boards: add UAVCAN timer override mechanism and CUAV X7 add CAN (#15348)

* X7Pro adds CAN driver
* UAVCAN timer selection moved to default.cmake
* Modify some details about @CUAVcaijie UAVCAN timer selection moved to default.cmake
* Put some timer parameters to micro_hal.h from board_config.h. Fix all h7 boards

Co-authored-by: honglang <honglang@cuav.net>

boards/cuav/nora/src/board_config.h

@@ -153,8 +153,7 @@
 /* High-resolution timer */
 #define HRT_TIMER               3  /* use timer3 for the HRT */
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
-#define STM32_RCC_APB1ENR  STM32_RCC_APB1LENR
-#define RCC_APB1ENR_TIM3EN RCC_APB1LENR_TIM3EN
+
 
 #define HRT_PPM_CHANNEL         /* T3C1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* PB4 T3C1 */ GPIO_TIM3_CH1IN_2

boards/cuav/x7pro/default.cmake

@@ -9,7 +9,8 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
 	TESTING
-#	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
+	UAVCAN_INTERFACES 2
+	UAVCAN_TIMER_OVERRIDE	  2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
@@ -56,7 +57,7 @@ px4_add_board(
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
-#		uavcan - No H7 or FD can support in UAVCAN yet
+		uavcan
 	MODULES
 		airspeed_selector
 		attitude_estimator_q

boards/cuav/x7pro/nuttx-config/include/board.h

@@ -193,6 +193,9 @@
 #define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
 #define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
 #define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
 
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

boards/cuav/x7pro/src/board_config.h

@@ -153,8 +153,7 @@
 /* High-resolution timer */
 #define HRT_TIMER               3  /* use timer3 for the HRT */
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
-#define STM32_RCC_APB1ENR  STM32_RCC_APB1LENR
-#define RCC_APB1ENR_TIM3EN RCC_APB1LENR_TIM3EN
+
 
 #define HRT_PPM_CHANNEL         /* T3C1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* PB4 T3C1 */ GPIO_TIM3_CH1IN_2

boards/cubepilot/cubeorange/src/board_config.h

@@ -107,11 +107,6 @@
 #define GPIO_nVDD_5V_HIPOWER_OC         /* PE10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10) // VDD_5V_HIPOWER_OC
 
 /* Tone alarm output */
-#define STM32_RCC_APB1ENR 		STM32_RCC_APB1LENR  /* This is stupid and only applies for H7 */
-#define STM32_RCC_APB1RSTR 		STM32_RCC_APB1LRSTR /* This is stupid and only applies for H7 */
-#define RCC_APB1ENR_TIM2EN		RCC_APB1LENR_TIM2EN /* This is stupid and only applies for H7 */
-#define RCC_APB1ENR_TIM5EN		RCC_APB1LENR_TIM5EN /* This is stupid and only applies for H7 */
-#define RCC_APB1RSTR_TIM5RST		RCC_APB1LRSTR_TIM5RST /* This is stupid and only applies for H7 */
 #define TONE_ALARM_TIMER        2  /* timer 2 */
 #define TONE_ALARM_CHANNEL      1  /* PA15 TIM2_CH1 */
 

boards/spracing/h7extreme/src/board_config.h

@@ -111,8 +111,7 @@
 /* High-resolution timer */
 #define HRT_TIMER               2  /* use timer2 for the HRT */
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
-#define STM32_RCC_APB1ENR       STM32_RCC_APB1LENR
-#define RCC_APB1ENR_TIM2EN      RCC_APB1LENR_TIM2EN /* This is stupid and only applies for H7 */
+
 
 /* RC Serial port */
 

cmake/px4_add_board.cmake

@@ -142,6 +142,7 @@ function(px4_add_board)
 			IO
 			BOOTLOADER
 			UAVCAN_INTERFACES
+			UAVCAN_TIMER_OVERRIDE
 			LINKER_PREFIX
 		MULTI_VALUE
 			DRIVERS
@@ -221,6 +222,10 @@ function(px4_add_board)
 		set(config_uavcan_num_ifaces ${UAVCAN_INTERFACES} CACHE INTERNAL "UAVCAN interfaces" FORCE)
 	endif()
 
+	if(UAVCAN_TIMER_OVERRIDE)
+		set(config_uavcan_timer_override ${UAVCAN_TIMER_OVERRIDE} CACHE INTERNAL "UAVCAN TIMER OVERRIDE" FORCE)
+	endif()
+
 	# OPTIONS
 
 	if(CONSTRAINED_FLASH)

platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/micro_hal.h

@@ -38,6 +38,19 @@
 __BEGIN_DECLS
 
 #define PX4_SOC_ARCH_ID             PX4_SOC_ARCH_ID_STM32H7
+
+
+#define STM32_RCC_APB1ENR     STM32_RCC_APB1LENR
+#define STM32_RCC_APB1RSTR    STM32_RCC_APB1LRSTR
+#define RCC_APB1ENR_TIM2EN    RCC_APB1LENR_TIM2EN
+#define RCC_APB1ENR_TIM3EN    RCC_APB1LENR_TIM3EN
+#define RCC_APB1ENR_TIM5EN    RCC_APB1LENR_TIM5EN
+#define RCC_APB1ENR_TIM14EN   RCC_APB1LENR_TIM14EN
+#define RCC_APB1RSTR_TIM2RST  RCC_APB1LRSTR_TIM2RST
+#define RCC_APB1RSTR_TIM5RST  RCC_APB1LRSTR_TIM5RST
+
+
+
 #include <chip.h>
 #include <hardware/stm32_flash.h>
 #include <up_internal.h> //include up_systemreset() which is included on stm32.h

src/drivers/uavcan/CMakeLists.txt

@@ -46,6 +46,9 @@ if(CONFIG_ARCH_CHIP)
 	elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32h7")
 		set(UAVCAN_DRIVER "stm32h7")
 		set(UAVCAN_TIMER 5) # The default timer is TIM5
+		if (DEFINED config_uavcan_timer_override)
+			set (UAVCAN_TIMER  ${config_uavcan_timer_override})
+		endif()
 	elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
 		set(UAVCAN_DRIVER "stm32")
 		set(UAVCAN_TIMER 5) # The default timer is TIM5