Initial build for Crazyflie 2.0

Working crazyflie firmware build

* Console on USART3
* Could not disable building PX4IO firmware, currently commented out

Don't build PX4IO firmware if the board doesn't ask for it

Added crazyflie motor driver

Fixed wrong register

CLK_SEL is in PWR_MGMT_1

Initial I2C/SPI MPU9250 device

* Tested with I2C
* Need to add error checking
* Intermittent crash on stop call

Working ak8963 mag driver

Functional lps25h driver. Work in progress.

Works well enough to probe and allow sensors task to start.

Added serial port test module

HACK! Get sensors module working

Set crazyflie PWM range

Extend baudrate for Crazyflie's NRF radio

Added dummy tone alarm to allow for init

Added autostart script for Crazyflie

src/drivers/lps25h/CMakeLists.txt

@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2015 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.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__lps25h
+	MAIN lps25h
+	STACK 1200
+	COMPILE_FLAGS
+		-Weffc++
+		-Os
+	SRCS
+		lps25h.cpp
+		lps25h_i2c.cpp
+		lps25h_spi.cpp
+
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/drivers/lps25h/lps25h.h

@@ -0,0 +1,49 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file lps25h.h
+ *
+ * Shared defines for the lps25h driver.
+ */
+
+#pragma once
+
+#define ADDR_WHO_AM_I		0x0F
+
+#define ID_WHO_AM_I		0xBD
+
+/* interface factories */
+extern device::Device *LPS25H_SPI_interface(int bus);
+extern device::Device *LPS25H_I2C_interface(int bus);
+typedef device::Device *(*LPS25H_constructor)(int);

src/drivers/lps25h/lps25h_i2c.cpp

@@ -0,0 +1,179 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2015 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file LPS25H_I2C.cpp
+ *
+ * I2C interface for LPS25H
+ */
+
+/* XXX trim includes */
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+#include <assert.h>
+#include <debug.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/device/i2c.h>
+#include <drivers/drv_mag.h>
+#include <drivers/drv_device.h>
+
+#include "lps25h.h"
+
+#include "board_config.h"
+
+#define LPS25H_ADDRESS		0x5D
+
+device::Device *LPS25H_I2C_interface(int bus);
+
+class LPS25H_I2C : public device::I2C
+{
+public:
+	LPS25H_I2C(int bus);
+	virtual ~LPS25H_I2C();
+
+	virtual int	init();
+	virtual int	read(unsigned address, void *data, unsigned count);
+	virtual int	write(unsigned address, void *data, unsigned count);
+
+	virtual int	ioctl(unsigned operation, unsigned &arg);
+
+protected:
+	virtual int	probe();
+
+};
+
+device::Device *
+LPS25H_I2C_interface(int bus)
+{
+	return new LPS25H_I2C(bus);
+}
+
+LPS25H_I2C::LPS25H_I2C(int bus) :
+	I2C("LPS25H_I2C", nullptr, bus, LPS25H_ADDRESS, 400000)
+{
+}
+
+LPS25H_I2C::~LPS25H_I2C()
+{
+}
+
+int
+LPS25H_I2C::init()
+{
+	/* this will call probe() */
+	return I2C::init();
+}
+
+int
+LPS25H_I2C::ioctl(unsigned operation, unsigned &arg)
+{
+	int ret;
+
+	switch (operation) {
+
+	case MAGIOCGEXTERNAL:
+// On PX4v1 the MAG can be on an internal I2C
+// On everything else its always external
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+		if (_bus == PX4_I2C_BUS_EXPANSION) {
+			return 1;
+
+		} else {
+			return 0;
+		}
+
+#else
+		return 1;
+#endif
+
+	case DEVIOCGDEVICEID:
+		return CDev::ioctl(nullptr, operation, arg);
+
+	default:
+		ret = -EINVAL;
+	}
+
+	return ret;
+}
+
+int
+LPS25H_I2C::probe()
+{
+	uint8_t id;
+
+	_retries = 10;
+
+	if (read(ADDR_WHO_AM_I, &id, 1)) {
+		DEVICE_DEBUG("read_reg fail");
+		return -EIO;
+	}
+
+	_retries = 2;
+
+	if (id != ID_WHO_AM_I) {
+		DEVICE_DEBUG("ID byte mismatch (%02x != %02x)", ID_WHO_AM_I, id);
+		return -EIO;
+	}
+
+	return OK;
+}
+
+int
+LPS25H_I2C::write(unsigned address, void *data, unsigned count)
+{
+	uint8_t buf[32];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = address;
+	memcpy(&buf[1], data, count);
+
+	return transfer(&buf[0], count + 1, nullptr, 0);
+}
+
+int
+LPS25H_I2C::read(unsigned address, void *data, unsigned count)
+{
+	uint8_t cmd = address;
+	return transfer(&cmd, 1, (uint8_t *)data, count);
+}

