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bitcraze crazyflie fixes

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This commit is contained in:
Daniel Agar
2022-05-10 16:59:44 -04:00
parent a71d101869
commit 53cdb802b1
131 changed files with 434 additions and 1091 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/bitcraze/crazyflie/CMakeLists.txt → boards/bitcraze/crazyflie2/CMakeLists.txt
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boards/bitcraze/crazyflie/default.px4board → boards/bitcraze/crazyflie2/default.px4board
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boards/bitcraze/crazyflie/extras/bitcraze_crazyflie_bootloader.bin → boards/bitcraze/crazyflie2/extras/bitcraze_crazyflie_bootloader.bin
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boards/bitcraze/crazyflie/firmware.prototype → boards/bitcraze/crazyflie2/firmware.prototype
+2 -2
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@@ -1,10 +1,10 @@
{
"board_id": 12,
"magic": "Crazyflie",
"magic": "Crazyflie2",
"description": "Firmware for the Crazyflie 2.0",
"image": "",
"build_time": 0,
"summary": "CRAZYFLIE",
"summary": "CRAZYFLIE 2.0",
"version": "0.1",
"image_size": 0,
"image_maxsize": 1032192,
boards/bitcraze/crazyflie/init/rc.board_defaults → boards/bitcraze/crazyflie2/init/rc.board_defaults
+3
View File
@@ -3,6 +3,9 @@
# board specific defaults
#------------------------------------------------------------------------------
# start CDCACM as soon as possible
sercon
# system_power unavailable
param set-default CBRK_SUPPLY_CHK 894281
boards/bitcraze/crazyflie2/init/rc.board_mavlink
+8
View File
@@ -0,0 +1,8 @@
#!/bin/sh
#
# board specific MAVLink startup script.
#------------------------------------------------------------------------------
# Start MAVLink on the USB port
sleep 1
mavlink start -d /dev/ttyACM0
boards/bitcraze/crazyflie/init/rc.board_sensors → boards/bitcraze/crazyflie2/init/rc.board_sensors
+1 -1
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@@ -1,6 +1,6 @@
#!/bin/sh
#
# Bitcraze Crazyflie specific board sensors init
# board specific sensors init
#------------------------------------------------------------------------------
board_adc start
boards/bitcraze/crazyflie/nuttx-config/include/board.h → boards/bitcraze/crazyflie2/nuttx-config/include/board.h
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boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig → boards/bitcraze/crazyflie2/nuttx-config/nsh/defconfig
+2 -1
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@@ -25,7 +25,7 @@
# CONFIG_STM32_CCMEXCLUDE is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/bitcraze/crazyflie/nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/bitcraze/crazyflie2/nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP="stm32"
@@ -176,6 +176,7 @@ CONFIG_USART2_RXBUFSIZE=300
CONFIG_USART2_RXDMA=y
CONFIG_USART2_TXBUFSIZE=300
CONFIG_USART3_BAUD=57600
CONFIG_USART3_RXDMA=y
CONFIG_USART3_SERIAL_CONSOLE=y
CONFIG_USART6_BAUD=57600
CONFIG_USART6_RXBUFSIZE=128
boards/bitcraze/crazyflie/nuttx-config/scripts/script.ld → boards/bitcraze/crazyflie2/nuttx-config/scripts/script.ld
-1
View File
@@ -64,7 +64,6 @@ EXTERN(_vectors) /* force the vectors to be included in the output */
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
*/
EXTERN(abort)
EXTERN(board_get_manifest)
SECTIONS
{
boards/bitcraze/crazyflie/src/CMakeLists.txt → boards/bitcraze/crazyflie2/src/CMakeLists.txt
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boards/bitcraze/crazyflie/src/board_config.h → boards/bitcraze/crazyflie2/src/board_config.h
+13 -104
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@@ -34,41 +34,24 @@
/**
* @file board_config.h
*
* PX4-CRAZYFLIE internal definitions
* board internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* Configuration ************************************************************************************/
/* Crazyflie GPIOs **********************************************************************************/
/* LEDs */
/* Radio TX indicator */
#define GPIO_LED_RED_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN0)
#define GPIO_LED_RED_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN0)
/* Radio RX indicator */
#define GPIO_LED_GREEN_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1)
#define GPIO_LED_GREEN_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
#define GPIO_LED_RED_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
#define GPIO_LED_GREEN_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1)
#define GPIO_LED_GREEN_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
#define GPIO_LED_RED_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
/* PX4: armed state indicator ; Stock FW: Blinking while charging */
#define GPIO_LED_BLUE_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN2)
#define GPIO_LED_BLUE_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN2)
