main_f7: use opencm3_stm32f7 library for stm32f7 targets

Upstream libopencm3 has added the support to pwr, rcc, and usart
driver for stm32f7 targets, however the USB driver is still missing.
This patch enables the use of opencm3_stm32f7 library for stm32f7 targets
and with trick in Makefile to use usb driver from stm32f4, changes include:

* Align RCC definition with master

* Align PWR definition with master

* Align rcc_clock_scale definition with master and enable
  overdrive to get a maximum CPU frequency at 216MHz

* Refine rules in the Makefile to support compile and link the USB driver
  in stm32f4, and others in stm32f7, stm32f3

Makefile

@@ -5,6 +5,7 @@
 #
 # Paths to common dependencies
 #
+export BUILD_DIR_ROOT ?= build
 export BL_BASE		?= $(wildcard .)
 export LIBOPENCM3	?= $(wildcard libopencm3)
 export LIBKINETIS  	?= $(wildcard lib/kinetis/NXP_Kinetis_Bootloader_2_0_0)

Makefile.f3

@@ -20,6 +20,10 @@ FLAGS 		+= -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 \
 		   -lopencm3_stm32f3 \
         $(EXTRAFLAGS)
 
+# libopencm3 doesn't have USB driver in stm32f3 library, tell it to use the one from stm32f4
+# for the cdcacm
+$(BUILD_DIR_ROOT)/$(TARGET_FILE_NAME)/stm32/cdcacm.o : FLAGS+=-DSTM32F4
+
 #
 # General rules for making dependency and object files
 # This is where the compiler is called

Makefile.f7

@@ -2,7 +2,7 @@
 # PX4 bootloader build rules for STM32F7 targets.
 # Since the STM32F7 is not supported fully in libopencm3 at this time,
 # this build is a bit of a hack to use the similar IP blocks of the F469
-# for RCC and USB by telling libopencm3 it is an STM32F4
+# for USB by telling libopencm3 it is an STM32F4
 ARCH=stm32
 OPENOCD		?= openocd
 
@@ -13,15 +13,17 @@ JTAGCONFIG ?= interface/olimex-jtag-tiny.cfg
 PX4_BOOTLOADER_DELAY	?= 5000
 
 SRCS		 = $(COMMON_SRCS) $(addprefix $(ARCH)/,$(ARCH_SRCS)) main_f7.c
+LIBS			= opencm3_stm32f7 opencm3_stm32f4
 
-FLAGS		+= -g -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 \
-       -DTARGET_HW_$(TARGET_HW) \
-       -DSTM32F4 \
-       -T$(LINKER_FILE) \
-		   -L$(LIBOPENCM3)/lib \
-		   -lopencm3_stm32f4 \
-        $(EXTRAFLAGS)
+FLAGS			+= -g -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 \
+				-DTARGET_HW_$(TARGET_HW) \
+				-T$(LINKER_FILE) \
+				-L$(LIBOPENCM3)/lib $(addprefix -l, $(LIBS)) \
+				-DSTM32F7
 
+# libopencm3 doesn't have USB driver in stm32f7 library, tell it to use the one from stm32f4
+# for the cdcacm
+$(BUILD_DIR_ROOT)/$(TARGET_FILE_NAME)/stm32/cdcacm.o : FLAGS+=-DSTM32F4
 #
 # General rules for making dependency and object files
 # This is where the compiler is called

hw_config.h

@@ -30,8 +30,7 @@
  * USBPRODUCTID         0x0011                - PID Should match defconfig
  * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
  *                                               delay provided by an APP FW
-
-*  BOARD_TYPE           9                     - Must match .prototype boad_id
+ * BOARD_TYPE           9                     - Must match .prototype boad_id
  * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
  * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
  * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
@@ -349,7 +348,7 @@
 # define BOARD_PIN_LED_ACTIVITY         GPIO7 // BLUE
 # define BOARD_PIN_LED_BOOTLOADER       GPIO6 // GREEN
 # define BOARD_PORT_LEDS                GPIOC
-# define BOARD_CLOCK_LEDS               RCC_AHB1ENR_IOPCEN
+# define BOARD_CLOCK_LEDS               RCC_AHB1ENR_GPIOCEN
 # define BOARD_LED_ON                   gpio_clear
 # define BOARD_LED_OFF                  gpio_set
 
