From 9c8e56401b8b9ab5fe60109eaceb14f06374cb07 Mon Sep 17 00:00:00 2001
From: Dennis Shtatnov <densht@gmail.com>
Date: Fri, 19 Aug 2016 22:47:24 -0400
Subject: [PATCH] Working motors and mtd for CF2
---
ROMFS/px4fmu_common/init.d/4900_crazyflie | 46 ++-----------------
cmake/configs/nuttx_crazyflie_default.cmake | 30 +++++++-----
nuttx-configs/crazyflie/include/board.h | 4 ++
nuttx-configs/crazyflie/nsh/defconfig | 24 +++++++++-
src/drivers/boards/crazyflie/CMakeLists.txt | 1 +
src/drivers/boards/crazyflie/board_config.h | 23 ++++++++++
.../boards/crazyflie/crazyflie_i2c.cpp | 1 -
src/drivers/boards/crazyflie/crazyflie_init.c | 7 +--
.../boards/crazyflie/crazyflie_timer_config.c | 8 ++--
src/drivers/crazyflie/crazyflie.cpp | 16 ++++---
src/systemcmds/mtd/mtd.c | 11 +++--
11 files changed, 98 insertions(+), 73 deletions(-)
diff --git a/ROMFS/px4fmu_common/init.d/4900_crazyflie b/ROMFS/px4fmu_common/init.d/4900_crazyflie
index 3d0d037f13..153c6d2134 100644
--- a/ROMFS/px4fmu_common/init.d/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/4900_crazyflie
@@ -7,48 +7,8 @@
# @maintainer Tim Dyer <dyer.ti@gmail.com>
#
-# uorb start
+sh /etc/init.d/4001_quad_x
-# Params
-# System status LEDs
-
-# waypoint storage
-
-# Sensors
-mpu9250 -R 12 start
-ak8963 start
-lps25h start
-sensors start
-
-commander start
-
-# Output mode
-crazyflie start
-
-# MAVLINK
-# mavlink start -r 1200 -d /dev/ttyS***
-
-# MAVTYPE
-param set MAV_TYPE 2
-
-exit 1
-
-set OUTPUT_DEV /dev/pwm_output0
-set MIXER_FILE /etc/mixers/quad_x.main.mix
-if mixer load $OUTPUT_DEV $MIXER_FILE
-then
- echo "[i] Mixer: $MIXER_FILE on $OUTPUT_DEV"
-else
- echo "[i] Error loading mixer: $MIXER_FILE"
- echo "ERROR: Could not load mixer: $MIXER_FILE" >> $LOG_FILE
- tone_alarm $TUNE_ERR
-fi
-
-sh /etc/init.d/rc.mc_apps
-
-# Navigator
-navigator start
-
-# Boot complete
-mavlink boot_complete
\ No newline at end of file
+set OUTPUT_MODE crazyflie
+set USE_IO no
diff --git a/cmake/configs/nuttx_crazyflie_default.cmake b/cmake/configs/nuttx_crazyflie_default.cmake
index ca6da27171..a31b27aa47 100644
--- a/cmake/configs/nuttx_crazyflie_default.cmake
+++ b/cmake/configs/nuttx_crazyflie_default.cmake
@@ -11,8 +11,8 @@ set(config_module_list
drivers/led
drivers/boards/crazyflie
drivers/crazyflie
- drivers/mpu9250
- drivers/ak8963
+ #drivers/mpu9250
+ #drivers/ak8963
drivers/lps25h
drivers/gps
# drivers/pwm_out_sim
@@ -39,8 +39,10 @@ set(config_module_list
# General system control
#
modules/commander
+ modules/load_mon
modules/navigator
modules/mavlink
+ #modules/gpio_led
modules/land_detector
modules/dummy
@@ -51,18 +53,18 @@ set(config_module_list
# Too high RAM usage due to static allocations
# modules/attitude_estimator_ekf
modules/attitude_estimator_q
- modules/ekf_att_pos_estimator
modules/position_estimator_inav
+ modules/local_position_estimator
#
# Vehicle Control
#
# modules/segway # XXX Needs GCC 4.7 fix
- modules/fw_pos_control_l1
- modules/fw_att_control
+ # modules/fw_pos_control_l1
+ # modules/fw_att_control
modules/mc_att_control
modules/mc_pos_control
- modules/vtol_att_control
+ # modules/vtol_att_control
#
# Logging
@@ -76,7 +78,6 @@ set(config_module_list
modules/param
modules/systemlib
modules/systemlib/mixer
- modules/controllib
modules/uORB
modules/dataman
@@ -84,8 +85,10 @@ set(config_module_list
# Libraries
#
#lib/mathlib/CMSIS
+ lib/controllib
lib/mathlib
lib/mathlib/math/filter
+ lib/rc
lib/ecl
lib/external_lgpl
lib/geo
@@ -94,10 +97,12 @@ set(config_module_list
lib/launchdetection
lib/terrain_estimation
lib/runway_takeoff
+ lib/tailsitter_recovery
+ lib/DriverFramework/framework
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
- platforms/common
+ platforms/common
platforms/nuttx/px4_layer
#
@@ -140,13 +145,16 @@ set(config_extra_builtin_cmds
)
set(config_extra_libs
- ${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
)
add_custom_target(sercon)
set_target_properties(sercon PROPERTIES
- MAIN "sercon" STACK "2048")
+ PRIORITY "SCHED_PRIORITY_DEFAULT"
+ MAIN "sercon"
+ STACK_MAIN "2048")
add_custom_target(serdis)
set_target_properties(serdis PROPERTIES
- MAIN "serdis" STACK "2048")
+ PRIORITY "SCHED_PRIORITY_DEFAULT"
+ MAIN "serdis"
+ STACK_MAIN "2048")
diff --git a/nuttx-configs/crazyflie/include/board.h b/nuttx-configs/crazyflie/include/board.h
index 9857eb03a2..05a32dcad7 100644
--- a/nuttx-configs/crazyflie/include/board.h
+++ b/nuttx-configs/crazyflie/include/board.h
@@ -162,12 +162,16 @@
* UARTs.
