HAL_ChibiOS: revert recent USB changes
these are causing some boards to crash on startup. Tested with a QiotekZealotH743 which doesn't get out of setup_usb_strings() once we have debugged this we can re-add the functionality
This commit is contained in:
Andrew Tridgell
parent
388e54458c
commit
4946ce5431
@ -178,7 +178,7 @@ class BoardList(object):
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"f103-HWESC",
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"f103-Trigger",
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"G4-ESC",
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"HereProAP",
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"HerePro",
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]
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ret = []
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for x in self.boards:
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@ -209,16 +209,16 @@ for t in $CI_BUILD_TARGET; do
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$waf configure --board f303-Universal
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$waf clean
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$waf AP_Periph
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echo "Building HereProAP peripheral fw"
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$waf configure --board HereProAP
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echo "Building HerePro peripheral fw"
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$waf configure --board HerePro
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$waf clean
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$waf AP_Periph
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echo "Building CubeOrange-periph peripheral fw"
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$waf configure --board CubeOrange-periph
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$waf clean
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$waf AP_Periph
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echo "Building HereProAP bootloader"
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$waf configure --board HereProAP --bootloader
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echo "Building HerePro bootloader"
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$waf configure --board HerePro --bootloader
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$waf clean
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$waf bootloader
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echo "Building G4-ESC peripheral fw"
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@ -306,24 +306,6 @@ AP_Filesystem_Backend::FormatStatus AP_Filesystem::get_format_status(void) const
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#endif
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}
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// block filesystem access
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void AP_Filesystem::block_access(void)
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{
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for (uint8_t i=0; i<ARRAY_SIZE(backends); i++) {
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backends[i].fs.block_access();
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}
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}
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// free filesystem access
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void AP_Filesystem::free_access(void)
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{
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for (uint8_t i=0; i<ARRAY_SIZE(backends); i++) {
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backends[i].fs.free_access();
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}
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}
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namespace AP
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{
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AP_Filesystem &FS()
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@ -127,14 +127,7 @@ public:
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load a full file. Use delete to free the data
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*/
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FileData *load_file(const char *filename);
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// block filesystem access
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void block_access(void);
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// free filesystem access
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void free_access(void);
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private:
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struct Backend {
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const char *prefix;
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@ -36,7 +36,7 @@ static bool remount_needed;
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// use a semaphore to ensure that only one filesystem operation is
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// happening at a time. A recursive semaphore is used to cope with the
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// mkdir() inside sdcard_retry()
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HAL_Semaphore AP_Filesystem_FATFS::sem;
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static HAL_Semaphore sem;
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typedef struct {
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FIL *fh;
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@ -55,16 +55,9 @@ public:
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bool format(void) override;
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AP_Filesystem_Backend::FormatStatus get_format_status() const override;
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// block filesystem access
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void block_access(void) override { sem.take_blocking(); }
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// free filesystem access
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void free_access(void) override { sem.give(); }
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private:
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void format_handler(void);
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FormatStatus format_status;
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static HAL_Semaphore sem;
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};
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#endif // #if AP_FILESYSTEM_FATFS_ENABLED
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@ -94,13 +94,6 @@ public:
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// unload data from load_file()
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virtual void unload_file(FileData *fd);
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// block filesystem access
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virtual void block_access(void) {}
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// free filesystem access
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virtual void free_access(void) {}
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protected:
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// return true if file operations are allowed
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bool file_op_allowed(void) const;
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@ -322,8 +322,6 @@ void HAL_ChibiOS::run(int argc, char * const argv[], Callbacks* callbacks) const
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* RTOS is active.
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*/
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sdcard_retry();
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#if HAL_USE_SERIAL_USB == TRUE
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usb_initialise();
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#endif
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3
libraries/AP_HAL_ChibiOS/hwdef/HerePro/defaults.parm
Normal file
3
libraries/AP_HAL_ChibiOS/hwdef/HerePro/defaults.parm
Normal file
@ -0,0 +1,3 @@
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NTF_LED_OVERRIDE 1
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SCR_ENABLE 1
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GPS_INJECT_TO 0
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152
libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat
Normal file
152
libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat
Normal file
@ -0,0 +1,152 @@
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# hw definition file for processing by chibios_hwdef.py
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# for H743 bootloader
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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FULL_FEATURED_BOOTLOADER 1
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# USB setup
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USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
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USB_PRODUCT 0x5011
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USB_STRING_MANUFACTURER "CubePilot"
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# board ID for firmware load
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APJ_BOARD_ID 1037
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FLASH_SIZE_KB 2048
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# bootloader is installed at zero offset
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FLASH_RESERVE_START_KB 0
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# the location where the bootloader will put the firmware
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# the H743 has 128k sectors
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FLASH_BOOTLOADER_LOAD_KB 256
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PB15 LED_2 OUTPUT LOW
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PB14 LED OUTPUT LOW
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# board voltage
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STM32_VDD 330U
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 UART7
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define HAL_NO_LOGGING TRUE
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define HAL_NO_MONITOR_THREAD
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# USART3 F9
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3
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# UART7 F9
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7 NODMA
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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define USB_USE_WAIT TRUE
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define HAL_USE_USB_MSD 1
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define HAL_DEVICE_THREAD_STACK 2048
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#define AP_PARAM_MAX_EMBEDDED_PARAM 0
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define HAL_BARO_ALLOW_INIT_NO_BARO
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define AP_PERIPH_HAVE_LED
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define HAL_COMPASS_MAX_SENSORS 1
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# GPS+MAG
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define HAL_PERIPH_ENABLE_GPS
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define HAL_PERIPH_ENABLE_MAG
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# Add MAVLink
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env FORCE_MAVLINK_INCLUDE 1
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# enable CAN support
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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PB5 CAN2_RX CAN2
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PB6 CAN2_TX CAN2
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#PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
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PF8 blank CS
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SPIDEV profiled SPI5 DEVID1 blank MODE3 1*MHZ 1*MHZ
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PE4 MPU_EXT_CS CS
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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PG15 spi6cs CS
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PG13 SPI6_SCK SPI6
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PG12 SPI6_MISO SPI6
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PG14 SPI6_MOSI SPI6
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PF7 SPI5_SCK SPI5
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PF9 SPI5_MOSI SPI5
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define BOARD_SER1_RTSCTS_DEFAULT 0
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#gps f9
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PD10 F91TXR INPUT
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PD11 F92RST INPUT
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PD13 F93SB INPUT
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PD14 F94EXTINT INPUT
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PD15 F95RSV1 INPUT
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PG2 F97 INPUT GPIO(100)
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PG3 F96RSV2 INPUT
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PD4 RTKSTAT INPUT
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PD5 GEOFENCESTAT INPUT
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#others
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PG10 can2int INPUT
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PG11 can2sleep OUTPUT PUSHPULL SPEED_LOW LOW
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PF1 GNDDET2 INPUT
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PF2 GNDDET1 INPUT
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PC6 EXTERN_GPIO1 OUTPUT GPIO(1)
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PC7 EXTERN_GPIO2 OUTPUT GPIO(2)
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#sensor enable
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PC0 SENSEN OUTPUT HIGH
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PB1 IMUINT INPUT
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PB3 QCAN2TERM OUTPUT LOW GPIO(4)
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PB4 QCAN2INT0 INPUT
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PC13 QCAN1SLEEP OUTPUT PUSHPULL SPEED_LOW LOW
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PE0 QCAN1INT INPUT
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PE1 QCAN1INT0 INPUT
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PE3 QCAN1INT1 INPUT
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PD6 QCAN1TERM OUTPUT LOW GPIO(3)
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PD7 QCAN2INT1 INPUT
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PA8 QCAN12OSC1 INPUT
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# This input pin is used to detect that power is valid on USB.
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PA9 VBUS INPUT
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PH13 VDD_33V_SENS INPUT
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# This defines some input pins, currently unused.