@@ -362,7 +361,7 @@
 # define BOARD_PIN_TX     				GPIO5
 # define BOARD_PIN_RX		     		GPIO6
 # define BOARD_USART_PIN_CLOCK_REGISTER RCC_AHB1ENR
-# define BOARD_USART_PIN_CLOCK_BIT  	RCC_AHB1ENR_IOPDEN
+# define BOARD_USART_PIN_CLOCK_BIT  	RCC_AHB1ENR_GPIODEN
 # define SERIAL_BREAK_DETECT_DISABLED   1
 
 /*
@@ -853,7 +852,7 @@
 # define FLASH_SECTOR_SIZE              4096
 # define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
 # define BOARD_FLASH_SECTORS            ((BOARD_FLASH_SIZE / FLASH_SECTOR_SIZE)- \
-                                         (BOOTLOADER_RESERVATION_SIZE/FLASH_SECTOR_SIZE))
+		(BOOTLOADER_RESERVATION_SIZE/FLASH_SECTOR_SIZE))
 
 # define OSC_FREQ                       16
 
@@ -958,7 +957,7 @@
 # define BOARD_PIN_LED_ACTIVITY         GPIO7 // BLUE
 # define BOARD_PIN_LED_BOOTLOADER       GPIO6 // GREEN
 # define BOARD_PORT_LEDS                GPIOC
-# define BOARD_CLOCK_LEDS               RCC_AHB1ENR_IOPCEN
+# define BOARD_CLOCK_LEDS               RCC_AHB1ENR_GPIOCEN
 # define BOARD_LED_ON                   gpio_clear
 # define BOARD_LED_OFF                  gpio_set
 
@@ -971,7 +970,7 @@
 # define BOARD_PIN_TX     				GPIO5
 # define BOARD_PIN_RX		     		GPIO6
 # define BOARD_USART_PIN_CLOCK_REGISTER RCC_AHB1ENR
-# define BOARD_USART_PIN_CLOCK_BIT  	RCC_AHB1ENR_IOPDEN
+# define BOARD_USART_PIN_CLOCK_BIT  	RCC_AHB1ENR_GPIODEN
 # define SERIAL_BREAK_DETECT_DISABLED   1
 
 /*

main_f7.c

@@ -6,13 +6,13 @@
 #include "hw_config.h"
 
 #include <stdlib.h>
+
 #include <libopencm3/stm32/rcc.h>
 #include <libopencm3/stm32/gpio.h>
 #include <libopencm3/stm32/flash.h>
 #include <libopencm3/stm32/usart.h>
 #include <libopencm3/cm3/systick.h>
 #include <libopencm3/stm32/pwr.h>
-# include <libopencm3/stm32/timer.h>
 
 #include "bl.h"
 #include "uart.h"
@@ -134,18 +134,24 @@ static void board_init(void);
 #define POWER_DOWN_RTC_SIGNATURE    0xdeaddead // Written by app fw to not re-power on.
 #define BOOT_RTC_REG                MMIO32(RTC_BASE + 0x50)
 
