IPAL for CM7

[marcoaccame]

This PR adds IP communication to the development board stm32h745disco using the IPAL abstraction layer.

The added code consists of three parts:

• the IPAL library w/ its API implemented with lwIP and compiled for the STM32H7 MPU
• the adaptation of the stm32hal to the stm32h745disco board
• a set of UDP test programs used to verify the UDP stack

Here are fragments of a minimal sample program which successfully respond to a ping.

#include "stm32hal.h"
#include "ipal.h"
#include "ipal_cfg2.h"

Listing. The inclusion files.

int main(void)
{ 
    stm32hal_init(&systickcfg);
    
    itm_puts("hello world");
    
    led_init();
    itm_puts("led initted");

Listing. The initialization of the HW plus some prints.

    uint32_t *data04aligned = nullptr;
    uint32_t size04aligned = 0;
	ipal_base_memory_getsize2(&ipal_cfg2, &size04aligned);
    if(size04aligned > 0)
    {
        data04aligned = new uint32_t[size04aligned/4];
    }    
	ipal_base_initialise2(&ipal_cfg2, data04aligned);

	ipal_sys_start();

Listing. The initialization of IPAL.

    for(;;)
    {    
        ipal_sys_process_communication();
        volatile uint32_t now = HAL_GetTick();		 
		// Every 10 ms invokes the periodic ipal timer_tick function        
        if((now - prevtick) >= tickperiodms)
        {
            prevtick = now;
            ipal_sys_timetick_increment();
            
            // and i toggle the led every 200 ms
            static uint32_t tt = 0;
            if(0 == (++tt%20))
            {
                led_toggle();
            }
        }
    }    

Listing. The running of IPAL.

And in here is a flavor of the configuration variable called ipal_cfg2.

static const ipal_cfg2_eth_t ethcfg2 =
{
    .eth_mac = IPAL_mac48addr(0x1E,0x30,0x6C,0xA2,0x45,0x5E),
    .eth_ip = IPAL_ipv4addr(10, 0, 1, 99),
    .eth_mask = IPAL_ipv4addr(255, 255, 255, 0),
    .eth_isrpriority = 0,
    .filler = {0, 0, 0, 0, 0, 0, 0},
    .hal_eth_init = ipal_hal_eth_stm32h7_init,
    .hal_eth_enable = ipal_hal_eth_stm32h7_enable,
    .hal_eth_disable = ipal_hal_eth_stm32h7_disable,
    .hal_eth_sendframe = ipal_hal_eth_stm32h7_sendframe,
    .get_frame_size = ipal_hal_eth_stm32h7_get_frame_size,
    .get_frame = ipal_hal_eth_stm32h7_get_frame    
};
...
constexpr uint32_t tout = 10;

static const ipal_cfg2_extfn_t extfncfg2 = 
{
    .usr_on_fatal_error = ipal_app_on_fatal_error,
    .signal_rx_frame = ipal_app_usr_on_rx_frame,
    .signal_tx_frame = ipal_app_usr_on_tx_frame,
    .osal_mutex_new = osal_mutex_new,
    .osal_mutex_take = osal_mutex_take,
    .osal_mutex_release = osal_mutex_release,
    .osal_param_tout_forever = 10,
    .dummy = 0 
};

const ipal_cfg2_t ipal_cfg2 = 
{
    .support = (ipal_cfg2_support_t*) &suppcfg2,
    .system = (ipal_cfg2_system_t*) &syscfg2,
    .eth = (ipal_cfg2_eth_t*) &ethcfg2,
    .arp = (ipal_cfg2_arp_t*) &arpcfg2,
    .udp = (ipal_cfg2_udp_t*) &udpcfg2,
    .igmp = (ipal_cfg2_igmp_t*) &igmpcfg2,
    .dhcp = NULL,
    .extfn2 = (ipal_cfg2_extfn_t*) &extfncfg2    
};

Listing. The configuration of IPAL.

For mode details refer to the project in path icub-firmware\emBODY\eBcode\arch-arm\board\stm32h745disco\examples\basicping.

Tests
The tests have shown that the new stack works on the stm32h745disco board. Moreover the new code does not interfere w/ code already running on the robot.