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PB2 BOOT1 INPUT
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# passthrough CAN1
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define HAL_DEFAULT_CPORT 1
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define CAN_APP_NODE_NAME "com.cubepilot.herepro"
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FULL_CHIBIOS_BOOTLOADER 1
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217
libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat
Normal file
217
libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat
Normal file
@ -0,0 +1,217 @@
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# hw definition file for processing by chibios_hwdef.py
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# for H743 bootloader
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# MCU class and specific type
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MCU STM32H7xx STM32H743xx
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# USB setup
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USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
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USB_PRODUCT 0x5001
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USB_STRING_MANUFACTURER "CubePilot"
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# setup build for a peripheral firmware
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env AP_PERIPH 1
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env AP_PERIPH_HEAVY 1
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# crystal frequency
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OSCILLATOR_HZ 24000000
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# board ID for firmware load
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APJ_BOARD_ID 1037
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FLASH_SIZE_KB 2048
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# the location where the bootloader will put the firmware
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# the H743 has 128k sectors, we leave 2 sectors for BL
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FLASH_BOOTLOADER_LOAD_KB 256
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PB15 LED_SWITCH_2 OUTPUT HIGH
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PB14 LED_SWITCH_1 OUTPUT HIGH
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# board voltage
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STM32_VDD 330U
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# order of UARTs (and USB)
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SERIAL_ORDER OTG1 OTG2 EMPTY USART3 UART7
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define DEFAULT_SERIAL0_PROTOCOL SerialProtocol_None
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# USART3 F9
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PD9 USART3_RX USART3
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PD8 USART3_TX USART3
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# UART7 F9
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PE7 UART7_RX UART7
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PE8 UART7_TX UART7 NODMA
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PA11 OTG_FS_DM OTG1
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PA12 OTG_FS_DP OTG1
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PA13 JTMS-SWDIO SWD
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PA14 JTCK-SWCLK SWD
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###########################
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define AP_NOTIFY_PROFILED_SPI_ENABLED 1
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define DEFAULT_NTF_LED_TYPES Notify_LED_ProfiLED_SPI
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define NOTIFY_LED_LEN_DEFAULT 16
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define CONFIGURE_PPS_PIN TRUE
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define HAL_PERIPH_ENABLE_NOTIFY
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define HAL_PERIPH_NOTIFY_WITHOUT_RCOUT
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FLASH_RESERVE_START_KB 256
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define GPS_UBLOX_MOVING_BASELINE TRUE
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define HAL_GCS_ENABLED 1
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define HAL_LOGGING_ENABLED TRUE
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define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
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define HAL_NO_MONITOR_THREAD
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define HAL_DISABLE_LOOP_DELAY
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define USB_USE_WAIT TRUE
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define HAL_USE_USB_MSD 1
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define HAL_DEVICE_THREAD_STACK 2048
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#define AP_PARAM_MAX_EMBEDDED_PARAM 0
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define HAL_BARO_ALLOW_INIT_NO_BARO
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define HAL_STORAGE_SIZE 16384
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# disable dual GPS and GPS blending to save flash space
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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define HAL_COMPASS_MAX_SENSORS 1
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# GPS+MAG
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define HAL_PERIPH_ENABLE_GPS
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define HAL_PERIPH_ENABLE_MAG
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define AP_INERTIALSENSOR_ENABLED 1
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# enable CAN support
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PB8 CAN1_RX CAN1
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PB9 CAN1_TX CAN1
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PB5 CAN2_RX CAN2
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PB6 CAN2_TX CAN2
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PA4 MPU_CS CS
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PA5 SPI1_SCK SPI1
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PA6 SPI1_MISO SPI1
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PA7 SPI1_MOSI SPI1
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SPIDEV icm20948 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ
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PF8 blank CS
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SPIDEV profiled SPI5 DEVID1 blank MODE3 1*MHZ 1*MHZ
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IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
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define HAL_DEFAULT_INS_FAST_SAMPLE 5
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# compass as part of ICM20948 on newer cubes
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COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
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# one baro
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#BARO MS56XX I2C:0:0x77
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PE4 CSPI4_CS CS
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PE2 SPI4_SCK SPI4
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PE5 SPI4_MISO SPI4
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PE6 SPI4_MOSI SPI4
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PG15 CSPI6_CS CS
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PG13 SPI6_SCK SPI6
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PG12 SPI6_MISO SPI6
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PG14 SPI6_MOSI SPI6
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PF7 SPI5_SCK SPI5
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PF9 SPI5_MOSI SPI5
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# Now setup the pins for the microSD card, if available.
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PC8 SDMMC1_D0 SDMMC1
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PC9 SDMMC1_D1 SDMMC1
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PC10 SDMMC1_D2 SDMMC1
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PC11 SDMMC1_D3 SDMMC1
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PC12 SDMMC1_CK SDMMC1
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PD2 SDMMC1_CMD SDMMC1
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define BOARD_SER1_RTSCTS_DEFAULT 0
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define HAL_OS_FATFS_IO 1
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define HAL_WITH_DRONECAN 1
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env HAL_WITH_DRONECAN 1
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define HAL_PICCOLO_CAN_ENABLE 0
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define AP_CAN_SLCAN_ENABLED 1
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PA1 ANALOG_CAN_VOLTAGE1 ADC1 SCALE(21.404)