src/drivers/lps25h/lps25h_spi.cpp

@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2015 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file LPS25H_SPI.cpp
+ *
+ * SPI interface for LPS25H
+ */
+
+/* XXX trim includes */
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+#include <assert.h>
+#include <debug.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/device/spi.h>
+#include <drivers/drv_mag.h>
+#include <drivers/drv_device.h>
+
+#include "lps25h.h"
+#include <board_config.h>
+
+#ifdef PX4_SPIDEV_HMC
+
+/* SPI protocol address bits */
+#define DIR_READ			(1<<7)
+#define DIR_WRITE			(0<<7)
+#define ADDR_INCREMENT			(1<<6)
+
+#define HMC_MAX_SEND_LEN		4
+#define HMC_MAX_RCV_LEN			8
+
+device::Device *LPS25H_SPI_interface(int bus);
+
+class LPS25H_SPI : public device::SPI
+{
+public:
+	LPS25H_SPI(int bus, spi_dev_e device);
+	virtual ~LPS25H_SPI();
+
+	virtual int	init();
+	virtual int	read(unsigned address, void *data, unsigned count);
+	virtual int	write(unsigned address, void *data, unsigned count);
+
+	virtual int	ioctl(unsigned operation, unsigned &arg);
+
+};
+
+device::Device *
+LPS25H_SPI_interface(int bus)
+{
+	return new LPS25H_SPI(bus, (spi_dev_e)PX4_SPIDEV_HMC);
+}
+
+LPS25H_SPI::LPS25H_SPI(int bus, spi_dev_e device) :
+	SPI("LPS25H_SPI", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000 /* will be rounded to 10.4 MHz */)
+{
+	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LPS25H;
+}
+
+LPS25H_SPI::~LPS25H_SPI()
+{
+}
+
+int
+LPS25H_SPI::init()
+{
+	int ret;
+
+	ret = SPI::init();
+
+	if (ret != OK) {
+		DEVICE_DEBUG("SPI init failed");
+		return -EIO;
+	}
+
+	// read WHO_AM_I value
+	uint8_t id;
+
+	if (read(ADDR_ID, &id, 1)) {
+		DEVICE_DEBUG("read_reg fail");
+		return -EIO;
+	}
+
+	if (id != ID_WHO_AM_I) {
+		DEVICE_DEBUG("ID byte mismatch (%02x != %02x)", ID_WHO_AM_I, id);
+		return -EIO;
+	}
+
+	return OK;
+}
+
+int
+LPS25H_SPI::ioctl(unsigned operation, unsigned &arg)
+{
+	int ret;
+
+	switch (operation) {
+
+	case MAGIOCGEXTERNAL:
+		/*
+		 * Even if this sensor is on the external SPI
+		 * bus it is still internal to the autopilot
+		 * assembly, so always return 0 for internal.
+		 */
+		return 0;
+
+	case DEVIOCGDEVICEID:
+		return CDev::ioctl(nullptr, operation, arg);
+
+	default: {
+			ret = -EINVAL;
+		}
+	}
+
+	return ret;
+}
+
+int
+LPS25H_SPI::write(unsigned address, void *data, unsigned count)
+{
+	uint8_t buf[32];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = address | DIR_WRITE;
+	memcpy(&buf[1], data, count);
+
+	return transfer(&buf[0], &buf[0], count + 1);
+}
+
+int
+LPS25H_SPI::read(unsigned address, void *data, unsigned count)
+{
+	uint8_t buf[32];
+
+	if (sizeof(buf) < (count + 1)) {
+		return -EIO;
+	}
+
+	buf[0] = address | DIR_READ | ADDR_INCREMENT;
+
+	int ret = transfer(&buf[0], &buf[0], count + 1);
+	memcpy(data, &buf[1], count);
+	return ret;
+}
+
+#endif /* PX4_SPIDEV_HMC */