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AP_HAL_ChibiOS: hwdef add support for Networking

This commit is contained in:
Tom Pittenger 2023-07-05 14:07:21 -07:00 committed by Andrew Tridgell
parent f66327d97d
commit 291226eb5d
5 changed files with 228 additions and 45 deletions
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28
libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef.dat
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@ -84,17 +84,22 @@ IOMCU_UART USART6
# uart6, RX only, RC input, if no IOMCU
# PC7 USART6_RX USART6
# ethernet (not implemented yet)
#PA1 ETH_REF_CLK
#PA2 ETH_MDIO
#PA7 ETH_CRS_DV
#PB11 ETH_TX_EN
#PC1 ETH_MDC
#PC4 ETH_RXD0
#PC5 ETH_RXD1
#PG12 ETH_TXD1
#PG13 ETH_TXD0
#PG15 ETH_POWER_EN
# Ethernet
PB11 ETH_RMII_TX_EN ETH1
PG13 ETH_RMII_TXD0 ETH1
PG12 ETH_RMII_TXD1 ETH1
PC4 ETH_RMII_RXD0 ETH1
PC5 ETH_RMII_RXD1 ETH1
PA7 ETH_RMII_CRS_DV ETH1
PA1 ETH_RMII_REF_CLK ETH1
PC1 ETH_MDC ETH1
PA2 ETH_MDIO ETH1
PG15 GPIO_ETH_ENABLE OUTPUT HIGH GPIO(113)
define HAL_GPIO_ETH_ENABLE 113
define BOARD_PHY_ID MII_LAN8742A_ID
define BOARD_PHY_RMII
# ADC
PA0 SCALED1_V3V3 ADC1 SCALE(2)
@ -211,7 +216,6 @@ PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH
PF4 VDD_3V3_SENSORS2_EN OUTPUT HIGH
PE7 VDD_3V3_SENSORS3_EN OUTPUT HIGH
PG8 VDD_3V3_SENSORS4_EN OUTPUT HIGH
PG15 ETH_PWR_EN OUTPUT LOW # disable power on ethernet
# start peripheral power off, then enable after init
# this prevents a problem with radios that use RTS for

23
libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat
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@ -155,17 +155,18 @@ PF15 I2C4_SDA I2C4
I2C_ORDER I2C2 I2C4
# Ethernet
# PA1 ETH_RMII_REF_CLK ETH1
# PA2 ETH_MDIO ETH1
# PA7 ETH_RMII_CRS_DV ETH1
# PB11 ETH_RMII_TX_EN ETH1
# PB12 ETH_RMII_TXD0 ETH1
# PB13 ETH_RMII_TXD1 ETH1
# PC1 ETH_MDC ETH1
# PC4 ETH_RMII_RXD0 ETH1
# PC5 ETH_RMII_RXD1 ETH1
# define BOARD_PHY_ID MII_LAN8720_ID
# define BOARD_PHY_RMII
PC1 ETH_MDC ETH1
PA2 ETH_MDIO ETH1
PC4 ETH_RMII_RXD0 ETH1
PC5 ETH_RMII_RXD1 ETH1
PB12 ETH_RMII_TXD0 ETH1
PB13 ETH_RMII_TXD1 ETH1
PB11 ETH_RMII_TX_EN ETH1
PA7 ETH_RMII_CRS_DV ETH1
PA1 ETH_RMII_REF_CLK ETH1
define BOARD_PHY_ID MII_LAN8720_ID
define BOARD_PHY_RMII
# RCIN
PB7 TIM4_CH2 TIM4 RCININT PULLDOWN