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PA2 ANALOG_CAN_VOLTAGE2 ADC1 SCALE(21.404)
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#gps f9
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PD10 F91TXR INPUT
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PD11 F92RST INPUT
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PD13 F93SB INPUT
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PD14 F94EXTINT INPUT
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PD15 F95RSV1 INPUT
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PG2 F97 INPUT GPIO(100)
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PG3 F96RSV2 INPUT
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PD4 RTKSTAT INPUT
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PD5 GEOFENCESTAT INPUT
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#others
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PG10 can2int INPUT
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PG11 can2sleep OUTPUT PUSHPULL SPEED_LOW LOW
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PF1 GNDDET2 INPUT
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PF2 GNDDET1 INPUT
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PC6 EXTERN_GPIO1 OUTPUT GPIO(1)
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PC7 EXTERN_GPIO2 OUTPUT GPIO(2)
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PD6 TERMCAN1 OUTPUT LOW GPIO(3)
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PB3 TERMCAN2 OUTPUT LOW GPIO(4)
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#sensor enable
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PC0 SENSEN OUTPUT HIGH
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PB1 IMUINT INPUT
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PB4 QCAN2INT0 INPUT
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PC13 QCAN1SLEEP OUTPUT PUSHPULL SPEED_LOW LOW
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PE0 QCAN1INT INPUT
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PE1 QCAN1INT0 INPUT
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PE3 QCAN1INT1 INPUT
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PD7 QCAN2INT1 INPUT
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PA8 QCAN12OSC1 INPUT
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# This defines more ADC inputs.
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PC3 ANALOG_VCC_1_8V ADC1 SCALE(2)
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PC4 ANALOG_VCC_5V_PIN ADC1 SCALE(2.044)
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# This input pin is used to detect that power is valid on USB.
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PA9 VBUS INPUT
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PH13 VDD_33V_SENS INPUT
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# This defines some input pins, currently unused.
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PB2 BOOT1 INPUT
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define CAN_APP_NODE_NAME "com.cubepilot.herepro"
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define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
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# disabled compass cal as it doesn't work for now
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# define COMPASS_CAL_ENABLED 1
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define HAL_ENABLE_SLCAN 1
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# passthrough CAN1
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define HAL_DEFAULT_CPORT 1
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define CONFIGURE_PPS_PIN TRUE
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define AP_PERIPH_HAVE_LED TRUE
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define SCRIPTING_HEAP_SIZE (64*1024)
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define GPS_MOVING_BASELINE 1
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define AP_RC_CHANNEL_ENABLED 1
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@ -1,4 +1,5 @@
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-- This script is a test of led override
|
||||
-- luacheck: only 0
|
||||
|
||||
local count = 0
|
||||
local num_leds = 16
|
||||
@ -55,7 +56,7 @@ local led_map = {
|
||||
12,
|
||||
13}
|
||||
|
||||
function table_contains(table, element)
|
||||
function table.contains(table, element)
|
||||
for _, value in pairs(table) do
|
||||
if value == element then
|
||||
return true
|
||||
@ -81,11 +82,11 @@ end
|
||||
function do_initialisation()
|
||||
local pos = math.rad(total_time/2)
|
||||
local v =0.5 + 0.5 * math.sin(pos)
|
||||
local invert
|
||||
local invert = 1
|
||||
local r, g, b = get_Rainbow(v, 5)
|
||||
local led_trail_length = 3
|
||||
local softness = 10
|
||||
local bfact
|
||||
local bfact = 1
|
||||
local updated_leds = {}
|
||||
if math.cos(pos) > 0 then
|
||||
invert = 1
|
||||
@ -124,7 +125,7 @@ function do_initialisation()
|
||||
end
|
||||
|
||||
for led = 1, num_leds do
|
||||
if not table_contains(updated_leds, led) then
|
||||
if not table.contains(updated_leds, led) then
|
||||
notify:handle_rgb_id(0, 0, 0, led_map[led])
|
||||
end
|
||||
end
|
||||
@ -144,7 +145,7 @@ function do_point_north(r, g, b, led_trail_length, softness)
|
||||
end
|
||||
|
||||
for led = 1, num_leds do
|
||||
if not table_contains(updated_leds, led) then
|
||||
if not table.contains(updated_leds, led) then
|
||||
notify:handle_rgb_id(0, 0, 0, led_map[led])
|
||||
end
|
||||
end
|
||||
@ -172,7 +173,7 @@ function finish_initialisation(r, g, b, led_trail_length, softness, speed_factor
|
||||
end
|
||||
|
||||
for led = 1, num_leds do
|
||||
if not table_contains(updated_leds, led) then
|
||||
if not table.contains(updated_leds, led) then
|
||||
notify:handle_rgb_id(0, 0, 0, led_map[led])
|
||||
end
|
||||
end
|
||||
@ -183,7 +184,7 @@ function do_arm_spin(r, g, b, softness, speed_factor, arming)
|
||||
local updated_leds = {}
|
||||
|
||||
-- calculate next call based on time
|
||||
local next_call
|
||||
local next_call = 1
|
||||
if arming then
|
||||
next_call = speed_factor - math.floor(((total_time)/speed_factor) + 0.5)
|
||||
if next_call < 1 then
|
||||
@ -208,7 +209,7 @@ function do_arm_spin(r, g, b, softness, speed_factor, arming)
|
||||
end
|
||||
|
||||
for led = 1, num_leds do
|
||||
if not table_contains(updated_leds, led) then
|
||||
if not table.contains(updated_leds, led) then
|
||||
notify:handle_rgb_id(0, 0, 0, led_map[led])
|
||||
end
|
||||
end
|
||||
@ -269,19 +270,19 @@ function update() -- this is the loop which periodically runs
|
||||
finish_initialisation(rainbow[1][1], rainbow[1][2], rainbow[1][3], 5, 20, 50, next_call)
|
||||
total_time = total_time + next_call
|
||||
elseif current_anim == 2 then
|
||||
-- local v
|
||||
-- if (vehicle_state & (1<<3)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM
|
||||
-- (vehicle_state & (1<<4)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM_GPS
|
||||
-- (vehicle_state & (1<<7)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_RADIO
|
||||
-- (vehicle_state & (1<<8)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_BATT
|
||||
-- (vehicle_state & (1<<11)) ~= uint32_t(0) then --VEHICLE_STATE_EKF_BAD
|
||||
-- v = 0.0
|
||||
-- end
|
||||
-- if (vehicle_state & (1<<17)) == uint32_t(0) then--VEHICLE_STATE_POS_ABS_AVAIL
|
||||
-- v = 0.5 + (0.5 * math.min(gps:num_sats(0)/20, 1.0))
|
||||
-- else
|
||||
-- v = 1.0
|
||||
-- end
|
||||
local v
|
||||
if (vehicle_state & (1<<3)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM
|
||||
(vehicle_state & (1<<4)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM_GPS
|
||||
(vehicle_state & (1<<7)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_RADIO
|
||||
(vehicle_state & (1<<8)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_BATT
|
||||
(vehicle_state & (1<<11)) ~= uint32_t(0) then --VEHICLE_STATE_EKF_BAD
|
||||
v = 0.0
|
||||
end
|
||||
if (vehicle_state & (1<<17)) == uint32_t(0) then--VEHICLE_STATE_POS_ABS_AVAIL
|
||||
v = 0.5 + (0.5 * math.min(gps:num_sats(0)/20, 1.0))
|
||||
else
|
||||
v = 1.0
|
||||
end
|
||||
local r, g, b = get_Rainbow(v, 4)
|
||||
count = do_point_north(r, g, b, 5, 20)
|
||||
-- --[[ ARM Display
|
||||
@ -1,11 +0,0 @@
|
||||
GPS_INJECT_TO 0
|
||||
|
||||
# setup for Neopixel
|
||||
OUT1_FUNCTION 120
|
||||
NTF_LED_TYPES 455
|
||||
NTF_LED_BRIGHT 2
|
||||
NTF_LED_LEN 50
|
||||
|
||||
SERIAL2_PROTOCOL 5
|
||||
|
||||
SCR_ENABLE 1
|
||||
@ -1,85 +0,0 @@
|
||||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for H757 bootloader
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H757xx
|
||||
|
||||
define CORE_CM7
|
||||
define SMPS_PWR
|
||||
|
||||
# USB setup
|
||||
USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
|
||||
USB_PRODUCT 0x5011
|
||||
USB_STRING_MANUFACTURER "CubePilot"
|
||||
|
||||
# setup build for a peripheral firmware
|
||||
env AP_PERIPH 1
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 24000000
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1037
|
||||
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
# bootloader is installed at zero offset
|
||||
FLASH_RESERVE_START_KB 0
|
||||
|
||||
