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Working motors and mtd for CF2

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This commit is contained in:
Dennis Shtatnov
2016-08-19 22:47:24 -04:00
committed by Lorenz Meier
parent b65ff53b00
commit 9c8e56401b
11 changed files with 98 additions and 73 deletions
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46
ROMFS/px4fmu_common/init.d/4900_crazyflie
View File

@@ -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
set OUTPUT_MODE crazyflie
set USE_IO no

30
cmake/configs/nuttx_crazyflie_default.cmake
View File

@@ -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")

4
nuttx-configs/crazyflie/include/board.h
View File

@@ -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

24
nuttx-configs/crazyflie/nsh/defconfig
View File

@@ -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

1
src/drivers/boards/crazyflie/CMakeLists.txt
View File

@@ -37,6 +37,7 @@ px4_add_module(
crazyflie_usb.c
crazyflie_led.c
crazyflie_timer_config.c
crazyflie_i2c.cpp
DEPENDS
platforms__common
)

23
src/drivers/boards/crazyflie/board_config.h
View File

@@ -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

1
src/drivers/boards/crazyflie/crazyflie_i2c.cpp
View File

@@ -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

7
src/drivers/boards/crazyflie/crazyflie_init.c
View File

@@ -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;
}

8
src/drivers/boards/crazyflie/crazyflie_timer_config.c
View File

@@ -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,

16
src/drivers/crazyflie/crazyflie.cpp
View File

@@ -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();
}

11
src/systemcmds/mtd/mtd.c
View File

@@ -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);