#379 Added dynamic configurations

Identifying the device type based on the device type string and choosing the correct configuration.

Makefile

@@ -108,8 +108,7 @@ CFLAGS += -DUSD_RUN_DISKIO_FUNCTION_TESTS
 endif
 
 # Crazyflie sources
-VPATH += src/init src/hal/src src/modules/src src/utils/src src/drivers/bosch/src src/drivers/src
-VPATH_CF2 += src/platform/cf2
+VPATH += src/init src/hal/src src/modules/src src/utils/src src/drivers/bosch/src src/drivers/src src/platform
 
 ifeq ($(PLATFORM), CF2)
 VPATH +=$(VPATH_CF2)
@@ -120,7 +119,7 @@ endif
 
 # Init
 PROJ_OBJ += main.o
-PROJ_OBJ_CF2 += platform_cf2.o platform_info_stm32.o
+PROJ_OBJ_CF2 += platform.o platform_cf2.o platform_stm32.o
 
 # Drivers
 PROJ_OBJ += exti.o nvic.o motors.o

src/init/main.c

@@ -45,7 +45,11 @@
 int main() 
 {
   //Initialize the platform.
-  platformInit();
+  int err = platformInit();
+  if (err != 0) {
+    // The firmware is running on the wrong hardware. Halt
+    while(1);
+  }
 
   //Launch the system task that will initialize and start everything
   systemLaunch();

src/modules/src/system.c

@@ -96,12 +96,12 @@ void systemInit(void)
   usblinkInit();
   sysLoadInit();
 
-  /* Initialized hear and early so that DEBUG_PRINT (buffered) can be used early */
+  /* Initialized here so that DEBUG_PRINT (buffered) can be used early */
   crtpInit();
   consoleInit();
 
   DEBUG_PRINT("----------------------------\n");
-  DEBUG_PRINT(P_NAME " is up and running!\n");
+  DEBUG_PRINT("%s is up and running!\n", platformConfigGetDeviceTypeName());
   DEBUG_PRINT("Build %s:%s (%s) %s\n", V_SLOCAL_REVISION,
               V_SREVISION, V_STAG, (V_MODIFIED)?"MODIFIED":"CLEAN");
   DEBUG_PRINT("I am 0x%08X%08X%08X and I have %dKB of flash!\n",

src/drivers/interface/platform_info_stm32.h → src/platform/platform.c

@@ -7,7 +7,7 @@
  *
  * Crazyflie control firmware
  *
- * Copyright (C) 2018 Bitcraze AB
+ * Copyright (C) 2011-2012 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
@@ -21,15 +21,33 @@
  * You should have received a copy of the GNU General Public License
  * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
- * platform_info_stm32.h - platform information driver for STM32 based platforms
- *
- * Platform information is used to identify the hardware platform the firmware
- * is running on.
+ * Generic platform functionality
  *
  */
 
-#define PLATFORM_INFO_OTP_NR_OF_BLOCKS 16
-#define PLATFORM_INFO_OTP_BLOCK_LEN 32
-#define PLATFORM_INFO_MAX_PLATFORM_STRING_LEN (PLATFORM_INFO_OTP_BLOCK_LEN + 1)
+#include <string.h>
+#include "platform.h"
+
+int platformParseDeviceTypeString(const char* deviceTypeString, char* deviceType) {
+  if (deviceTypeString[0] != '0' || deviceTypeString[1] != ';') {
+    return 1;
+  }
+
+  const int start = 2;
+  const int last = start + PLATFORM_DEVICE_TYPE_MAX_LEN - 1;
+  int end = 0;
+  for (end = start; end <= last; end++) {
+    if (deviceTypeString[end] == '\0' || deviceTypeString[end] == ';') {
+      break;
+    }
+  }
+
+  if (end > last) {
+    return 1;
+  }
 
