ChibiOS: add CubeNode-vehicle hwdef

libraries/AP_HAL_ChibiOS/AnalogIn.cpp

@@ -70,32 +70,21 @@ using namespace ChibiOS;
   scaling table between ADC count and actual input voltage, to account
   for voltage dividers on the board.
  */
-const AnalogIn::pin_info AnalogIn::pin_config[] = { HAL_ANALOG_PINS };
+#ifdef HAL_ANALOG_PINS
+    const AnalogIn::pin_info AnalogIn::pin_config[] = { HAL_ANALOG_PINS };
+    #define ADC_GRP1_NUM_CHANNELS ARRAY_SIZE(AnalogIn::pin_config)
+#endif
 
 #ifdef HAL_ANALOG2_PINS
     const AnalogIn::pin_info AnalogIn::pin_config_2[] = { HAL_ANALOG2_PINS };
     #define ADC2_GRP1_NUM_CHANNELS ARRAY_SIZE(AnalogIn::pin_config_2)
 #endif
 
-#if defined(HAL_ANALOG3_PINS) || HAL_WITH_MCU_MONITORING
-#if HAL_WITH_MCU_MONITORING
-    // internal ADC channels (from H7 reference manual)
-    #define ADC3_VSENSE_CHAN 18
-    #define ADC3_VREFINT_CHAN 19
-    #define ADC3_VBAT4_CHAN 17
-    #define HAL_MCU_MONITORING_PINS {ADC3_VBAT4_CHAN, 252, 3.30/4096}, {ADC3_VSENSE_CHAN, 253, 3.30/4096}, {ADC3_VREFINT_CHAN, 254, 3.30/4096}
-#else
-    #define HAL_MCU_MONITORING_PINS
-#endif
-#ifndef HAL_ANALOG3_PINS
-    #define HAL_ANALOG3_PINS
-#endif
-    const AnalogIn::pin_info AnalogIn::pin_config_3[] = { HAL_ANALOG3_PINS HAL_MCU_MONITORING_PINS};
+#ifdef HAL_ANALOG3_PINS
+    const AnalogIn::pin_info AnalogIn::pin_config_3[] = { HAL_ANALOG3_PINS };
     #define ADC3_GRP1_NUM_CHANNELS ARRAY_SIZE(AnalogIn::pin_config_3)
 #endif
 
-#define ADC_GRP1_NUM_CHANNELS   ARRAY_SIZE(AnalogIn::pin_config)
-
 #if defined(ADC_CFGR_RES_16BITS)
 // on H7 we use 16 bit ADC transfers, giving us more resolution. We
 // need to scale by 1/16 to match the 12 bit scale factors in hwdef.dat
@@ -141,11 +130,13 @@ bool AnalogIn::valid_analog_pin(uint16_t pin) const
     if (pin == ANALOG_INPUT_NONE) {
         return false;
     }
+#ifdef HAL_ANALOG_PINS
     for (uint8_t i=0; i<ADC_GRP1_NUM_CHANNELS; i++) {
         if (AnalogIn::pin_config[i].analog_pin == pin) {
             return true;
         }
     }
+#endif
 #ifdef HAL_ANALOG2_PINS
     for (uint8_t i=0; i<ADC2_GRP1_NUM_CHANNELS; i++) {
         if (AnalogIn::pin_config_2[i].analog_pin == pin) {
@@ -169,12 +160,14 @@ bool AnalogIn::valid_analog_pin(uint16_t pin) const
 float AnalogSource::_pin_scaler(void)
 {
     float scaling = VOLTAGE_SCALING;
+#ifdef HAL_ANALOG_PINS
     for (uint8_t i=0; i<ADC_GRP1_NUM_CHANNELS; i++) {
         if (AnalogIn::pin_config[i].analog_pin == _pin && (_pin != ANALOG_INPUT_NONE)) {
             scaling = AnalogIn::pin_config[i].scaling;
             break;
         }
     }
+#endif
 #ifdef HAL_ANALOG2_PINS
     for (uint8_t i=0; i<ADC2_GRP1_NUM_CHANNELS; i++) {
         if (AnalogIn::pin_config_2[i].analog_pin == _pin && (_pin != ANALOG_INPUT_NONE)) {
@@ -232,12 +225,14 @@ bool AnalogSource::set_pin(uint8_t pin)
     if (pin == ANALOG_SERVO_VRSSI_PIN) {
         found_pin = true;
     } else {
+#ifdef HAL_ANALOG_PINS
         for (uint8_t i=0; i<ADC_GRP1_NUM_CHANNELS; i++) {
             if (AnalogIn::pin_config[i].analog_pin == pin) {
                 found_pin = true;
                 break;
             }
         }
+#endif
 #ifdef HAL_ANALOG2_PINS
         for (uint8_t i=0; i<ADC2_GRP1_NUM_CHANNELS; i++) {
             if (AnalogIn::pin_config_2[i].analog_pin == pin) {
@@ -301,9 +296,11 @@ void AnalogSource::_add_value(float v, float vcc5V)
 uint8_t AnalogIn::get_pin_channel(uint8_t adc_index, uint8_t pin_index)
 {
     switch(adc_index) {
+#if defined(HAL_ANALOG_PINS)
     case 0:
         osalDbgAssert(pin_index < ADC_GRP1_NUM_CHANNELS, "invalid pin_index");
         return pin_config[pin_index].channel;
+#endif
 #if defined(HAL_ANALOG2_PINS)
     case 1:
         osalDbgAssert(pin_index < ADC2_GRP1_NUM_CHANNELS, "invalid pin_index");
@@ -322,8 +319,10 @@ uint8_t AnalogIn::get_pin_channel(uint8_t adc_index, uint8_t pin_index)
 uint8_t AnalogIn::get_analog_pin(uint8_t adc_index, uint8_t pin_index)
 {
     switch(adc_index) {
+#if defined(HAL_ANALOG_PINS)
     case 0:
         return pin_config[pin_index].analog_pin;
+#endif
 #if defined(HAL_ANALOG2_PINS)
     case 1:
         return pin_config_2[pin_index].analog_pin;
@@ -342,8 +341,10 @@ uint8_t AnalogIn::get_analog_pin(uint8_t adc_index, uint8_t pin_index)
 float AnalogIn::get_pin_scaling(uint8_t adc_index, uint8_t pin_index)
 {
     switch(adc_index) {
+#if defined(HAL_ANALOG_PINS)
     case 0:
         return pin_config[pin_index].scaling;
+#endif
 #if defined(HAL_ANALOG2_PINS)
     case 1:
         return pin_config_2[pin_index].scaling;
@@ -417,9 +418,11 @@ void AnalogIn::adccallback(ADCDriver *adcp)
 
