wip

jschall · jschall · commit 4452c3534d36 · 2019-12-10T20:51:30.000+08:00
diff --git a/ChibiOS b/ChibiOS
@@ -1 +1 @@
-Subproject commit db73cfb0c19bbdafa8a85feea04c4e53bbd3daf4
+Subproject commit 807637dd188a61a08af596fd92dcb0bb66a925f1
diff --git a/boards/com.hex.here_pro_2.0/board.c b/boards/com.hex.here_pro_2.0/board.c
@@ -36,3 +36,26 @@ void boardInit(void) {
     palSetLineMode(BOARD_PAL_LINE_ICM_CS, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
     palSetLine(BOARD_PAL_LINE_ICM_CS);
 }
+
+
+#if HAL_USE_SDC || defined(__DOXYGEN__)
+/**
+ * @brief   SDC card detection.
+ */
+bool sdc_lld_is_card_inserted(SDCDriver *sdcp) {
+
+  (void)sdcp;
+  /* TODO: Fill the implementation.*/
+  return true;
+}
+
+/**
+ * @brief   SDC card write protection detection.
+ */
+bool sdc_lld_is_write_protected(SDCDriver *sdcp) {
+
+  (void)sdcp;
+  /* TODO: Fill the implementation.*/
+  return false;
+}
+#endif /* HAL_USE_SDC */
diff --git a/boards/com.hex.here_pro_2.0/mcuconf.h b/boards/com.hex.here_pro_2.0/mcuconf.h
@@ -179,10 +179,11 @@
 #define STM32_LPTIM2SEL                     STM32_LPTIM2SEL_PCLK4
 #define STM32_I2C4SEL                       STM32_I2C4SEL_PCLK4
 #define STM32_LPUART1SEL                    STM32_LPUART1SEL_PCLK4
-#define STM32_SDMMCSEL                      STM32_SDMMCSEL_PLL1_Q_CK
 
 #define STM32_CAN_CAN1_IRQ_PRIORITY         11
 
+#define STM32_SDC_USE_SDMMC1                TRUE
+
 /*
  * ST driver system settings.
  */
diff --git a/bootloader/Makefile b/bootloader/Makefile
@@ -21,8 +21,7 @@ can \
 can_autobaud \
 uavcan \
 uavcan_nodestatus_publisher \
-uavcan_allocatee \
-usb_slcan
+uavcan_allocatee
 
 MESSAGES_ENABLED = \
 uavcan.protocol.GetNodeInfo \
diff --git a/bootloader/include/framework_conf.h b/bootloader/include/framework_conf.h
@@ -13,6 +13,7 @@
 #define UAVCAN_BEGINFIRMWAREUPDATE_SERVER_WORKER_THREAD lpwork_thread
 #define UAVCAN_ALLOCATEE_WORKER_THREAD                  lpwork_thread
 #define BOOTLOADER_APP_THREAD                           lpwork_thread
+#define LOGGER_WORKER_THREAD                            lpwork_thread
 #define USB_SLCAN_WORKER_THREAD                         can_thread
 
 #define CAN_TRX_WORKER_THREAD                           can_thread
@@ -29,9 +30,9 @@
 // Configure debug checks
 //
 
-#define CH_DBG_SYSTEM_STATE_CHECK           FALSE
-#define CH_DBG_ENABLE_CHECKS                FALSE
-#define CH_DBG_ENABLE_ASSERTS               FALSE
-#define CH_DBG_ENABLE_STACK_CHECK           FALSE
+#define CH_DBG_SYSTEM_STATE_CHECK           TRUE
+#define CH_DBG_ENABLE_CHECKS                TRUE
+#define CH_DBG_ENABLE_ASSERTS               TRUE
+#define CH_DBG_ENABLE_STACK_CHECK           TRUE
 
 #define CAN_TX_QUEUE_LEN 256
diff --git a/bootloader/openocd.cfg b/bootloader/openocd.cfg
@@ -1,4 +1,12 @@
-source [find interface/stlink-v2-1.cfg]
-source [find target/stm32f4x.cfg]
+source [find interface/stlink.cfg]
+source [find target/stm32h7x.cfg]
+reset_config srst_only separate connect_assert_srst
 $_TARGETNAME configure -rtos ChibiOS
+$_TARGETNAME configure -event gdb-attach {
+  halt
+}
+$_TARGETNAME configure -event gdb-attach {
+  reset init
+}
 init
+reset run
diff --git a/examples/basic_uavcan_functionality/Makefile b/examples/basic_uavcan_functionality/Makefile
@@ -22,8 +22,7 @@ uavcan_beginfirmwareupdate_server \
 uavcan_allocatee \
 uavcan_restart \
 freemem_check \
-uavcan_timesync \
-logger
+uavcan_timesync
 