-void platformInfoGetPlatformString(char* buf);
+  int length = end - start;
+  memcpy(deviceType, &deviceTypeString[start], length);
+  deviceType[length] = '\0';
+  return 0;
+}

src/platform/platform.h

@@ -42,11 +42,25 @@
 #ifndef PLATFORM_H_
 #define PLATFORM_H_
 
+#include <stdbool.h>
+
+#define PLATFORM_DEVICE_TYPE_STRING_MAX_LEN (32 + 1)
+#define PLATFORM_DEVICE_TYPE_MAX_LEN (4 + 1)
+
 /**
  * Initilizes all platform specific things.
  */
 int platformInit(void);
 
+void platformGetDeviceTypeString(char* deviceTypeString);
+int platformParseDeviceTypeString(const char* deviceTypeString, char* deviceType);
+
 void platformSetLowInterferenceRadioMode(void);
 
+
+// Functions to read configuration
+const char* platformConfigGetPlatformName();
+const char* platformConfigGetDeviceTypeName();
+// TODO Add relevant config functions
+
 #endif /* PLATFORM_H_ */

src/platform/cf2/platform_cf2.c → src/platform/platform_cf2.c

@@ -21,13 +21,14 @@
  * You should have received a copy of the GNU General Public License
  * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
- * TODO: Add description
+ * Platform functionality for the CF2 platform
  */
 
 #define DEBUG_MODULE "PLATFORM"
 
-/* Personal configs */
-/* Project includes */
+#include <string.h>
+
+#include "platform.h"
 #include "exti.h"
 #include "nvic.h"
 #include "debug.h"
@@ -38,21 +39,90 @@
 #define PLATFORM_NRF51_LOW_INTERFERENCE_TX_POWER_DBM (-12)
 #endif
 
-// TODO: Implement!
+static int initPlatformConfiguration();
+static void initHardware();
+
+
+typedef struct {
+  char deviceType[PLATFORM_DEVICE_TYPE_MAX_LEN];
+  char deviceTypeName[14];
+} config_t;
+
+static config_t configs[] = {
+  {
+    .deviceType = "CF20",
+    .deviceTypeName = "Crazyflie 2.0",
+  },
+  {
+    .deviceType = "CF21",
+    .deviceTypeName = "Crazyflie 2.1",
+  }
+};
+
+static config_t* active_config = 0;
+
+
 int platformInit(void)
 {
-  //Low level init: Clock and Interrupt controller
-  nvicInit();
-
-  //EXTI interrupts
-  extiInit();
+  int err = initPlatformConfiguration();
+  if (err != 0)
+  {
+    // This firmware is not compatible, abort init
+    return 1;
+  }
 
+  initHardware();
   return 0;
 }
 
+
 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 int initPlatformConfiguration()
+{
+  char deviceTypeString[PLATFORM_DEVICE_TYPE_STRING_MAX_LEN];
+  char deviceType[PLATFORM_DEVICE_TYPE_MAX_LEN];
+
+  platformGetDeviceTypeString(deviceTypeString);
+  platformParseDeviceTypeString(deviceTypeString, deviceType);
+
+  for (int i = 0; i < (sizeof(configs) / sizeof(config_t)); i++) {
+    config_t* config = &configs[i];
+    if (strcmp(config->deviceType, deviceType) == 0) {
+      active_config = config;
+      return 0;
+    }
+  }
+
+  return 1;
+}
+
+static void initHardware()
+{
+  //Low level init: Clock and Interrupt controller
+  nvicInit();
+
+  //EXTI interrupts
+  extiInit();
+}
+
+
+// Config functions ------------------------
+
+const char* platformConfigGetPlatformName()
+{
+  return "cf2";
+}
+
+const char* platformConfigGetDeviceTypeName()
+{
+  return active_config->deviceTypeName;
+}
+
+

src/drivers/src/platform_info_stm32.c → src/platform/platform_stm32.c

@@ -7,7 +7,7 @@
  *
  * Crazyflie control firmware
  *
- * Copyright (C) 2018 Bitcraze AB
+ * Copyright (C) 2011-2012 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
@@ -21,18 +21,23 @@
  * You should have received a copy of the GNU General Public License
  * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
- * platform_info_stm32.c - platform information driver for STM32 based platforms
- *
- * Platform information is used to identify the hardware platform the firmware
- * is running on.
+ * Platform functionality for platforms using the STM32
  *
  */
 