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
#define BOARD_OVERLOAD_LED LED_RED
@@ -81,33 +64,18 @@
#define GPIO_FSYNC_MPU9250 (GPIO_OUTPUT|GPIO_PORTC|GPIO_PIN14) // Needs to be set low
#define GPIO_DRDY_MPU9250 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
#define GPIO_NRF_TXEN (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTA|GPIO_PIN4) /* NRF_FLOW_CTRL */
#define GPIO_NRF_TXEN (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTA|GPIO_PIN4)
/*
* I2C busses
*/
#define PX4_I2C_BUS_ONBOARD_HZ 400000
#define PX4_I2C_BUS_EXPANSION_HZ 400000
/* I2C busses */
#define PX4_I2C_BUS_MTD 1
#define BOARD_NUMBER_I2C_BUSES 3
#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 100000, PX4_I2C_BUS_EXPANSION_HZ}
/* Devices on the onboard bus.
*
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_MPU9250 0x69
#define BOARD_I2C_BUS_CLOCK_INIT {400000, 400000}
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing
*/
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
//#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
/*
* ADC channels
@@ -117,15 +85,13 @@
#define ADC_CHANNELS 0
/* Tone alarm output : These are only applicable when the buzzer deck is attached */
#define TONE_ALARM_TIMER 5 /* timer 5 */
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
#define TONE_ALARM_TIMER 5 /* timer 5 */
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
#define GPIO_TONE_ALARM_NEG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
/* PWM
*/
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 4
/* This board overrides the defaults by providing
@@ -159,71 +125,14 @@
__BEGIN_DECLS
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************************************
* Name: board_peripheral_reset
*
* Description:
* Called to reset the periferal bus
*
****************************************************************************************************/
#define board_peripheral_reset(ms)
/****************************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to configure USB IO.
*
****************************************************************************************************/
extern void stm32_usbinitialize(void);
/****************************************************************************
* Name: board_i2c_initialize
*
* Description:
* Called to set I2C bus frequencies.
*
****************************************************************************/
int board_i2c_initialize(void);
/****************************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
****************************************************************************************************/
extern void stm32_spiinitialize(void);
/************************************************************************************
* Name: stm32_spi_bus_initialize
*
* Description:
* Called to configure SPI Buses.
*
************************************************************************************/
extern int stm32_spi_bus_initialize(void);
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
boards/bitcraze/crazyflie/src/i2c.cpp → boards/bitcraze/crazyflie2/src/i2c.cpp
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boards/bitcraze/crazyflie/src/init.c → boards/bitcraze/crazyflie2/src/init.c
-11
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@@ -87,14 +87,6 @@ extern void led_on(int led);
extern void led_off(int led);
__END_DECLS
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
@@ -109,11 +101,9 @@ __EXPORT void
stm32_boardinitialize(void)
{
/* configure LEDs */
board_autoled_initialize();
/* configure SPI interfaces */
stm32_spiinitialize();
stm32_usbinitialize();
@@ -154,7 +144,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
#endif
/* Configure the HW based on the manifest */
px4_platform_configure();
return OK;
boards/bitcraze/crazyflie/src/led.c → boards/bitcraze/crazyflie2/src/led.c
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boards/bitcraze/crazyflie/src/mtd.cpp → boards/bitcraze/crazyflie2/src/mtd.cpp
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boards/bitcraze/crazyflie/src/spi.cpp → boards/bitcraze/crazyflie2/src/spi.cpp
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boards/bitcraze/crazyflie/src/timer_config.cpp → boards/bitcraze/crazyflie2/src/timer_config.cpp
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boards/bitcraze/crazyflie/src/usb.c → boards/bitcraze/crazyflie2/src/usb.c
+2 -23
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@@ -32,15 +32,11 @@
****************************************************************************/
/**
* @file crazyflie_usb.c
* @file usb.c
*
* Board-specific USB functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
@@ -55,23 +51,11 @@
#include <stm32.h>
#include "board_config.h"
/************************************************************************************
* Definitions
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to setup USB-related GPIO pins for the PX4-STM32F4Discovery board.
