Fixes and updates for CubePilot PPPGW

Tools/AP_Periph/Web/scripts/pppgw_webui.lua

@@ -221,6 +221,7 @@ local DYNAMIC_PAGES = {
          <tr><td>IP</td><td><?lstr networking:address_to_str(networking:get_ip_active()) ?></td></tr>
          <tr><td>Netmask</td><td><?lstr networking:address_to_str(networking:get_netmask_active()) ?></td></tr>
          <tr><td>Gateway</td><td><?lstr networking:address_to_str(networking:get_gateway_active()) ?></td></tr>
+         <tr><td>MCU Temperature</td><td><?lstr string.format("%.1fC", analog:mcu_temperature()) ?></td></tr>
          </table>
 ]]
 }

libraries/AP_HAL_ChibiOS/UARTDriver.cpp

@@ -299,6 +299,7 @@ void UARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
         _rx_initialised = false;
         _readbuf.set_size_best(rxS);
     }
+    _rts_threshold = _readbuf.get_size() / 16U;
 
     bool clear_buffers = false;
     if (b != 0) {
@@ -1414,10 +1415,10 @@ __RAMFUNC__ void UARTDriver::update_rts_line(void)
         return;
     }
     uint16_t space = _readbuf.space();
-    if (_rts_is_active && space < 16) {
+    if (_rts_is_active && space < _rts_threshold) {
         _rts_is_active = false;
         palSetLine(arts_line);
-    } else if (!_rts_is_active && space > 32) {
+    } else if (!_rts_is_active && space > _rts_threshold+16) {
         _rts_is_active = true;
         palClearLine(arts_line);
     }

libraries/AP_HAL_ChibiOS/UARTDriver.h

@@ -182,6 +182,7 @@ class ChibiOS::UARTDriver : public AP_HAL::UARTDriver {
 #endif
     ByteBuffer _readbuf{0};
     ByteBuffer _writebuf{0};
+    uint32_t _rts_threshold;
     HAL_Semaphore _write_mutex;
 #ifndef HAL_UART_NODMA
     const stm32_dma_stream_t* rxdma;

libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat

@@ -99,3 +99,5 @@ BOARD_VALIDATE $CHECK_IMU0_PRESENT $CHECK_IMU1_PRESENT $CHECK_IMU2_PRESENT $CHEC
 # build ABIN for flash-from-bootloader support:
 env BUILD_ABIN True
 define HAL_INS_HIGHRES_SAMPLE 6
+
+define AP_NETWORKING_BACKEND_PPP 1

libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat

@@ -1,17 +1,24 @@
 include ../CubePilot-CANMod/hwdef.dat
 
 # we need RTS/CTS for the PPP link
-undef PD14
-undef PD13
 undef PE0
 undef PE1
 
 # need to use UART8 to get RTS/CTS
 PE1 UART8_TX UART8
 PE0 UART8_RX UART8
-PD13 UART8_RTS UART8
-PD14 UART8_CTS UART8
+PA10 UART8_RTS UART8
+PC11 UART8_CTS_GPIO UART8
 
 SERIAL_ORDER OTG1 UART8
 
+PA4 VDD_5V_SENS ADC1 SCALE(2)
+
+undef HAL_USE_ADC
+define HAL_USE_ADC TRUE
+define HAL_WITH_MCU_MONITORING 1
+
+# can optionally run at half clock
+# MCU_CLOCKRATE_MHZ 200
+
 include ../include/network_PPPGW.inc

libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h

@@ -202,6 +202,9 @@
 #if HAL_CUSTOM_MCU_CLOCKRATE == 480000000
 #define STM32_PLL1_DIVN_VALUE               120
 #define STM32_PLL1_DIVQ_VALUE               12
+#elif HAL_CUSTOM_MCU_CLOCKRATE == 200000000
+#define STM32_PLL1_DIVN_VALUE               50
+#define STM32_PLL1_DIVQ_VALUE               5
 #else
 #error "Unable to configure custom clockrate"
 #endif

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -189,9 +189,9 @@ def get_alt_function(self, mcu, pin, function):
                     return 0
             return None
 
