ChibiOS: support STM32H7A3

Tools/AP_Bootloader/bl_protocol.cpp

@@ -422,23 +422,23 @@ static void test_flash()
             }
             uint32_t num_writes = flash_func_sector_size(page) / sizeof(v);
             uprintf("page %u size %u addr=0x%08x v=0x%08x\n",
-                    page, flash_func_sector_size(page), addr, v[0]); delay(10);
+                    unsigned(page), unsigned(flash_func_sector_size(page)), unsigned(addr), unsigned(v[0])); delay(10);
             if (init_done) {
                 for (uint32_t j=0; j<flash_func_sector_size(page)/4; j++) {
                     uint32_t v1 = (page<<16) + (loop-1);
                     uint32_t v2 = flash_func_read_word(addr+j*4);
                     if (v2 != v1) {
-                        uprintf("read error at 0x%08x v=0x%08x v2=0x%08x\n", addr+j*4, v1, v2);
+                        uprintf("read error at 0x%08x v=0x%08x v2=0x%08x\n", unsigned(addr+j*4), unsigned(v1), unsigned(v2));
                         break;
                     }
                 }
             }
             if (!flash_func_erase_sector(page)) {
-                uprintf("erase of %u failed\n", page);
+                uprintf("erase of %u failed\n", unsigned(page));
             }
             for (uint32_t j=0; j<num_writes; j++) {
                 if (!flash_func_write_words(addr+j*sizeof(v), v, ARRAY_SIZE(v))) {
-                    uprintf("write failed at 0x%08x\n", addr+j*sizeof(v));
+                    uprintf("write failed at 0x%08x\n", unsigned(addr+j*sizeof(v)));
                     break;
                 }
             }

libraries/AP_HAL_ChibiOS/Storage.cpp

@@ -330,7 +330,11 @@ void Storage::_flash_load(void)
 #ifdef STORAGE_FLASH_PAGE
     _flash_page = STORAGE_FLASH_PAGE;
 
+#if AP_FLASH_STORAGE_DOUBLE_PAGE
+    ::printf("Storage: Using flash pages %u to %u\n", _flash_page, _flash_page+3);
+#else
     ::printf("Storage: Using flash pages %u and %u\n", _flash_page, _flash_page+1);
+#endif
 
     if (!_flash.init()) {
         AP_HAL::panic("Unable to init flash storage");
@@ -359,6 +363,9 @@ bool Storage::_flash_write(uint16_t line)
 bool Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length)
 {
 #ifdef STORAGE_FLASH_PAGE
+#if AP_FLASH_STORAGE_DOUBLE_PAGE
+    sector *= 2;
+#endif
     size_t base_address = hal.flash->getpageaddr(_flash_page+sector);
     for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
         EXPECT_DELAY_MS(1);
@@ -390,6 +397,9 @@ bool Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *
 bool Storage::_flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length)
 {
 #ifdef STORAGE_FLASH_PAGE
+#if AP_FLASH_STORAGE_DOUBLE_PAGE
+    sector *= 2;
+#endif
     size_t base_address = hal.flash->getpageaddr(_flash_page+sector);
     const uint8_t *b = ((const uint8_t *)base_address)+offset;
     memcpy(data, b, length);
@@ -405,6 +415,9 @@ bool Storage::_flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, u
 bool Storage::_flash_erase_sector(uint8_t sector)
 {
 #ifdef STORAGE_FLASH_PAGE
+#if AP_FLASH_STORAGE_DOUBLE_PAGE
+    sector *= 2;
+#endif
     // erasing a page can take long enough that USB may not initialise properly if it happens
     // while the host is connecting. Only do a flash erase if we have been up for more than 4s
     for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
@@ -415,9 +428,15 @@ bool Storage::_flash_erase_sector(uint8_t sector)
           in the main thread
          */
         EXPECT_DELAY_MS(1000);
+#if AP_FLASH_STORAGE_DOUBLE_PAGE
+        if (hal.flash->erasepage(_flash_page+sector) && hal.flash->erasepage(_flash_page+sector+1)) {
+            return true;
+        }
+#else
         if (hal.flash->erasepage(_flash_page+sector)) {
             return true;
         }
+#endif
         hal.scheduler->delay(1);
     }
     return false;

libraries/AP_HAL_ChibiOS/Storage.h

@@ -47,6 +47,13 @@
 static_assert(CH_STORAGE_SIZE % CH_STORAGE_LINE_SIZE == 0,
               "Storage is not multiple of line size");
 