*
*/
+ /* E_TX2 / E_RX2 */
#define GPIO_USART2_RX GPIO_USART2_RX_1
#define GPIO_USART2_TX GPIO_USART2_TX_1
+/* E_TX1 / E_RX1 */
#define GPIO_USART3_RX GPIO_USART3_RX_2
#define GPIO_USART3_TX GPIO_USART3_TX_2
+/* NRF51 via syslink */
+// TODO: Flow control?
#define GPIO_USART6_RX GPIO_USART6_RX_1
#define GPIO_USART6_TX GPIO_USART6_TX_1
diff --git a/nuttx-configs/crazyflie/nsh/defconfig b/nuttx-configs/crazyflie/nsh/defconfig
index dae2963998..7b5b196317 100644
--- a/nuttx-configs/crazyflie/nsh/defconfig
+++ b/nuttx-configs/crazyflie/nsh/defconfig
@@ -433,7 +433,27 @@ CONFIG_WATCHDOG=y
# CONFIG_INPUT is not set
# CONFIG_LCD is not set
# CONFIG_MMCSD is not set
-# CONFIG_MTD is not set
+CONFIG_MTD=y
+
+#
+# MTD Configuration
+#
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_BYTE_WRITE=y
+
+#
+# MTD Device Drivers
+#
+# CONFIG_RAMMTD is not set
+CONFIG_MTD_AT24XX=y
+# CONFIG_MTD_AT45DB is not set
+# CONFIG_MTD_M25P is not set
+# CONFIG_MTD_SMART is not set
+# CONFIG_MTD_RAMTRON is not set
+# CONFIG_RAMTRON_FUJITSU is not set
+# CONFIG_MTD_SST25 is not set
+# CONFIG_MTD_SST39FV is not set
+# CONFIG_MTD_W25 is not set
CONFIG_PIPES=y
# CONFIG_PM is not set
# CONFIG_POWER is not set
@@ -527,7 +547,7 @@ CONFIG_CDCACM_RXBUFSIZE=300
CONFIG_CDCACM_TXBUFSIZE=1000
CONFIG_CDCACM_VENDORID=0x26ac
CONFIG_CDCACM_PRODUCTID=0x0016
-CONFIG_CDCACM_VENDORSTR="3D Robotics"
+CONFIG_CDCACM_VENDORSTR="Bitcraze AB"
CONFIG_CDCACM_PRODUCTSTR="PX4 Crazyflie v2.0"
# CONFIG_USBMSC is not set
# CONFIG_USBHOST is not set
diff --git a/src/drivers/boards/crazyflie/CMakeLists.txt b/src/drivers/boards/crazyflie/CMakeLists.txt
index c5d9913bb0..d74e3d6bc4 100644
--- a/src/drivers/boards/crazyflie/CMakeLists.txt
+++ b/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
)
diff --git a/src/drivers/boards/crazyflie/board_config.h b/src/drivers/boards/crazyflie/board_config.h
index 948956cdda..dfc59d456e 100644
--- a/src/drivers/boards/crazyflie/board_config.h
+++ b/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
diff --git a/src/drivers/boards/crazyflie/crazyflie_i2c.cpp b/src/drivers/boards/crazyflie/crazyflie_i2c.cpp
index ad8ff063b6..932f48a8b0 100644
--- a/src/drivers/boards/crazyflie/crazyflie_i2c.cpp
+++ b/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
diff --git a/src/drivers/boards/crazyflie/crazyflie_init.c b/src/drivers/boards/crazyflie/crazyflie_init.c
index fb999f6b1b..966862f6b6 100644
--- a/src/drivers/boards/crazyflie/crazyflie_init.c
+++ b/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;
+ }
diff --git a/src/drivers/boards/crazyflie/crazyflie_timer_config.c b/src/drivers/boards/crazyflie/crazyflie_timer_config.c
index 4617a23a99..936896297c 100644
--- a/src/drivers/boards/crazyflie/crazyflie_timer_config.c
+++ b/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,
diff --git a/src/drivers/crazyflie/crazyflie.cpp b/src/drivers/crazyflie/crazyflie.cpp
index e9c9ef87f6..e0ba77a436 100644
--- a/src/drivers/crazyflie/crazyflie.cpp
+++ b/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();
}
diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c
index 30658de117..5afd6eb910 100644
--- a/src/systemcmds/mtd/mtd.c
+++ b/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);
--
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