Working motors and mtd for CF2

src/drivers/boards/crazyflie/CMakeLists.txt

@@ -37,6 +37,7 @@ px4_add_module(
 		crazyflie_usb.c
 		crazyflie_led.c
 		crazyflie_timer_config.c
+		crazyflie_i2c.cpp
 	DEPENDS
 		platforms__common
 	)

src/drivers/boards/crazyflie/board_config.h

@@ -83,6 +83,8 @@ __BEGIN_DECLS
 #define PX4_I2C_BUS_ONBOARD_HZ      400000
 #define PX4_I2C_BUS_EXPANSION_HZ      400000
 
+#define PX4_I2C_BUS_MTD	PX4_I2C_BUS_EXPANSION
+
 
 
 /* Devices on the onboard bus.
@@ -127,6 +129,13 @@ __BEGIN_DECLS
 #define GPIO_TIM2_CH1OUT	GPIO_TIM2_CH1OUT_2
 #define GPIO_TIM4_CH4OUT	GPIO_TIM4_CH4OUT_1
 
+#define GPIO_TIM2_CH2IN		GPIO_TIM2_CH2IN_1
+#define GPIO_TIM2_CH4IN		GPIO_TIM2_CH4IN_2
+#define GPIO_TIM2_CH1IN		GPIO_TIM2_CH1IN_2
+#define GPIO_TIM4_CH4IN		GPIO_TIM4_CH4IN_1
+
+
+
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
@@ -176,6 +185,20 @@ extern void stm32_usbinitialize(void);
 int nsh_archinitialize(void);
 #endif
 
+
+
+
+/****************************************************************************
+ * Name: board_i2c_initialize
+ *
+ * Description:
+ *   Called to set I2C bus frequncies.
+ *
+ ****************************************************************************/
+
+int board_i2c_initialize(void);
+
+
 #endif /* __ASSEMBLY__ */
 
 __END_DECLS

src/drivers/boards/crazyflie/crazyflie_i2c.cpp

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
- *         Author: David Sidrane <david_s5@nscdg.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

src/drivers/boards/crazyflie/crazyflie_init.c

@@ -145,6 +145,7 @@ __EXPORT int matherr(struct exception *e)
 
 __EXPORT int nsh_archinitialize(void)
 {
+	int result;
 
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
@@ -175,10 +176,10 @@ __EXPORT int nsh_archinitialize(void)
 
 	result = board_i2c_initialize();
 
-//	if (result != OK) {
+	if (result != OK) {
 //		up_ledon(LED_AMBER);
-//		return -ENODEV;
-//	}
+		return -ENODEV;
+	}
 
 
 

src/drivers/boards/crazyflie/crazyflie_timer_config.c

@@ -42,11 +42,11 @@
 #include <stdint.h>
 
 #include <stm32.h>
-#include <stm32_gpio_out.h>
+#include <stm32_gpio.h>
 #include <stm32_tim.h>
 
-#include <drivers/stm32/drv_io_timer.h>
 #include <drivers/drv_pwm_output.h>
+#include <drivers/stm32/drv_io_timer.h>
 
 #include "board_config.h"
 
@@ -55,7 +55,7 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.base = STM32_TIM2_BASE,
 		.clock_register = STM32_RCC_APB1ENR,
 		.clock_bit = RCC_APB1ENR_TIM2EN,
-		.clock_freq = STM32_APB1_TIM2_CLKIN
+		.clock_freq = STM32_APB1_TIM2_CLKIN,
 		.first_channel_index = 0,
 		.last_channel_index = 2,
 		.handler = io_timer_handler0,
@@ -65,7 +65,7 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.base = STM32_TIM4_BASE,
 		.clock_register = STM32_RCC_APB1ENR,
 		.clock_bit = RCC_APB1ENR_TIM4EN,
-		.clock_freq = STM32_APB1_TIM4_CLKIN
+		.clock_freq = STM32_APB1_TIM4_CLKIN,
 		.first_channel_index = 3,
 		.last_channel_index = 3,
 		.handler = io_timer_handler1,

src/drivers/crazyflie/crazyflie.cpp

@@ -72,10 +72,6 @@
 #include <drivers/drv_rc_input.h>
 
 #include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_controls_0.h>
-#include <uORB/topics/actuator_controls_1.h>
-#include <uORB/topics/actuator_controls_2.h>
-#include <uORB/topics/actuator_controls_3.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/parameter_update.h>
@@ -1078,10 +1074,18 @@ crazyflie_main(int argc, char *argv[])
 		errx(0, "Crazyflie driver stopped");
 	}
 
-	if (crazyflie_start() != OK) {
-		errx(1, "failed to start the Crazyflie driver");
+	if (!strcmp(verb, "start")) {
+		if (crazyflie_start() == OK) {
+			errx(0, "Crazyflie driver started");
+		}
+		else {
+			errx(1, "failed to start the Crazyflie driver");
+		}
+
 	}
 
+	// TODO: Ensure driver is running
+
 	if (!strcmp(verb, "test")) {
 		test();
 	}

src/systemcmds/mtd/mtd.c

@@ -80,10 +80,15 @@ int mtd_main(int argc, char *argv[])
 static void	ramtron_attach(void);
 #else
 
-#ifndef PX4_I2C_BUS_ONBOARD
-#  error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM
+#ifndef PX4_I2C_BUS_MTD
+#  ifdef PX4_I2C_BUS_ONBOARD
+#    define PX4_I2C_BUS_MTD PX4_I2C_BUS_ONBOARD
+#  else
+#    error PX4_I2C_BUS_MTD and PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM
+#  endif
 #endif
 
+
 static void	at24xxx_attach(void);
 #endif
 static void	mtd_start(char *partition_names[], unsigned n_partitions);
@@ -225,7 +230,7 @@ static void
 at24xxx_attach(void)
 {
 	/* find the right I2C */
-	struct i2c_dev_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_ONBOARD);
+	struct i2c_dev_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_MTD);
 	/* this resets the I2C bus, set correct bus speed again */
 	I2C_SETFREQUENCY(i2c, 400000);