Use different USB PID for dual-CDC setups

Tools/ardupilotwaf/chibios.py

@@ -155,7 +155,8 @@ def run(self):
             "version": "0.1",
             "image_size": len(img),
             "git_identity": self.generator.bld.git_head_hash(short=True),
-            "board_revision": 0
+            "board_revision": 0,
+            "USBID": self.env.USBID
         }
         if self.env.build_dates:
             # we omit build_time when we don't have build_dates so that apj

Tools/scripts/generate_manifest.py

@@ -186,7 +186,10 @@ def add_USB_IDs_ChibiOS(self, firmware):
             'VRCore-v10': ['0x27AC/0x1910'],
             'VRUBrain-v51': ['0x27AC/0x1351']
         }
-        if platform in USBID_MAP:
+        if 'USBID' in apj_json:
+            # newer APJ files have USBID in the json data
+            firmware['USBID'] = apj_json['USBID']
+        elif platform in USBID_MAP:
             firmware['USBID'] = USBID_MAP[platform]
         else:
             # all others use a single USB VID/PID

libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef-bl.dat

@@ -5,8 +5,6 @@
 MCU STM32F7xx STM32F777xx
 
 # USB setup
-USB_VENDOR 0x0483 # ST
-USB_PRODUCT 0x5740
 USB_STRING_MANUFACTURER "mRo"
 
 # crystal frequency

libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroF7/hwdef.dat

@@ -41,8 +41,6 @@ STM32_ST_USE_TIMER 5
 define HAL_STORAGE_SIZE 16384
 
 # USB setup
-USB_VENDOR 0x0483 # ST
-USB_PRODUCT 0x5740
 USB_STRING_MANUFACTURER "mRo"
 
 # RC Input set for Interrupt not DMA

libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef-bl.dat

@@ -30,8 +30,6 @@ STM32_VDD 330U
 FLASH_SIZE_KB 2048
 
 # USB setup
-USB_VENDOR 0x0483 # ST
-USB_PRODUCT 0x5740
 USB_STRING_MANUFACTURER "mRo"
 USB_STRING_PRODUCT "X2.1-777"
 USB_STRING_SERIAL  "%SERIAL%"

libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat

@@ -85,8 +85,6 @@ STDOUT_BAUDRATE 57600
 # if creating a board for a RTF vehicle you may wish to customise these
 
 # USB setup
-USB_VENDOR 0x0483 # ST
-USB_PRODUCT 0x5740
 USB_STRING_MANUFACTURER "mRo"
 USB_STRING_PRODUCT "mRoX21-777"
 USB_STRING_SERIAL  "%SERIAL%"

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -80,7 +80,7 @@
 baro_list = []
 
 mcu_type = None
-
+dual_USB_enabled = False
 
 def is_int(str):
     '''check if a string is an integer'''
@@ -726,15 +726,28 @@ def copy_common_linkerscript(outdir, hwdef):
     shutil.copy(os.path.join(dirpath, "../common/common.ld"),
                 os.path.join(outdir, "common.ld"))
 
+def get_USB_IDs():
+    '''return tuple of USB VID/PID'''
+
+    global dual_USB_enabled
+    if dual_USB_enabled:
+        # use pidcodes allocated ID
+        default_vid = 0x1209
+        default_pid = 0x5740
+    else:
+        default_vid = 0x0483
+        default_pid = 0x5740
+    return (get_config('USB_VENDOR', type=int, default=default_vid), get_config('USB_PRODUCT', type=int, default=default_pid))
 
 
 def write_USB_config(f):
     '''write USB config defines'''
     if not have_type_prefix('OTG'):
         return
     f.write('// USB configuration\n')
-    f.write('#define HAL_USB_VENDOR_ID %s\n' % get_config('USB_VENDOR', default=0x0483)) # default to ST
-    f.write('#define HAL_USB_PRODUCT_ID %s\n' % get_config('USB_PRODUCT', default=0x5740))
+    (USB_VID, USB_PID) = get_USB_IDs()
+    f.write('#define HAL_USB_VENDOR_ID 0x%04x\n' % int(USB_VID))
+    f.write('#define HAL_USB_PRODUCT_ID 0x%04x\n' % int(USB_PID))
     f.write('#define HAL_USB_STRING_MANUFACTURER "%s"\n' % get_config("USB_STRING_MANUFACTURER", default="ArduPilot"))
     default_product = "%BOARD%"
     if args.bootloader:
@@ -929,6 +942,7 @@ def get_extra_bylabel(label, name, default=None):
 
 def write_UART_config(f):
     '''write UART config defines'''
+    global dual_USB_enabled
     if get_config('UART_ORDER', required=False) is None:
         return
     uart_list = config['UART_ORDER']
@@ -996,6 +1010,7 @@ def write_UART_config(f):
                 '#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU2, true, false, 0, 0, false, 0, 0}\n'
                 % dev)
             OTG2_index = uart_list.index(dev)
+            dual_USB_enabled = True
         elif dev.startswith('OTG'):
             f.write(
                 '#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU1, true, false, 0, 0, false, 0, 0}\n'
@@ -1399,6 +1414,8 @@ def setup_apj_IDs():
     '''setup the APJ board IDs'''
     env_vars['APJ_BOARD_ID'] = get_config('APJ_BOARD_ID')
     env_vars['APJ_BOARD_TYPE'] = get_config('APJ_BOARD_TYPE', default=mcu_type)
+    (USB_VID, USB_PID) = get_USB_IDs()
+    env_vars['USBID'] = '0x%04x/0x%04x' % (USB_VID, USB_PID)
 
 def write_peripheral_enable(f):
     '''write peripheral enable lines'''
@@ -1449,7 +1466,6 @@ def write_hwdef_header(outfilename):
 ''')
 
     write_mcu_config(f)
-    write_USB_config(f)
     write_SPI_config(f)
     write_ADC_config(f)
     write_GPIO_config(f)
@@ -1458,7 +1474,6 @@ def write_hwdef_header(outfilename):
     write_BARO_config(f)
 
     write_peripheral_enable(f)
-    setup_apj_IDs()
 
     dma_resolver.write_dma_header(f, periph_list, mcu_type,
                                   dma_exclude=get_dma_exclude(periph_list),
@@ -1472,6 +1487,9 @@ def write_hwdef_header(outfilename):
     else:
         write_UART_config_bootloader(f)
 
+    setup_apj_IDs()
+    write_USB_config(f)
+
     add_bootloader()
 
     if len(romfs) > 0: