wip

Author: jschall

ChibiOS

@@ -21,8 +21,7 @@ can \
 can_autobaud \
 uavcan \
 uavcan_nodestatus_publisher \
-uavcan_allocatee \
-usb_slcan
+uavcan_allocatee
 
 MESSAGES_ENABLED = \
 uavcan.protocol.GetNodeInfo \

boards/com.hex.here_pro_2.0/board.c

@@ -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

boards/com.hex.here_pro_2.0/board.h

@@ -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 halt

boards/com.hex.here_pro_2.0/board.mk

@@ -22,8 +22,7 @@ uavcan_beginfirmwareupdate_server \
 uavcan_allocatee \
 uavcan_restart \
 freemem_check \
-uavcan_timesync \
-logger
+uavcan_timesync
 
 MESSAGES_ENABLED = \
 uavcan.protocol.debug.LogMessage

boards/com.hex.here_pro_2.0/mcuconf.h

@@ -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

bootloader/Makefile

@@ -559,7 +559,7 @@
  * @note    The default is @p CH_DBG_TRACE_MASK_DISABLED.
  */
 #if !defined(CH_DBG_TRACE_MASK)
-#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_DISABLED
+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_USER
 #endif
 
 /**
@@ -689,19 +689,23 @@
  *          should be invoked from here.
  * @note    This macro can be used to activate a power saving mode.
  */
+#ifndef CH_CFG_IDLE_ENTER_HOOK
 #define CH_CFG_IDLE_ENTER_HOOK() {                                          \
   /* Idle-enter code here.*/                                                \
 }
+#endif //CH_CFG_IDLE_ENTER_HOOK
 
 /**
  * @brief   Idle thread leave hook.
  * @note    This hook is invoked within a critical zone, no OS functions
  *          should be invoked from here.
  * @note    This macro can be used to deactivate a power saving mode.
  */
+#ifndef CH_CFG_IDLE_LEAVE_HOOK
 #define CH_CFG_IDLE_LEAVE_HOOK() {                                          \
   /* Idle-leave code here.*/                                                \
 }
+#endif //CH_CFG_IDLE_LEAVE_HOOK
 
 /**
  * @brief   Idle Loop hook.