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Merge Crazyflie motor driver with FMU

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Comment corrections
This commit is contained in:
Dennis Shtatnov
2016-08-23 20:03:52 -04:00
committed by Lorenz Meier
parent e6b98b2ab8
commit e91821d2a2
16 changed files with 159 additions and 1201 deletions
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ROMFS/px4fmu_common/init.d/4900_crazyflie
+8 -3
View File
@@ -4,8 +4,6 @@
#
# @type Quadrotor x
#
# @maintainer Tim Dyer <dyer.ti@gmail.com>
#
sh /etc/init.d/4001_quad_x
@@ -16,6 +14,13 @@ then
param set BAT_N_CELLS 1
param set BAT_CAPACITY 240
param set BAT_SOURCE 1
param set PWM_DISARMED 0
param set PWM_MIN 0
param set PWM_MAX 255
fi
set OUTPUT_MODE crazyflie
set PWM_MIN none
set PWM_MAX none
set PWM_DISARMED none
set PWM_RATE 500
nuttx-configs/crazyflie/include/board.h
+5 -6
View File
@@ -56,7 +56,7 @@
************************************************************************************/
/* Clocking *************************************************************************/
/* The PX4FMU uses a 24MHz crystal connected to the HSE.
/* The Crazyflie 2.0 uses a 8MHz crystal connected to the HSE.
*
* This is the canonical configuration:
* System Clock source : PLL (HSE)
@@ -65,8 +65,8 @@
* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
* HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL)
* PLLM : 24 (STM32_PLLCFG_PLLM)
* HSE Frequency(Hz) : 8000000 (STM32_BOARD_XTAL)
* PLLM : 8 (STM32_PLLCFG_PLLM)
* PLLN : 336 (STM32_PLLCFG_PLLN)
* PLLP : 2 (STM32_PLLCFG_PLLP)
* PLLQ : 7 (STM32_PLLCFG_PLLQ)
@@ -81,7 +81,7 @@
/* HSI - 16 MHz RC factory-trimmed
* LSI - 32 KHz RC
* HSE - On-board crystal frequency is 24MHz
* HSE - On-board crystal frequency is 8MHz
* LSE - not installed
*/
@@ -171,7 +171,6 @@
#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
@@ -198,7 +197,7 @@
/*
* SPI
*
* There are sensors on SPI1, and SPI3 is connected to the microSD slot.
* E_MISO, E_MOSI, E_SCK exposed on headers
*/
#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
src/drivers/boards/crazyflie/CMakeLists.txt
+1
View File
@@ -38,6 +38,7 @@ px4_add_module(
crazyflie_led.c
crazyflie_timer_config.c
crazyflie_i2c.cpp
crazyflie_spi.c
DEPENDS
platforms__common
)
src/drivers/boards/crazyflie/board_config.h
+33 -10
View File
@@ -60,19 +60,29 @@ __BEGIN_DECLS
****************************************************************************************************/
/* Configuration ************************************************************************************/
/* PX4-STM32F4Discovery GPIOs ***********************************************************************************/
/* Crazyflie GPIOs **********************************************************************************/
/* LEDs */
// LED1 green, LED2 orange, LED3 red, LED4 blue
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN0)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1)
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
#define GPIO_LED4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
/* Radio TX indicator */
#define GPIO_LED_RED_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN0)
/* Radio RX indicator */
#define GPIO_LED_GREEN_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1)
#define GPIO_LED_GREEN_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
#define GPIO_LED_RED_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
/* Blinking while charging */
#define GPIO_LED_BLUE_L (GPIO_OUTPUT|GPIO_PORTD|GPIO_PIN2)
#define GPIO_FSYNC_MPU9250 (GPIO_OUTPUT|GPIO_PORTC|GPIO_PIN14) // Needs to be set low
#define GPIO_DRDY_MPU9250 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
/*
* I2C busses
@@ -128,6 +138,7 @@ __BEGIN_DECLS
#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_2
#define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_2
#define GPIO_TIM4_CH4OUT GPIO_TIM4_CH4OUT_1
#define DIRECT_PWM_OUTPUT_CHANNELS 4
#define GPIO_TIM2_CH2IN GPIO_TIM2_CH2IN_1
#define GPIO_TIM2_CH4IN GPIO_TIM2_CH4IN_2
@@ -140,6 +151,15 @@ __BEGIN_DECLS
#define HRT_TIMER 8 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_FMU_GPIO_TAB { {0, 0, 0}, }
/****************************************************************************************************
* Public Types
****************************************************************************************************/
@@ -163,9 +183,12 @@ __BEGIN_DECLS
****************************************************************************************************/
extern void stm32_spiinitialize(void);
void board_spi_reset(int ms);
extern void stm32_usbinitialize(void);
extern void board_peripheral_reset(int ms);
/****************************************************************************
* Name: nsh_archinitialize
*
src/drivers/boards/crazyflie/crazyflie_init.c
+1 -1
View File
@@ -174,7 +174,7 @@ __EXPORT int nsh_archinitialize(void)
result = board_i2c_initialize();
if (result != OK) {
led_on(1);
//led_on(1);
return -ENODEV;
}
src/drivers/boards/crazyflie/crazyflie_led.c
+6 -6
View File
