From 5b13467c7128cb64de266fec0282c3fd7224e2be Mon Sep 17 00:00:00 2001 From: Gautier Hattenberger Date: Tue, 26 Mar 2024 10:11:58 +0100 Subject: [PATCH] [board] fix crazyfly board files (#3255) - use correct main file with chibios - fix pin definitions --- conf/airframes/test_boards/crazyflie_2.1.xml | 2 + conf/boards/crazyflie_2.1.makefile | 1 + .../boards/crazyflie/chibios/v2.1/crazyflie.h | 92 +++++++++---------- 3 files changed, 49 insertions(+), 46 deletions(-) diff --git a/conf/airframes/test_boards/crazyflie_2.1.xml b/conf/airframes/test_boards/crazyflie_2.1.xml index 758a70d45de..6ed25af4a1f 100644 --- a/conf/airframes/test_boards/crazyflie_2.1.xml +++ b/conf/airframes/test_boards/crazyflie_2.1.xml @@ -12,6 +12,7 @@ + @@ -50,6 +51,7 @@ + diff --git a/conf/boards/crazyflie_2.1.makefile b/conf/boards/crazyflie_2.1.makefile index 39ed27b2d42..3e70a4aa5f2 100644 --- 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 index 2dc3b6cd72f..e8edc692670 100644 --- 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