PX4 System changes Supporting STM32H7

stm32:ToneAlarmInterfacePWM TIM15-TIM17 have a BDTR Register

common:board_crashdump Add H7 support

stm32/board_mcu_version:Support H7

PX4 ADC:Use 32 interface and resoution abstraction

Added PX4 stm32h7 ADC driver

stm32h7:adc fix ADC ready check

fmu: handle BOARD_HAS_PWM==5

cmake: improve error handling for NuttX olddefconfig failures

WorkQueueManager:Quiet loadmon stack warning

camera_trigger:GPIO support < 6 GPIO

Adjust stack sizes (under hw stack check)

PX4 System changes Supporting STM32H7 PX4IO Driver

aerotenna_ocpoc:ADC add px4_arch_adc_dn_fullcount

init.cmake:Track Upstream change needing Make.def at config time

PX4 System changes Supporting STM32H7

NuttX CMakeLists.txt Track upstream changes

Common board_crashdump add header and px4 config

NuttX simplify callinb make libapps

Use UINT32_MAX for error return

drivers:uavcannode NuttX chip is now hardware

drivers:uavcanesc NuttX chip is now hardware

px4io:Avoid Race on AP to PX4 IO upgrade

boards/aerotenna/ocpoc/ocpoc_adc/ocpoc_adc.cpp

@@ -246,3 +246,8 @@ int ocpoc_adc_main(int argc, char *argv[])
 	return PX4_OK;
 
 }
+// This is a replacement for the hardcoded 4096
+uint32_t px4_arch_adc_dn_fullcount(void)
+{
+	return 1 << 12; // 12 bit ADC
+}

platforms/common/include/px4_platform_common/board_common.h

@@ -373,6 +373,8 @@ typedef enum PX4_SOC_ARCH_ID_t {
 	PX4_SOC_ARCH_ID_KINETISK66     =  0x0003,
 	PX4_SOC_ARCH_ID_SAMV7          =  0x0004,
 
+	PX4_SOC_ARCH_ID_STM32H7        =  0x0006,
+
 	PX4_SOC_ARCH_ID_EAGLE          =  0x1001,
 	PX4_SOC_ARCH_ID_QURT           =  0x1002,
 	PX4_SOC_ARCH_ID_OCPOC          =  0x1003,

platforms/nuttx/NuttX/CMakeLists.txt

@@ -317,7 +317,7 @@ add_custom_target(nuttx_builtin_list_target
 # libapps.a
 add_custom_command(OUTPUT ${APPS_DIR}/libapps.a ${APPS_DIR}/platform/.built
 	COMMAND find ${APPS_DIR} -name \*.o -delete
-	COMMAND make ${nuttx_build_options} --no-print-directory -C ../apps TOPDIR="${NUTTX_DIR}" libapps.a > nuttx_apps.log
+	COMMAND make ${nuttx_build_options} --no-print-directory TOPDIR="${NUTTX_DIR}" ../apps/libapps.a > nuttx_apps.log
 	DEPENDS
 		nuttx_builtin_list_target ${nuttx_builtin_list}
 		nuttx_context

platforms/nuttx/cmake/init.cmake

@@ -92,6 +92,11 @@ execute_process(COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} WORKING_DIRECTO
 
 set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)
 
+###############################################################################
+# Create a temporary Toplevel Make.defs for the oldconfig step
+###############################################################################
+configure_file(${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
+
 # If the board provides a Kconfig Use it or create an empty one
 if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
 	execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig)
@@ -120,7 +125,17 @@ if (NOT config_expanded)
 		WORKING_DIRECTORY ${NUTTX_DIR}
 		OUTPUT_FILE nuttx_olddefconfig.log
 		ERROR_FILE nuttx_olddefconfig.log
+		RESULT_VARIABLE ret
 	)
+	if(NOT ret EQUAL "0")
+		# Show the log here as it will be deleted due to the incomplete configure step
+		file(READ ${NUTTX_DIR}/nuttx_olddefconfig.log DEFCONFIG_LOG)
+		message( STATUS "${DEFCONFIG_LOG}")
+		message( FATAL_ERROR "NuttX olddefconfig target failed. \
+Possible cause: the board (${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}) has the wrong directory structure (i.e. missing files).")
+	endif()
+	# remove Toplevel Make.defs
+	file(REMOVE ${NUTTX_DIR}/Make.defs)
 endif()
 
