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.

src/drivers/boards/crazyflie/CMakeLists.txt

@@ -33,12 +33,13 @@
 px4_add_module(
 	MODULE drivers__boards__crazyflie
 	SRCS
+		../common/board_name.c
+		../common/board_dma_alloc.c
 		crazyflie_init.c
 		crazyflie_usb.c
 		crazyflie_led.c
 		crazyflie_timer_config.c
 		crazyflie_i2c.cpp
-		crazyflie_spi.c
 	DEPENDS
 		platforms__common
 	)

src/drivers/boards/crazyflie/board_config.h

@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
@@ -154,6 +154,29 @@
 #define GPIO_TIM4_CH4IN		GPIO_TIM4_CH4IN_1
 
 
+/* This board overrides the defaults by providing
+ * PX4_PWM_ALTERNATE_RANGES and a replacement set of
+ * constants
+ */
+
+
+/* PWM directly wired to transistor. Duty cycle directly corresponds to power
+ * So we need to override the defaults
+ */
+
+#define PX4_PWM_ALTERNATE_RANGES
+#define PWM_LOWEST_MIN 0
+#define PWM_MOTOR_OFF	0
+#define PWM_DEFAULT_MIN 0
+#define PWM_HIGHEST_MIN 0
+#define PWM_HIGHEST_MAX 255
+#define PWM_DEFAULT_MAX 255
+#define PWM_LOWEST_MAX 255
+
+/* Override the io timers to update at 328.125 kHz (recommended) */
+
+#define PX4_IO_TIMER_ALTERNATE_RATE     255
+
 
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */
@@ -165,6 +188,8 @@
 
 #define BOARD_FMU_GPIO_TAB { {0, 0, 0}, }
 
+#define BOARD_NAME "CRAZYFLIE"
+
 __BEGIN_DECLS
 
 /****************************************************************************************************
@@ -182,20 +207,26 @@ __BEGIN_DECLS
  ****************************************************************************************************/
 
 /****************************************************************************************************
- * Name: stm32_spiinitialize
+ * Name: board_spi_reset board_peripheral_reset
  *
  * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *   Called to reset SPI and the perferal bus
  *
  ****************************************************************************************************/
 
-extern void stm32_spiinitialize(void);
+#define board_spi_reset(ms)
-void board_spi_reset(int ms);
+#define board_peripheral_reset(ms)
+
+/****************************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to configure USB IO.
+ *
+ ****************************************************************************************************/
 
 extern void stm32_usbinitialize(void);
 
-extern void board_peripheral_reset(int ms);
-
 /****************************************************************************
  * Name: nsh_archinitialize
  *
@@ -225,6 +256,8 @@ int nsh_archinitialize(void);
 
 int board_i2c_initialize(void);
 
+#include "../common/board_common.h"
+
 #endif /* __ASSEMBLY__ */
 
 __END_DECLS

src/drivers/boards/crazyflie/crazyflie_init.c

@@ -115,17 +115,6 @@ __END_DECLS
  * Public Functions
  ****************************************************************************/
 
-/************************************************************************************
- * Name: board_peripheral_reset
- *
- * Description:
- *
- ************************************************************************************/
-__EXPORT void board_peripheral_reset(int ms)
-{
-
-}
-
 /************************************************************************************
  * Name: stm32_boardinitialize
  *
@@ -195,7 +184,7 @@ __EXPORT int nsh_archinitialize(void)
 	result = board_i2c_initialize();
 
 	if (result != OK) {
-		//led_on(1);
+		led_on(LED_RED);
 		return -ENODEV;
 	}
 

src/drivers/boards/crazyflie/crazyflie_spi.c

@@ -1,39 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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.
- *
- ****************************************************************************/
-
-#include "board_config.h"
-
-__EXPORT void board_spi_reset(int ms)
-{
-	/* Do nothing, no SPI devices used */
-}

src/drivers/boards/crazyflie/crazyflie_timer_config.c

@@ -45,17 +45,26 @@
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
+#include "board_config.h"
+
 #include <drivers/drv_pwm_output.h>
 #include <drivers/stm32/drv_io_timer.h>
 
-#include "board_config.h"
+
+/* IO Timers normally free-run at 1MHz
+ * Here we make adjustments to the Frequency that sets the timer's prescale
+ * so that the prescale is set to 0
+ */
+
+#define TIM2_CLKIN 1000000
+#define TIM4_CLKIN 1000000
 
 __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 = TIM2_CLKIN,
 		.first_channel_index = 0,
 		.last_channel_index = 2,
 		.handler = io_timer_handler0,
@@ -65,7 +74,7 @@ __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 = TIM4_CLKIN,
 		.first_channel_index = 3,
 		.last_channel_index = 3,
 		.handler = io_timer_handler1,