Sidecar: Add support for rev D mainboard (#1607)

Fixes #1606

.github/workflows/build-boards.yml

@@ -17,7 +17,7 @@ jobs:
     name: build-sidecar
     strategy:
       matrix:
-        build: [sidecar-b, sidecar-b-lab, sidecar-b-dev, sidecar-c, sidecar-c-lab, sidecar-c-dev]
+        build: [sidecar-b, sidecar-b-lab, sidecar-b-dev, sidecar-c, sidecar-c-lab, sidecar-c-dev, sidecar-d, sidecar-d-lab, sidecar-d-dev]
         include:
           - build: sidecar-b
             app_name: sidecar-b
@@ -43,6 +43,18 @@ jobs:
             app_name: sidecar-c-dev
             app_toml: app/sidecar/rev-c-dev.toml
             image: default
+          - build: sidecar-d
+            app_name: sidecar-d
+            app_toml: app/sidecar/rev-d.toml
+            image: default
+          - build: sidecar-d-lab
+            app_name: sidecar-d-lab
+            app_toml: app/sidecar/rev-d-lab.toml
+            image: default
+          - build: sidecar-d-dev
+            app_name: sidecar-d-dev
+            app_toml: app/sidecar/rev-d-dev.toml
+            image: default
     uses: ./.github/workflows/build-one.yml
     with:
       build: ${{ matrix.build }}
@@ -234,4 +246,3 @@ jobs:
       app_toml: ${{ matrix.app_toml }}
       image: ${{ matrix.image }}
       os: ${{ inputs.os }}
-

app/sidecar/rev-c.toml

@@ -3,6 +3,6 @@ board = "sidecar-c"
 inherit = "base.toml"
 
 [[auxflash.blobs]]
-file = "drv/sidecar-mainboard-controller/sidecar_mainboard_controller_rev_c.bit"
+file = "drv/sidecar-mainboard-controller/sidecar_mainboard_controller_rev_c_d.bit"
 compress = true
 tag = "FPGA"

app/sidecar/rev-d-dev.toml

@@ -0,0 +1,2 @@
+name = "sidecar-d-dev"
+inherit = ["rev-d.toml", "dev.toml"]

app/sidecar/rev-d-lab.toml

@@ -0,0 +1,2 @@
+name = "sidecar-d-lab"
+inherit = ["rev-d-dev.toml", "lab.toml"]

app/sidecar/rev-d.toml

@@ -0,0 +1,7 @@
+name = "sidecar-d"
+board = "sidecar-d"
+
+# Rev D is identical to rev C from a software perspective. Ideally they would
+# be combined into the same image, but the resulting change in board name is not
+# supported by current update methods.
+inherit = "rev-c.toml"

app/sidecar/src/main.rs

@@ -101,6 +101,8 @@ fn system_init() {
             let expected_rev = 0b001;
         } else if #[cfg(target_board = "sidecar-c")] {
             let expected_rev = 0b010;
+        } else if #[cfg(target_board = "sidecar-d")] {
+            let expected_rev = 0b011;
         } else {
             compile_error!("not a recognized sidecar board")
         }

build/xtask/src/flash.rs

@@ -175,7 +175,7 @@ pub fn config(
         | "nucleo-h753zi" | "stm32h7b3i-dk" | "gemini-bu-1" | "gimletlet-1"
         | "gimletlet-2" | "gimlet-b" | "gimlet-c" | "gimlet-d" | "gimlet-e"
         | "gimlet-f" | "psc-a" | "psc-b" | "psc-c" | "sidecar-b"
-        | "sidecar-c" | "stm32g031-nucleo" | "donglet-g030"
+        | "sidecar-c" | "sidecar-d" | "stm32g031-nucleo" | "donglet-g030"
         | "donglet-g031" | "oxcon2023g0" | "stm32g070" | "stm32g0b1" => {
             let cfg = FlashProgramConfig::new(chip_dir.join("openocd.cfg"));
 
