#379 Added support for the Tag platform and the Roadrunner device. Re…

…factoring of platform startup code.

.travis.yml

@@ -31,3 +31,6 @@ script:
   # Build cf2 with TDOA3 and all config options
   - docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/make clean
   - docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build PLATFORM=cf2 DEBUG=1 LPS_TDOA3_ENABLE=1 "EXTRA_CFLAGS=-DLPS_2D_POSITION_HEIGHT=1.2 -DLPS_LONGER_RANGE"
+
+  # Build the tag platform
+  - docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build PLATFORM=tag

Makefile

@@ -338,7 +338,7 @@ ifeq ($(SHELL),/bin/sh)
 endif
 
 print_version:
-	@echo "$(PLATFORM_NAME_$(PLATFORM)) build!"
+	@echo "BUild for the $(PLATFORM_NAME_$(PLATFORM))!"
 	@$(PYTHON2) tools/make/versionTemplate.py --print-version
 ifeq ($(CLOAD), 1)
 	@echo "Crazyloader build!"

src/hal/src/sensors.c

@@ -68,8 +68,10 @@ typedef struct {
   void (*dataAvailableCallback)(void);
 } sensorsImplementation_t;
 
-
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-function"
 static void nullFunction(void) {}
+#pragma GCC diagnostic pop
 
 static const sensorsImplementation_t sensorImplementations[SensorImplementation_COUNT] = {
 #ifdef SENSOR_INCLUDED_BMI088_BMP388

src/modules/src/system.c

@@ -158,7 +158,7 @@ void systemTask(void *arg)
   deckInit();
   estimator = deckGetRequiredEstimator();
   stabilizerInit(estimator);
-  if (deckGetRequiredLowInterferenceRadioMode())
+  if (deckGetRequiredLowInterferenceRadioMode() && platformConfigPhysicalLayoutAntennasAreClose())
   {
     platformSetLowInterferenceRadioMode();
   }

src/platform/platform.c

@@ -25,11 +25,35 @@
  *
  */
 
+#define DEBUG_MODULE "PLATFORM"
+
 #include <string.h>
 #include "platform.h"
+#include "radiolink.h"
+#include "debug.h"
+
+// Define to decrease the nRF51 Tx power to reduce interference
+#ifndef PLATFORM_NRF51_LOW_INTERFERENCE_TX_POWER_DBM
+#define PLATFORM_NRF51_LOW_INTERFERENCE_TX_POWER_DBM (-12)
+#endif
 
 static const platformConfig_t* active_config = 0;
+static int platformInitConfiguration(const platformConfig_t* configs, const int nrOfConfigs);
 
+int platformInit(void) {
+  int nrOfConfigs = 0;
+  const platformConfig_t* configs = platformGetListOfConfigurations(&nrOfConfigs);
+
+  int err = platformInitConfiguration(configs, nrOfConfigs);
+  if (err != 0)
+  {
+    // This firmware is not compatible, abort init
+    return 1;
+  }
+
+  platformInitHardware();
+  return 0;
+}
 
 int platformParseDeviceTypeString(const char* deviceTypeString, char* deviceType) {
   if (deviceTypeString[0] != '0' || deviceTypeString[1] != ';') {
@@ -55,12 +79,19 @@ int platformParseDeviceTypeString(const char* deviceTypeString, char* deviceType
   return 0;
 }
 
-int platformInitConfiguration(const platformConfig_t* configs, const int nrOfConfigs) {
+static int platformInitConfiguration(const platformConfig_t* configs, const int nrOfConfigs) {
+#ifndef DEVICE_TYPE_STRING_FORCE
   char deviceTypeString[PLATFORM_DEVICE_TYPE_STRING_MAX_LEN];
   char deviceType[PLATFORM_DEVICE_TYPE_MAX_LEN];
 
   platformGetDeviceTypeString(deviceTypeString);
   platformParseDeviceTypeString(deviceTypeString, deviceType);
+#else
+  #define xstr(s) str(s)
+  #define str(s) #s
+
+  char* deviceType = xstr(DEVICE_TYPE_STRING_FORCE);
+#endif
 
   for (int i = 0; i < nrOfConfigs; i++) {
     const platformConfig_t* config = &configs[i];
@@ -81,3 +112,13 @@ SensorImplementation_t platformConfigGetSensorImplementation() {
   return active_config->sensorImplementation;
 }
 
+bool platformConfigPhysicalLayoutAntennasAreClose() {
+  return active_config->physicalLayoutAntennasAreClose;
+}
+
+
+void platformSetLowInterferenceRadioMode(void) {
+  // Decrease the nRF51 Tx power to reduce interference
+  radiolinkSetPowerDbm(PLATFORM_NRF51_LOW_INTERFERENCE_TX_POWER_DBM);
+  DEBUG_PRINT("Low interference mode. NRF51 TX power offset by %ddb.\r\n", PLATFORM_NRF51_LOW_INTERFERENCE_TX_POWER_DBM);
+}

src/platform/platform.h

@@ -55,6 +55,7 @@ typedef struct {
   char deviceType[PLATFORM_DEVICE_TYPE_MAX_LEN];
   char deviceTypeName[14];
   SensorImplementation_t sensorImplementation;
+  bool physicalLayoutAntennasAreClose;
 } platformConfig_t;
 