-/* standard clocking for all F7 boards */
+/* standard clocking for all F7 boards: 216MHz w/ overdrive
+ *
+ * f_voc = f_osc * (PLLN / PLLM) = OSC_FREQ * PLLN / OSC_FREQ = PLLN = 432
+ * f_pll = f_voc / PLLP = PLLN / PLLP = 216
+ * f_usb_sdmmc = f_voc / PLLQ = 48
+ */
 static const struct rcc_clock_scale clock_setup = {
-	.pllm = 8,
-	.plln = 216,
+	/* 216MHz */
+	.pllm = OSC_FREQ,
+	.plln = 432,
 	.pllp = 2,
 	.pllq = 9,
-	.pllr = 2,
+	.flash_config = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_7WS,
 	.hpre = RCC_CFGR_HPRE_DIV_NONE,
 	.ppre1 = RCC_CFGR_PPRE_DIV_4,
 	.ppre2 = RCC_CFGR_PPRE_DIV_2,
-	.power_save = 0,
-	.flash_config = FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS,
+	.vos_scale = PWR_SCALE1, /** <= 180MHz w/o overdrive, <= 216MHz w/ overdrive */
+	.overdrive = 1,
 	.apb1_frequency = 54000000,
 	.apb2_frequency = 108000000,
 };
@@ -154,14 +160,14 @@ static uint32_t
 board_get_rtc_signature()
 {
 	/* enable the backup registers */
-	PWR_CR |= PWR_CR_DBP;
+	PWR_CR1 |= PWR_CR1_DBP;
 	RCC_BDCR |= RCC_BDCR_RTCEN;
 
 	uint32_t result = BOOT_RTC_REG;
 
 	/* disable the backup registers */
 	RCC_BDCR &= RCC_BDCR_RTCEN;
-	PWR_CR &= ~PWR_CR_DBP;
+	PWR_CR1 &= ~PWR_CR1_DBP;
 
 	return result;
 }
@@ -170,14 +176,14 @@ static void
 board_set_rtc_signature(uint32_t sig)
 {
 	/* enable the backup registers */
-	PWR_CR |= PWR_CR_DBP;
+	PWR_CR1 |= PWR_CR1_DBP;
 	RCC_BDCR |= RCC_BDCR_RTCEN;
 
 	BOOT_RTC_REG = sig;
 
 	/* disable the backup registers */
 	RCC_BDCR &= RCC_BDCR_RTCEN;
-	PWR_CR &= ~PWR_CR_DBP;
+	PWR_CR1 &= ~PWR_CR1_DBP;
 }
 
 static bool
@@ -315,9 +321,11 @@ board_init(void)
 #endif
 
 #if INTERFACE_USB
-
 	/* enable Port A GPIO9 to sample VBUS */
-	rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPAEN);
+	rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_GPIOAEN);
+#  if defined(USE_VBUS_PULL_DOWN)
+	gpio_mode_setup(GPIOA, GPIO_MODE_INPUT, GPIO_PUPD_PULLDOWN, GPIO9);
+#  endif
 #endif
 
 #if INTERFACE_USART

rules.mk

@@ -2,7 +2,7 @@
 # Common rules for makefiles for the PX4 bootloaders
 #
 
-BUILD_DIR	 = build/$(TARGET_FILE_NAME)
+BUILD_DIR	 = $(BUILD_DIR_ROOT)/$(TARGET_FILE_NAME)
 
 COBJS		:= $(addprefix $(BUILD_DIR)/, $(patsubst %.c,%.o,$(SRCS)))
 AOBJS		:= $(addprefix $(BUILD_DIR)/, $(patsubst %.S,%.o,$(ASRCS)))
@@ -16,17 +16,17 @@ BINARY		 = $(BUILD_DIR)/$(TARGET_FILE_NAME).bin
 all:	debug $(BUILD_DIR) $(ELF) $(BINARY)
 
 debug:
-	@echo SRCS=$(SRCS)
-	@echo COBJS=$(COBJS)
-	@echo ASRCS=$(ASRCS)
-	@echo AOBJS=$(AOBJS)
-	@echo SUBDIRS=$(SUBDIRS)
+#	@echo SRCS=$(SRCS)
+#	@echo COBJS=$(COBJS)
+#	@echo ASRCS=$(ASRCS)
+#	@echo AOBJS=$(AOBJS)
+#	@echo SUBDIRS=$(SUBDIRS)
 
 
 # Compile and generate dependency files
 $(BUILD_DIR)/%.o:	%.c
 	@echo Generating object $@
-	$(CC) -c -MMD $(FLAGS) -o $@ $*.c
+	$(CC) -c -MMD $(FLAGS) -o $@ $<
 
 $(BUILD_DIR)/%.o:	%.S
 	@echo Generating object $@