* Called to setup USB-related GPIO pins for the board.
*
************************************************************************************/
@@ -83,10 +67,6 @@ __EXPORT void stm32_usbinitialize(void)
#ifdef CONFIG_STM32_OTGFS
stm32_configgpio(GPIO_OTGFS_VBUS);
/* XXX We only support device mode
stm32_configgpio(GPIO_OTGFS_PWRON);
stm32_configgpio(GPIO_OTGFS_OVER);
*/
#endif
}
@@ -105,4 +85,3 @@ __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
{
uinfo("resume: %d\n", resume);
}
boards/bitcraze/crazyflie/syslink/CMakeLists.txt → boards/bitcraze/crazyflie2/syslink/CMakeLists.txt
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boards/bitcraze/crazyflie/syslink/crtp.h → boards/bitcraze/crazyflie2/syslink/crtp.h
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boards/bitcraze/crazyflie/syslink/drv_deck.h → boards/bitcraze/crazyflie2/syslink/drv_deck.h
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boards/bitcraze/crazyflie/syslink/ringbuffer.cpp → boards/bitcraze/crazyflie2/syslink/ringbuffer.cpp
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boards/bitcraze/crazyflie/syslink/ringbuffer.h → boards/bitcraze/crazyflie2/syslink/ringbuffer.h
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boards/bitcraze/crazyflie/syslink/syslink.c → boards/bitcraze/crazyflie2/syslink/syslink.c
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boards/bitcraze/crazyflie/syslink/syslink.h → boards/bitcraze/crazyflie2/syslink/syslink.h
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boards/bitcraze/crazyflie/syslink/syslink_bridge.cpp → boards/bitcraze/crazyflie2/syslink/syslink_bridge.cpp
View File
boards/bitcraze/crazyflie/syslink/syslink_main.cpp → boards/bitcraze/crazyflie2/syslink/syslink_main.cpp
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boards/bitcraze/crazyflie/syslink/syslink_main.h → boards/bitcraze/crazyflie2/syslink/syslink_main.h
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boards/bitcraze/crazyflie/syslink/syslink_memory.cpp → boards/bitcraze/crazyflie2/syslink/syslink_memory.cpp
View File
boards/bitcraze/crazyflie/syslink/syslink_params.c → boards/bitcraze/crazyflie2/syslink/syslink_params.c
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boards/bitcraze/crazyflie21/CMakeLists.txt
+1 -1
View File
@@ -31,4 +31,4 @@
#
############################################################################
add_subdirectory(../crazyflie syslink)
add_subdirectory(../crazyflie2 syslink)
boards/bitcraze/crazyflie21/default.px4board
+2 -5
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@@ -5,7 +5,6 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
CONFIG_DRIVERS_BAROMETER_BMP388=y
CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_BOSCH_BMI088_I2C=y
CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
CONFIG_DRIVERS_PWM_OUT=y
@@ -17,13 +16,12 @@ CONFIG_MODULES_EKF2=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_LAND_DETECTOR=y
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_MANUAL_CONTROL=y
CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MC_ATT_CONTROL=y
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
CONFIG_MODULES_MC_POS_CONTROL=y
CONFIG_MODULES_MC_RATE_CONTROL=y
@@ -32,6 +30,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
CONFIG_SYSTEMCMDS_MFT=y
CONFIG_SYSTEMCMDS_MIXER=y
CONFIG_SYSTEMCMDS_MTD=y
CONFIG_SYSTEMCMDS_NSHTERM=y
@@ -39,8 +38,6 @@ CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_PWM=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SD_BENCH=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