27
libraries/AP_HAL_ChibiOS/hwdef/Pixhawk5X/hwdef.dat
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@ -37,17 +37,22 @@ PA9 VBUS INPUT OPENDRAIN
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
# ethernet (not implemented yet)
#PA1 ETH_RMII_REF_CLK ETH
#PA2 ETH_MDIO ETH
#PA7 ETH_RMII_CRS_DV ETH
#PB11 ETH_RMII_TX_EN OUTPUT LOW
#PB13 ETH_RMII_TXD1 ETH
#PC1 ETH_MDC ETH
#PC4 ETH_RMII_RXD0 ETH
#PC5 ETH_RMII_RXD1 ETH
#PG15 ETH_PWR_EN OUTPUT LOW
#PG13 ETH_RMII_TXD0 ETH
# Ethernet
#PC1 ETH_MDC ETH1
#PA2 ETH_MDIO ETH1
#PC4 ETH_RMII_RXD0 ETH1
#PC5 ETH_RMII_RXD1 ETH1
#PG13 ETH_RMII_TXD0 ETH1
#PB13 ETH_RMII_TXD1 ETH1
#PB11 ETH_RMII_TX_EN ETH1
#PA7 ETH_RMII_CRS_DV ETH1
#PA1 ETH_RMII_REF_CLK ETH1
#PG15 GPIO_ETH_ENABLE OUTPUT HIGH GPIO(113)
#define HAL_GPIO_ETH_ENABLE 113
#define BOARD_PHY_ID MII_LAN8720_ID
#define BOARD_PHY_RMII
# ADC
PA0 SCALED1_V3V3 ADC1 SCALE(2)

27
libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
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@ -86,16 +86,22 @@ IOMCU_UART USART6
# PC7 USART6_RX USART6
# ethernet (not implemented yet)
#PA1 ETH_REF_CLK
#PA2 ETH_MDIO
#PA7 ETH_CRS_DV
#PB11 ETH_TX_EN
#PC1 ETH_MDC
#PC4 ETH_RXD0
#PC5 ETH_RXD1
#PG12 ETH_TXD1
#PG13 ETH_TXD0
#PG15 ETH_POWER_EN
PC1 ETH_MDC ETH1
PA2 ETH_MDIO ETH1
PC4 ETH_RMII_RXD0 ETH1
PC5 ETH_RMII_RXD1 ETH1
PG13 ETH_RMII_TXD0 ETH1
PG12 ETH_RMII_TXD1 ETH1
PB11 ETH_RMII_TX_EN ETH1
PA7 ETH_RMII_CRS_DV ETH1
PA1 ETH_RMII_REF_CLK ETH1
#PG15 ETH_POWER_EN ETH1
PG15 Ethernet_PWR_EN OUTPUT HIGH # disable power on ethernet
define BOARD_PHY_ID MII_LAN8742A_ID
define BOARD_PHY_RMII
# ADC
PA0 SCALED1_V3V3 ADC1 SCALE(2)
@ -220,7 +226,6 @@ PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH
PF4 VDD_3V3_SENSORS2_EN OUTPUT HIGH
PE7 VDD_3V3_SENSORS3_EN OUTPUT HIGH
PG8 VDD_3V3_SENSORS4_EN OUTPUT HIGH
PG15 ETH_PWR_EN OUTPUT LOW # disable power on ethernet
# start peripheral power off, then enable after init
# this prevents a problem with radios that use RTS for