# the location where the bootloader will put the firmware
|
||||
# the H743 has 128k sectors
|
||||
FLASH_BOOTLOADER_LOAD_KB 256
|
||||
|
||||
FULL_CHIBIOS_BOOTLOADER TRUE
|
||||
|
||||
define HAL_LED_ON 1
|
||||
|
||||
#PA4 LED_ENABLE OUTPUT HIGH
|
||||
|
||||
PD8 USART3_TX USART3
|
||||
PD9 USART3_RX USART3
|
||||
|
||||
# board voltage
|
||||
STM32_VDD 180U
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1
|
||||
|
||||
define HAL_NO_LOGGING TRUE
|
||||
define HAL_NO_MONITOR_THREAD
|
||||
|
||||
PC1 USB_RST OUTPUT PUSHPULL SPEED_LOW HIGH
|
||||
PA7 USB_OSC_EN INPUT FLOATING
|
||||
PB14 USB_CS OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
|
||||
PA5 OTG_HS_ULPI_CK OTG_HS SPEED_HIGH
|
||||
PC2 OTG_HS_ULPI_DIR OTG_HS SPEED_HIGH
|
||||
PC0 OTG_HS_ULPI_STP OTG_HS SPEED_HIGH
|
||||
PC3 OTG_HS_ULPI_NXT OTG_HS SPEED_HIGH
|
||||
PA3 OTG_HS_ULPI_D0 OTG_HS SPEED_HIGH
|
||||
PB0 OTG_HS_ULPI_D1 OTG_HS SPEED_HIGH
|
||||
PB1 OTG_HS_ULPI_D2 OTG_HS SPEED_HIGH
|
||||
PB10 OTG_HS_ULPI_D3 OTG_HS SPEED_HIGH
|
||||
PB11 OTG_HS_ULPI_D4 OTG_HS SPEED_HIGH
|
||||
PB12 OTG_HS_ULPI_D5 OTG_HS SPEED_HIGH
|
||||
PB13 OTG_HS_ULPI_D6 OTG_HS SPEED_HIGH
|
||||
PB5 OTG_HS_ULPI_D7 OTG_HS SPEED_HIGH
|
||||
|
||||
define STM32_USB_USE_OTG1 FALSE
|
||||
define STM32_USE_USB_OTG2_HS FALSE
|
||||
define USB_USE_WAIT TRUE
|
||||
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
# enable CAN support
|
||||
PA11 CAN1_RX CAN1
|
||||
PA12 CAN1_TX CAN1
|
||||
PC13 SLEEP_CAN1 OUTPUT LOW
|
||||
|
||||
#PB5 CAN2_RX CAN2
|
||||
#PB6 CAN2_TX CAN2
|
||||
PE12 SLEEP_CAN2 OUTPUT PUSHPULL SPEED_LOW HIGH
|
||||
PB7 SWITCH_CAN2_USB OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
|
||||
define CAN_APP_NODE_NAME "com.cubepilot.herepro"
|
||||
@ -1,245 +0,0 @@
|
||||
# hw definition file for processing by chibios_hwdef.py
|
||||
# for H743 bootloader
|
||||
|
||||
# MCU class and specific type
|
||||
MCU STM32H7xx STM32H757xx
|
||||
|
||||
define CORE_CM7
|
||||
define SMPS_PWR
|
||||
|
||||
# USB setup
|
||||
USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
|
||||
USB_PRODUCT 0x5001
|
||||
USB_STRING_MANUFACTURER "CubePilot"
|
||||
|
||||
# setup build for a peripheral firmware
|
||||
env AP_PERIPH 1
|
||||
env AP_PERIPH_HEAVY 1
|
||||
|
||||
# crystal frequency
|
||||
OSCILLATOR_HZ 24000000
|
||||
|
||||
MAIN_STACK 0x2000
|
||||
|
||||
# board ID for firmware load
|
||||
APJ_BOARD_ID 1037
|
||||
|
||||
FLASH_SIZE_KB 2048
|
||||
|
||||
# the location where the bootloader will put the firmware
|
||||
# the H743 has 128k sectors, we leave 2 sectors for BL
|
||||
FLASH_BOOTLOADER_LOAD_KB 256
|
||||
|
||||
# board voltage
|
||||
STM32_VDD 180U
|
||||
|
||||
# order of UARTs (and USB)
|
||||
SERIAL_ORDER OTG1 EMPTY USART3 UART7
|
||||
|
||||
define HAL_SERIAL0_PROTOCOL SerialProtocol_None
|
||||
|
||||
# USART3 F9
|
||||
PD9 USART3_RX USART3
|
||||
PD8 USART3_TX USART3
|
||||
|
||||
# UART7 F9
|
||||
PE7 UART7_RX UART7
|
||||
PE8 UART7_TX UART7 NODMA
|
||||
|
||||
|
||||
PC1 USB_RST OUTPUT PUSHPULL SPEED_LOW HIGH
|
||||
PA7 USB_OSC_EN INPUT FLOATING
|
||||
PB14 USB_CS OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
define STM32_USB_USE_OTG1 FALSE
|
||||
define STM32_USE_USB_OTG2_HS TRUE
|
||||
|
||||
PA5 OTG_HS_ULPI_CK OTG_HS SPEED_HIGH
|
||||
PC2 OTG_HS_ULPI_DIR OTG_HS SPEED_HIGH
|
||||
#PI11 OTG_HS_ULPI_DIR OTG_HS SPEED_HIGH
|
||||
PC0 OTG_HS_ULPI_STP OTG_HS SPEED_HIGH
|
||||
PC3 OTG_HS_ULPI_NXT OTG_HS SPEED_HIGH
|
||||
#PH4 OTG_HS_ULPI_NXT OTG_HS SPEED_HIGH
|
||||
PA3 OTG_HS_ULPI_D0 OTG_HS SPEED_HIGH
|
||||
PB0 OTG_HS_ULPI_D1 OTG_HS SPEED_HIGH
|
||||
PB1 OTG_HS_ULPI_D2 OTG_HS SPEED_HIGH
|
||||
PB10 OTG_HS_ULPI_D3 OTG_HS SPEED_HIGH
|
||||
PB11 OTG_HS_ULPI_D4 OTG_HS SPEED_HIGH
|
||||
PB12 OTG_HS_ULPI_D5 OTG_HS SPEED_HIGH
|
||||
PB13 OTG_HS_ULPI_D6 OTG_HS SPEED_HIGH
|
||||
PB5 OTG_HS_ULPI_D7 OTG_HS SPEED_HIGH
|
||||
|
||||
|
||||
PA13 JTMS-SWDIO SWD
|
||||
PA14 JTCK-SWCLK SWD
|
||||
|
||||
#PA13 JTMS-SWDIO INPUT
|
||||
#PA14 JTCK-SWCLK INPUT
|
||||
|
||||
|
||||
#PA13 SIG1 OUTPUT PUSHPULL SPEED_LOW HIGH
|
||||
#PA14 SIG2 OUTPUT PUSHPULL SPEED_LOW HIGH
|
||||
|
||||
###########################
|
||||
define BUILD_DEFAULT_LED_TYPE Notify_LED_NeoPixel
|
||||
define NOTIFY_LED_LEN_DEFAULT 51
|
||||
define CONFIGURE_PPS_PIN TRUE
|
||||
define HAL_PERIPH_ENABLE_NOTIFY
|
||||
define HAL_PERIPH_ENABLE_RC_OUT
|
||||
|
||||
FLASH_RESERVE_START_KB 256
|
||||
|
||||
define GPS_UBLOX_MOVING_BASELINE TRUE
|
||||
define HAL_GCS_ENABLED 1
|
||||
define HAL_LOGGING_ENABLED TRUE
|
||||
define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
|
||||
define HAL_NO_MONITOR_THREAD
|
||||
|
||||
|
||||
define HAL_DISABLE_LOOP_DELAY
|
||||
define USB_USE_WAIT TRUE
|
||||
|
||||
define HAL_MINIMIZE_FEATURES 0
|
||||
|
||||
|
||||
define HAL_DEVICE_THREAD_STACK 2048
|
||||
|
||||
#define AP_PARAM_MAX_EMBEDDED_PARAM 0
|
||||
|
||||
define HAL_BARO_ALLOW_INIT_NO_BARO
|
||||
|
||||
# disable dual GPS and GPS blending to save flash space
|
||||
define GPS_MAX_RECEIVERS 1
|
||||
define GPS_MAX_INSTANCES 1
|
||||
define HAL_COMPASS_MAX_SENSORS 1
|
||||
|
||||
# GPS+MAG
|
||||
define HAL_PERIPH_ENABLE_GPS
|
||||
define HAL_PERIPH_ENABLE_MAG
|
||||
define AP_INERTIALSENSOR_ENABLED 1
|
||||
|
||||
|
||||
# enable CAN support
|
||||
PA11 CAN1_RX CAN1
|
||||
PA12 CAN1_TX CAN1
|
||||
PC13 SLEEP_CAN1 OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
|
||||
PB7 SWITCH_CAN2_USB OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
PE12 SLEEP_CAN2 OUTPUT PUSHPULL SPEED_LOW HIGH
|
||||
CANFD_SUPPORTED 8
|
||||
|
||||
PE4 MPU_CS CS
|
||||
PE2 SPI4_SCK SPI4
|
||||
PE5 SPI4_MISO SPI4
|
||||
PE6 SPI4_MOSI SPI4
|
||||
PD12 ICM_CLK OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
PF0 ICM_CLK_ENABLE OUTPUT PUSHPULL SPEED_LOW LOW
|
||||
SPIDEV icm42688 SPI4 DEVID4 MPU_CS MODE3 2*MHZ 8*MHZ
|
||||
|
||||
PB15 TIM1_CH3N TIM1 PWM(1) SPEED_HIGH OPENDRAIN
|
||||
|
||||
define HAL_DEFAULT_INS_FAST_SAMPLE 5
|
||||
|
||||
PB3 SPI1_SCK SPI1
|
||||
PB4 SPI1_MISO SPI1
|
||||
PD7 SPI1_MOSI SPI1
|
||||
PE9 MAG_CS CS
|
||||
SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ
|
||||
|
||||
IMU Invensensev3 SPI:icm42688 ROTATION_NONE
|
||||
|
||||
define HAL_DEFAULT_INS_FAST_SAMPLE 5
|
||||
|
||||
COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180
|
||||
|
||||
# Now setup the pins for the microSD card, if available.
|
||||
PC8 SDMMC1_D0 SDMMC1 SPEED_HIGH
|
||||
PC9 SDMMC1_D1 SDMMC1 SPEED_HIGH
|
||||
PC10 SDMMC1_D2 SDMMC1 SPEED_HIGH
|
||||
PC11 SDMMC1_D3 SDMMC1 SPEED_HIGH
|
||||
PB8 SDMMC1_D4 SDMMC1 SPEED_HIGH
|
||||
PB9 SDMMC1_D5 SDMMC1 SPEED_HIGH
|
||||
PC6 SDMMC1_D6 SDMMC1 SPEED_HIGH
|
||||
PC7 SDMMC1_D7 SDMMC1 SPEED_HIGH
|
||||
PC12 SDMMC1_CK SDMMC1 SPEED_HIGH
|
||||
PD2 SDMMC1_CMD SDMMC1 SPEED_HIGH
|
||||
PC5 RESET OUTPUT PUSHPULL LOW
|
||||
|
||||
define HAL_SDMMC_TYPE_EMMC TRUE
|
||||
|
||||
define BOARD_SER1_RTSCTS_DEFAULT 0
|
||||
|
||||
define HAL_OS_FATFS_IO 1
|
||||
define HAL_WITH_UAVCAN 1
|
||||
env HAL_WITH_UAVCAN 1
|
||||
define HAL_PICCOLO_CAN_ENABLE 0
|
||||
define AP_UAVCAN_SLCAN_ENABLED 1
|
||||
|
||||
PA1 ANALOG_CAN_VOLTAGE1 ADC1 SCALE(21.404)
|
||||
PA2 ANALOG_CAN_VOLTAGE2 ADC1 SCALE(21.404)
|
||||
|
||||
#gps f9
|
||||
PD10 F91TXR INPUT
|
||||
PD11 F92RST INPUT
|
||||
PD13 F93SB INPUT
|
||||
PD14 F94EXTINT INPUT
|
||||
PD15 F95RSV1 INPUT
|
||||
PG2 F97 INPUT GPIO(100)
|
||||
PG3 F96RSV2 INPUT
|
||||
PD4 RTKSTAT INPUT
|
||||
PD5 GEOFENCESTAT INPUT
|
||||
|
||||
#others
|
||||
PF1 GNDDET2 INPUT
|
||||
PF2 GNDDET1 INPUT
|
||||
#shared with SWD
|
||||
|
||||
#PE0 EXTERN_GPIO1 OUTPUT PUSHPULL SPEED_HIGH LOW
|
||||
#PE1 EXTERN_GPIO2 OUTPUT PUSHPULL SPEED_HIGH LOW
|
||||
|
||||
PD6 TERM_CAN1 OUTPUT LOW GPIO(3)
|
||||
PE11 TERM_CAN2 OUTPUT LOW GPIO(4)
|
||||
|
||||
#USB PD
|
||||
#PA8 CC_DB INPUT
|
||||
#PA9 CC1 INPUT
|
||||
#PA10 CC2 INPUT
|
||||
|
||||
# This defines more ADC inputs.
|
||||
PA6 ANALOG_VCC_1_8V ADC1 SCALE(2)
|
||||
PA4 ANALOG_VCC_3_3V ADC1 SCALE(2)
|
||||
PC4 VDD_5V_SENS ADC1 SCALE(3)
|
||||
PA0 USB_VBUS_SENS ADC1 SCALE(41)
|
||||
|
||||
define HAL_USB_VBUS_SENS_CHAN 16
|
||||
|
||||
define CAN_APP_NODE_NAME "com.cubepilot.herepro"
|
||||
|
||||
define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
|
||||
|
||||
define COMPASS_CAL_ENABLED 1
|
||||
|
||||
define HAL_ENABLE_SLCAN 1
|
||||
# passthrough CAN1
|
||||
define HAL_DEFAULT_CPORT 1
|
||||
|
||||
define CONFIGURE_PPS_PIN TRUE
|
||||
define AP_PERIPH_HAVE_LED TRUE
|
||||
|
||||
define SCRIPTING_HEAP_SIZE (64*1024)
|
||||
|
||||
define GPS_MOVING_BASELINE 1
|
||||
|
||||
define HAL_CAN_POOL_SIZE 16384
|
||||
|
||||
# use last 2 pages for flash storage
|
||||
# H757 has 16 pages of 128k each
|
||||
STORAGE_FLASH_PAGE 14
|
||||
define HAL_STORAGE_SIZE 32768
|
||||
|
||||
define STM32_SDC_MAX_CLOCK 200000000
|
||||
define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
|
||||
|
||||
HAL_USE_USB_MSD 1
|
||||
define MSD_THD_PRIO HIGHPRIO
|
||||
define AP_RC_CHANNEL_ENABLED 1
|
||||
#define HAL_BRD_OPTIONS_DEFAULT 8
|
||||
@ -304,6 +304,15 @@ bool sdc_lld_is_card_inserted(SDCDriver *sdcp) {
|
||||
(void)sdcp;
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief SDC card write protection detection.
