Merge pull request #2419 from paparazzi/tawaki_board-integration

Tawaki board integration

conf/boards/tawaki_1.0.makefile

@@ -0,0 +1,99 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# tawaki_1.0.makefile
+#
+# based on STM32F7
+# only compatible with ChibiOS
+#
+
+BOARD=tawaki
+BOARD_VERSION=1.0
+BOARD_DIR=$(BOARD)/chibios/v$(BOARD_VERSION)
+BOARD_CFG=\"boards/$(BOARD_DIR)/$(BOARD).h\"
+
+ARCH=chibios
+$(TARGET).ARCHDIR = $(ARCH)
+
+RTOS=chibios
+MCU=cortex-m7
+
+## FPU on F7
+USE_FPU=softfp
+USE_FPU_OPT= -mfpu=fpv5-d16
+
+USE_LTO=yes
+
+$(TARGET).CFLAGS += -DSTM32F7 -DPPRZLINK_ENABLE_FD -DUSE_HARD_FAULT_RECOVERY
+
+##############################################################################
+# Architecture or project specific options
+#
+# Define project name here (target)
+PROJECT = $(TARGET)
+
+# Project specific files and paths (see Makefile.chibios for details)
+CHIBIOS_BOARD_PLATFORM = STM32F7xx/platform.mk
+CHIBIOS_BOARD_PORT = ARMCMx/STM32F7xx/port.mk
+CHIBIOS_BOARD_LINKER = STM32F76xxI.ld
+CHIBIOS_BOARD_STARTUP = startup_stm32f7xx.mk
+
+# ITCM flash is a special flash that allow faster operations
+# At the moment it is not possible to flash the code in this mode using dfu-util
+# but it should work with the BlackMagicProbe or STLINK
+# By default, normal flash is used
+ifeq ($(USE_ITCM),1)
+$(TARGET).CFLAGS += -DUSE_ITCM=1
+DFU_ADDR = 0x00200000
+else
+$(TARGET).CFLAGS += -DUSE_ITCM=0
+DFU_ADDR = 0x08000000
+endif
+
+##############################################################################
+# Compiler settings
+#
+
+# default flash mode is via usb dfu bootloader
+# possibilities: DFU-UTIL, SWD, STLINK
+FLASH_MODE ?= DFU-UTIL
+
+HAS_LUFTBOOT = FALSE
+
+#
+# default LED configuration
+#
+RADIO_CONTROL_LED  ?= 4
+BARO_LED           ?= none
+AHRS_ALIGNER_LED   ?= 2
+GPS_LED            ?= 3
+SYS_TIME_LED       ?= 1
+
+#
+# default UART configuration (modem, gps, spektrum)
+#
+
+MODEM_PORT ?= UART2
+MODEM_BAUD ?= B57600
+
+GPS_PORT ?= UART7
+GPS_BAUD ?= B57600
+
+RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART6
+RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART8
+
+# single mode
+SBUS_PORT ?= UART8
+# dual mode
+SBUS1_PORT ?= UART8
+SBUS2_PORT ?= UART6
+
+#
+# default actuator configuration
+#
+# you can use different actuators by adding a configure option to your firmware section
+# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
+# and by setting the correct "driver" attribute in servo section
+# e.g. <servo driver="Ppm">
+#
+ACTUATORS ?= actuators_pwm
+

conf/firmwares/test_chibios.makefile

@@ -64,6 +64,7 @@ COMMON_TEST_CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
 COMMON_TEST_SRCS   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 COMMON_TEST_CFLAGS += -DUSE_LED
+COMMON_TEST_SRCS += $(SRC_ARCH)/mcu_periph/gpio_arch.c
 
 # pprz downlink/datalink
 COMMON_TELEMETRY_CFLAGS = -DDOWNLINK -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ

conf/flash_modes.xml

@@ -60,6 +60,7 @@
       <board name="elle*"/>
       <board name="openpilot_revo.*"/>
       <board name="chimera_.*"/>
+      <board name="tawaki_.*"/>
     </boards>
   </mode>
   <mode name="STLink (SWD)">
@@ -73,6 +74,7 @@
       <board name="naze32*"/>
       <board name="openpilot_revo.*"/>
       <board name="chimera_.*"/>
+      <board name="tawaki_.*"/>
     </boards>
   </mode>
   <mode name="BlackMagic Probe (SWD)">
@@ -91,6 +93,7 @@
       <board name="openpilot_revo.*"/>
       <board name="lia_.*"/>
       <board name="chimera_.*"/>
+      <board name="tawaki_.*"/>
       <board name="vms_ecu_.*"/>
     </boards>
   </mode>