168
libraries/AP_HAL_ChibiOS/hwdef/kha_eth/hwdef.dat Normal file
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@ -0,0 +1,168 @@
# hw definition file for processing by chibios_hwdef.py
# for H743
# MCU class and specific type
MCU STM32H7xx STM32H743xx
AUTOBUILD_TARGETS None
env OPTIMIZE -O2
# USB setup
USB_STRING_MANUFACTURER "ArduPilot"
USB_STRING_PRODUCT "%BOARD%"
#define WATCHDOG_DISABLED
# crystal frequency
OSCILLATOR_HZ 25000000
FLASH_SIZE_KB 2048
# setup build for a peripheral firmware
env AP_PERIPH 1
define HAL_BUILD_AP_PERIPH
# bootloader is installed at zero offset
FLASH_RESERVE_START_KB 128
FLASH_BOOTLOADER_LOAD_KB 128
# reserve 256 bytes for comms between app and bootloader
RAM_RESERVE_START 256
MAIN_STACK 0x2000
PROCESS_STACK 0x6000
# board ID for firmware load
APJ_BOARD_ID 1315
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD
###########################
# CAN setup
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
###########################
# UART 1 - Avionics
PA9 USART1_TX USART1
PA10 USART1_RX USART1
# UART 2 - Avionics
PD5 USART2_TX USART2
PD6 USART2_RX USART2
# UART 3 - unused, J2 (2 pin)
PC10 UART4_TX UART4
PC11 UART4_RX UART4
# UART 4 - debug console, J6 (4 pin)
PE7 UART7_RX UART7
PE8 UART7_TX UART7
# Now we define the pins that USB is connected on.
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1
# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2
#SERIAL_ORDER OTG1 USART1 USART2 OTG2
#SERIAL_ORDER OTG1 USART1 USART2 UART4 UART7
#SERIAL_ORDER OTG1 USART1 USART2 UART4 UART7 OTG2
define AP_CAN_SLCAN_ENABLED 0
###########################
# storage
###########################
define HAL_STORAGE_SIZE 32768
STORAGE_FLASH_PAGE 14
###########################
# Ethernet
PC1 ETH_MDC ETH1
PA2 ETH_MDIO ETH1
PC4 ETH_RMII_RXD0 ETH1
PC5 ETH_RMII_RXD1 ETH1
PB12 ETH_RMII_TXD0 ETH1
PB13 ETH_RMII_TXD1 ETH1
PB11 ETH_RMII_TX_EN ETH1
PA7 ETH_RMII_CRS_DV ETH1
PA1 ETH_RMII_REF_CLK ETH1
PA15 GPIO_ETH_ENABLE INPUT FLOATING GPIO(113)
define HAL_GPIO_ETH_ENABLE 113
define BOARD_PHY_ID MII_LAN8742A_ID
define BOARD_PHY_RMII
###################
# Refer to https://maclookup.app/vendors/cubepilot-pty-ltd
# A8-B0-28-??-??-?? where the ?? is the lower 3 bytes from the STM32 UUID
define AP_NETWORKING_DEFAULT_MAC_ADDR0 0xA8
define AP_NETWORKING_DEFAULT_MAC_ADDR1 0xB0
define AP_NETWORKING_DEFAULT_MAC_ADDR2 0x28
###################
#Communications and debug
# use DNA
define HAL_CAN_DEFAULT_NODE_ID 0
define CAN_APP_NODE_NAME "com.kha.eth"
#################################
# Multi-purpose pins like SPI, I2C, GPIO, PWMs, LEDs, ADC
I2C_ORDER I2C4
PD12 I2C4_SCL I2C4
PD13 I2C4_SDA I2C4
# LEDs
PE11 LED1 OUTPUT LOW GPIO(3)
PE12 LED2 OUTPUT LOW GPIO(4)
define HAL_GPIO_PIN_LED HAL_GPIO_PIN_LED1
#define HAL_GPIO_PIN_LED_CAN1 HAL_GPIO_PIN_LED2
define HAL_LED_ON 1
define HAL_USE_ADC FALSE
define STM32_ADC_USE_ADC1 FALSE
define HAL_DISABLE_ADC_DRIVER TRUE
#################################
# ---------------------------------------------------------------------------------------------
# AP_Periph - boiler-plate configurations that all HW AP-Periph need
# ---------------------------------------------------------------------------------------------
define DISABLE_SERIAL_ESC_COMM TRUE
define HAL_NO_RCIN_THREAD
#define HAL_NO_GPIO_IRQ
define HAL_DISABLE_LOOP_DELAY
define PERIPH_FW TRUE
#define NO_DATAFLASH TRUE
define HAL_LOGGING_ENABLED TRUE
#################################
# AP_Periph - configurations specific to this App
#################################
env DISABLE_SCRIPTING 1
# listen for reboot command from uploader.py script
# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
#################################
DMA_NOSHARE USART1* USART2* CAN1*