|
||||
*/
|
||||
bool sdc_lld_is_write_protected(SDCDriver *sdcp) {
|
||||
|
||||
(void)sdcp;
|
||||
return false;
|
||||
}
|
||||
#endif /* HAL_USE_SDC */
|
||||
|
||||
#if HAL_USE_MMC_SPI || defined(__DOXYGEN__)
|
||||
|
||||
@ -133,7 +133,6 @@ CSRC += $(HWDEF)/common/stubs.c \
|
||||
$(HWDEF)/common/usbcfg.c \
|
||||
$(HWDEF)/common/usbcfg_dualcdc.c \
|
||||
$(HWDEF)/common/usbcfg_common.c \
|
||||
$(HWDEF)/common/usbcfg_cdc_msd.c \
|
||||
$(HWDEF)/common/flash.c \
|
||||
$(HWDEF)/common/malloc.c \
|
||||
$(HWDEF)/common/hrt.c \
|
||||
@ -184,7 +183,6 @@ ASMSRC = $(ALLASMSRC)
|
||||
ASMXSRC = $(ALLXASMSRC)
|
||||
|
||||
INCDIR = $(CHIBIOS)/os/license \
|
||||
$(CHIBIOS)/os/various \
|
||||
$(ALLINC) $(HWDEF)/common
|
||||
|
||||
ifneq ($(CRASHCATCHER),)
|
||||
|
||||
@ -607,16 +607,12 @@
|
||||
/*
|
||||
* USB driver system settings.
|
||||
*/
|
||||
#ifndef STM32_USB_USE_OTG1
|
||||
#define STM32_USB_USE_OTG1 TRUE
|
||||
#endif
|
||||
#ifndef STM32_USB_USE_OTG2
|
||||
#define STM32_USB_USE_OTG2 TRUE
|
||||
#endif
|
||||
#define STM32_USB_OTG1_IRQ_PRIORITY 14
|
||||
#define STM32_USB_OTG2_IRQ_PRIORITY 14
|
||||
#define STM32_USB_OTG1_RX_FIFO_SIZE 2048
|
||||
#define STM32_USB_OTG2_RX_FIFO_SIZE 2048
|
||||
#define STM32_USB_OTG1_RX_FIFO_SIZE 512
|
||||
#define STM32_USB_OTG2_RX_FIFO_SIZE 1024
|
||||
#define STM32_USB_HOST_WAKEUP_DURATION 2
|
||||
|
||||
/*
|
||||
|
||||
@ -34,7 +34,7 @@
|
||||
#include "usbcfg.h"
|
||||
// #pragma GCC optimize("O0")
|
||||
|
||||
#if defined(HAL_USB_PRODUCT_ID) && !HAL_HAVE_DUAL_USB_CDC && !HAL_HAVE_USB_CDC_MSD
|
||||
#if defined(HAL_USB_PRODUCT_ID) && !HAL_HAVE_DUAL_USB_CDC
|
||||
|
||||
/* Virtual serial port over USB.*/
|
||||
SerialUSBDriver SDU1;
|
||||
@ -45,11 +45,11 @@ static cdc_linecoding_t linecoding = {
|
||||
};
|
||||
|
||||
/*
|
||||
* Endpoints to be used for USB.
|
||||
* Endpoints to be used for USBD1.
|
||||
*/
|
||||
#define USB_DATA_REQUEST_EP 1
|
||||
#define USB_DATA_AVAILABLE_EP 1
|
||||
#define USB_INTERRUPT_REQUEST_EP 2
|
||||
#define USBD1_DATA_REQUEST_EP 1
|
||||
#define USBD1_DATA_AVAILABLE_EP 1
|
||||
#define USBD1_INTERRUPT_REQUEST_EP 2
|
||||
|
||||
/*
|
||||
* USB Device Descriptor.
|
||||
@ -128,7 +128,7 @@ static const uint8_t vcom_configuration_descriptor_data[67] = {
|
||||
USB_DESC_BYTE (0x01), /* bSlaveInterface0 (Data Class
|
||||
Interface). */
|
||||
/* Endpoint 2 Descriptor.*/
|
||||
USB_DESC_ENDPOINT (USB_INTERRUPT_REQUEST_EP|0x80,
|
||||
USB_DESC_ENDPOINT (USBD1_INTERRUPT_REQUEST_EP|0x80,
|
||||
0x03, /* bmAttributes (Interrupt). */
|
||||
0x0008, /* wMaxPacketSize. */
|
||||
0xFF), /* bInterval. */
|
||||
@ -144,12 +144,12 @@ static const uint8_t vcom_configuration_descriptor_data[67] = {
|
||||
4.7). */
|
||||
0x00), /* iInterface. */
|
||||
/* Endpoint 3 Descriptor.*/
|
||||
USB_DESC_ENDPOINT (USB_DATA_AVAILABLE_EP, /* bEndpointAddress.*/
|
||||
USB_DESC_ENDPOINT (USBD1_DATA_AVAILABLE_EP, /* bEndpointAddress.*/
|
||||
0x02, /* bmAttributes (Bulk). */
|
||||
0x0040, /* wMaxPacketSize. */
|
||||
0x00), /* bInterval. */
|
||||
/* Endpoint 1 Descriptor.*/
|
||||
USB_DESC_ENDPOINT (USB_DATA_REQUEST_EP|0x80, /* bEndpointAddress.*/
|
||||
USB_DESC_ENDPOINT (USBD1_DATA_REQUEST_EP|0x80, /* bEndpointAddress.*/
|
||||
0x02, /* bmAttributes (Bulk). */
|
||||
0x0040, /* wMaxPacketSize. */
|
||||
0x00) /* bInterval. */
|
||||
@ -314,8 +314,8 @@ static void usb_event(USBDriver *usbp, usbevent_t event) {
|
||||
/* Enables the endpoints specified into the configuration.
|
||||
Note, this callback is invoked from an ISR so I-Class functions
|
||||
must be used.*/
|
||||
usbInitEndpointI(usbp, USB_DATA_REQUEST_EP, &ep1config);
|
||||
usbInitEndpointI(usbp, USB_INTERRUPT_REQUEST_EP, &ep2config);
|
||||
usbInitEndpointI(usbp, USBD1_DATA_REQUEST_EP, &ep1config);
|
||||
usbInitEndpointI(usbp, USBD1_INTERRUPT_REQUEST_EP, &ep2config);
|
||||
|
||||
/* Resetting the state of the CDC subsystem.*/
|
||||
sduConfigureHookI(&SDU1);
|
||||
@ -401,14 +401,14 @@ const USBConfig usbcfg = {
|
||||
* Serial over USB driver configuration.
|
||||
*/
|
||||
const SerialUSBConfig serusbcfg1 = {
|
||||
#if STM32_USB_USE_OTG2 || STM32_OTG2_IS_OTG1
|
||||
#if STM32_OTG2_IS_OTG1
|
||||
&USBD2,
|
||||
#else
|
||||
&USBD1,
|
||||
#endif
|
||||
USB_DATA_REQUEST_EP,
|
||||
USB_DATA_AVAILABLE_EP,
|
||||
USB_INTERRUPT_REQUEST_EP
|
||||
USBD1_DATA_REQUEST_EP,
|
||||
USBD1_DATA_AVAILABLE_EP,
|
||||
USBD1_INTERRUPT_REQUEST_EP
|
||||
};
|
||||
|
||||
#endif // HAL_USB_PRODUCT_ID
|
||||
|
||||
@ -33,10 +33,6 @@
|
||||
#define HAL_HAVE_DUAL_USB_CDC 0
|
||||
#endif
|
||||
|
||||
#ifndef HAL_HAVE_USB_CDC_MSD
|
||||
#define HAL_HAVE_USB_CDC_MSD 0
|
||||
#endif
|
||||
|
||||
#if defined(__cplusplus)
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
@ -1,517 +0,0 @@
|
||||
/*
|
||||
ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
*/
|
||||
|
||||
#include "hal.h"
|
||||
#include "hwdef.h"
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
#include "hal_usb_msd.h"
|
||||
#include "usbcfg.h"
|
||||
|
||||
#if HAL_HAVE_USB_CDC_MSD
|
||||
/*
|
||||
* must be 64 for full speed and 512 for high speed
|
||||
*/
|
||||
#if STM32_USB_HS
|
||||
#define USB_MSD_EP_SIZE 512U
|
||||
#else
|
||||
#define USB_MSD_EP_SIZE 64U
|
||||
#endif
|
||||
#define USB_DATA_REQUEST_EP 2
|
||||
#define USB_DATA_AVAILABLE_EP 2
|
||||
#define USB_INTERRUPT_REQUEST_EP 3
|
||||
|
||||
SerialUSBDriver SDU1;
|
||||
|
||||
static cdc_linecoding_t linecoding = {
|
||||
{0x00, 0x96, 0x00, 0x00}, /* 38400. */
|
||||
LC_STOP_1, LC_PARITY_NONE, 8
|
||||
};
|
||||
|
||||
/*
|
||||
* USB Device Descriptor.
