AP_HAL_ChibiOS: add support for PPP between CubeRed Primary and Secon…

…dary
ArduPilot · Jul 17, 2024 · 2e3c943 · 2e3c943
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commit 2e3c943
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Showing 4 changed files with 51 additions and 13 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/defaults.parm
@@ -6,3 +6,22 @@ ADSB_TYPE 1
 SERIAL5_BAUD 57
 SERIAL5_PROTOCOL 1
 EK3_PRIMARY 1
+
+NET_ENABLE 1
+NET_OPTIONS 1
+NET_DHCP 0
+NET_P1_TYPE 1
+NET_P1_PROTOCOL 2
+NET_P1_IP0 192
+NET_P1_IP1 168
+NET_P1_IP2 144
+NET_P1_IP3 10
+NET_P1_PORT 14553
+
+NET_P2_TYPE 4
+NET_P2_PROTOCOL 2
+NET_P2_IP0 192
+NET_P2_IP1 168
+NET_P2_IP2 144
+NET_P2_IP3 100
+NET_P2_PORT 14554
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat
@@ -274,17 +274,20 @@ PG15    USART6_CTS    USART6
 PG8    USART6_RTS    USART6
 
 # primary <-> secondary 
-PE7    UART7_RX    UART7
-PE8    UART7_TX    UART7
+PE7    UART7_RX    UART7 SPEED_VERYLOW LOW_NOISE
+PE8    UART7_TX    UART7 SPEED_VERYLOW
 
 # order of UARTs (and USB)
-SERIAL_ORDER OTG1 USART2 USART6 USART3 UART4 UART8 EMPTY UART7
+SERIAL_ORDER OTG1 USART2 USART6 USART3 UART4 UART8 OTG2 UART7
 
 EXT_FLASH_SIZE_MB 32
 INT_FLASH_PRIMARY 1
 
-# forward Serial traffic from USB OTG2 to Serial7(UART7)
-define HAL_FORWARD_OTG2_SERIAL 7
-define HAL_HAVE_DUAL_USB_CDC 1
-define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_MAVLink2
-define DEFAULT_SERIAL7_BAUD 2000000
+# set protocol for UART7 to SerialProtocol_PPP
+define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_PPP
+define DEFAULT_SERIAL7_BAUD 8000000
+
+define AP_NETWORKING_DEFAULT_STATIC_IP_ADDR "192.168.144.100"
+define AP_NETWORKING_DEFAULT_STATIC_NETMASK "255.255.255.0"
+define AP_NETWORKING_DEFAULT_STATIC_GW_ADDR "192.168.144.11"
+define AP_NETWORKING_BACKEND_PPP 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedSecondary/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedSecondary/defaults.parm
@@ -1,2 +1,12 @@
 SERIAL3_OPTIONS 8
 SERIAL4_OPTIONS 8
+NET_ENABLE 1
+NET_P1_TYPE 3
+NET_P1_PROTOCOL 2
+NET_P1_IP0 192
+NET_P1_IP1 168
+NET_P1_IP2 144
+NET_P1_IP3 100
+NET_P1_PORT 14554
+
+SYSID_THISMAV 2
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedSecondary/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedSecondary/hwdef.dat
@@ -7,6 +7,8 @@ MCU STM32H7xx STM32H757xx
 define CORE_CM7
 define SMPS_PWR
 
+env OPTIMIZE -Os
+
 # crystal frequency
 OSCILLATOR_HZ 24000000
 
@@ -39,7 +41,8 @@ PA6 RSSI_IN  ADC1 SCALE(2)
 
 # CAN config
 PB14 GPIOCAN2_TERM OUTPUT HIGH
-
+PC12 GPIOCAN1_SHUTDOWN OUTPUT LOW
+PF1  GPIOCAN2_SHUTDOWN OUTPUT LOW
 
 PA12 CAN1_TX CAN1
 PB8 CAN1_RX CAN1
@@ -118,8 +121,8 @@ PA7 HP_UNIDIR_ENABLED OUTPUT HIGH GPIO(5)
 
 
 # UART connected to FMU, uses DMA
-PE7    UART7_RX    UART7 SPEED_HIGH
-PE8    UART7_TX    UART7 SPEED_HIGH
+PE7    UART7_RX    UART7 SPEED_VERYLOW LOW_NOISE
+PE8    UART7_TX    UART7 SPEED_VERYLOW
 
 # UART for SBUS out
 PC7 USART6_RX USART6 SPEED_HIGH LOW
@@ -144,13 +147,16 @@ PD4 USART2_RTS USART2 SPEED_HIGH
 PD3 USART2_CTS USART2 SPEED_HIGH
 
 # order of UARTs
-SERIAL_ORDER UART7 UART8 USART3 USART6 UART4 USART2 
+SERIAL_ORDER UART8 UART7 USART3 USART6 UART4 USART2
 
 # use 2 MBaud when talking to primary controller
-define DEFAULT_SERIAL0_BAUD 2000000
+define DEFAULT_SERIAL1_BAUD 8000000
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_PPP
 define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_Sbus1
 define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_RCIN
 
+define AP_NETWORKING_BACKEND_PPP 1
+
 # only use pulse input for PPM, other protocols
 # are on serial
 define HAL_RCIN_PULSE_PPM_ONLY