 #include <string.h>
-#include "platform_info_stm32.h"
+#include "platform.h"
+
+#define PLATFORM_INFO_OTP_NR_OF_BLOCKS 16
+#define PLATFORM_INFO_OTP_BLOCK_LEN 32
+#if PLATFORM_DEVICE_TYPE_STRING_MAX_LEN < (PLATFORM_INFO_OTP_BLOCK_LEN + 1)
+  #error
+#endif
+
 
 #define DEFAULT_PLATFORM_STRING "0;CF20"
 
+
 #ifndef UNIT_TEST_MODE
 static char* getAddressOfOtpMemoryBlock(int blockNr) {
   return (char*)(0x1fff7800 + blockNr * 0x20);
@@ -45,7 +50,7 @@ static char* getAddressOfOtpMemoryBlock(int blockNr) {
 
 
 
-void platformInfoGetPlatformString(char* buf) {
+void platformGetDeviceTypeString(char* deviceTypeString) {
   char* block = 0;
 
   for (int i = 0; i < PLATFORM_INFO_OTP_NR_OF_BLOCKS; i++) {
@@ -60,6 +65,6 @@ void platformInfoGetPlatformString(char* buf) {
     block = DEFAULT_PLATFORM_STRING;
   }
 
-  strncpy(buf, block, PLATFORM_INFO_OTP_BLOCK_LEN);
-  buf[PLATFORM_INFO_OTP_BLOCK_LEN] = '\0';
+  strncpy(deviceTypeString, block, PLATFORM_INFO_OTP_BLOCK_LEN);
+  deviceTypeString[PLATFORM_INFO_OTP_BLOCK_LEN] = '\0';
 }

test/platform/Test_platform.c

@@ -0,0 +1,85 @@
+// File under test platform.c
+#include "platform.h"
+
+#include "unity.h"
+#include <string.h>
+
+
+static char actualDeviceType[100];
+
+void setUp(void) {
+  strcpy(actualDeviceType, "abcdefghijklmn");
+}
+
+void tearDown(void) {
+  // Empty
+}
+
+void testThatDeviceTypeStringIsReturned() {
+  // Fixture
+  const char* deviceTypeString = "0;CF20";
+
+  // Test
+  int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+  // Assert
+  TEST_ASSERT_EQUAL_STRING("CF20", actualDeviceType);
+  TEST_ASSERT_EQUAL(0, actual);
+}
+
+void testThatDeviceTypeStringIsReturnedWithTrailingSemiColonAndKeyValues() {
+  // Fixture
+  const char* deviceTypeString = "0;CF21;R=C";
+
+  // Test
+  int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+  // Assert
+  TEST_ASSERT_EQUAL_STRING("CF21", actualDeviceType);
+  TEST_ASSERT_EQUAL(0, actual);
+}
+
+void testThatDeviceTypeStringIsReturnedWhenTypeIdentifierIsShorterThan4Chars() {
+  // Fixture
+  const char* deviceTypeString = "0;AB;R=C";
+
+  // Test
+  int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+  // Assert
+  TEST_ASSERT_EQUAL_STRING("AB", actualDeviceType);
+  TEST_ASSERT_EQUAL(0, actual);
+}
+
+void testThatDeviceTypeIsNotReturnedWhenTypeIdentifierIsTooLong() {
+  // Fixture
+  const char* deviceTypeString = "0;CF21XXX;R=C";
+
+  // Test
+  int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+  // Assert
+  TEST_ASSERT_NOT_EQUAL(0, actual);
+}
+
+void testThatDeviceTypeIsNotReturnedIfVersionIfNot0() {
+  // Fixture
+  const char* deviceTypeString = "1;CF21";
+
+  // Test
+  int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+  // Assert
+  TEST_ASSERT_NOT_EQUAL(0, actual);
+}
+
+void testThatDeviceTypeIsNotReturnedIfSecondCharIsNotSemicolon() {
+  // Fixture
+  const char* deviceTypeString = "0+CF21";
+
+  // Test
+  int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+  // Assert
+  TEST_ASSERT_NOT_EQUAL(0, actual);
+}