conf/modules/board_tawaki.xml

@@ -0,0 +1,34 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="board_tawaki" dir="boards">
+  <doc>
+    <description>
+      Autoload several onboard sensors for the Tawaki board with proper configuration
+      - IMU (icm206xx) (auto-detected from MPU6000 driver)
+      - Baro (BMP3)
+      - Mag (LIS3MDL)
+      Normal front of the board is on USB connector side
+      Normal up of the board is on the Molex connector side
+    </description>
+    <configure name="BOARD_TAWAKI_ROTATED" value="FALSE|TRUE" description="if TRUE, the board is not using is default orientation and axis can be redefined by hand"/>
+  </doc>
+  <autoload name="imu" type="mpu6000"/>
+  <autoload name="baro" type="bmp3"/>
+  <autoload name="mag" type="lis3mdl"/>
+  <makefile target="!sim|nps|fbw">
+    <define name="IMU_MPU_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_1000"/>
+    <define name="IMU_MPU_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_8G"/>
+    <configure name="IMU_MPU_SPI_DEV" value="spi4" case="upper|lower"/>
+    <configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE5"/>
+    <define name="IMU_MPU_CHAN_X" value="1" cond="ifneq (,$(findstring $(BOARD_TAWAKI_ROTATED),0 FALSE))"/>
+    <define name="IMU_MPU_CHAN_Y" value="0" cond="ifneq (,$(findstring $(BOARD_TAWAKI_ROTATED),0 FALSE))"/>
+    <define name="IMU_MPU_Y_SIGN" value="-1" cond="ifneq (,$(findstring $(BOARD_TAWAKI_ROTATED),0 FALSE))"/>
+    <configure name="BMP3_I2C_DEV" value="i2c4" case="upper|lower"/>
+    <define name="BMP3_SLAVE_ADDR" value="BMP3_I2C_ADDR_ALT"/>
+    <configure name="MAG_LIS3MDL_I2C_DEV" value="i2c4" case="upper|lower"/>
+    <define name="LIS3MDL_CHAN_X" value="1" cond="ifneq (,$(findstring $(BOARD_TAWAKI_ROTATED),0 FALSE))"/>
+    <define name="LIS3MDL_CHAN_Y" value="0" cond="ifneq (,$(findstring $(BOARD_TAWAKI_ROTATED),0 FALSE))"/>
+    <define name="LIS3MDL_CHAN_X_SIGN" value="-" cond="ifneq (,$(findstring $(BOARD_TAWAKI_ROTATED),0 FALSE))"/>
+    <configure name="SDLOG_USE_RTC" value="FALSE"/> <!-- disable RTC for now -->
+  </makefile>
+</module>

conf/modules/logger_sd_chibios.xml

@@ -30,8 +30,9 @@
     <file name="sdlog_chibios/usb_msd.c"/>
     <file name="sdlog_chibios/usbStorage.c"/>
     <file_arch name="sdio_arch.c" dir="mcu_periph"/>
+    <configure name="SDLOG_USE_RTC" default="TRUE"/>
     <configure name="USE_FATFS" value="TRUE"/>
-    <define name="HAL_USE_RTC" value="TRUE"/>
+    <define name="HAL_USE_RTC" value="TRUE" cond="ifneq (,$(findstring $(SDLOG_USE_RTC),0 FALSE))"/>
     <define name="HAL_USE_SDC" value="TRUE"/>
     <define name="HAL_USE_USB" value="TRUE"/>
   </makefile>

sw/airborne/arch/chibios/halconf.h

@@ -105,7 +105,7 @@
  * @brief   Enables the I2C subsystem.
  */
 #if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
-#if USE_I2C1 || USE_I2C2 || USE_I2C3
+#if USE_I2C1 || USE_I2C2 || USE_I2C3 || USE_I2C4
 #define HAL_USE_I2C                 TRUE
 #else
 #define HAL_USE_I2C                 FALSE

sw/airborne/arch/chibios/led_hw.h

@@ -34,23 +34,24 @@
  * hal.h is needed for palXXX functions
  */
 #include <hal.h>
-#include "mcu_periph/gpio_def.h"
+#include "mcu_periph/gpio.h"
 #include BOARD_CONFIG
 
