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[board] fix crazyfly board files (#3255)

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- use correct main file with chibios
- fix pin definitions
This commit is contained in:
Gautier Hattenberger
2024-03-26 10:11:58 +01:00
committed by GitHub
parent 3bedf9576d
commit 5b13467c71
3 changed files with 48 additions and 45 deletions
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conf/airframes/test_boards/crazyflie_2.1.xml
+2
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@@ -12,6 +12,7 @@
<target name="ap" board="crazyflie_2.1">
<module name="gps" type="datalink"/>
<!-- comment next two modules if not used, init is blocking -->
<module name="cf_deck" type="multi_ranger"/>
<module name="range_forcefield">
<define name="RANGE_FORCEFIELD_MAX_VEL" value="0.1"/>
@@ -50,6 +51,7 @@
<define name="BMP3_SLAVE_ADDR" value="BMP3_I2C_ADDR_ALT"/>
</module>
<!-- comment next two modules if not used, init is blocking -->
<module name="sonar" type="vl53l1x">
<define name="SENSOR_SYNC_SEND_SONAR"/>
</module>
conf/boards/crazyflie_2.1.makefile
+1
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@@ -14,6 +14,7 @@ BOARD_DIR=$(BOARD)/chibios/v$(BOARD_VERSION)
BOARD_CFG=\"boards/$(BOARD_DIR)/$(BOARD).h\"
ARCH=chibios
RTOS=chibios
## FPU on F4
USE_FPU=softfp
sw/airborne/boards/crazyflie/chibios/v2.1/crazyflie.h
+45 -45
View File
@@ -23,40 +23,40 @@
#ifndef USE_LED_1
#define USE_LED_1 1
#endif
#define LED_1_GPIO PAL_PORT(LED_RED_R)
#define LED_1_GPIO_PIN PAL_PAD(LED_RED_R)
#define LED_1_GPIO PAL_PORT(LINE_LED_RED_R)
#define LED_1_GPIO_PIN PAL_PAD(LINE_LED_RED_R)
#define LED_1_GPIO_ON gpio_clear
#define LED_1_GPIO_OFF gpio_set
#ifndef USE_LED_2
#define USE_LED_2 1
#endif
#define LED_2_GPIO PAL_PORT(LED_RED_L)
#define LED_2_GPIO_PIN PAL_PAD(LED_RED_L)
#define LED_2_GPIO PAL_PORT(LINE_LED_RED_L)
#define LED_2_GPIO_PIN PAL_PAD(LINE_LED_RED_L)
#define LED_2_GPIO_ON gpio_clear
#define LED_2_GPIO_OFF gpio_set
#ifndef USE_LED_3
#define USE_LED_3 1
#endif
#define LED_3_GPIO PAL_PORT(LED_GREEN_R)
#define LED_3_GPIO_PIN PAL_PAD(LED_GREEN_R)
#define LED_3_GPIO PAL_PORT(LINE_LED_GREEN_R)
#define LED_3_GPIO_PIN PAL_PAD(LINE_LED_GREEN_R)
#define LED_3_GPIO_ON gpio_clear
#define LED_3_GPIO_OFF gpio_set
#ifndef USE_LED_4
#define USE_LED_4 1
#endif
