_UART_IO_DRIVER ChibiOS::UARTDriver uart_io(HAL_UART_IOMCU_IDX)\n'
-            )
-            serial_list.append(self.config['IOMCU_UART'][0])
+
+            if self.config['IOMCU_UART'][0]:
+                # get index of serial port in serial_list
+                index = serial_list.index(self.config['IOMCU_UART'][0])
+                f.write('#define HAL_UART_IOMCU_IDX %u\n' % int(index))
+                f.write(
+                    '#define HAL_UART_IO_DRIVER constexpr ChibiOS::UARTDriver &uart_io = serial%sDriver;\n' % (index)
+                )
+
             f.write('#define HAL_HAVE_SERVO_VOLTAGE 1\n') # make the assumption that IO gurantees servo monitoring
             # all IOMCU capable boards have SBUS out
             f.write('#define AP_FEATURE_SBUS_OUT 1\n')
@@ -2054,8 +2066,6 @@ def get_RTS_alt_function():
 #endif
 ''')
         num_ports = len(devlist)
-        if 'IOMCU_UART' in self.config:
-            num_ports -= 1
         if num_ports > 10:
             self.error("Exceeded max num SERIALs of 10 (%u)" % num_ports)
         f.write('#define HAL_UART_NUM_SERIAL_PORTS %u\n' % num_ports)

libraries/AP_IOMCU/AP_IOMCU.cpp

@@ -21,6 +21,7 @@
 #include <AP_Arming/AP_Arming.h>
 #include <AP_BLHeli/AP_BLHeli.h>
 #include <ch.h>
+#include <AP_SerialManager/AP_SerialManager.h>
 
 extern const AP_HAL::HAL &hal;
 
@@ -78,6 +79,9 @@ void AP_IOMCU::init(void)
 {
     // uart runs at 1.5MBit
     uart.begin(1500*1000, 128, 128);
+#ifdef HAL_IOMCU_UART_OPTIONS
+    uart.set_options(HAL_IOMCU_UART_OPTIONS);
+#endif
     uart.set_unbuffered_writes(true);
 
 #if IOMCU_DEBUG_ENABLE
@@ -1092,10 +1096,14 @@ void AP_IOMCU::send_rc_protocols()
 /*
   check ROMFS firmware against CRC on IOMCU, and if incorrect then upload new firmware
  */
+#ifndef HAL_IOMCU_FW_FLASH_SIZE
+#define HAL_IOMCU_FW_FLASH_SIZE (0x10000 - 0x1000)
+#endif
+
 bool AP_IOMCU::check_crc(void)
 {
     // flash size minus 4k bootloader
-	const uint32_t flash_size = 0x10000 - 0x1000;
+	const uint32_t flash_size = HAL_IOMCU_FW_FLASH_SIZE;
     const char *path = AP_BoardConfig::io_dshot() ? dshot_fw_name : fw_name;
 
     fw = AP_ROMFS::find_decompress(path, fw_size);
@@ -1188,6 +1196,10 @@ bool AP_IOMCU::healthy(void)
  */
 void AP_IOMCU::shutdown(void)
 {
+    if (!initialised) {
+        // we're not initialised yet, so cannot shutdown
+        return;
+    }
     do_shutdown = true;
     while (!done_shutdown) {
         hal.scheduler->delay(1);