@@ -213,7 +213,9 @@ pub fn chip_name(board: &str) -> anyhow::Result<&'static str> {
         "stm32h7b3i-dk" => "STM32H7B3IITx",
         "gemini-bu-1" | "gimletlet-1" | "gimletlet-2" | "gimlet-b"
         | "gimlet-c" | "gimlet-d" | "gimlet-e" | "gimlet-f" | "psc-a"
-        | "psc-b" | "psc-c" | "sidecar-b" | "sidecar-c" => "STM32H753ZITx",
+        | "psc-b" | "psc-c" | "sidecar-b" | "sidecar-c" | "sidecar-d" => {
+            "STM32H753ZITx"
+        }
         "donglet-g030" => "STM32G030F6Px",
         "donglet-g031" => "STM32G031F8Px",
         "stm32g031-nucleo" => "STM32G031Y8Yx",

drv/fpga-server/src/main.rs

@@ -67,7 +67,8 @@ fn main() -> ! {
         if #[cfg(all(feature = "mainboard", feature = "front_io"))] {
             compile_error!("Cannot enable both mainboard and front_io simultaneously");
         } else if #[cfg(all(any(target_board = "sidecar-b",
-                                target_board = "sidecar-c"),
+                                target_board = "sidecar-c",
+                                target_board = "sidecar-d"),
                             feature = "mainboard"))] {
             let configuration_port =
                 spi.device(drv_spi_api::devices::ECP5_MAINBOARD_FPGA);
@@ -88,7 +89,8 @@ fn main() -> ! {
 
             let devices = [ecp5::Ecp5::new(driver)];
         } else if #[cfg(all(any(target_board = "sidecar-b",
-                                target_board = "sidecar-c"),
+                                target_board = "sidecar-c",
+                                target_board = "sidecar-d"),
                             feature = "front_io"))] {
             let configuration_port =
                 spi.device(drv_spi_api::devices::ECP5_FRONT_IO_FPGA);

drv/sidecar-front-io/build.rs

@@ -9,7 +9,7 @@ fn main() -> Result<(), Box<dyn std::error::Error + Send + Sync>> {
     build_util::expose_target_board();
 
     let board = build_util::env_var("HUBRIS_BOARD")?;
-    if board != "sidecar-b" && board != "sidecar-c" {
+    if board != "sidecar-b" && board != "sidecar-c" && board != "sidecar-d" {
         panic!("unknown target board");
     }
 

drv/sidecar-front-io/src/leds.rs

@@ -188,7 +188,7 @@ const LED_MAP: LedMap = LedMap([
         controller: LedController::Left,
         output: 1,
     },
-    #[cfg(target_board = "sidecar-c")]
+    #[cfg(any(target_board = "sidecar-c", target_board = "sidecar-d"))]
     // Port 16
     LedLocation {
         controller: LedController::Left,
@@ -200,7 +200,7 @@ const LED_MAP: LedMap = LedMap([
         controller: LedController::Left,
         output: 3,
     },
-    #[cfg(target_board = "sidecar-c")]
+    #[cfg(any(target_board = "sidecar-c", target_board = "sidecar-d"))]
     // Port 17
     LedLocation {
         controller: LedController::Left,
@@ -212,7 +212,7 @@ const LED_MAP: LedMap = LedMap([
         controller: LedController::Left,
         output: 5,
     },
-    #[cfg(target_board = "sidecar-c")]
+    #[cfg(any(target_board = "sidecar-c", target_board = "sidecar-d"))]
     // Port 18
     LedLocation {
         controller: LedController::Left,
@@ -224,7 +224,7 @@ const LED_MAP: LedMap = LedMap([
         controller: LedController::Left,
         output: 7,
     },
-    #[cfg(target_board = "sidecar-c")]
+    #[cfg(any(target_board = "sidecar-c", target_board = "sidecar-d"))]
     // Port 19
     LedLocation {
         controller: LedController::Left,

drv/sidecar-mainboard-controller/build.rs

@@ -20,7 +20,8 @@ fn main() -> Result<(), Box<dyn std::error::Error + Send + Sync>> {
     if cfg!(feature = "bitstream") {
         // Check that a valid bitstream is available for this board.
         let board = build_util::env_var("HUBRIS_BOARD")?;
-        if board != "sidecar-b" && board != "sidecar-c" {
+        if board != "sidecar-b" && board != "sidecar-c" && board != "sidecar-d"
+        {
             panic!("unknown target board");
         }
 

drv/sidecar-seq-server/src/clock_generator.rs

@@ -5,8 +5,12 @@
 use crate::*;
 