#define LED_4_GPIO PAL_PORT(LED_GREEN_L)
#define LED_4_GPIO_PIN PAL_PAD(LED_GREEN_L)
#define LED_4_GPIO PAL_PORT(LINE_LED_GREEN_L)
#define LED_4_GPIO_PIN PAL_PAD(LINE_LED_GREEN_L)
#define LED_4_GPIO_ON gpio_clear
#define LED_4_GPIO_OFF gpio_set
#ifndef USE_LED_5
#define USE_LED_5 1
#endif
#define LED_5_GPIO PAL_PORT(LED_BLUE_L)
#define LED_5_GPIO_PIN PAL_PAD(PAL_PAD(LED_BLUE_L))
#define LED_5_GPIO PAL_PORT(LINE_LED_BLUE_L)
#define LED_5_GPIO_PIN PAL_PAD(LINE_LED_BLUE_L)
#define LED_5_GPIO_ON gpio_set
#define LED_5_GPIO_OFF gpio_clear
@@ -89,8 +89,8 @@
#endif
#if USE_PWM1
#define PWM_SERVO_1 1
#define PWM_SERVO_1_GPIO PAL_PORT(MOTOR1)
#define PWM_SERVO_1_PIN PAL_PAD(MOTOR1)
#define PWM_SERVO_1_GPIO PAL_PORT(LINE_MOTOR1)
#define PWM_SERVO_1_PIN PAL_PAD(LINE_MOTOR1)
#define PWM_SERVO_1_AF AF_MOTOR1
#define PWM_SERVO_1_DRIVER PWMD2
#define PWM_SERVO_1_CHANNEL 1
@@ -102,8 +102,8 @@
#endif
#if USE_PWM2
#define PWM_SERVO_2 2
#define PWM_SERVO_2_GPIO PAL_PORT(MOTOR2)
#define PWM_SERVO_2_PIN PAL_PAD(MOTOR2)
#define PWM_SERVO_2_GPIO PAL_PORT(LINE_MOTOR2)
#define PWM_SERVO_2_PIN PAL_PAD(LINE_MOTOR2)
#define PWM_SERVO_2_AF AF_MOTOR2
#define PWM_SERVO_2_DRIVER PWMD2
#define PWM_SERVO_2_CHANNEL 3
@@ -115,8 +115,8 @@
#endif
#if USE_PWM3
#define PWM_SERVO_3 3
#define PWM_SERVO_3_GPIO PAL_PORT(MOTOR3)
#define PWM_SERVO_3_PIN PAL_PAD(MOTOR3)
#define PWM_SERVO_3_GPIO PAL_PORT(LINE_MOTOR3)
#define PWM_SERVO_3_PIN PAL_PAD(LINE_MOTOR3)
#define PWM_SERVO_3_AF AF_MOTOR3
#define PWM_SERVO_3_DRIVER PWMD2
#define PWM_SERVO_3_CHANNEL 0
@@ -128,8 +128,8 @@
#endif
#if USE_PWM4
#define PWM_SERVO_4 4
#define PWM_SERVO_4_GPIO PAL_PORT(MOTOR4)
#define PWM_SERVO_4_PIN PAL_PAD(MOTOR4)
#define PWM_SERVO_4_GPIO PAL_PORT(LINE_MOTOR4)
#define PWM_SERVO_4_PIN PAL_PAD(LINE_MOTOR4)
#define PWM_SERVO_4_AF AF_MOTOR4
#define PWM_SERVO_4_DRIVER PWMD4
#define PWM_SERVO_4_CHANNEL 3
@@ -155,10 +155,10 @@
/**
* UART2 E_TX2
*/
#define UART2_GPIO_PORT_TX PAL_PORT(E_TX2)
#define UART2_GPIO_TX PAL_PAD(E_TX2)
#define UART2_GPIO_PORT_RX PAL_PORT(E_RX2)
#define UART2_GPIO_RX PAL_PAD(E_RX2)
#define UART2_GPIO_PORT_TX PAL_PORT(LINE_E_TX2)
#define UART2_GPIO_TX PAL_PAD(LINE_E_TX2)
#define UART2_GPIO_PORT_RX PAL_PORT(LINE_E_RX2)
#define UART2_GPIO_RX PAL_PAD(LINE_E_RX2)
#define UART2_GPIO_AF AF_E_RX2
#ifndef UART2_HW_FLOW_CONTROL
#define UART2_HW_FLOW_CONTROL FALSE