 uint8_t AnalogIn::get_adc_index(ADCDriver* adcp)
 {
+#if defined(HAL_ANALOG_PINS)
     if (adcp == &ADCD1) {
         return 0;
     }
+#endif
 #if defined(HAL_ANALOG2_PINS) && !STM32_ADC_DUAL_MODE
     if (adcp == &ADCD2) {
         return 1;
@@ -437,8 +440,10 @@ uint8_t AnalogIn::get_adc_index(ADCDriver* adcp)
 uint8_t AnalogIn::get_num_grp_channels(uint8_t index)
 {
     switch (index) {
+#if defined(HAL_ANALOG_PINS)
     case 0:
         return ADC_GRP1_NUM_CHANNELS;
+#endif
 #if defined(HAL_ANALOG2_PINS)
     case 1:
         return ADC2_GRP1_NUM_CHANNELS;
@@ -462,7 +467,9 @@ void AnalogIn::init()
 #else
     static_assert(sizeof(uint16_t) == sizeof(adcsample_t), "adcsample_t must be uint16_t");
 #endif
+#if defined(HAL_ANALOG_PINS)
     setup_adc(0);
+#endif
 #if defined(HAL_ANALOG2_PINS)
     setup_adc(1);
 #endif
@@ -480,9 +487,11 @@ void AnalogIn::setup_adc(uint8_t index)
 
     ADCDriver *adcp;
     switch (index) {
+#if defined(HAL_ANALOG_PINS)
     case 0:
         adcp = &ADCD1;
         break;
+#endif
 // if we are in dual mode then ADC2 is setup along with ADC1
 // so we don't need to setup ADC2 separately
 #if defined(HAL_ANALOG2_PINS) && !STM32_ADC_DUAL_MODE

libraries/AP_HAL_ChibiOS/hwdef/CubeNode-vehicle/hwdef-bl.dat

@@ -0,0 +1,6 @@
+include ../CubeNode/hwdef-bl.inc
+
+# Add activity LEDs
+PB1 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # Blue
+PB0 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # Green
+define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/CubeNode-vehicle/hwdef.dat

@@ -0,0 +1,71 @@
+# hw definition file for processing by chibios_hwdef.py for H757
+# CubeNode pin descriptions can be found at https://docs.cubepilot.org/user-guides/cubenode/pin-descriptions
+
+include ../CubeNode/hwdef.inc
+
+# CAN2
+PB5    CAN2_RX    CAN2
+PB6    CAN2_TX    CAN2
+
+# SERIAL
+
+# UART 1
+PE1 UART8_TX UART8
+PE0 UART8_RX UART8
+
+# UART 2
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+
+# UART 3
+undef PE7
+undef PE8
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+PE10 UART7_CTS UART7
+PE9 UART7_RTS UART7
+
+undef SERIAL_ORDER
+SERIAL_ORDER OTG1 UART8 USART6 UART7 OTG2
+
+# I2C
+PB8 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+I2C_ORDER I2C1
+
+# No Baro on the board, allow boot without
+define HAL_BARO_ALLOW_INIT_NO_BARO
+
+# LEDs
+PB1 LED_BLUE OUTPUT LOW GPIO(0)
+PB0 LED_GREEN OUTPUT LOW GPIO(1)
+PE6 LED_RED OUTPUT LOW GPIO(2)
+
+define AP_NOTIFY_GPIO_LED_3_ENABLED 1
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+
+# PWM output for buzzer
+PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
+
+# pins for SD card:
+PB14 SDMMC2_D0 SDMMC2
+PB15 SDMMC2_D1 SDMMC2
+PB3 SDMMC2_D2 SDMMC2
+PB4 SDMMC2_D3 SDMMC2
+PD6 SDMMC2_CK SDMMC2
+PD7 SDMMC2_CMD SDMMC2
+
+# Enable FAT filesystem support (needs a microSD defined via SDMMC).
+define HAL_OS_FATFS_IO 1
+define FATFS_HAL_DEVICE SDCD2
+
+# Defining some PWM pins. We also map these pins to GPIO
+PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
+PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
+PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
+PD13 TIM4_CH2 TIM4 PWM(4) GPIO(53)
+PD14 TIM4_CH3 TIM4 PWM(5) GPIO(54)
+PD15 TIM4_CH4 TIM4 PWM(6) GPIO(55)