+/*
+  on boards with 8k sector sizes we double up to treat pairs of sectors as one
+ */
+#ifndef AP_FLASH_STORAGE_DOUBLE_PAGE
+#define AP_FLASH_STORAGE_DOUBLE_PAGE 0
+#endif
+
 class ChibiOS::Storage : public AP_HAL::Storage {
 public:
     void init() override {}
@@ -86,7 +93,11 @@ class ChibiOS::Storage : public AP_HAL::Storage {
 
 #ifdef STORAGE_FLASH_PAGE
     AP_FlashStorage _flash{_buffer,
+#if AP_FLASH_STORAGE_DOUBLE_PAGE
+            stm32_flash_getpagesize(STORAGE_FLASH_PAGE)*2,
+#else
             stm32_flash_getpagesize(STORAGE_FLASH_PAGE),
+#endif
             FUNCTOR_BIND_MEMBER(&Storage::_flash_write_data, bool, uint8_t, uint32_t, const uint8_t *, uint16_t),
             FUNCTOR_BIND_MEMBER(&Storage::_flash_read_data, bool, uint8_t, uint32_t, uint8_t *, uint16_t),
             FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_sector, bool, uint8_t),

libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef-bl.dat

@@ -0,0 +1,49 @@
+# hw definition file for processing by chibios_pins.py
+# for Matek H7A3 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H7A3xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MatekH7A3
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H7A3 has 8k sectors
+FLASH_BOOTLOADER_LOAD_KB 32
+
+
+# order of UARTs (and USB). Allow bootloading on USB and telem1
+SERIAL_ORDER OTG1 UART7
+
+# UART7 (telem1)
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# PA10 IO-debug-console
+PA11 OTG_HS_DM OTG1
+PA12 OTG_HS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# make sure Vsw is on during bootloader
+PD10  PINIO1 OUTPUT LOW
+
+PE3 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# Add CS pins to ensure they are high in bootloader
+PC15 IMU1_CS CS
+PB12 MAX7456_CS CS
+PE11 IMU2_CS CS
+PD4 EXT_CS1 CS
+PE2 EXT_CS2 CS
+PC13 IMU3_CS CS

libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef.dat

@@ -0,0 +1,226 @@
+# hw definition file for processing by chibios_pins.py
+# for Matek H7A3
+
+# MCU class and specific type
+MCU STM32H7xx STM32H7A3xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MatekH7A3
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+env OPTIMIZE -Os
+
+# bootloader takes first 4 sectors
+FLASH_RESERVE_START_KB 32
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# USB
+PA11 OTG_HS_DM OTG1
+PA12 OTG_HS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 for IMU1 (MPU6000)
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+PC15 IMU1_CS CS
+
+# SPI2 for MAX7456 OSD
+PB12 MAX7456_CS CS
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI3 - external
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+
+# external CS pins
+PD4 EXT_CS1 CS
+PE2 EXT_CS2 CS
+
+# SPI4 for IMU2 (ICM20602)
+PE11 IMU2_CS CS
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+
+# add ICM42605 on SPI4 as a backup to replace ICM20602
+PC13 IMU3_CS CS
+
+# two I2C bus
+I2C_ORDER I2C2 I2C1
+
+# I2C1
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# ADC
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+PA4 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
+PA7 BATT2_CURRENT_SENS ADC1 SCALE(1)
+
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT2_VOLT_PIN 18
+define HAL_BATT2_CURR_PIN 7
+define HAL_BATT_VOLT_SCALE 11.0
+define HAL_BATT_CURR_SCALE 40.0
+define HAL_BATT2_VOLT_SCALE 11.0
+
+PC4 PRESSURE_SENS ADC1 SCALE(2)
+define HAL_DEFAULT_AIRSPEED_PIN 4
+
+PC5 RSSI_ADC ADC1
+#define BOARD_RSSI_ANA_PIN 8
+
+# LED
+# green LED1 marked as B/E
+# blue LED0 marked as ACT
+PE3 LED0 OUTPUT LOW GPIO(90) # blue
+PE4 LED1 OUTPUT LOW GPIO(91) # green
+define HAL_GPIO_A_LED_PIN 91
+define HAL_GPIO_B_LED_PIN 90
+define HAL_GPIO_LED_OFF 1
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6
+
+# USART1 (telem2)
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1
+
+# USART2 (GPS1)
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART3 (GPS2)
+PD9 USART3_RX USART3
+PD8 USART3_TX USART3
+
+# UART4 (spare)
+PB9 UART4_TX UART4
+PB8 UART4_RX UART4
+
+# USART6 (RC input), SERIAL7
+PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW
+PC6 USART6_TX USART6 NODMA
+
+# as an alternative config setup the RX6 pin as a uart. This allows
+# for bi-directional UART based receiver protocols such as FPort
+# without any extra hardware
+PC7 USART6_RX USART6 NODMA ALT(1)
+
+# UART7 (telem1)
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+PE10 UART7_CTS UART7
+PE9  UART7_RTS UART7
+
+# UART8 (spare)
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+
+# Motors
+PB0  TIM8_CH2N TIM8  PWM(1)  GPIO(50)
+PB1  TIM8_CH3N TIM8  PWM(2)  GPIO(51)
+PA0  TIM5_CH1  TIM5  PWM(3)  GPIO(52)
+PA1  TIM5_CH2  TIM5  PWM(4)  GPIO(53)
+PA2  TIM5_CH3  TIM5  PWM(5)  GPIO(54)
+PA3  TIM5_CH4  TIM5  PWM(6)  GPIO(55)
+PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56)
+PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
+PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58)
+PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59)
+PE5  TIM15_CH1 TIM15 PWM(11) GPIO(60)
+PE6  TIM15_CH2 TIM15 PWM(12) GPIO(61)
+PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED
+
+# Beeper
+PA15 TIM2_CH1 TIM2 GPIO(32) ALARM
+
+# microSD support
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+# GPIOs
+PD10  PINIO1 OUTPUT GPIO(81) LOW
+PD11  PINIO2 OUTPUT GPIO(82) LOW
+
+DMA_PRIORITY S*
+
+define HAL_STORAGE_SIZE 15360
+
+# use last 4 pages for flash storage
+# H7A3 has 256 pages of 8k each
+STORAGE_FLASH_PAGE 252
+
+# use double page size for flash storage to effectively
+# give 16k pages
+define AP_FLASH_STORAGE_DOUBLE_PAGE 1
+
+# spi devices
+SPIDEV icm42688  SPI1 DEVID1 IMU1_CS      MODE3  2*MHZ 16*MHZ   # Clock is 100Mhz so highest clock <= 24Mhz is 100Mhz/8
+SPIDEV mpu6000   SPI1 DEVID1 IMU1_CS      MODE3  1*MHZ  4*MHZ
+SPIDEV icm20602  SPI4 DEVID1 IMU2_CS      MODE3  1*MHZ  4*MHZ
+SPIDEV icm42605  SPI4 DEVID1 IMU3_CS      MODE3  2*MHZ 16*MHZ
+SPIDEV osd       SPI2 DEVID4 MAX7456_CS   MODE0 10*MHZ 10*MHZ
+
+
+DMA_NOSHARE SPI1* SPI4*
+
+# SPI3 external connections
+SPIDEV pixartflow   SPI3 DEVID1  EXT_CS1  MODE3   2*MHZ  2*MHZ
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# two IMUs
+# H743-V1,      ICM20602, MPU6000
+# H743-V1.5/V2, ICM42605, MPU6000
+# H743-V3,      ICM42688P, ICM42605
+IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180
+IMU Invensensev3 SPI:icm42605 ROTATION_YAW_270
+IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_270
+IMU Invensense SPI:mpu6000 ROTATION_ROLL_180_YAW_270
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# DPS310 integrated on I2C2 bus, multiple possible choices for external barometer
+BARO MS56XX I2C:0:0x77
+BARO DPS310 I2C:0:0x76
+BARO BMP280 I2C:0:0x76
+
+define HAL_OS_FATFS_IO 1
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin