[board] fix crazyfly board files (#3255)

- use correct main file with chibios - fix pin definitions
paparazzi · Mar 26, 2024 · 5b13467 · 5b13467
1 parent 3bedf95
commit 5b13467
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Showing 3 changed files with 49 additions and 46 deletions.
diff --git a/conf/airframes/test_boards/crazyflie_2.1.xml b/conf/airframes/test_boards/crazyflie_2.1.xml
@@ -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>

diff --git a/conf/boards/crazyflie_2.1.makefile b/conf/boards/crazyflie_2.1.makefile
@@ -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

diff --git a/sw/airborne/boards/crazyflie/chibios/v2.1/crazyflie.h b/sw/airborne/boards/crazyflie/chibios/v2.1/crazyflie.h
@@ -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 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 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(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