-        if function and function.endswith("_RTS") and (
+        if function and (function.endswith("_RTS") or function.endswith("_CTS_GPIO")) and (
                 function.startswith('USART') or function.startswith('UART')):
-            # we do software RTS
+            # we do software RTS and can do either software CTS or hardware CTS
             return None
 
         for label in self.af_labels:
@@ -1891,6 +1891,8 @@ def write_UART_config(self, f):
             rts_line_name = dev + '_RTS'
             rts_line = self.make_line(rts_line_name)
             cts_line = self.make_line(dev + '_CTS')
+            if cts_line == "0":
+                cts_line = self.make_line(dev + '_CTS_GPIO')
             if rts_line != "0":
                 have_rts_cts = True
                 f.write('#define HAL_HAVE_RTSCTS_SERIAL%u\n' % num)
@@ -2927,12 +2929,12 @@ def valid_type(self, ptype, label):
         if ptype == 'OUTPUT' and re.match(r'US?ART\d+_(TXINV|RXINV)', label):
             return True
         m1 = re.match(r'USART(\d+)', ptype)
-        m2 = re.match(r'USART(\d+)_(RX|TX|CTS|RTS)', label)
+        m2 = re.match(r'USART(\d+)_(RX|TX|CTS|RTS|CTS_GPIO)', label)
         if (m1 and not m2) or (m2 and not m1) or (m1 and m1.group(1) != m2.group(1)):
             '''usart numbers need to match'''
             return False
         m1 = re.match(r'UART(\d+)', ptype)
-        m2 = re.match(r'UART(\d+)_(RX|TX|CTS|RTS)', label)
+        m2 = re.match(r'UART(\d+)_(RX|TX|CTS|RTS|CTS_GPIO)', label)
         if (m1 and not m2) or (m2 and not m1) or (m1 and m1.group(1) != m2.group(1)):
             '''uart numbers need to match'''
             return False

libraries/AP_Networking/AP_Networking.cpp

@@ -76,7 +76,7 @@ const AP_Param::GroupInfo AP_Networking::var_info[] = {
     // @Param: TESTS
     // @DisplayName: Test enable flags
     // @Description: Enable/Disable networking tests
-    // @Bitmask: 0:UDP echo test,1:TCP echo test, 2:TCP discard test
+    // @Bitmask: 0:UDP echo test,1:TCP echo test, 2:TCP discard test, 3:TCP reflect test
     // @RebootRequired: True
     // @User: Advanced
     AP_GROUPINFO("TESTS", 7,  AP_Networking,    param.tests,   0),

libraries/AP_Networking/AP_Networking.h

@@ -283,11 +283,13 @@ class AP_Networking
         TEST_UDP_CLIENT = (1U<<0),
         TEST_TCP_CLIENT = (1U<<1),
         TEST_TCP_DISCARD = (1U<<2),
+        TEST_TCP_REFLECT = (1U<<3),
     };
     void start_tests(void);
     void test_UDP_client(void);
     void test_TCP_client(void);
     void test_TCP_discard(void);
+    void test_TCP_reflect(void);
 #endif // AP_NETWORKING_TESTS_ENABLED
 
 #if AP_NETWORKING_REGISTER_PORT_ENABLED

libraries/AP_Networking/AP_Networking_tests.cpp

@@ -33,6 +33,11 @@ void AP_Networking::start_tests(void)
                                      "TCP_discard",
                                      8192, AP_HAL::Scheduler::PRIORITY_UART, -1);
     }
+    if (param.tests & TEST_TCP_REFLECT) {
+        hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking::test_TCP_reflect, void),
+                                     "TCP_reflect",
+                                     8192, AP_HAL::Scheduler::PRIORITY_UART, -1);
+    }
 }
 
