AP_IOMCU: add support for getting output mode and mcuid

give an appropriate MCUID on F103

libraries/AP_IOMCU/AP_IOMCU.cpp

@@ -58,7 +58,7 @@ AP_IOMCU::AP_IOMCU(AP_HAL::UARTDriver &_uart) :
     singleton = this;
 }
 
-#define IOMCU_DEBUG_ENABLE 1
+#define IOMCU_DEBUG_ENABLE 0
 
 #if IOMCU_DEBUG_ENABLE
 #include <stdio.h>
@@ -140,6 +140,8 @@ void AP_IOMCU::thread_main(void)
             is_chibios_backend = (config.protocol_version == IOMCU_PROTOCOL_VERSION &&
                                   config.protocol_version2 == IOMCU_PROTOCOL_VERSION2);
 
+            DEV_PRINTF("IOMCU: 0x%lx\n", config.mcuid);
+
             // set IO_ARM_OK and FMU_ARMED
             if (!modify_register(PAGE_SETUP, PAGE_REG_SETUP_ARMING, 0,
                                  P_SETUP_ARMING_IO_ARM_OK |
@@ -863,6 +865,12 @@ void AP_IOMCU::set_output_mode(uint16_t mask, uint16_t mode)
     trigger_event(IOEVENT_SET_OUTPUT_MODE);
 }
 
+AP_HAL::RCOutput::output_mode AP_IOMCU::get_output_mode(uint8_t& mask) const
+{
+    mask = reg_status.rcout_mask;
+    return AP_HAL::RCOutput::output_mode(reg_status.rcout_mode);
+}
+
 // setup channels
 void  AP_IOMCU::enable_ch(uint8_t ch)
 {

libraries/AP_IOMCU/AP_IOMCU.h

@@ -12,6 +12,7 @@
 
 #include "iofirmware/ioprotocol.h"
 #include <AP_RCMapper/AP_RCMapper.h>
+#include <AP_HAL/RCOutput.h>
 
 typedef uint32_t eventmask_t;
 typedef struct ch_thread thread_t;
@@ -101,6 +102,12 @@ public:
     // set output mode
     void set_output_mode(uint16_t mask, uint16_t mode);
 
+    // get output mode
+    AP_HAL::RCOutput::output_mode get_output_mode(uint8_t& mask) const;
+
+    // MCUID
+    uint32_t get_mcu_id() const { return config.mcuid; }
+
 #if HAL_DSHOT_ENABLED
     // set dshot output period
     void set_dshot_period(uint16_t period_us, uint8_t drate);

libraries/AP_IOMCU/iofirmware/iofirmware.cpp

@@ -38,6 +38,9 @@ static AP_IOMCU_FW iomcu;
 void setup();
 void loop();
 
+#undef CH_DBG_ENABLE_STACK_CHECK
+#define CH_DBG_ENABLE_STACK_CHECK FALSE
+
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 /*
@@ -198,11 +201,8 @@ using namespace ChibiOS;
  copy of uart_lld_serve_tx_end_irq() from ChibiOS hal_uart_lld
  that is re-instated upon switching the DMA channel
  */
-static void uart_lld_serve_tx_end_irq(hal_uart_driver *uart, uint32_t flags) {
-    /* DMA errors handling.*/
-    if ((flags & (STM32_DMA_ISR_TEIF | STM32_DMA_ISR_DMEIF)) != 0) {
-    }
-
+static void uart_lld_serve_tx_end_irq(hal_uart_driver *uart, uint32_t flags)
+{
     dmaStreamDisable(uart->dmatx);
 
     /* A callback is generated, if enabled, after a completed transfer.*/
@@ -288,6 +288,13 @@ void AP_IOMCU_FW::init()
     // old NuttX based firmwares
     config.protocol_version = IOMCU_PROTOCOL_VERSION;
     config.protocol_version2 = IOMCU_PROTOCOL_VERSION2;
+#if defined(STM32F103xB) || defined(STM32F103x8)
+    // Errata 2.2.2 - Debug registers cannot be read by user software
+    config.mcuid = 0x20036410;  // STM32F10x (Medium Density) rev Y
+#else
+    config.mcuid = (*(uint32_t *)DBGMCU_BASE);
+#endif
+
 
     thread_ctx = chThdGetSelfX();
 
@@ -430,7 +437,6 @@ void AP_IOMCU_FW::update()
     // send a response if required
     if (mask & IOEVENT_TX_BEGIN) {
         chSysLock();
-        reg_status.deferred_locks++;
         setup_tx_dma(&UARTD2);
         chSysUnlock();
     }
@@ -1081,6 +1087,10 @@ void AP_IOMCU_FW::rcout_config_update(void)
         hal.rcout->set_output_mode(mode_out.mask, AP_HAL::RCOutput::MODE_PWM_BRUSHED);
         hal.rcout->set_freq(mode_out.mask, reg_setup.pwm_altrate);
     }
+
+    uint32_t output_mask = 0;
+    reg_status.rcout_mode = hal.rcout->get_output_mode(output_mask);
+    reg_status.rcout_mask = uint8_t(0xFF & output_mask);
 }
 
 /*

libraries/AP_IOMCU/iofirmware/ioprotocol.h

@@ -2,6 +2,7 @@
 
 #include <stdint.h>
 #include <AP_Common/AP_Common.h>
+
 /*
   common protocol definitions between AP_IOMCU and iofirmware
  */
@@ -106,6 +107,7 @@ enum iopage {
 struct page_config {
     uint16_t protocol_version;
     uint16_t protocol_version2;
+    uint32_t mcuid;
 };
 
 struct page_reg_status {
@@ -119,8 +121,9 @@ struct page_reg_status {
     uint32_t total_pkts;
     uint32_t total_ticks;
     uint32_t total_events;
-    uint32_t deferred_locks;
     uint8_t flag_safety_off;
+    uint8_t rcout_mask;
+    uint8_t rcout_mode;
     uint8_t err_crc;
     uint8_t err_bad_opcode;
     uint8_t err_read;