 ###############################################################################

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -107,6 +107,9 @@ function(px4_os_determine_build_chip)
 	elseif(CONFIG_ARCH_CHIP_STM32F7)
 		set(CHIP_MANUFACTURER "stm")
 		set(CHIP "stm32f7")
+	elseif(CONFIG_ARCH_CHIP_STM32H7)
+		set(CHIP_MANUFACTURER "stm")
+		set(CHIP "stm32h7")
 	elseif(CONFIG_ARCH_CHIP_MK66FN2M0VMD18)
 		set(CHIP_MANUFACTURER "nxp")
 		set(CHIP "k66")

platforms/nuttx/src/px4/common/board_crashdump.c

@@ -1,3 +1,43 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2017-2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_crashdump.c
+ *
+ * Provides common board logic for crashdump callout
+ * and hardfault log support
+ */
+
 #ifdef CONFIG_BOARD_CRASHDUMP
 
 #include <board_config.h>
@@ -18,6 +58,10 @@
 #  define HAS_BBSRAM CONFIG_STM32F7_BBSRAM
 #  define BBSRAM_FILE_COUNT CONFIG_STM32F7_BBSRAM_FILES
 #  define SAVE_CRASHDUMP CONFIG_STM32F7_SAVE_CRASHDUMP
+#elif defined(CONFIG_STM32H7_BBSRAM) && defined(CONFIG_STM32H7_SAVE_CRASHDUMP)
+#  define HAS_BBSRAM CONFIG_STM32H7_BBSRAM
+#  define BBSRAM_FILE_COUNT CONFIG_STM32H7_BBSRAM_FILES
+#  define SAVE_CRASHDUMP CONFIG_STM32H7_SAVE_CRASHDUMP
 #elif defined(CONFIG_STM32_BBSRAM) && defined(CONFIG_STM32_SAVE_CRASHDUMP)
 #  define HAS_BBSRAM CONFIG_STM32_BBSRAM
 #  define BBSRAM_FILE_COUNT CONFIG_STM32_BBSRAM_FILES

platforms/nuttx/src/px4/stm/stm32_common/adc/adc.cpp

@@ -32,6 +32,7 @@
  ****************************************************************************/
 
 #include <board_config.h>
+#include <stdint.h>
 #include <drivers/drv_adc.h>
 #include <drivers/drv_hrt.h>
 #include <px4_arch/adc.h>
@@ -190,7 +191,7 @@ void px4_arch_adc_uninit(uint32_t base_address)
 	// nothing to do
 }
 
-uint16_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
+uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
 {
 	irqstate_t flags = px4_enter_critical_section();
 
@@ -211,12 +212,12 @@ uint16_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
 		/* don't wait for more than 50us, since that means something broke - should reset here if we see this */
 		if ((hrt_absolute_time() - now) > 50) {
 			px4_leave_critical_section(flags);
-			return 0xffff;
+			return UINT32_MAX;
 		}
 	}
 
 	/* read the result and clear EOC */
-	uint16_t result = rDR(base_address);
+	uint32_t result = rDR(base_address);
 
 	px4_leave_critical_section(flags);
 
@@ -228,3 +229,7 @@ uint32_t px4_arch_adc_temp_sensor_mask()
 	return 1 << 16;
 }
 
+uint32_t px4_arch_adc_dn_fullcount(void)
+{
+	return 1 << 12; // 12 bit ADC
+}

platforms/nuttx/src/px4/stm/stm32_common/tone_alarm/ToneAlarmInterfacePWM.cpp

@@ -145,8 +145,32 @@
 # if defined(CONFIG_STM32_TIM14)
 #  error Must not set CONFIG_STM32_TIM14 when TONE_ALARM_TIMER is 14
 # endif
+#elif TONE_ALARM_TIMER == 15
+# define TONE_ALARM_BASE                STM32_TIM15_BASE
+# define TONE_ALARM_CLOCK               STM32_APB2_TIM15_CLKIN
+# define TONE_ALARM_CLOCK_ENABLE        RCC_APB2ENR_TIM15EN
+# define TONE_ALARM_CLOCK_POWER_REG     STM32_RCC_APB2ENR
+# if defined(CONFIG_STM32_TIM15)
+#  error Must not set CONFIG_STM32_TIM15 when TONE_ALARM_TIMER is 15
+# endif
+#elif TONE_ALARM_TIMER == 16
+# define TONE_ALARM_BASE                STM32_TIM16_BASE
+# define TONE_ALARM_CLOCK               STM32_APB2_TIM16_CLKIN
+# define TONE_ALARM_CLOCK_ENABLE        RCC_APB2ENR_TIM16EN
+# define TONE_ALARM_CLOCK_POWER_REG     STM32_RCC_APB2ENR
+# if defined(CONFIG_STM32_TIM16)
+#  error Must not set CONFIG_STM32_TIM16 when TONE_ALARM_TIMER is 16
+# endif
+#elif TONE_ALARM_TIMER == 17
+# define TONE_ALARM_BASE                STM32_TIM17_BASE
+# define TONE_ALARM_CLOCK               STM32_APB2_TIM17_CLKIN
+# define TONE_ALARM_CLOCK_ENABLE        RCC_APB2ENR_TIM17EN
+# define TONE_ALARM_CLOCK_POWER_REG     STM32_RCC_APB2ENR
+# if defined(CONFIG_STM32_TIM17)
+#  error Must not set CONFIG_STM32_TIM16 when TONE_ALARM_TIMER is 17
+# endif
 #else
-# error Must set TONE_ALARM_TIMER to one of the timers between 1 and 14 (inclusive) to use this driver.
+# error Must set TONE_ALARM_TIMER to one of the timers between 1 and 17 (inclusive) to use this driver.
 #endif // TONE_ALARM_TIMER
 
