From 8fb458b7fee2bb5e697da95d3c923a75845bf276 Mon Sep 17 00:00:00 2001
From: Rodrigo Sim <rcsim10@gmail.com>
Date: Sat, 18 May 2024 12:20:46 -0300
Subject: [PATCH] board/stm32f401rc-rs485: Add support to ultrasonic sensor
 HC-SR04

Signed-off-by: Rodrigo Sim rcsim10@gmail.com
---
 .../boards/stm32f401rc-rs485/index.rst        | 16 +++++
 .../configs/hcsr04/defconfig                  | 67 +++++++++++++++++++
 .../stm32/stm32f401rc-rs485/include/board.h   | 11 +++
 .../stm32f401rc-rs485/src/stm32_bringup.c     | 15 +++++
 4 files changed, 109 insertions(+)
 create mode 100644 boards/arm/stm32/stm32f401rc-rs485/configs/hcsr04/defconfig

diff --git a/Documentation/platforms/arm/stm32f4/boards/stm32f401rc-rs485/index.rst b/Documentation/platforms/arm/stm32f4/boards/stm32f401rc-rs485/index.rst
index 6778f0b5bd..63ff9e77ea 100644
--- a/Documentation/platforms/arm/stm32f4/boards/stm32f401rc-rs485/index.rst
+++ b/Documentation/platforms/arm/stm32f4/boards/stm32f401rc-rs485/index.rst
@@ -539,3 +539,19 @@ NSH commands::
        mcsonn_main: Connected
 
        nsh> msdis
+
+hcs04
+-----
+
+Configures the NuttShell (nsh) over USB Serial (check usbserial configuration) and enables ultrasonic sensor HC-SR04::
+
+       nsh> cat /dev/dist0
+       6241 --> value 
+       6227
+       6241
+       6255
+
+You can convert the value using following::
+
+       Convert to cm: value/58
+       Converto to inches: value/148
diff --git a/boards/arm/stm32/stm32f401rc-rs485/configs/hcsr04/defconfig b/boards/arm/stm32/stm32f401rc-rs485/configs/hcsr04/defconfig
new file mode 100644
index 0000000000..decf112494
--- /dev/null
+++ b/boards/arm/stm32/stm32f401rc-rs485/configs/hcsr04/defconfig
@@ -0,0 +1,67 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_ARCH_FPU is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+# CONFIG_NSH_DISABLE_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_PS is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="stm32f401rc-rs485"
+CONFIG_ARCH_BOARD_COMMON=y
+CONFIG_ARCH_BOARD_STM32F401RC_RS485=y
+CONFIG_ARCH_BUTTONS=y
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F401RC=y
+CONFIG_ARCH_INTERRUPTSTACK=2048
+CONFIG_ARCH_IRQBUTTONS=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_BOARDCTL_USBDEVCTRL=y
+CONFIG_BOARD_LOOPSPERMSEC=8499
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_CONSOLE=y
+CONFIG_EXAMPLES_BUTTONS=y
+CONFIG_EXAMPLES_BUTTONS_NAME0="SW3"
+CONFIG_EXAMPLES_BUTTONS_NAME1="SW4"
+CONFIG_EXAMPLES_BUTTONS_NAME2="SW5"
+CONFIG_EXAMPLES_BUTTONS_NAMES=y
+CONFIG_EXAMPLES_BUTTONS_QTD=3
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INPUT=y
+CONFIG_INPUT_BUTTONS=y
+CONFIG_INPUT_BUTTONS_LOWER=y
+CONFIG_INTELHEX_BINARY=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=98304
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_SENSORS=y
+CONFIG_SENSORS_HCSR04=y
+CONFIG_SPI=y
+CONFIG_START_DAY=5
+CONFIG_START_MONTH=5
+CONFIG_START_YEAR=2014
+CONFIG_STM32_FREERUN=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_OTGFS=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_TIM1=y
+CONFIG_STM32_USART6=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USBDEV=y
diff --git a/boards/arm/stm32/stm32f401rc-rs485/include/board.h b/boards/arm/stm32/stm32f401rc-rs485/include/board.h
index 76fd32ec8c..6ade75f5cb 100644
--- a/boards/arm/stm32/stm32f401rc-rs485/include/board.h
+++ b/boards/arm/stm32/stm32f401rc-rs485/include/board.h
@@ -298,6 +298,17 @@ extern "C"
 #define  GPIO_TIM3_CH1IN GPIO_TIM3_CH1IN_2
 #define  GPIO_TIM3_CH2IN GPIO_TIM3_CH2IN_1
 
+/* HCSR04 driver */
+
+/* Pins config to use with HC-SR04 sensor */
+
+#define GPIO_HCSR04_INT   (GPIO_INPUT |GPIO_FLOAT |GPIO_EXTI | GPIO_PORTB | GPIO_PIN1)
+#define GPIO_HCSR04_TRIG  (GPIO_OUTPUT_CLEAR | GPIO_OUTPUT | GPIO_SPEED_50MHz | GPIO_PORTB | GPIO_PIN0)
+
+#define BOARD_HCSR04_GPIO_INT  GPIO_HCSR04_INT
+#define BOARD_HCSR04_GPIO_TRIG GPIO_HCSR04_TRIG
+#define BOARD_HCSR04_FRTIMER   1    /* TIM1 as free running timer */
+
 /* I2C
  *
  * The optional _GPIO configurations allow the I2C driver to manually
diff --git a/boards/arm/stm32/stm32f401rc-rs485/src/stm32_bringup.c b/boards/arm/stm32/stm32f401rc-rs485/src/stm32_bringup.c
index eb7b42072f..036408d9df 100644
--- a/boards/arm/stm32/stm32f401rc-rs485/src/stm32_bringup.c
+++ b/boards/arm/stm32/stm32f401rc-rs485/src/stm32_bringup.c
@@ -59,6 +59,11 @@
 #  include <nuttx/usb/rndis.h>
 #endif
 
+#ifdef CONFIG_SENSORS_HCSR04
+#include "stm32_hcsr04.h"
+#endif
+
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -233,5 +238,15 @@ int stm32_bringup(void)
   usbdev_rndis_initialize(mac);
 #endif
 
+#ifdef CONFIG_SENSORS_HCSR04
+  /* Configure and initialize the HC-SR04 distance sensor */
+
+  ret = board_hcsr04_initialize(0);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: board_hcsr04_initialize() failed: %d\n", ret);
+    }
+#endif
+
   return ret;
 }