libraries/AP_HAL_ChibiOS/hwdef/CubeNode-vehicle/readme.md

@@ -0,0 +1,115 @@
+# CubeNode-vehicle
+
+This build can be used to flash a vehicle code on a CubeNode. This will have to be loaded using dfu as the CubeNode ships with a Periph bootloader which cannot load a vehicle binary.
+
+This can be used as a starting point for other configurations, pin functions can be add, removed, or changed as needed.
+
+## Serial
+
+Three serial physical ports are available along with two USB endpoints. The ordering is:
+
+#### SERIAL0
+
+First USB endpoint
+
+#### SERIAL1
+
+| Pin name | Pin number | function |
+| -------- | ---------- | -------- |
+| PE1      | 3          | UART8_TX |
+| PE0      | 4          | UART8_RX |
+
+#### SERIAL2
+
+| Pin name | Pin number | function  |
+| -------- | ---------- | --------- |
+| PC6      | 44         | USART6_TX |
+| PC7      | 43         | USART6_RX |
+
+#### SERIAL3
+
+UART 3 has flow control.
+
+| Pin name | Pin number | function  |
+| -------- | ---------- | --------- |
+| PE7      | 23         | UART7_RX  |
+| PE8      | 22         | UART7_TX  |
+| PE10     | 21         | UART7_CTS |
+| PE9      | 72         | UART7_RTS |
+
+##### SERIAL4
+
+Second USB endpoint
+
+# CAN
+
+Two CAN busses are available, transceivers are within the Node itself but termination resistors are not.
+
+#### CAN 1
+
+| Pin name | Pin number | function  |
+| -------- | ---------- | --------- |
+| CAN1_H   | 2          | CAN1 high |
+| CAN1_L   | 1          | CAN1 low  |
+
+#### CAN 2
+
+| Pin name | Pin number | function  |
+| -------- | ---------- | --------- |
+| CAN2_H   | 15         | CAN2 high |
+| CAN2_L   | 14         | CAN2 low  |
+
+# I2C
+
+A single I2C bus is provided, software pullup resistors can be enabled but hardware pullup are recommended.
+
+##### I2C
+
+| Pin name | Pin number | function |
+| -------- | ---------- | -------- |
+| PB8      | 5          | I2C1_SCL |
+| PB7      | 6          | I2C1_SDA |
+
+# LEDs
+
+Three board LEDs are defined for use with notify to provide status feedback, these are active low.
+
+| Pin name | Pin number | function  |
+| -------- | ---------- | --------- |
+| PB1      | 45         | Blue LED  |
+| PB0      | 46         | Green LED |
+| PE6      | 47         | Red LED   |
+
+# Buzzer
+
+A Alarm output is provided for a buzzer, some external drive circuit is required.
+
+| Pin name | Pin number | function |
+| -------- | ---------- | -------- |
+| PA15     | 60         | ALARM    |
+
+# SD Card
+
+A SD can be connected via SDMMC
+
+| Pin name | Pin number | function   |
+| -------- | ---------- | ---------- |
+| PB14     | 102        | SDMMC2_D0  |
+| PB15     | 101        | SDMMC2_D1  |
+| PB3      | 106        | SDMMC2_D2  |
+| PB4      | 107        | SDMMC2_D3  |
+| PD6      | 110        | SDMMC2_CK  |
+| PD7      | 111        | SDMMC2_CMD |
+
+## PWM outputs
+
+PWM output pins can also be used as GPIOs. They are in two groups.
+
+| Pin name | Pin number | function   | SERVO num | GPIO num | Group |
+| -------- | ---------- | ---------- | --------- | -------- | ------|
+| PE14     | 69         | TIM1_CH4   | 1         | 50       | A     |
+| PE13     | 70         | TIM1_CH3   | 2         | 51       | A     |
+| PE11     | 71         | TIM1_CH2   | 3         | 52       | A     |
+| PD13     | 34         | TIM4_CH2   | 4         | 53       | B     |
+| PD14     | 33         | TIM4_CH3   | 5         | 54       | B     |
+| PD15     | 32         | TIM4_CH4   | 6         | 55       | B     |