 #if TONE_ALARM_CHANNEL == 1
@@ -199,6 +223,9 @@
 # define rSR            REG(STM32_ATIM_SR_OFFSET)
 #else
 # define rARR           REG(STM32_GTIM_ARR_OFFSET)
+#if TONE_ALARM_TIMER >= 15 && TONE_ALARM_TIMER <= 17 // Note: If using TIM15 - TIM17 it has a BDTR
+#   define rBDTR          REG(STM32_ATIM_BDTR_OFFSET)
+#endif
 # define rCCER          REG(STM32_GTIM_CCER_OFFSET)
 # define rCCMR1         REG(STM32_GTIM_CCMR1_OFFSET)
 # define rCCMR2         REG(STM32_GTIM_CCMR2_OFFSET)

platforms/nuttx/src/px4/stm/stm32_common/version/board_mcu_version.c

@@ -47,7 +47,9 @@ enum MCU_REV {
 	MCU_REV_STM32F4_REV_Z = 0x1001,
 	MCU_REV_STM32F4_REV_Y = 0x1003,
 	MCU_REV_STM32F4_REV_1 = 0x1007,
-	MCU_REV_STM32F4_REV_3 = 0x2001
+	MCU_REV_STM32F4_REV_3 = 0x2001,
+	MCU_REV_STM32F7_REV_X = MCU_REV_STM32F4_REV_3,
+	MCU_REV_STM32F7_REV_V = 0x2003
 };
 
 /* Define any issues with the Silicon as lines separated by \n
@@ -60,6 +62,7 @@ enum MCU_REV {
 # define REVID_MASK    0xFFFF0000
 # define DEVID_MASK    0xFFF
 
+# define STM32H74xx_75xx    0x450
 # define STM32F74xxx_75xxx  0x449
 # define STM32F76xxx_77xxx  0x451
 # define STM32F40x_41x      0x413
@@ -81,6 +84,10 @@ int board_mcu_version(char *rev, const char **revstr, const char **errata)
 
 	switch (chip_version) {
 
+	case STM32H74xx_75xx:
+		*revstr = "STM32H74xxx";
+		break;
+
 	case STM32F74xxx_75xxx:
 		*revstr = "STM32F74xxx";
 		break;
@@ -139,7 +146,12 @@ int board_mcu_version(char *rev, const char **revstr, const char **errata)
 		break;
 
 	case MCU_REV_STM32F4_REV_3:
-		*rev = '3';
+		*rev = chip_version == STM32H74xx_75xx ? 'X' : '3' ;
+		chip_errata = NULL;
+		break;
+
+	case MCU_REV_STM32F7_REV_V:
+		*rev = 'V';
 		chip_errata = NULL;
 		break;
 

platforms/nuttx/src/px4/stm/stm32h7/CMakeLists.txt

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+
+add_subdirectory(adc)
+add_subdirectory(../stm32_common/board_critmon board_critmon)
+add_subdirectory(../stm32_common/board_hw_info board_hw_info)
+add_subdirectory(../stm32_common/board_reset board_reset)
+add_subdirectory(../stm32_common/dshot dshot)
+add_subdirectory(../stm32_common/hrt hrt)
+add_subdirectory(../stm32_common/io_pins io_pins)
+add_subdirectory(../stm32_common/tone_alarm tone_alarm)
+add_subdirectory(../stm32_common/version version)
+
+add_subdirectory(px4io_serial)
+

platforms/nuttx/src/px4/stm/stm32h7/adc/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2015-2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(arch_adc
+	adc.cpp
+)