 /*
  * Regular GPIO driven LEDs
  */
-#define _LED_GPIO(i)  i
-#define _LED_GPIO_PIN(i) i
+#define _LED_EVAL(i) i
 
-#define LED_GPIO(i) _LED_GPIO(LED_ ## i ## _GPIO)
-#define LED_GPIO_PIN(i) _LED_GPIO_PIN(LED_ ## i ## _GPIO_PIN)
+#define LED_GPIO(i) _LED_EVAL(LED_ ## i ## _GPIO)
+#define LED_GPIO_PIN(i) _LED_EVAL(LED_ ## i ## _GPIO_PIN)
+#define LED_GPIO_ON(i) _LED_EVAL(LED_ ## i ## _GPIO_ON)
+#define LED_GPIO_OFF(i) _LED_EVAL(LED_ ## i ## _GPIO_OFF)
 
-#define LED_INIT(i) palSetPadMode(LED_GPIO(i), LED_GPIO_PIN(i), PAL_MODE_OUTPUT_PUSHPULL)
-#define LED_ON(i) palClearPad(LED_GPIO(i), LED_GPIO_PIN(i))
-#define LED_OFF(i) palSetPad(LED_GPIO(i), LED_GPIO_PIN(i))
-#define LED_TOGGLE(i) palTogglePad(LED_GPIO(i), LED_GPIO_PIN(i))
-#define LED_DISABLE(i) palSetPadMode(LED_GPIO(i), LED_GPIO_PIN(i), PAL_MODE_INPUT)
+#define LED_INIT(i) gpio_setup_output(LED_GPIO(i), LED_GPIO_PIN(i))
+#define LED_ON(i) LED_GPIO_ON(i)(LED_GPIO(i), LED_GPIO_PIN(i))
+#define LED_OFF(i) LED_GPIO_OFF(i)(LED_GPIO(i), LED_GPIO_PIN(i))
+#define LED_TOGGLE(i) gpio_toggle(LED_GPIO(i), LED_GPIO_PIN(i))
+#define LED_DISABLE(i) gpio_setup_input(LED_GPIO(i), LED_GPIO_PIN(i))
 #define LED_PERIODIC() {}
 
 #endif /* LED_HW_H */

sw/airborne/arch/chibios/mcu_periph/i2c_arch.c

@@ -46,7 +46,7 @@
 #define I2C_THREAD_STACK_SIZE 512
 #endif
 
-#if USE_I2C1 || USE_I2C2 || USE_I2C3
+#if USE_I2C1 || USE_I2C2 || USE_I2C3 || USE_I2C4
 
 // private I2C init structure
 struct i2c_init {
@@ -177,7 +177,7 @@ static void handle_i2c_thd(struct i2c_periph *p)
       break;
   }
 }
-#endif /* USE_I2C1 || USE_I2C2 || USE_I2C3 */
+#endif /* USE_I2C1 || USE_I2C2 || USE_I2C3 || USE_I2C4 */
 
 #if USE_I2C1
 // I2C1 config
@@ -342,6 +342,61 @@ static void thd_i2c3(void *arg)
 }
 #endif /* USE_I2C3 */
 
+#if USE_I2C4
+// I2C4 config
+PRINT_CONFIG_VAR(I2C4_CLOCK_SPEED)
+static SEMAPHORE_DECL(i2c4_sem, 0);
+static I2CConfig i2cfg4 = I2C4_CFG_DEF;
+#if defined STM32F7
+// We need a special buffer for DMA operations
+static IN_DMA_SECTION(uint8_t i2c4_dma_buf[I2C_BUF_LEN]);
+static struct i2c_init i2c4_init_s = {
+  .sem = &i2c4_sem,
+  .cfg = &i2cfg4,
+  .dma_buf = i2c4_dma_buf
+};
+#else
+static struct i2c_init i2c4_init_s = {
+  .sem = &i2c4_sem,
+  .cfg = &i2cfg4
+};
+#endif
+// Errors
+struct i2c_errors i2c4_errors;
+// Thread
+static __attribute__((noreturn)) void thd_i2c4(void *arg);
+static THD_WORKING_AREA(wa_thd_i2c4, 128);
+
+/*
+ * I2C4 init
+ */
+void i2c4_hw_init(void)
+{
+  i2cStart(&I2CD4, &i2cfg4);
+  i2c4.reg_addr = &I2CD4;
+  i2c4.init_struct = NULL;
+  i2c4.errors = &i2c4_errors;
+  i2c4.init_struct = &i2c4_init_s;
+  // Create thread
+  chThdCreateStatic(wa_thd_i2c4, sizeof(wa_thd_i2c4),
+                    NORMALPRIO + 1, thd_i2c4, NULL);
+}
+
+/*
+ * I2C4 thread
+ *
+ */
+static void thd_i2c4(void *arg)
+{
+  (void) arg;
+  chRegSetThreadName("i2c4");
+
+  while (TRUE) {
+    handle_i2c_thd(&i2c4);
+  }
+}
+#endif /* USE_I2C4 */
+
 