 /**
@@ -64,14 +65,18 @@ int platformInit(void);
 
 void platformGetDeviceTypeString(char* deviceTypeString);
 int platformParseDeviceTypeString(const char* deviceTypeString, char* deviceType);
-int platformInitConfiguration(const platformConfig_t* configs, const int nrOfConfigs);
 
-void platformSetLowInterferenceRadioMode(void);
+// Implemented in platform specific files
+const platformConfig_t* platformGetListOfConfigurations(int* nrOfConfigs);
+void platformInitHardware();
+
 
+void platformSetLowInterferenceRadioMode(void);
 
 // Functions to read configuration
 const char* platformConfigGetPlatformName();
 const char* platformConfigGetDeviceTypeName();
 SensorImplementation_t platformConfigGetSensorImplementation();
+bool platformConfigPhysicalLayoutAntennasAreClose();
 
 #endif /* PLATFORM_H_ */

src/platform/platform_cf2.c

@@ -7,7 +7,7 @@
  *
  * Crazyflie control firmware
  *
- * Copyright (C) 2011-2012 Bitcraze AB
+ * Copyright (C) 2011-2018 Bitcraze AB
  *
  * This program is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -32,51 +32,28 @@
 #include "exti.h"
 #include "nvic.h"
 #include "debug.h"
-#include "radiolink.h"
-
-// Define to decrease the nRF51 Tx power to reduce interference
-#ifndef PLATFORM_NRF51_LOW_INTERFERENCE_TX_POWER_DBM
-#define PLATFORM_NRF51_LOW_INTERFERENCE_TX_POWER_DBM (-12)
-#endif
-
-static void initHardware();
 
 static platformConfig_t configs[] = {
   {
     .deviceType = "CF20",
     .deviceTypeName = "Crazyflie 2.0",
     .sensorImplementation = SensorImplementation_mpu9250_lps25h,
+    .physicalLayoutAntennasAreClose = true,
   },
   {
     .deviceType = "CF21",
     .deviceTypeName = "Crazyflie 2.1",
     .sensorImplementation = SensorImplementation_bmi088_bmp388,
+    .physicalLayoutAntennasAreClose = true,
   }
 };
 
-
-
-int platformInit(void) {
-  int err = platformInitConfiguration(configs, sizeof(configs) / sizeof(platformConfig_t));
-  if (err != 0)
-  {
-    // This firmware is not compatible, abort init
-    return 1;
-  }
-
-  initHardware();
-  return 0;
+const platformConfig_t* platformGetListOfConfigurations(int* nrOfConfigs) {
+  *nrOfConfigs = sizeof(configs) / sizeof(platformConfig_t);
+  return configs;
 }
 
-
-void platformSetLowInterferenceRadioMode(void) {
-  // Decrease the nRF51 Tx power to reduce interference
-  radiolinkSetPowerDbm(PLATFORM_NRF51_LOW_INTERFERENCE_TX_POWER_DBM);
-  DEBUG_PRINT("Low interference mode. NRF51 TX power offset by %ddb.\r\n", PLATFORM_NRF51_LOW_INTERFERENCE_TX_POWER_DBM);
-}
-
-
-static void initHardware() {
+void platformInitHardware() {
   //Low level init: Clock and Interrupt controller
   nvicInit();
 

tools/make/config.mk.example

@@ -1,5 +1,11 @@
 ## Copy this file to config.mk and modify to get you personal build configuration
 
+## Force device type string
+# CFLAGS += -DDEVICE_TYPE_STRING_FORCE="CF20"
+
+## Force a sensor implementation to be used
+# SENSORS=bosch
+
 ## Set CRTP link to E-SKY receiver
 # CFLAGS += -DUSE_ESKYLINK
 
@@ -63,10 +69,6 @@
 
 
 ## TDaA 3 - experimental -------------------------------------------
-
-## Set the positioning system in TDoA3 mode on startup
-# LPS_TDOA3_ENABLE=1
-
 # Enable 2D positioning. The value (1.2) is the height that the tag will move at
 # Only use in TDoA 3
 # CFLAGS += -DLPS_2D_POSITION_HEIGHT=1.2

tools/make/platforms/cf2.mk

@@ -1,7 +1,7 @@
-# Make configuration for Crazyflie 2 family of platform
+# Make configuration for the Crazyflie 2 platform
 
-PLATFORM_HELP_cf2 = Crazyflie2 family, includes Crazyflie 2.0 and Crazyflie 2.1
-PLATFORM_NAME_cf2 = CF2 family
+PLATFORM_HELP_cf2 = Crazyflie2 platform, includes Crazyflie 2.0 and Crazyflie 2.1
+PLATFORM_NAME_cf2 = CF2 platform
 
 CPU=stm32f4
 

tools/make/platforms/tag.mk

@@ -0,0 +1,19 @@
+# Make configuration for the Tag platform
+
+PLATFORM_HELP_tag = Tag platform, includes Roadrunner
+PLATFORM_NAME_tag = Tag platform
+
+CPU=stm32f4
+
+######### Sensors configuration ##########
+CFLAGS += -DSENSOR_INCLUDED_BMI088_BMP388
+PROJ_OBJ += sensors_bmi088_bmp388.o
+
+######### Stabilizer configuration ##########
+ESTIMATOR          ?= any
+CONTROLLER         ?= Any # one of Any, PID, Mellinger
+POWER_DISTRIBUTION ?= stock
+
+######### COMPILE FLAGS ##########
+CFLAGS += -DDECK_FORCE=bcDWM1000
+CFLAGS += -DSENSORS_IGNORE_BAROMETER_FAIL