 #[cfg_attr(
-    any(target_board = "sidecar-b", target_board = "sidecar-c"),
-    path = "clock_generator_payload_bc.rs"
+    any(
+        target_board = "sidecar-b",
+        target_board = "sidecar-c",
+        target_board = "sidecar-d"
+    ),
+    path = "clock_generator_payload_bcd.rs"
 )]
 mod payload;
 

drv/stm32h7-sprot-server/src/main.rs

@@ -111,6 +111,7 @@ cfg_if::cfg_if! {
             target_board = "gimlet-f",
             target_board = "sidecar-b",
             target_board = "sidecar-c",
+            target_board = "sidecar-d",
             target_board = "psc-a",
             target_board = "psc-b",
             target_board = "psc-c",

task/monorail-server/src/main.rs

@@ -5,8 +5,14 @@
 #![no_std]
 #![no_main]
 
-#[cfg_attr(target_board = "sidecar-b", path = "bsp/sidecar_bc.rs")]
-#[cfg_attr(target_board = "sidecar-c", path = "bsp/sidecar_bc.rs")]
+#[cfg_attr(
+    any(
+        target_board = "sidecar-b",
+        target_board = "sidecar-c",
+        target_board = "sidecar-d"
+    ),
+    path = "bsp/sidecar_bcd.rs"
+)]
 mod bsp;
 mod server;
 

task/net/src/main.rs

@@ -17,8 +17,14 @@ mod server;
     any(target_board = "nucleo-h743zi2", target_board = "nucleo-h753zi"),
     path = "bsp/nucleo_h7.rs"
 )]
-#[cfg_attr(target_board = "sidecar-b", path = "bsp/sidecar_bc.rs")]
-#[cfg_attr(target_board = "sidecar-c", path = "bsp/sidecar_bc.rs")]
+#[cfg_attr(
+    any(
+        target_board = "sidecar-b",
+        target_board = "sidecar-c",
+        target_board = "sidecar-d",
+    ),
+    path = "bsp/sidecar_bcd.rs"
+)]
 #[cfg_attr(
     any(
         target_board = "gimlet-b",

task/packrat/build.rs

@@ -28,7 +28,7 @@ fn main() -> Result<(), Box<dyn std::error::Error + Send + Sync>> {
             "packrat's `gimlet` feature should not be enabled when ",
             "building for PSCs",
         )),
-        Some("sidecar-b" | "sidecar-c") => panic!(concat!(
+        Some("sidecar-b" | "sidecar-c" | "sidecar-d") => panic!(concat!(
             "packrat's `gimlet` feature should not be enabled when ",
             "building for sidecars",
         )),

task/power/src/main.rs

@@ -395,8 +395,12 @@ macro_rules! mwocp68_controller {
     path = "bsp/psc_abc.rs"
 )]
 #[cfg_attr(
-    any(target_board = "sidecar-b", target_board = "sidecar-c",),
-    path = "bsp/sidecar_bc.rs"
+    any(
+        target_board = "sidecar-b",
+        target_board = "sidecar-c",
+        target_board = "sidecar-d"
+    ),
+    path = "bsp/sidecar_bcd.rs"
 )]
 #[cfg_attr(target_board = "gimletlet-2", path = "bsp/gimletlet_2.rs")]
 mod bsp;

task/thermal/src/main.rs

@@ -23,8 +23,12 @@
     path = "bsp/gimlet_bcdef.rs"
 )]
 #[cfg_attr(
-    any(target_board = "sidecar-b", target_board = "sidecar-c"),
-    path = "bsp/sidecar_bc.rs"
+    any(
+        target_board = "sidecar-b",
+        target_board = "sidecar-c",
+        target_board = "sidecar-d"
+    ),
+    path = "bsp/sidecar_bcd.rs"
 )]
 mod bsp;
 mod control;