 /*
@@ -140,4 +145,59 @@ void AP_Networking::test_TCP_discard(void)
     }
 }
 
+/*
+  start TCP reflect (TCP echo throughput) test
+ */
+void AP_Networking::test_TCP_reflect(void)
+{
+    startup_wait();
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_reflect: starting");
+    const char *dest = param.test_ipaddr.get_str();
+    auto *sock = new SocketAPM(false);
+    if (sock == nullptr) {
+        GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "TCP_reflect: failed to create socket");
+        return;
+    }
+    // connect to the echo service, which is port 7
+    while (!sock->connect(dest, 7)) {
+        hal.scheduler->delay(10);
+    }
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_reflect: connected");
+    const uint32_t bufsize = 4096;
+    uint8_t *buf = (uint8_t*)malloc(bufsize);
+    for (uint32_t i=0; i<bufsize; i++) {
+        buf[i] = i & 0xFF;
+    }
+    uint32_t last_report_ms = AP_HAL::millis();
+    uint32_t total_sent = 0;
+    uint32_t total_recv = 0;
+    uint32_t last_recv = 0;
+    const uint32_t max_disparity = 100*1024;
+    while (true) {
+        if ((param.tests & TEST_TCP_REFLECT) == 0) {
+            hal.scheduler->delay(1);
+            continue;
+        }
+        const bool will_send = total_sent < total_recv + max_disparity;
+        if (will_send) {
+            total_sent += sock->send(buf, bufsize);
+        }
+        if (sock->pollin(0)) {
+            uint32_t n = sock->recv(buf, bufsize, 0);
+            if (n == 0 && !will_send) {
+                hal.scheduler->delay_microseconds(100);
+            }
+            total_recv += n;
+        }
+        const uint32_t now = AP_HAL::millis();
+
+        if (now - last_report_ms >= 1000) {
+            float dt = (now - last_report_ms)*0.001;
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Reflect throughput %.3f kbyte/sec (disparity %u)", ((total_recv-last_recv)/dt)*1.0e-3, unsigned(total_sent-total_recv));
+            last_recv = total_recv;
+            last_report_ms = now;
+        }
+    }
+}
+
 #endif // AP_NETWORKING_ENABLED && AP_NETWORKING_TESTS_ENABLED

libraries/AP_Scripting/docs/docs.lua

@@ -1650,6 +1650,10 @@ function Motors_dynamic:init(expected_num_motors) end
 -- desc
 analog = {}
 
+-- return MCU temperature in degrees C
+---@return number -- MCU temperature
+function analog:mcu_temperature() end
+
 -- desc
 ---@return AP_HAL__AnalogSource_ud|nil
 function analog:channel() end

libraries/AP_Scripting/generator/description/bindings.desc

@@ -622,6 +622,8 @@ singleton hal.analogin depends !defined(HAL_DISABLE_ADC_DRIVER)
 singleton hal.analogin rename analog
 singleton hal.analogin literal
 singleton hal.analogin method channel AP_HAL::AnalogSource ANALOG_INPUT_NONE'literal
+singleton hal.analogin method mcu_temperature float
+singleton hal.analogin method mcu_temperature depends HAL_WITH_MCU_MONITORING
 
 include AP_Motors/AP_MotorsMatrix_Scripting_Dynamic.h depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI
 singleton AP_MotorsMatrix_Scripting_Dynamic depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI

libraries/AP_SerialManager/AP_SerialManager.cpp

@@ -183,7 +183,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
     // @Param: 1_PROTOCOL
     // @DisplayName: Telem1 protocol selection
     // @Description: Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.
-    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:Gimbal, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN, 23:RCIN, 24:EFI Serial, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting, 29:Crossfire VTX, 30:Generator, 31:Winch, 32:MSP, 33:DJI FPV, 34:AirSpeed, 35:ADSB, 36:AHRS, 37:SmartAudio, 38:FETtecOneWire, 39:Torqeedo, 40:AIS, 41:CoDevESC, 42:DisplayPort, 43:MAVLink High Latency, 44:IRC Tramp, 45:DDS XRCE, 46:IMUDATA
+    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:Gimbal, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN, 23:RCIN, 24:EFI Serial, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting, 29:Crossfire VTX, 30:Generator, 31:Winch, 32:MSP, 33:DJI FPV, 34:AirSpeed, 35:ADSB, 36:AHRS, 37:SmartAudio, 38:FETtecOneWire, 39:Torqeedo, 40:AIS, 41:CoDevESC, 42:DisplayPort, 43:MAVLink High Latency, 44:IRC Tramp, 45:DDS XRCE, 46:IMUDATA, 48:PPP
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO("1_PROTOCOL",  1, AP_SerialManager, state[1].protocol, DEFAULT_SERIAL1_PROTOCOL),