boards/bitcraze/crazyflie21/init/rc.board_defaults
+3
View File
@@ -3,6 +3,9 @@
# board specific defaults
#------------------------------------------------------------------------------
# start CDCACM as soon as possible
sercon
# system_power unavailable
param set-default CBRK_SUPPLY_CHK 894281
boards/bitcraze/crazyflie21/init/rc.board_mavlink
+8
View File
@@ -0,0 +1,8 @@
#!/bin/sh
#
# board specific MAVLink startup script.
#------------------------------------------------------------------------------
# Start MAVLink on the USB port
sleep 1
mavlink start -d /dev/ttyACM0
boards/bitcraze/crazyflie21/init/rc.board_sensors
+1 -1
View File
@@ -1,6 +1,6 @@
#!/bin/sh
#
# Bitcraze Crazyflie specific board sensors init
# board specific sensors init
#------------------------------------------------------------------------------
board_adc start
boards/bitcraze/crazyflie21/nuttx-config/include/board.h
+17 -29
View File
@@ -173,45 +173,33 @@
*
*/
/* E_TX2 / E_RX2 */
#define GPIO_USART2_RX GPIO_USART2_RX_1
#define GPIO_USART2_TX GPIO_USART2_TX_1
#define GPIO_USART2_RX GPIO_USART2_RX_1 /* PA3 */
#define GPIO_USART2_TX GPIO_USART2_TX_1 /* PA2 */
/* E_TX1 / E_RX1 */
#define GPIO_USART3_RX GPIO_USART3_RX_2
#define GPIO_USART3_TX GPIO_USART3_TX_2
#define GPIO_USART3_RX GPIO_USART3_RX_2 /* PC11 */
#define GPIO_USART3_TX GPIO_USART3_TX_2 /* PC10 */
/* NRF51 via syslink */
#define GPIO_USART6_RX GPIO_USART6_RX_1
#define GPIO_USART6_TX GPIO_USART6_TX_1
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */
#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PA4 */
/* UART DMA configuration for USART6 */
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
/*
* I2C
*
* The optional _GPIO configurations allow the I2C driver to manually
* reset the bus to clear stuck slaves. They match the pin configuration,
* but are normally-high GPIOs.
*/
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN6)
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN7)
/* I2C */
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1 /* PB6 */
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1 /* PB7 */
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1
#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9)
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1 /* PA8 */
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1 /* PC9 */
/*
* SPI
*
* E_MISO, E_MOSI, E_SCK exposed on headers
*/
#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
/* SPI */
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 /* PA5 */
/* XXX since we allocate the HP work stack from CCM RAM on normal system startup,
SPI1 will never run in DMA mode - so we can just give it a random config here.
boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig
+8 -7
View File
@@ -44,10 +44,11 @@ CONFIG_CDCACM=y
CONFIG_CDCACM_IFLOWCONTROL=y
CONFIG_CDCACM_PRODUCTID=0x0016
CONFIG_CDCACM_PRODUCTSTR="PX4 Crazyflie v2.0"
CONFIG_CDCACM_RXBUFSIZE=300
CONFIG_CDCACM_TXBUFSIZE=1000
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=2000
CONFIG_CDCACM_VENDORID=0x26ac
CONFIG_CDCACM_VENDORSTR="Bitcraze AB"
CONFIG_CLOCK_MONOTONIC=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_HARDFAULT_ALERT=y
CONFIG_DEBUG_SYMBOLS=y
@@ -55,6 +56,7 @@ CONFIG_DEFAULT_SMALL=y
CONFIG_DEV_FIFO_SIZE=0
CONFIG_DEV_PIPE_MAXSIZE=1024
CONFIG_DEV_PIPE_SIZE=70
CONFIG_DISABLE_MQUEUE=y
CONFIG_FAT_DIRECT_RETRY=y
CONFIG_FAT_LCNAMES=y
CONFIG_FAT_LFN=y
@@ -63,11 +65,10 @@ CONFIG_FDCLONE_STDIO=y
CONFIG_FS_BINFS=y
CONFIG_FS_CROMFS=y
CONFIG_FS_FAT=y
CONFIG_FS_FATTIME=y
CONFIG_FS_PROCFS=y
CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
CONFIG_FS_PROCFS_EXCLUDE_MEMINFO=y
CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
CONFIG_FS_PROCFS_REGISTER=y
CONFIG_FS_ROMFS=y
CONFIG_GRAN=y
CONFIG_GRAN_INTR=y
@@ -91,7 +92,6 @@ CONFIG_NSH_ARGCAT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_CMDPARMS=y
CONFIG_NSH_CROMFSETC=y
CONFIG_NSH_DISABLE_EXPORT=y
CONFIG_NSH_DISABLE_IFCONFIG=y
CONFIG_NSH_DISABLE_IFUPDOWN=y
CONFIG_NSH_DISABLE_TELNETD=y
@@ -174,6 +174,7 @@ CONFIG_USART2_BAUD=57600