|
||||
*/
|
||||
static const uint8_t vcom_device_descriptor_data[18] = {
|
||||
USB_DESC_DEVICE (0x0200, /* bcdUSB (2.0). */
|
||||
0xEF, /* bDeviceClass (MISC). ef */
|
||||
0x02, /* bDeviceSubClass. 02 */
|
||||
0x01, /* bDeviceProtocol. 01 */
|
||||
0x40, /* bMaxPacketSize. */
|
||||
HAL_USB_VENDOR_ID, /* idVendor (ST). */
|
||||
HAL_USB_PRODUCT_ID, /* idProduct. */
|
||||
0x0200, /* bcdDevice. */
|
||||
1, /* iManufacturer. */
|
||||
2, /* iProduct. */
|
||||
3, /* iSerialNumber. */
|
||||
1) /* bNumConfigurations. */
|
||||
};
|
||||
|
||||
/*
|
||||
* Device Descriptor wrapper.
|
||||
*/
|
||||
static const USBDescriptor vcom_device_descriptor = {
|
||||
sizeof vcom_device_descriptor_data,
|
||||
vcom_device_descriptor_data
|
||||
};
|
||||
|
||||
/* Configuration Descriptor tree for a CDC.*/
|
||||
static const uint8_t vcom_configuration_descriptor_data[] = {
|
||||
/* Configuration Descriptor.*/
|
||||
USB_DESC_CONFIGURATION(0x0062, /* wTotalLength. */
|
||||
0x03, /* bNumInterfaces. */
|
||||
0x01, /* bConfigurationValue. */
|
||||
0, /* iConfiguration. */
|
||||
0xC0, /* bmAttributes (self powered). */
|
||||
250), /* bMaxPower (100mA). */
|
||||
/* Interface Descriptor.*/
|
||||
USB_DESC_INTERFACE (0x00, /* bInterfaceNumber. */
|
||||
0x00, /* bAlternateSetting. */
|
||||
0x02, /* bNumEndpoints. */
|
||||
0x08, /* bInterfaceClass (Mass Storage) */
|
||||
0x06, /* bInterfaceSubClass (SCSI
|
||||
Transparent storage class) */
|
||||
0x50, /* bInterfaceProtocol (Bulk Only) */
|
||||
0), /* iInterface. (none) */
|
||||
/* Mass Storage Data In Endpoint Descriptor.*/
|
||||
USB_DESC_ENDPOINT (USB_MSD_DATA_EP | 0x80,
|
||||
0x02, /* bmAttributes (Bulk). */
|
||||
USB_MSD_EP_SIZE, /* wMaxPacketSize. */
|
||||
0x00), /* bInterval. 1ms */
|
||||
/* Mass Storage Data Out Endpoint Descriptor.*/
|
||||
USB_DESC_ENDPOINT (USB_MSD_DATA_EP,
|
||||
0x02, /* bmAttributes (Bulk). */
|
||||
USB_MSD_EP_SIZE, /* wMaxPacketSize. */
|
||||
0x00), /* bInterval. 1ms */
|
||||
// CDC
|
||||
/* IAD Descriptor */
|
||||
USB_DESC_INTERFACE_ASSOCIATION(0x01, /* bFirstInterface. */
|
||||
0x02, /* bInterfaceCount. */
|
||||
0x02, /* bFunctionClass (CDC). */
|
||||
0x02, /* bFunctionSubClass. (2) */
|
||||
0x01, /* bFunctionProtocol (1) */
|
||||
2), /* iInterface. */
|
||||
/* Interface Descriptor.*/
|
||||
USB_DESC_INTERFACE (0x01, /* bInterfaceNumber. */
|
||||
0x00, /* bAlternateSetting. */
|
||||
0x01, /* bNumEndpoints. */
|
||||
0x02, /* bInterfaceClass (Communications
|
||||
Interface Class, CDC section
|
||||
4.2). */
|
||||
0x02, /* bInterfaceSubClass (Abstract
|
||||
Control Model, CDC section 4.3). */
|
||||
0x01, /* bInterfaceProtocol (AT commands,
|
||||
CDC section 4.4). */
|
||||
0), /* iInterface. */
|
||||
/* Header Functional Descriptor (CDC section 5.2.3).*/
|
||||
USB_DESC_BYTE (5), /* bLength. */
|
||||
USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
|
||||
USB_DESC_BYTE (0x00), /* bDescriptorSubtype (Header
|
||||
Functional Descriptor. */
|
||||
USB_DESC_BCD (0x0110), /* bcdCDC. */
|
||||
/* Call Management Functional Descriptor. */
|
||||
USB_DESC_BYTE (5), /* bFunctionLength. */
|
||||
USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
|
||||
USB_DESC_BYTE (0x01), /* bDescriptorSubtype (Call Management
|
||||
Functional Descriptor). */
|
||||
USB_DESC_BYTE (0x00), /* bmCapabilities (D0+D1). */
|
||||
USB_DESC_BYTE (0x02), /* bDataInterface. */
|
||||
/* ACM Functional Descriptor.*/
|
||||
USB_DESC_BYTE (4), /* bFunctionLength. */
|
||||
USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
|
||||
USB_DESC_BYTE (0x02), /* bDescriptorSubtype (Abstract
|
||||
Control Management Descriptor). */
|
||||
USB_DESC_BYTE (0x02), /* bmCapabilities. */
|
||||
/* Union Functional Descriptor.*/
|
||||
USB_DESC_BYTE (5), /* bFunctionLength. */
|
||||
USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
|
||||
USB_DESC_BYTE (0x06), /* bDescriptorSubtype (Union
|
||||
Functional Descriptor). */
|
||||
USB_DESC_BYTE (0x01), /* bMasterInterface (Communication
|
||||
Class Interface). */
|
||||
USB_DESC_BYTE (0x02), /* bSlaveInterface0 (Data Class
|
||||
Interface). */
|
||||
/* Endpoint 5 Descriptor.*/
|
||||
USB_DESC_ENDPOINT (USB_INTERRUPT_REQUEST_EP|0x80,
|
||||
0x03, /* bmAttributes (Interrupt). */
|
||||
0x0008, /* wMaxPacketSize. */
|
||||
0xFF), /* bInterval. */
|
||||
/* Interface Descriptor.*/
|
||||
USB_DESC_INTERFACE (0x02, /* bInterfaceNumber. */
|
||||
0x00, /* bAlternateSetting. */
|
||||
0x02, /* bNumEndpoints. */
|
||||
0x0A, /* bInterfaceClass (Data Class
|
||||
Interface, CDC section 4.5). */
|
||||
0x00, /* bInterfaceSubClass (CDC section
|
||||
4.6). */
|
||||
0x00, /* bInterfaceProtocol (CDC section
|
||||
4.7). */
|
||||
0x00), /* iInterface. */
|
||||
/* Endpoint 4 Descriptor.*/
|
||||
USB_DESC_ENDPOINT (USB_DATA_AVAILABLE_EP, /* bEndpointAddress.*/
|
||||
0x02, /* bmAttributes (Bulk). */
|
||||
0x0040, /* wMaxPacketSize. */
|
||||
0x00), /* bInterval. */
|
||||
/* Endpoint 4 Descriptor.*/
|
||||
USB_DESC_ENDPOINT (USB_DATA_REQUEST_EP|0x80, /* bEndpointAddress.*/
|
||||
0x02, /* bmAttributes (Bulk). */
|
||||
0x0040, /* wMaxPacketSize. */
|
||||
0x00) /* bInterval. */
|
||||
};
|
||||
|
||||
/*
|
||||
* Configuration Descriptor wrapper.
|
||||
*/
|
||||
static const USBDescriptor vcom_configuration_descriptor = {
|
||||
sizeof vcom_configuration_descriptor_data,
|
||||
vcom_configuration_descriptor_data
|
||||
};
|
||||
|
||||
/*
|
||||
* U.S. English language identifier.
|
||||
*/
|
||||
static const uint8_t vcom_string0[] = {
|
||||
USB_DESC_BYTE(4), /* bLength. */
|
||||
USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType. */
|
||||
USB_DESC_WORD(0x0409) /* wLANGID (U.S. English). */
|
||||
};
|
||||
|
||||
/*
|
||||
* Strings wrappers array. The strings are created dynamically to
|
||||
* allow them to be setup with apj_tool
|
||||
*/
|
||||
static USBDescriptor vcom_strings[] = {
|
||||
{sizeof vcom_string0, vcom_string0},
|
||||
{0, NULL}, // manufacturer
|
||||
{0, NULL}, // product
|
||||
{0, NULL}, // version
|
||||
};
|
||||
|
||||
static uint8_t vcom_buffers[3][2+2*USB_DESC_MAX_STRLEN];
|
||||
|
||||
/*
|
||||
dynamically allocate a USB descriptor string
|
||||
*/
|
||||
static void setup_usb_string(USBDescriptor *desc, const char *str, uint8_t *b)
|
||||
{
|
||||
char str2[USB_DESC_MAX_STRLEN];
|
||||
string_substitute(str, str2);
|
||||
uint8_t len = strlen(str2);
|
||||
desc->ud_size = 2+2*len;
|
||||
desc->ud_string = (const uint8_t *)b;
|
||||
b[0] = USB_DESC_BYTE(desc->ud_size);
|
||||
b[1] = USB_DESC_BYTE(USB_DESCRIPTOR_STRING);
|
||||
uint8_t i;
|
||||
for (i=0; i<len; i++) {
|
||||
b[2+i*2] = str2[i];
|
||||
b[2+i*2+1] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
dynamically allocate a USB descriptor strings
|
||||
*/
|
||||
void setup_usb_strings(void)
|
||||
{
|
||||
setup_usb_string(&vcom_strings[1], HAL_USB_STRING_MANUFACTURER, vcom_buffers[0]);
|
||||
setup_usb_string(&vcom_strings[2], HAL_USB_STRING_PRODUCT, vcom_buffers[1]);
|
||||
setup_usb_string(&vcom_strings[3], HAL_USB_STRING_SERIAL, vcom_buffers[2]);
|
||||
}
|
||||
|
||||
/*
|
||||
* Handles the GET_DESCRIPTOR callback. All required descriptors must be
|
||||
* handled here.