@@ -64,14 +64,14 @@ __EXPORT void led_init()
{
/* Configure LED1 GPIO for output */
stm32_configgpio(GPIO_LED1);
stm32_configgpio(GPIO_LED_RED_L);
}
__EXPORT void led_on(int led)
{
if (led == 1) {
/* Pull down to switch on */
stm32_gpiowrite(GPIO_LED1, false);
stm32_gpiowrite(GPIO_LED_RED_L, false);
}
}
@@ -79,18 +79,18 @@ __EXPORT void led_off(int led)
{
if (led == 1) {
/* Pull up to switch off */
stm32_gpiowrite(GPIO_LED1, true);
stm32_gpiowrite(GPIO_LED_RED_L, true);
}
}
__EXPORT void led_toggle(int led)
{
if (led == 1) {
if (stm32_gpioread(GPIO_LED1)) {
stm32_gpiowrite(GPIO_LED1, false);
if (stm32_gpioread(GPIO_LED_RED_L)) {
stm32_gpiowrite(GPIO_LED_RED_L, false);
} else {
stm32_gpiowrite(GPIO_LED1, true);
stm32_gpiowrite(GPIO_LED_RED_L, true);
}
}
}
src/drivers/boards/crazyflie/crazyflie_spi.c
+39
View File
@@ -0,0 +1,39 @@
/****************************************************************************
*
* 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/crazyflie/CMakeLists.txt
-44
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@@ -1,44 +0,0 @@
############################################################################
#
# 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__crazyflie
MAIN crazyflie
STACK 1200
COMPILE_FLAGS
-Os
SRCS
crazyflie.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/drivers/crazyflie/crazyflie.cpp
-1100
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File diff suppressed because it is too large Load Diff
src/drivers/drv_gpio.h
+14 -4
View File
@@ -143,6 +143,20 @@
# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
#endif
#ifdef CONFIG_ARCH_BOARD_CRAZYFLIE
# define GPIO_SERVO_1 (1<<0) /**< servo 1 output */
# define GPIO_SERVO_2 (1<<1) /**< servo 2 output */
# define GPIO_SERVO_3 (1<<2) /**< servo 3 output */
# define GPIO_SERVO_4 (1<<3) /**< servo 4 output */
/**
* Device paths for things that support the GPIO ioctl protocol.
*/
# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
#endif
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
/* no GPIO driver on the PX4IOv1 board */
#endif
@@ -159,10 +173,6 @@
/* no GPIO driver on the ASC board */
#endif
#ifdef CONFIG_ARCH_BOARD_CRAZYFLIE
/* no GPIO driver on the CRAZYFLIE board */
#endif
#ifdef CONFIG_ARCH_BOARD_SITL
/* no GPIO driver on the SITL configuration */
#endif
src/drivers/drv_pwm_output.h
+15
View File
@@ -73,6 +73,19 @@ __BEGIN_DECLS
*/
//#define PWM_OUTPUT_MAX_CHANNELS 16
#if defined(CONFIG_ARCH_BOARD_CRAZYFLIE)
/* PWM directly wired to transistor. Duty cycle directly corresponds to power */
#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
#else
/**
* Lowest minimum PWM in us
*/
@@ -108,6 +121,8 @@ __BEGIN_DECLS
*/
#define PWM_LOWEST_MAX 200
#endif
/**
* Do not output a channel with this value
*/
src/drivers/lps25h/lps25h_i2c.cpp
-15
View File
@@ -109,21 +109,6 @@ LPS25H_I2C::ioctl(unsigned operation, unsigned &arg)
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);
src/drivers/px4fmu/fmu.cpp
+28 -7
View File
@@ -1628,10 +1628,18 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_failsafe_pwm[i] = PWM_HIGHEST_MAX;
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
}
#if PWM_LOWEST_MIN > 0
else if (pwm->values[i] < PWM_LOWEST_MIN) {
_failsafe_pwm[i] = PWM_LOWEST_MIN;
} else {
}
#endif
else {
_failsafe_pwm[i] = pwm->values[i];
}
}
@@ -1676,11 +1684,17 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
/* ignore 0 */
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_disarmed_pwm[i] = PWM_HIGHEST_MAX;
}
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
#if PWM_LOWEST_MIN > 0
else if (pwm->values[i] < PWM_LOWEST_MIN) {
_disarmed_pwm[i] = PWM_LOWEST_MIN;
}
} else {
#endif
else {
_disarmed_pwm[i] = pwm->values[i];
}
}
@@ -1726,10 +1740,17 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
} else if (pwm->values[i] > PWM_HIGHEST_MIN) {
_min_pwm[i] = PWM_HIGHEST_MIN;
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
_min_pwm[i] = PWM_LOWEST_MIN;
}
} else {
#if PWM_LOWEST_MIN > 0
else if (pwm->values[i] < PWM_LOWEST_MIN) {
_min_pwm[i] = PWM_LOWEST_MIN;
}
#endif
else {
_min_pwm[i] = pwm->values[i];
}
}
src/modules/dummy/tone_alarm.c
+3 -3
View File
@@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
* Author: Tim Dyer <dyer.ti@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -37,7 +37,7 @@
*
* Dummy tone_alarm to prevent nsh errors.
*
* @author Tim Dyer <>
* @author Tim Dyer <dyer.ti@gmail.com>
*/
#include <px4_defines.h>
src/modules/mavlink/mavlink_main.cpp
+1 -1
View File
@@ -643,7 +643,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name)
#endif
#ifndef B1000000
#define B1000000 1000000
#define B1000000 1000000
#endif
/* process baud rate */
src/systemcmds/esc_calib/esc_calib.c
+5 -1
View File
@@ -159,7 +159,11 @@ esc_calib_main(int argc, char *argv[])
/* Read in custom low value */
pwm_low = strtoul(myoptarg, &ep, 0);
if (*ep != '\0' || pwm_low < PWM_LOWEST_MIN || pwm_low > PWM_HIGHEST_MIN) {
if (*ep != '\0'
#if PWM_LOWEST_MIN > 0
|| pwm_low < PWM_LOWEST_MIN
#endif
|| pwm_low > PWM_HIGHEST_MIN) {
usage("low PWM invalid");
return 1;
}