CONFIG_USART2_RXBUFSIZE=300
CONFIG_USART2_RXDMA=y
CONFIG_USART2_TXBUFSIZE=300
CONFIG_USART3_BAUD=57600
CONFIG_USART3_RXDMA=y
CONFIG_USART3_SERIAL_CONSOLE=y
CONFIG_USART6_BAUD=57600
boards/bitcraze/crazyflie21/src/CMakeLists.txt
+1
View File
@@ -35,6 +35,7 @@ add_library(drivers_board
i2c.cpp
init.c
led.c
mtd.cpp
spi.cpp
timer_config.cpp
usb.c
boards/bitcraze/crazyflie21/src/board_config.h
+17 -107
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -34,41 +34,24 @@
/**
* @file board_config.h
*
* PX4-CRAZYFLIE internal definitions
* board internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* Configuration ************************************************************************************/
/* Crazyflie GPIOs **********************************************************************************/
/* LEDs */
/* Radio TX indicator */
#define GPIO_LED_RED_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN0)
#define GPIO_LED_RED_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN0)
/* Radio RX indicator */
#define GPIO_LED_GREEN_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1)
#define GPIO_LED_GREEN_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
#define GPIO_LED_RED_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
#define GPIO_LED_GREEN_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1)
#define GPIO_LED_GREEN_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
#define GPIO_LED_RED_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
/* PX4: armed state indicator ; Stock FW: Blinking while charging */
#define GPIO_LED_BLUE_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN2)
#define GPIO_LED_BLUE_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN2)
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
#define BOARD_OVERLOAD_LED LED_RED
@@ -78,37 +61,21 @@
#define LED_TX 4
#define LED_RX 5
#define GPIO_FSYNC_MPU9250 (GPIO_OUTPUT|GPIO_PORTC|GPIO_PIN14) // Needs to be set low
#define GPIO_DRDY_MPU9250 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
#define GPIO_BMI088_INT_ACC (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
#define GPIO_BMI088_INT_GYR (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
#define GPIO_NRF_TXEN (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTA|GPIO_PIN4) /* NRF_FLOW_CTRL */
#define GPIO_NRF_TXEN (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTA|GPIO_PIN4)
#define GPIO_I2C4_DRDY1_BMP388 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
/*
* I2C busses
*/
#define PX4_I2C_BUS_ONBOARD_HZ 400000
#define PX4_I2C_BUS_EXPANSION_HZ 400000
/* I2C busses */
#define PX4_I2C_BUS_MTD 1
#define BOARD_NUMBER_I2C_BUSES 3
#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 400000, PX4_I2C_BUS_EXPANSION_HZ}
/* Devices on the onboard bus.
*
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_MPU9250 0x69
#define BOARD_I2C_BUS_CLOCK_INIT {400000, 400000}
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing
*/
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
//#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
/*
* ADC channels
@@ -118,15 +85,13 @@
#define ADC_CHANNELS 0
/* Tone alarm output : These are only applicable when the buzzer deck is attached */
#define TONE_ALARM_TIMER 5 /* timer 5 */
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
#define TONE_ALARM_TIMER 5 /* timer 5 */
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
#define GPIO_TONE_ALARM_NEG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
/* PWM
*/
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 4
/* This board overrides the defaults by providing
@@ -160,71 +125,16 @@
__BEGIN_DECLS
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************************************
* Name: board_peripheral_reset
*
* Description:
* Called to reset the periferal bus
*
****************************************************************************************************/
#define board_peripheral_reset(ms)
/****************************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to configure USB IO.