|
||||
*/
|
||||
static const USBDescriptor *get_descriptor(USBDriver *usbp,
|
||||
uint8_t dtype,
|
||||
uint8_t dindex,
|
||||
uint16_t lang)
|
||||
{
|
||||
|
||||
(void)usbp;
|
||||
(void)lang;
|
||||
switch (dtype) {
|
||||
case USB_DESCRIPTOR_DEVICE:
|
||||
return &vcom_device_descriptor;
|
||||
case USB_DESCRIPTOR_CONFIGURATION:
|
||||
return &vcom_configuration_descriptor;
|
||||
case USB_DESCRIPTOR_STRING:
|
||||
if (dindex < 4) {
|
||||
return &vcom_strings[dindex];
|
||||
}
|
||||
}
|
||||
return NULL;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
get the requested usb baudrate - 0 = none
|
||||
*/
|
||||
#if HAL_USE_SERIAL_USB
|
||||
uint32_t get_usb_baud(uint16_t endpoint_id)
|
||||
{
|
||||
if (endpoint_id == 0) {
|
||||
uint32_t rate;
|
||||
memcpy(&rate, &linecoding.dwDTERate[0], sizeof(rate));
|
||||
return rate;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief IN EP1 state.
|
||||
*/
|
||||
static USBInEndpointState ep1instate;
|
||||
|
||||
/**
|
||||
* @brief OUT EP1 state.
|
||||
*/
|
||||
static USBOutEndpointState ep1outstate;
|
||||
|
||||
/**
|
||||
* @brief EP1 initialization structure (both IN and OUT).
|
||||
*/
|
||||
static const USBEndpointConfig ep1config = {
|
||||
USB_EP_MODE_TYPE_BULK,
|
||||
NULL,
|
||||
NULL,
|
||||
NULL,
|
||||
USB_MSD_EP_SIZE,
|
||||
USB_MSD_EP_SIZE,
|
||||
&ep1instate,
|
||||
&ep1outstate,
|
||||
2,
|
||||
NULL
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief IN EP2 state.
|
||||
*/
|
||||
|
||||
static USBInEndpointState ep2instate;
|
||||
|
||||
/**
|
||||
* @brief OUT EP2 state.
|
||||
*/
|
||||
|
||||
static USBOutEndpointState ep2outstate;
|
||||
|
||||
/**
|
||||
* @brief EP2 initialization structure (both IN and OUT).
|
||||
*/
|
||||
|
||||
static const USBEndpointConfig ep2config = {
|
||||
USB_EP_MODE_TYPE_BULK,
|
||||
NULL,
|
||||
sduDataTransmitted,
|
||||
sduDataReceived,
|
||||
0x0040,
|
||||
0x0040,
|
||||
&ep2instate,
|
||||
&ep2outstate,
|
||||
2,
|
||||
NULL
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief IN EP3 state.
|
||||
*/
|
||||
static USBInEndpointState ep3instate;
|
||||
|
||||
/**
|
||||
* @brief EP3 initialization structure (IN only).
|
||||
*/
|
||||
static const USBEndpointConfig ep3config = {
|
||||
USB_EP_MODE_TYPE_INTR,
|
||||
NULL,
|
||||
sduInterruptTransmitted,
|
||||
NULL,
|
||||
0x0010,
|
||||
0x0000,
|
||||
&ep3instate,
|
||||
NULL,
|
||||
1,
|
||||
NULL
|
||||
};
|
||||
|
||||
/*
|
||||
* Handles the USB driver global events.
|
||||
*/
|
||||
static void usb_event(USBDriver *usbp, usbevent_t event)
|
||||
{
|
||||
extern SerialUSBDriver SDU1;
|
||||
|
||||
switch (event) {
|
||||
case USB_EVENT_ADDRESS:
|
||||
return;
|
||||
case USB_EVENT_CONFIGURED:
|
||||
chSysLockFromISR();
|
||||
|
||||
/* Enables the endpoints specified into the configuration.
|
||||
Note, this callback is invoked from an ISR so I-Class functions
|
||||
must be used.*/
|
||||
|
||||
usbInitEndpointI(usbp, USB_MSD_DATA_EP, &ep1config);
|
||||
usbInitEndpointI(usbp, USB_DATA_REQUEST_EP, &ep2config);
|
||||
usbInitEndpointI(usbp, USB_INTERRUPT_REQUEST_EP, &ep3config);
|
||||
|
||||
/* Resetting the state of the CDC subsystem.*/
|
||||
sduConfigureHookI(&SDU1);
|
||||
|
||||
chSysUnlockFromISR();
|
||||
return;
|
||||
case USB_EVENT_RESET:
|
||||
/* Falls into.*/
|
||||
case USB_EVENT_UNCONFIGURED:
|
||||
/* Falls into.*/
|
||||
case USB_EVENT_SUSPEND:
|
||||
chSysLockFromISR();
|
||||
|
||||
/* Disconnection event on suspend.*/
|
||||
sduSuspendHookI(&SDU1);
|
||||
|
||||
chSysUnlockFromISR();
|
||||
return;
|
||||
case USB_EVENT_WAKEUP:
|
||||
chSysLockFromISR();
|
||||
|
||||
/* Disconnection event on suspend.*/
|
||||
sduWakeupHookI(&SDU1);
|
||||
|
||||
chSysUnlockFromISR();
|
||||
return;
|
||||
case USB_EVENT_STALLED:
|
||||
return;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
#define MSD_SETUP_WORD(setup, index) (uint16_t)(((uint16_t)setup[index+1] << 8)\
|
||||
| (setup[index] & 0x00FF))
|
||||
#define MSD_SETUP_VALUE(setup) MSD_SETUP_WORD(setup, 2)
|
||||
#define MSD_SETUP_INDEX(setup) MSD_SETUP_WORD(setup, 4)
|
||||
#define MSD_SETUP_LENGTH(setup) MSD_SETUP_WORD(setup, 6)
|
||||
|
||||
#define MSD_REQ_RESET 0xFF
|
||||
#define MSD_GET_MAX_LUN 0xFE
|
||||
|
||||
static uint8_t zbuf = 0;
|
||||
static bool hybridRequestHook(USBDriver *usbp)
|
||||
{
|
||||
|
||||
// handle MSD setup request -- we could change the interface here
|
||||
#define USB_MSD_INTERFACE 0
|
||||
|
||||
if (((usbp->setup[0] & USB_RTYPE_TYPE_MASK) == USB_RTYPE_TYPE_CLASS) &&
|
||||
((usbp->setup[0] & USB_RTYPE_RECIPIENT_MASK) ==
|
||||
USB_RTYPE_RECIPIENT_INTERFACE)) {
|
||||
|
||||
if (MSD_SETUP_INDEX(usbp->setup) == USB_MSD_INTERFACE) {
|
||||
|
||||
switch (usbp->setup[1]) {
|
||||
case MSD_REQ_RESET:
|
||||
/* check that it is a HOST2DEV request */
|
||||
if (((usbp->setup[0] & USB_RTYPE_DIR_MASK) != USB_RTYPE_DIR_HOST2DEV) ||
|
||||
(MSD_SETUP_LENGTH(usbp->setup) != 0) ||
|
||||
(MSD_SETUP_VALUE(usbp->setup) != 0)) {
|
||||
return false;
|
||||
}
|
||||
chSysLockFromISR();
|
||||
usbStallReceiveI(usbp, 1);
|
||||
usbStallTransmitI(usbp, 1);
|
||||
chSysUnlockFromISR();
|
||||
|
||||
/* response to this request using EP0 */
|
||||
|
||||
usbSetupTransfer(usbp, 0, 0, NULL);
|
||||
return true;
|
||||
|
||||
case MSD_GET_MAX_LUN:
|
||||
/* check that it is a DEV2HOST request */
|
||||
if (((usbp->setup[0] & USB_RTYPE_DIR_MASK) != USB_RTYPE_DIR_DEV2HOST) ||
|
||||
(MSD_SETUP_LENGTH(usbp->setup) != 1) ||
|
||||
(MSD_SETUP_VALUE(usbp->setup) != 0)) {
|
||||
return false;
|
||||
}
|
||||
// send 0 packet to indicate that we don't do LUN
|
||||
zbuf = 0;
|
||||
usbSetupTransfer(usbp, &zbuf, 1, NULL);
|
||||
return true;
|
||||
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if ((usbp->setup[0] & USB_RTYPE_TYPE_MASK) == USB_RTYPE_TYPE_CLASS && usbp->setup[4] == 0x01 && usbp->setup[5] == 0x00) {
|
||||
switch (usbp->setup[1]) {
|
||||
case CDC_GET_LINE_CODING:
|
||||
usbSetupTransfer(usbp, (uint8_t *)&linecoding, sizeof(linecoding), NULL);
|
||||
return true;
|
||||
case CDC_SET_LINE_CODING:
|
||||
usbSetupTransfer(usbp, (uint8_t *)&linecoding, sizeof(linecoding), NULL);
|
||||
return true;
|
||||
case CDC_SET_CONTROL_LINE_STATE:
|
||||
/* Nothing to do, there are no control lines.*/
|
||||
usbSetupTransfer(usbp, NULL, 0, NULL);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return sduRequestsHook(usbp);
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Handles the USB driver global events.