@@ -167,21 +167,21 @@
/**
* UART3 E_TX1
*/
#define UART3_GPIO_PORT_TX PAL_PORT(E_TX1)
#define UART3_GPIO_TX PAL_PAD(E_TX1)
#define UART3_GPIO_PORT_RX PAL_PORT(E_RX1)
#define UART3_GPIO_RX PAL_PAD(E_RX1)
#define UART3_GPIO_PORT_TX PAL_PORT(LINE_E_TX1)
#define UART3_GPIO_TX PAL_PAD(LINE_E_TX1)
#define UART3_GPIO_PORT_RX PAL_PORT(LINE_E_RX1)
#define UART3_GPIO_RX PAL_PAD(LINE_E_RX1)
#define UART3_GPIO_AF AF_E_RX1
/**
* UART6 NRF
*/
#define UART6_GPIO_PORT_TX PAL_PORT(NRF_TX)
#define UART6_GPIO_TX PAL_PAD(NRF_TX)
#define UART6_GPIO_PORT_RX PAL_PORT(NRF_RX)
#define UART6_GPIO_RX PAL_PAD(NRF_RX)
#define UART6_GPIO_PORT_TX PAL_PORT(LINE_NRF_TX)
#define UART6_GPIO_TX PAL_PAD(LINE_NRF_TX)
#define UART6_GPIO_PORT_RX PAL_PORT(LINE_NRF_RX)
#define UART6_GPIO_RX PAL_PAD(LINE_NRF_RX)
#define UART6_GPIO_AF AF_NRF_RX
#define UART6_GPIO_PORT_CTS PAL_PORT(NRF_FLOW_CTRL)
#define UART6_GPIO_PORT_CTS PAL_PORT(LINE_NRF_FLOW_CTRL)
#define UART6_GPIO_CTS NRF_FLOW_CTRL
/**
@@ -285,21 +285,21 @@
// External SPI
#define SPI1_GPIO_AF AF_E_SCK
#define SPI1_GPIO_PORT_MISO PAL_PORT(E_MISO)
#define SPI1_GPIO_MISO PAL_PAD(E_MISO)
#define SPI1_GPIO_PORT_MOSI PAL_PORT(E_MOSI)
#define SPI1_GPIO_MOSI PAL_PAD(E_MOSI)
#define SPI1_GPIO_PORT_SCK PAL_PORT(E_SCK)
#define SPI1_GPIO_SCK PAL_PAD(E_SCK)
#define SPI1_GPIO_PORT_MISO PAL_PORT(LINE_E_MISO)
#define SPI1_GPIO_MISO PAL_PAD(LINE_E_MISO)
#define SPI1_GPIO_PORT_MOSI PAL_PORT(LINE_E_MOSI)
#define SPI1_GPIO_MOSI PAL_PAD(LINE_E_MOSI)
#define SPI1_GPIO_PORT_SCK PAL_PORT(LINE_E_SCK)
#define SPI1_GPIO_SCK PAL_PAD(LINE_E_SCK)
#define SPI_SELECT_SLAVE0_PORT PAL_PORT(E_CS0)
#define SPI_SELECT_SLAVE0_PIN PAL_PAD(E_CS0)
#define SPI_SELECT_SLAVE1_PORT PAL_PORT(E_CS1)
#define SPI_SELECT_SLAVE1_PIN PAL_PAD(E_CS1)
#define SPI_SELECT_SLAVE2_PORT PAL_PORT(E_CS2)
#define SPI_SELECT_SLAVE2_PIN PAL_PAD(E_CS2)
#define SPI_SELECT_SLAVE3_PORT PAL_PORT(E_CS3)
#define SPI_SELECT_SLAVE3_PIN PAL_PAD(E_CS3
#define SPI_SELECT_SLAVE0_PORT PAL_PORT(LINE_E_CS0)
#define SPI_SELECT_SLAVE0_PIN PAL_PAD(LINE_E_CS0)
#define SPI_SELECT_SLAVE1_PORT PAL_PORT(LINE_E_CS1)
#define SPI_SELECT_SLAVE1_PIN PAL_PAD(LINE_E_CS1)
#define SPI_SELECT_SLAVE2_PORT PAL_PORT(LINE_E_CS2)
#define SPI_SELECT_SLAVE2_PIN PAL_PAD(LINE_E_CS2)
#define SPI_SELECT_SLAVE3_PORT PAL_PORT(LINE_E_CS3)
#define SPI_SELECT_SLAVE3_PIN PAL_PAD(LINE_E_CS3)
/**)
* Baro