 MESSAGES_ENABLED = \
 uavcan.protocol.debug.LogMessage
diff --git a/examples/basic_uavcan_functionality/openocd.cfg b/examples/basic_uavcan_functionality/openocd.cfg
@@ -1,5 +1,7 @@
 source [find interface/stlink-v2-1.cfg]
-source [find target/stm32f3x.cfg]
+source [find target/stm32h7x.cfg]
+reset_config srst_only separate connect_assert_srst
+$_TARGETNAME configure
+# -rtos ChibiOS
 init
-reset run
-$_TARGETNAME configure -rtos ChibiOS
+#reset run
diff --git a/mk/build.mk b/mk/build.mk
@@ -1,6 +1,6 @@
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -Os
+  USE_OPT = -O0
 endif
 
 override USE_OPT += -Wl,--wrap=log10f -Wl,--wrap=_impure_ptr -ggdb -std=gnu99 --specs=nosys.specs --specs=nano.specs -Werror=double-promotion -ffast-math
diff --git a/modules/can/can.c b/modules/can/can.c
@@ -271,6 +271,10 @@ struct can_tx_frame_s* can_allocate_tx_frames(struct can_instance_s* instance, s
 }
 
 void can_enqueue_tx_frames(struct can_instance_s* instance, struct can_tx_frame_s** frame_list, systime_t tx_timeout, struct pubsub_topic_s* completion_topic, enum can_frame_origin_t origin) {
+#ifndef CAN_MODULE_ENABLE_BRIDGE_INTERFACE
+    (void)origin;
+#endif
+
     if (!instance) {
         return;
     }
diff --git a/modules/can_driver_stm32/can_driver_stm32.c b/modules/can_driver_stm32/can_driver_stm32.c
@@ -22,7 +22,7 @@
 #define RX_FIFO_DEPTH 3
 
 static void can_driver_stm32_start(void* ctx, bool silent, bool auto_retransmit, uint32_t baudrate);
-static void can_driver_stm32_stop(void* ctx);
+static void can_driver_stm32_stop(void* ctx)
 bool can_driver_stm32_abort_tx_mailbox_I(void* ctx, uint8_t mb_idx);
 bool can_driver_stm32_load_tx_mailbox_I(void* ctx, uint8_t mb_idx, struct can_frame_s* frame);
 
@@ -123,6 +123,7 @@ static void can_driver_stm32_start(void* ctx, bool silent, bool auto_retransmit,
     instance->can->IER = CAN_IER_TMEIE | CAN_IER_FMPIE0; // TODO: review reference manual for other interrupt flags needed
 }
 
+
 static void can_driver_stm32_stop(void* ctx) {
     struct can_driver_stm32_instance_s* instance = ctx;
 
@@ -136,6 +137,7 @@ static void can_driver_stm32_stop(void* ctx) {
     rccDisableCAN1();
 }
 
+
 bool can_driver_stm32_abort_tx_mailbox_I(void* ctx, uint8_t mb_idx) {
     struct can_driver_stm32_instance_s* instance = ctx;
 
@@ -160,6 +162,11 @@ bool can_driver_stm32_load_tx_mailbox_I(void* ctx, uint8_t mb_idx, struct can_fr
 
     chDbgCheckClassI();
 
+    // if silent just return fail
+    if ((instance->can->BTR & CAN_BTR_SILM) != 0) {
+        return false;
+    }
+
     CAN_TxMailBox_TypeDef* mailbox = &instance->can->sTxMailBox[mb_idx];
 
     mailbox->TDTR = frame->DLC;
diff --git a/modules/can_driver_stm32/can_driver_stm32h7.c b/modules/can_driver_stm32/can_driver_stm32h7.c
diff --git a/modules/uSD/uSD.c b/modules/uSD/uSD.c

Original file line number	Diff line number	Diff line change
`@@ -271,6 +271,10 @@ struct can_tx_frame_s* can_allocate_tx_frames(struct can_instance_s* instance, s`
`271`	`271`	`}`
`272`	`272`
`273`	`273`	`void can_enqueue_tx_frames(struct can_instance_s* instance, struct can_tx_frame_s** frame_list, systime_t tx_timeout, struct pubsub_topic_s* completion_topic, enum can_frame_origin_t origin) {`
	`274`	`+#ifndef CAN_MODULE_ENABLE_BRIDGE_INTERFACE`
	`275`	`+ (void)origin;`
	`276`	`+#endif`
	`277`	`+`
`274`	`278`	`if (!instance) {`
`275`	`279`	`return;`
`276`	`280`	`}`