|
||||
*/
|
||||
static void sof_handler(USBDriver *usbp)
|
||||
{
|
||||
|
||||
(void)usbp;
|
||||
|
||||
osalSysLockFromISR();
|
||||
sduSOFHookI(&SDU1);
|
||||
osalSysUnlockFromISR();
|
||||
}
|
||||
|
||||
// USB Driver configuration.
|
||||
|
||||
const USBConfig usbcfg = {
|
||||
usb_event,
|
||||
get_descriptor,
|
||||
hybridRequestHook,
|
||||
sof_handler
|
||||
};
|
||||
|
||||
|
||||
// Serial over USB driver configuration.
|
||||
|
||||
const SerialUSBConfig serusbcfg1 = {
|
||||
#if STM32_USB_USE_OTG1
|
||||
&USBD1,
|
||||
#else
|
||||
&USBD2,
|
||||
#endif
|
||||
USB_DATA_REQUEST_EP,
|
||||
USB_DATA_AVAILABLE_EP,
|
||||
USB_INTERRUPT_REQUEST_EP
|
||||
};
|
||||
#endif // HAL_HAVE_USB_CDC_MSD
|
||||
@ -528,11 +528,7 @@ const USBConfig usbcfg = {
|
||||
* Serial over USB driver configuration 1.
|
||||
*/
|
||||
const SerialUSBConfig serusbcfg1 = {
|
||||
#if STM32_USB_USE_OTG1
|
||||
&USBD1,
|
||||
#else
|
||||
&USBD2,
|
||||
#endif
|
||||
USB_DATA_REQUEST_EP_A,
|
||||
USB_DATA_AVAILABLE_EP_A,
|
||||
USB_INTERRUPT_REQUEST_EP_A
|
||||
@ -542,11 +538,7 @@ const SerialUSBConfig serusbcfg1 = {
|
||||
* Serial over USB driver configuration 2.
|
||||
*/
|
||||
const SerialUSBConfig serusbcfg2 = {
|
||||
#if STM32_USB_USE_OTG1
|
||||
&USBD1,
|
||||
#else
|
||||
&USBD2,
|
||||
#endif
|
||||
USB_DATA_REQUEST_EP_B,
|
||||
USB_DATA_AVAILABLE_EP_B,
|
||||
USB_INTERRUPT_REQUEST_EP_B
|
||||
|
||||
@ -929,22 +929,8 @@ class ChibiOSHWDef(object):
|
||||
f.write('#define STM32_OTG2_IS_OTG1 FALSE\n')
|
||||
f.write('#define HAL_USE_USB TRUE\n')
|
||||
f.write('#define HAL_USE_SERIAL_USB TRUE\n')
|
||||
f.write('#define STM32_USB_HS FALSE\n')
|
||||
if 'OTG2' in self.bytype:
|
||||
f.write('#define STM32_USB_USE_OTG2 TRUE\n')
|
||||
f.write('#define STM32_USB_HS FALSE\n')
|
||||
if 'OTG_HS' in self.bytype:
|
||||
f.write('#define STM32_OTG2_IS_OTG1 FALSE\n')
|
||||
f.write('#define STM32_USB_USE_OTG2 TRUE\n')
|
||||
f.write('#define STM32_USB_HS TRUE\n')
|
||||
f.write('#define HAL_USE_USB TRUE\n')
|
||||
f.write('#define HAL_USE_SERIAL_USB TRUE\n')
|
||||
f.write('#define BOARD_OTG2_USES_ULPI\n')
|
||||
|
||||
if self.get_config('HAL_USE_USB_MSD', required=False):
|
||||
f.write('#define HAL_USE_USB_MSD TRUE\n')
|
||||
f.write('#define HAL_HAVE_USB_CDC_MSD 1\n')
|
||||
self.build_flags.append('USE_USB_MSD=yes')
|
||||
|
||||
defines = self.get_mcu_config('DEFINES', False)
|
||||
if defines is not None:
|
||||
@ -997,6 +983,9 @@ class ChibiOSHWDef(object):
|
||||
if result:
|
||||
self.intdefines[result.group(1)] = int(result.group(2))
|
||||
|
||||
if self.intdefines.get('HAL_USE_USB_MSD',0) == 1:
|
||||
self.build_flags.append('USE_USB_MSD=yes')
|
||||
|
||||
if self.have_type_prefix('CAN') and not using_chibios_can:
|
||||
self.enable_can(f)
|
||||
flash_size = self.get_config('FLASH_SIZE_KB', type=int)
|
||||
@ -2801,7 +2790,7 @@ INCLUDE common.ld
|
||||
def valid_type(self, ptype, label):
|
||||
'''check type of a pin line is valid'''
|
||||
patterns = [ 'INPUT', 'OUTPUT', 'TIM\d+', 'USART\d+', 'UART\d+', 'ADC\d+',
|
||||
'SPI\d+', 'OTG\d+', 'OTG_HS', 'SWD', 'CAN\d?', 'I2C\d+', 'CS',
|
||||
'SPI\d+', 'OTG\d+', 'SWD', 'CAN\d?', 'I2C\d+', 'CS',
|
||||
'SDMMC\d+', 'SDIO', 'QUADSPI\d', 'OCTOSPI\d' ]
|
||||
matches = False
|
||||
for p in patterns:
|
||||
|
||||
@ -23,27 +23,9 @@
|
||||
#include <AP_Filesystem/AP_Filesystem.h>
|
||||
#include "bouncebuffer.h"
|
||||
#include "stm32_util.h"
|
||||
#include "hwdef/common/usbcfg.h"
|
||||
#include "stm32_util.h"
|
||||
|
||||
extern const AP_HAL::HAL& hal;
|
||||
|
||||
|
||||
#if HAL_HAVE_USB_CDC_MSD
|
||||
bool write_protected = false;
|
||||
static void block_filesys_access()
|
||||
{
|
||||
AP::FS().block_access();
|
||||
write_protected = true;
|
||||
}
|
||||
|
||||
static void free_filesys_access()
|
||||
{
|
||||
write_protected = false;
|
||||
AP::FS().free_access();
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_POSIX
|
||||
static FATFS SDC_FS; // FATFS object
|
||||
#ifndef HAL_BOOTLOADER_BUILD
|
||||
@ -65,11 +47,6 @@ static SPIConfig lowspeed;
|
||||
static SPIConfig highspeed;
|
||||
#endif
|
||||
|
||||
#if HAL_HAVE_USB_CDC_MSD
|
||||
static uint8_t blkbuf[512];
|
||||
static uint8_t txbuf[512];
|
||||
#endif
|
||||
|
||||
/*
|
||||
initialise microSD card if avaialble. This is called during
|
||||
AP_BoardConfig initialisation. The parameter BRD_SD_SLOWDOWN
|
||||
@ -111,36 +88,13 @@ bool sdcard_init()
|
||||
sdcStop(&sdcd);
|
||||
continue;
|
||||
}
|
||||
FRESULT res = f_mount(&SDC_FS, "/", 1);
|
||||
#if defined(HAL_SDMMC_TYPE_EMMC)
|
||||
if (res == FR_NO_FILESYSTEM) {
|
||||
//format eMMC
|
||||
MKFS_PARM opt = {0};
|
||||
opt.fmt = FM_EXFAT;
|
||||
res = f_mkfs("/", &opt, 0, 4096);
|
||||
if (res == FR_OK) {
|
||||
res = f_mount(&SDC_FS, "/", 1);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
if (res != FR_OK) {
|
||||
if (f_mount(&SDC_FS, "/", 1) != FR_OK) {
|
||||
sdcDisconnect(&sdcd);
|
||||
sdcStop(&sdcd);
|
||||
continue;
|
||||
}
|
||||
printf("Successfully mounted SDCard (slowdown=%u)\n", (unsigned)sd_slowdown);
|
||||
#if HAL_HAVE_USB_CDC_MSD
|
||||
if (USBMSD1.state == USB_MSD_UNINIT) {
|
||||
msdObjectInit(&USBMSD1);
|
||||
msdStart(&USBMSD1,
|
||||
#if STM32_USB_USE_OTG1
|
||||
&USBD1,
|
||||
#else
|
||||
&USBD2,
|
||||
#endif
|
||||
(BaseBlockDevice*)&SDCD1, blkbuf, txbuf, NULL, NULL, block_filesys_access, free_filesys_access);
|
||||
}
|
||||
#endif
|
||||
|
||||
sdcard_running = true;
|
||||
return true;
|
||||
}
|
||||
@ -196,16 +150,6 @@ bool sdcard_init()
|
||||
return false;
|
||||
}
|
||||
|
||||
#if HAL_USE_SDC
|
||||
bool sdc_lld_is_write_protected(SDCDriver *sdcp) {
|
||||
#if HAL_HAVE_USB_CDC_MSD
|
||||
return write_protected;
|
||||
#else
|
||||
return false;
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
/*
|
||||
stop sdcard interface (for reboot)
|
||||
*/
|
||||
|
||||
Loading…
Reference in New Issue
Block a user