mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-05 06:03:02 +08:00
Clean up Crazyflie
1) Remove uneeded spi and reset code
2) Use the Board commin for providing the BOARD_NAME
3) Add PX4_PWM_ALTERNATE_RANGES in suport of a board agnostic
way to override the PWM_.*_{MIN|MAX} values
4) Remove #ifdefs from the IO timers*. Drive the config deltas
from the crazyflie_timer_config.c and one board agnostic
ifdef PX4_IO_TIMER_ALTERNATE_RATE that is non board specific
*I would like to eliminate PX4_IO_TIMER_ALTERNATE_RATE
as well, but I need HW to validate that the startup
script can just set the rate on the PWM to 3921 fast
enough to not effect the motors.
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
c4d91ef644
commit
ab43baa02d
@@ -33,12 +33,13 @@
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px4_add_module(
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MODULE drivers__boards__crazyflie
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SRCS
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../common/board_name.c
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../common/board_dma_alloc.c
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crazyflie_init.c
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crazyflie_usb.c
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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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@@ -43,7 +43,7 @@
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* Included Files
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****************************************************************************************************/
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#include <nuttx/config.h>
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#include <px4_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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@@ -154,6 +154,29 @@
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#define GPIO_TIM4_CH4IN GPIO_TIM4_CH4IN_1
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/* This board overrides the defaults by providing
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* PX4_PWM_ALTERNATE_RANGES and a replacement set of
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* constants
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*/
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/* PWM directly wired to transistor. Duty cycle directly corresponds to power
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* So we need to override the defaults
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*/
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#define PX4_PWM_ALTERNATE_RANGES
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#define PWM_LOWEST_MIN 0
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#define PWM_MOTOR_OFF 0
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#define PWM_DEFAULT_MIN 0
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#define PWM_HIGHEST_MIN 0
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#define PWM_HIGHEST_MAX 255
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#define PWM_DEFAULT_MAX 255
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#define PWM_LOWEST_MAX 255
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/* Override the io timers to update at 328.125 kHz (recommended) */
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#define PX4_IO_TIMER_ALTERNATE_RATE 255
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/* High-resolution timer */
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#define HRT_TIMER 8 /* use timer8 for the HRT */
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@@ -165,6 +188,8 @@
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#define BOARD_FMU_GPIO_TAB { {0, 0, 0}, }
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#define BOARD_NAME "CRAZYFLIE"
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__BEGIN_DECLS
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/****************************************************************************************************
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@@ -182,20 +207,26 @@ __BEGIN_DECLS
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****************************************************************************************************/
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/****************************************************************************************************
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* Name: stm32_spiinitialize
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* Name: board_spi_reset board_peripheral_reset
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*
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* Description:
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* Called to configure SPI chip select GPIO pins for the PX4FMU board.
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* Called to reset SPI and the perferal bus
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*
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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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#define board_spi_reset(ms)
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#define board_peripheral_reset(ms)
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/****************************************************************************************************
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* Name: stm32_usbinitialize
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*
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* Description:
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* Called to configure USB IO.
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*
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****************************************************************************************************/
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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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@@ -225,6 +256,8 @@ int nsh_archinitialize(void);
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int board_i2c_initialize(void);
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#include "../common/board_common.h"
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#endif /* __ASSEMBLY__ */
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__END_DECLS
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@@ -115,17 +115,6 @@ __END_DECLS
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* Public Functions
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****************************************************************************/
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/************************************************************************************
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* Name: board_peripheral_reset
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*
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* Description:
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*
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************************************************************************************/
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__EXPORT void board_peripheral_reset(int ms)
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{
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}
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/************************************************************************************
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* Name: stm32_boardinitialize
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*
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@@ -195,7 +184,7 @@ __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(LED_RED);
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return -ENODEV;
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}
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@@ -1,39 +0,0 @@
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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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@@ -45,17 +45,26 @@
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#include <stm32_gpio.h>
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#include <stm32_tim.h>
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#include "board_config.h"
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#include <drivers/drv_pwm_output.h>
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#include <drivers/stm32/drv_io_timer.h>
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#include "board_config.h"
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/* IO Timers normally free-run at 1MHz
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* Here we make adjustments to the Frequency that sets the timer's prescale
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* so that the prescale is set to 0
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*/
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#define TIM2_CLKIN 1000000
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#define TIM4_CLKIN 1000000
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__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
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{
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.base = STM32_TIM2_BASE,
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.clock_register = STM32_RCC_APB1ENR,
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.clock_bit = RCC_APB1ENR_TIM2EN,
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.clock_freq = STM32_APB1_TIM2_CLKIN,
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.clock_freq = TIM2_CLKIN,
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.first_channel_index = 0,
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.last_channel_index = 2,
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.handler = io_timer_handler0,
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@@ -65,7 +74,7 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
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.base = STM32_TIM4_BASE,
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.clock_register = STM32_RCC_APB1ENR,
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.clock_bit = RCC_APB1ENR_TIM4EN,
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.clock_freq = STM32_APB1_TIM4_CLKIN,
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.clock_freq = TIM4_CLKIN,
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.first_channel_index = 3,
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.last_channel_index = 3,
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.handler = io_timer_handler1,
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