AP_Periph: get AP_Periph ready for SITL build

Tools/AP_Periph/AP_Periph.cpp

@@ -22,10 +22,12 @@
  */
 #include <AP_HAL/AP_HAL.h>
 #include "AP_Periph.h"
-#include "hal.h"
 #include <stdio.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 #include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
 #include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
+#endif
 
 extern const AP_HAL::HAL &hal;
 
@@ -36,6 +38,11 @@ void loop();
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+void stm32_watchdog_init() {}
+void stm32_watchdog_pat() {}
+#endif
+
 void setup(void)
 {
     periph.init();
@@ -51,10 +58,15 @@ static uint32_t start_ms;
 /*
   declare constant app_descriptor in flash
  */
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 const struct app_descriptor app_descriptor __attribute__((section(".app_descriptor")));
+#else
+const struct app_descriptor app_descriptor;
+#endif
 
 void AP_Periph_FW::init()
 {
+    
     // always run with watchdog enabled. This should have already been
     // setup by the bootloader, but if not then enable now
     stm32_watchdog_init();
@@ -208,7 +220,9 @@ void AP_Periph_FW::update()
     uint32_t now = AP_HAL::millis();
     if (now - last_led_ms > 1000) {
         last_led_ms = now;
+#ifdef HAL_GPIO_PIN_LED
         palToggleLine(HAL_GPIO_PIN_LED);
+#endif
 #if 0
 #ifdef HAL_PERIPH_ENABLE_GPS
         hal.uartA->printf("GPS status: %u\n", (unsigned)gps.status());

Tools/AP_Periph/AP_Periph.h

@@ -1,3 +1,5 @@
+#pragma once
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_GPS/AP_GPS.h>
@@ -15,8 +17,11 @@
 #endif
 
 #include "Parameters.h"
-#include "ch.h"
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+void stm32_watchdog_init();
+void stm32_watchdog_pat();
+#endif
 /*
   app descriptor compatible with MissionPlanner
  */

Tools/AP_Periph/can.cpp

@@ -18,7 +18,6 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
 #include "AP_Periph.h"
-#include "hal.h"
 #include <canard.h>
 #include <uavcan/protocol/dynamic_node_id/Allocation.h>
 #include <uavcan/protocol/NodeStatus.h>
@@ -45,14 +44,20 @@
 #include <uavcan/equipment/gnss/RTCMStream.h>
 #include <uavcan/protocol/debug/LogMessage.h>
 #include <stdio.h>
-#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
-#include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
 #include <drivers/stm32/canard_stm32.h>
 #include <AP_HAL/I2CDevice.h>
-#include "../AP_Bootloader/app_comms.h"
 #include <AP_HAL/utility/RingBuffer.h>
 #include <AP_Common/AP_FWVersion.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#include "../AP_Bootloader/app_comms.h"
 #include <AP_HAL_ChibiOS/CANIface.h>
+#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
+#include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
+#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#include <AP_HAL_SITL/CANSocketIface.h>
+#endif
+
 
 #include "i2c.h"
 #include <utility>
@@ -80,8 +85,11 @@ static uint8_t transfer_id;
 #define CAN_PROBE_CONTINUOUS 0
 #endif
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 static ChibiOS::CANIface can_iface(0);
-
+#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
+static HALSITL::CANIface can_iface(0);
+#endif
 /*
  * Variables used for dynamic node ID allocation.
  * RTFM at http://uavcan.org/Specification/6._Application_level_functions/#dynamic-node-id-allocation
@@ -366,8 +374,10 @@ static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer*
 
     // instant reboot, with backup register used to give bootloader
     // the node_id
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     set_fast_reboot((rtc_boot_magic)(RTC_BOOT_CANBL | canardGetLocalNodeID(ins)));
     NVIC_SystemReset();
+#endif
 }
 
 static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* transfer)
@@ -669,7 +679,11 @@ static void onTransferReceived(CanardInstance* ins,
     case UAVCAN_PROTOCOL_RESTARTNODE_ID:
         printf("RestartNode\n");
         hal.scheduler->delay(10);
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
         NVIC_SystemReset();
+#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
+        HAL_SITL::actually_reboot();
+#endif
         break;
 
     case UAVCAN_PROTOCOL_PARAM_GETSET_ID:
@@ -909,13 +923,14 @@ static void process1HzTasks(uint64_t timestamp_usec)
         while (true) ;
     }
 #endif
-
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     if (AP_HAL::millis() > 30000) {
         // use RTC to mark that we have been running fine for
         // 30s. This is used along with watchdog resets to ensure the
         // user has a chance to load a fixed firmware
         set_fast_reboot(RTC_BOOT_FWOK);
     }
+#endif
 }
 
 /*
@@ -950,7 +965,12 @@ static void can_wait_node_id(void)
 
             if (now - last_led_change > led_change_period) {
                 // blink LED in recognisable pattern while waiting for DNA
+#ifdef HAL_GPIO_PIN_LED
                 palWriteLine(HAL_GPIO_PIN_LED, (led_pattern & (1U<<led_idx))?1:0);
+#else
+                (void)led_pattern;
+                (void)led_idx;
+#endif
                 led_idx = (led_idx+1) % 32;
                 last_led_change = now;
             }

Tools/AP_Periph/wscript

@@ -4,7 +4,7 @@
 import fnmatch
 
 def build(bld):
-    targets = ['f103-*', 'f303-*', 'CUAV_GPS', 'ZubaxGNSS*', 'Cube*-periph']
+    targets = ['f103-*', 'f303-*', 'CUAV_GPS', 'ZubaxGNSS*', 'Cube*-periph', 'sitl*']
     valid_target = False
     for t in targets:
         if fnmatch.fnmatch(bld.env.BOARD, t):