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Merge Crazyflie motor driver with FMU
Comment corrections
This commit is contained in:
Dennis Shtatnov
committed by
Lorenz Meier
Lorenz Meier
parent
e6b98b2ab8
commit
e91821d2a2
@@ -38,6 +38,7 @@ px4_add_module(
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crazyflie_led.c
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crazyflie_timer_config.c
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crazyflie_i2c.cpp
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crazyflie_spi.c
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DEPENDS
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platforms__common
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)
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@@ -60,19 +60,29 @@ __BEGIN_DECLS
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****************************************************************************************************/
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/* Configuration ************************************************************************************/
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/* PX4-STM32F4Discovery GPIOs ***********************************************************************************/
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/* Crazyflie GPIOs **********************************************************************************/
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/* LEDs */
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// LED1 green, LED2 orange, LED3 red, LED4 blue
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#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN0)
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#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1)
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#define GPIO_LED3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
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#define GPIO_LED4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
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/* Radio TX indicator */
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#define GPIO_LED_RED_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN0)
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/* Radio RX indicator */
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#define GPIO_LED_GREEN_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1)
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#define GPIO_LED_GREEN_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
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#define GPIO_LED_RED_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
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/* Blinking while charging */
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#define GPIO_LED_BLUE_L (GPIO_OUTPUT|GPIO_PORTD|GPIO_PIN2)
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#define GPIO_FSYNC_MPU9250 (GPIO_OUTPUT|GPIO_PORTC|GPIO_PIN14) // Needs to be set low
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#define GPIO_DRDY_MPU9250 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
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/*
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* I2C busses
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@@ -128,6 +138,7 @@ __BEGIN_DECLS
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#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_2
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#define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_2
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#define GPIO_TIM4_CH4OUT GPIO_TIM4_CH4OUT_1
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#define DIRECT_PWM_OUTPUT_CHANNELS 4
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#define GPIO_TIM2_CH2IN GPIO_TIM2_CH2IN_1
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#define GPIO_TIM2_CH4IN GPIO_TIM2_CH4IN_2
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@@ -140,6 +151,15 @@ __BEGIN_DECLS
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#define HRT_TIMER 8 /* use timer8 for the HRT */
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#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
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#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
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#define BOARD_FMU_GPIO_TAB { {0, 0, 0}, }
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/****************************************************************************************************
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* Public Types
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****************************************************************************************************/
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@@ -163,9 +183,12 @@ __BEGIN_DECLS
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****************************************************************************************************/
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extern void stm32_spiinitialize(void);
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void board_spi_reset(int ms);
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extern void stm32_usbinitialize(void);
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extern void board_peripheral_reset(int ms);
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/****************************************************************************
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* Name: nsh_archinitialize
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*
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@@ -174,7 +174,7 @@ __EXPORT int nsh_archinitialize(void)
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result = board_i2c_initialize();
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if (result != OK) {
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led_on(1);
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//led_on(1);
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return -ENODEV;
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}
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@@ -64,14 +64,14 @@ __EXPORT void led_init()
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{
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/* Configure LED1 GPIO for output */
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stm32_configgpio(GPIO_LED1);
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stm32_configgpio(GPIO_LED_RED_L);
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}
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__EXPORT void led_on(int led)
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{
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if (led == 1) {
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/* Pull down to switch on */
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stm32_gpiowrite(GPIO_LED1, false);
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stm32_gpiowrite(GPIO_LED_RED_L, false);
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}
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}
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@@ -79,18 +79,18 @@ __EXPORT void led_off(int led)
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{
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if (led == 1) {
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/* Pull up to switch off */
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stm32_gpiowrite(GPIO_LED1, true);
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stm32_gpiowrite(GPIO_LED_RED_L, true);
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}
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}
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__EXPORT void led_toggle(int led)
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{
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if (led == 1) {
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if (stm32_gpioread(GPIO_LED1)) {
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stm32_gpiowrite(GPIO_LED1, false);
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if (stm32_gpioread(GPIO_LED_RED_L)) {
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stm32_gpiowrite(GPIO_LED_RED_L, false);
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} else {
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stm32_gpiowrite(GPIO_LED1, true);
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stm32_gpiowrite(GPIO_LED_RED_L, true);
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}
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}
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}
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@@ -0,0 +1,39 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "board_config.h"
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__EXPORT void board_spi_reset(int ms)
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{
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/* Do nothing, no SPI devices used */
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}
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