 /**
  * i2c_event() function
@@ -377,7 +432,7 @@ void i2c_setbitrate(struct i2c_periph *p __attribute__((unused)), int bitrate __
  */
 bool i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
 {
-#if USE_I2C1 || USE_I2C2 || USE_I2C3
+#if USE_I2C1 || USE_I2C2 || USE_I2C3 || USE_I2C4
   // sys lock
   chSysLock();
   uint8_t temp;
@@ -406,7 +461,7 @@ bool i2c_submit(struct i2c_periph *p, struct i2c_transaction *t)
   (void)p;
   (void)t;
   return FALSE;
-#endif /* USE_I2C1 || USE_I2C2 || USE_I2C3 */
+#endif /* USE_I2C1 || USE_I2C2 || USE_I2C3 || USE_I2C4 */
 }
 
 /**

sw/airborne/arch/chibios/mcu_periph/i2c_arch.h

@@ -45,4 +45,8 @@ extern void i2c2_hw_init(void);
 extern void i2c3_hw_init(void);
 #endif /* USE_I2C3 */
 
+#if USE_I2C4
+extern void i2c4_hw_init(void);
+#endif /* USE_I2C4 */
+
 #endif /* I2C_HW_H */

sw/airborne/arch/chibios/mcu_periph/spi_arch.c

@@ -167,10 +167,12 @@ static inline uint16_t spi_resolve_slave_pin(uint8_t slave)
 static inline uint16_t spi_resolve_CR1(struct spi_transaction *t __attribute__((unused)))
 {
   uint16_t CR1 = 0;
-#if defined(STM32F1) || defined(STM32F4) || defined(STM32F7)
+#if defined(STM32F1) || defined(STM32F4)
   if (t->dss == SPIDss16bit) {
-    CR1 |= SPI_CR1_DFF;
+    CR1 |= SPI_CR1_DFF; // FIXME for F7
   }
+#endif
+#if defined(STM32F1) || defined(STM32F4) || defined(STM32F7)
   if (t->bitorder == SPILSBFirst) {
     CR1 |= SPI_CR1_LSBFIRST;
   }
@@ -443,6 +445,45 @@ void spi3_arch_init(void)
 }
 #endif
 
+#if USE_SPI4
+static SEMAPHORE_DECL(spi4_sem, 0);
+#if defined STM32F7
+// We need a special buffer for DMA operations
+static IN_DMA_SECTION(uint8_t spi4_dma_buf_out[SPI_DMA_BUF_LEN]);
+static IN_DMA_SECTION(uint8_t spi4_dma_buf_in[SPI_DMA_BUF_LEN]);
+static struct spi_init spi4_init_s = {
+  .sem = &spi4_sem,
+  .dma_buf_out = spi4_dma_buf_out,
+  .dma_buf_in = spi4_dma_buf_in
+};
+#else
+static struct spi_init spi4_init_s = {
+  .sem = &spi4_sem,
+};
+#endif
+
+static __attribute__((noreturn)) void thd_spi4(void *arg)
+{
+  (void) arg;
+  chRegSetThreadName("spi4");
+
+  while (TRUE) {
+    handle_spi_thd(&spi4);
+  }
+}
+
+static THD_WORKING_AREA(wa_thd_spi4, 256);
+
+void spi4_arch_init(void)
+{
+  spi4.reg_addr = &SPID4;
+  spi4.init_struct = &spi4_init_s;
+  // Create thread
+  chThdCreateStatic(wa_thd_spi4, sizeof(wa_thd_spi4),
+                    NORMALPRIO + 1, thd_spi4, NULL);
+}
+#endif
+
 
 /**
  * Submit SPI transaction