*
****************************************************************************************************/
static inline int board_read_VBUS_state(void) { return -1; }
extern void stm32_usbinitialize(void);
/****************************************************************************
* Name: board_i2c_initialize
*
* Description:
* Called to set I2C bus frequencies.
*
****************************************************************************/
int board_i2c_initialize(void);
/****************************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
****************************************************************************************************/
extern void stm32_spiinitialize(void);
/************************************************************************************
* Name: stm32_spi_bus_initialize
*
* Description:
* Called to configure SPI Buses.
*
************************************************************************************/
extern int stm32_spi_bus_initialize(void);
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
boards/bitcraze/crazyflie21/src/init.c
+6 -13
View File
@@ -32,9 +32,9 @@
****************************************************************************/
/**
* @file crazyflie_init.c
* @file init.c
*
* Crazyflie specific early startup code. This file implements the
* board specific early startup code. This file implements the
* board_app_initialize() function that is called early by nsh during startup.
*
* Code here is run before the rcS script is invoked; it should start required
@@ -46,7 +46,7 @@
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform/gpio.h>
#include <stdbool.h>
#include <stdio.h>
@@ -87,14 +87,6 @@ extern void led_on(int led);
extern void led_off(int led);
__END_DECLS
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
@@ -109,11 +101,9 @@ __EXPORT void
stm32_boardinitialize(void)
{
/* configure LEDs */
board_autoled_initialize();
/* configure SPI interfaces */
stm32_spiinitialize();
stm32_usbinitialize();
@@ -153,5 +143,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
stm32_spi_bus_initialize();
#endif
/* Configure the HW based on the manifest */
px4_platform_configure();
return OK;
}
boards/bitcraze/crazyflie21/src/mtd.cpp
+81
View File
@@ -0,0 +1,81 @@
/****************************************************************************
*
* Copyright (C) 2021-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <nuttx/spi/spi.h>
#include <px4_platform_common/px4_manifest.h>
// KiB BS nB
static const px4_mft_device_t i2c1 = { // 24AA64FT on Base 8K 32 X 256
.bus_type = px4_mft_device_t::I2C,
.devid = PX4_MK_I2C_DEVID(1, 0x50)
};
static const px4_mtd_entry_t fmu_eeprom = {
.device = &i2c1,
.npart = 2,
.partd = {
{
.type = MTD_PARAMETERS,
.path = "/fs/mtd_params",
.nblocks = 128
},
{
.type = MTD_WAYPOINTS,
.path = "/fs/mtd_waypoints",
.nblocks = 128
}
},
};
static const px4_mtd_manifest_t board_mtd_config = {
.nconfigs = 1,
.entries = {
&fmu_eeprom,
}
};
static const px4_mft_entry_s mtd_mft = {
.type = MTD,
.pmft = (void *) &board_mtd_config,
};
static const px4_mft_s mft = {
.nmft = 1,
.mfts = &mtd_mft
};
const px4_mft_s *board_get_manifest(void)
{
return &mft;
}
boards/bitcraze/crazyflie21/src/usb.c
+4 -24
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2021-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -32,15 +32,11 @@
****************************************************************************/
/**
* @file crazyflie_usb.c
* @file usb.c
*
* Board-specific USB functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
@@ -55,23 +51,11 @@
#include <stm32.h>
#include "board_config.h"
/************************************************************************************
* Definitions
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to setup USB-related GPIO pins for the PX4-STM32F4Discovery board.
* Called to setup USB-related GPIO pins for the board.
*
************************************************************************************/
@@ -81,12 +65,8 @@ __EXPORT void stm32_usbinitialize(void)
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
#ifdef CONFIG_STM32_OTGFS
#if defined(CONFIG_STM32_OTGFS) && defined(GPIO_OTGFS_VBUS)
stm32_configgpio(GPIO_OTGFS_VBUS);
/* XXX We only support device mode
stm32_configgpio(GPIO_OTGFS_PWRON);
stm32_configgpio(GPIO_OTGFS_OVER);
*/
#endif
}