Add ESC protocol and battery voltage threshold configuration

Kconfig

@@ -96,6 +96,7 @@ config IMU_MAHONY_QUATERNION
 endchoice
 
 endmenu
+
 menu "Sensor configuration"
 
 config SENSORS_MPU9250_LPS25H
@@ -138,6 +139,8 @@ config SENSORS_BMI088_I2C
 
 endmenu
 
+source src/hal/src/Kconfig
+
 menu "App layer configuration"
 
 source "app_api/Kconfig"

Makefile

@@ -92,6 +92,10 @@ ifneq ($(CONFIG_DECK_LOCO_2D_POSITION_HEIGHT),)
 unquoted = $(patsubst "%",%,$(CONFIG_DECK_LOCO_2D_POSITION_HEIGHT))
 ARCH_CFLAGS += -DDECK_LOCO_2D_POSITION_HEIGHT=$(unquoted)
 endif
+unquoted = $(patsubst "%",%,$(CONFIG_PM_BAT_LOW_VOLTAGE))
+ARCH_CFLAGS += -DPM_BAT_LOW_VOLTAGE=$(unquoted)f
+unquoted = $(patsubst "%",%,$(CONFIG_PM_BAT_CRITICAL_LOW_VOLTAGE))
+ARCH_CFLAGS += -DPM_BAT_CRITICAL_LOW_VOLTAGE=$(unquoted)f
 
 ifeq ($(CONFIG_PLATFORM_TAG),y)
 PLATFORM = tag

src/drivers/interface/motors.h

@@ -36,6 +36,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include "config.h"
+#include "autoconf.h"
 /* ST includes */
 #include "stm32fxxx.h"
 
@@ -62,9 +63,7 @@
 // Not applied for brushless motor setup.
 #define ENABLE_THRUST_BAT_COMPENSATED
 
-//#define ENABLE_ONESHOT125
-
-#ifdef ENABLE_ONESHOT125
+#ifdef CONFIG_MOTORS_ESC_PROTOCOL_ONESHOT125
 /**
  * *VARNING* Make sure the brushless driver is configured correctly as on the Crazyflie with normal
  * brushed motors connected they can turn on at full speed when it is powered on!
@@ -80,7 +79,7 @@
   #define MOTORS_BL_PWM_PERIOD         MOTORS_BL_PWM_CNT_FOR_PERIOD
   #define MOTORS_BL_PWM_PRESCALE       (uint16_t)(MOTORS_BL_PWM_PRESCALE_RAW - 1)
   #define MOTORS_BL_POLARITY           TIM_OCPolarity_Low
-#elif defined(ENABLE_ONESHOT42)
+#elif defined(CONFIG_MOTORS_ESC_PROTOCOL_ONESHOT42)
 /**
  * *VARNING* Make sure the brushless driver is configured correctly as on the Crazyflie with normal
  * brushed motors connected they can turn on at full speed when it is powered on!
@@ -98,7 +97,7 @@
   #define MOTORS_BL_POLARITY           TIM_OCPolarity_Low
 #else
 /**
- * *VARNING* Make sure the brushless driver is configured correctly as on the Crazyflie with normal
+ * *WARNING* Make sure the brushless driver is configured correctly as on the Crazyflie with normal
  * brushed motors connected they can turn on at full speed when it is powered on!
  *
  * Generates a PWM wave (50 - 400 Hz update rate with 1-2 ms high pulse) using the timer. That way we can use the same

src/hal/interface/pm.h

@@ -31,22 +31,16 @@
 #include "syslink.h"
 #include "deck.h"
 
-#ifndef CRITICAL_LOW_VOLTAGE
-  #define PM_BAT_CRITICAL_LOW_VOLTAGE   3.0f
-#else
-  #define PM_BAT_CRITICAL_LOW_VOLTAGE   CRITICAL_LOW_VOLTAGE
-#endif
+// PM_BAT_LOW_VOLTAGE and PM_BAT_CRITICAL_LOW_VOLTAGE are now defined by the
+// Makefile. Do not use CONFIG_PM_BAT_CRITICAL_LOW_VOLTAGE and
+// CONFIG_PM_BAT_LOW_VOLTAGE as those are strings.
+
 #ifndef CRITICAL_LOW_TIMEOUT
   #define PM_BAT_CRITICAL_LOW_TIMEOUT   M2T(1000 * 5) // 5 sec default
 #else
   #define PM_BAT_CRITICAL_LOW_TIMEOUT   CRITICAL_LOW_TIMEOUT
 #endif
 
-#ifndef LOW_VOLTAGE
-  #define PM_BAT_LOW_VOLTAGE   3.2f
-#else
-  #define PM_BAT_LOW_VOLTAGE   LOW_VOLTAGE
-#endif
 #ifndef LOW_TIMEOUT
   #define PM_BAT_LOW_TIMEOUT   M2T(1000 * 5) // 5 sec default
 #else

src/hal/src/Kconfig

@@ -1,9 +1,25 @@
-menu "IMU sensor configuration"
+menu "Power management configuration"
 
-config SENSORS_BMI088_BMP388
-    bool "Support for bmi088 and bmp388 sensors"
+#
+# Kconfig does not support float, we use strings here and fix them up in the
+# Makefile.
+#
+config PM_BAT_LOW_VOLTAGE
+    string "Low voltage threshold in volts"
+    default 3.2
     help
-        Include support for the Bosch bmi088 inertial and bmp388
-        barometric sensors
+        The power management subsystem will enter the "low voltage" state when
+        the battery voltage is below this threshold for a prolonged period of
+        time. The length of this period is configured in the code; see
+        hal/interface/pm.h
+
+config PM_BAT_CRITICAL_LOW_VOLTAGE
+    string "Critical low voltage threshold in volts"
+    default 3.0
+    help
+        The power management subsystem will shut the system down when the
+        battery voltage is below this threshold for a prolonged period of
+        time. The length of this period is configured in the code; see
+        hal/interface/pm.h
 
 endmenu

src/modules/src/Kconfig

@@ -62,6 +62,21 @@ endmenu
 
 menu "Motor configuration"
 
+choice
+    prompt "ESC protocol"
+    default MOTORS_ESC_PROTOCOL_STANDARD_PWM
+
+	config MOTORS_ESC_PROTOCOL_STANDARD_PWM
+	    bool "Standard PWM"
+
+	config MOTORS_ESC_PROTOCOL_ONESHOT125
+	    bool "OneShot125"
+
+	config MOTORS_ESC_PROTOCOL_ONESHOT42
+	    bool "OneShot42"
+
+endchoice
+
 config MOTORS_START_DISARMED
     bool "Set disarmed state after boot"
     default n