From 0d0637401f53eb07e4a54a90fa5d7a08d13daa5d Mon Sep 17 00:00:00 2001
From: 488_MP-4 <488_MP-4@iastate.edu>
Date: Thu, 7 Mar 2024 00:15:42 +0100
Subject: [PATCH] Started commenting hardware specific code
---
.../src/platform/platform.c | 128 ++++++++++--------
.../src/platform/platform_cf2.c | 17 +--
.../src/platform/platform_stm32f4.c | 44 +++---
.../src/platform/platform_tag.c | 19 +--
.../src/platform/platform_utils.c | 7 +-
5 files changed, 115 insertions(+), 100 deletions(-)
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform.c b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform.c
index afb09ba94..ac69b237e 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform.c
@@ -31,86 +31,94 @@
static const platformConfig_t* active_config = 0;
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;
+ //COMMENTED FIRMWARE
+ // 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] != ';') {
- 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;
- }
-
- int length = end - start;
- memcpy(deviceType, &deviceTypeString[start], length);
- deviceType[length] = '\0';
- return 0;
+ //COMMENTED FIRMWARE
+ // 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;
+ // }
+
+ // int length = end - start;
+ // memcpy(deviceType, &deviceTypeString[start], length);
+ // deviceType[length] = '\0';
+ // return 0;
}
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];
- if (strcmp(config->deviceType, deviceType) == 0) {
- active_config = config;
- return 0;
- }
- }
-
- return 1;
+//COMMENTED FIRMWARE
+// #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];
+// if (strcmp(config->deviceType, deviceType) == 0) {
+// active_config = config;
+// return 0;
+// }
+// }
+
+// return 1;
}
const char* platformConfigGetDeviceType() {
- return active_config->deviceType;
+ //COMMENTED FIRMWARE
+ // return active_config->deviceType;
}
const char* platformConfigGetDeviceTypeName() {
- return active_config->deviceTypeName;
+ //COMMENTED FIRMWARE
+ // return active_config->deviceTypeName;
}
SensorImplementation_t platformConfigGetSensorImplementation() {
- return active_config->sensorImplementation;
+ //COMMENTED FIRMWARE
+ // return active_config->sensorImplementation;
}
bool platformConfigPhysicalLayoutAntennasAreClose() {
- return active_config->physicalLayoutAntennasAreClose;
+ //COMMENTED FIRMWARE
+ // return active_config->physicalLayoutAntennasAreClose;
}
const MotorPerifDef** platformConfigGetMotorMapping() {
- return active_config->motorMap;
+ //COMMENTED FIRMWARE
+ // return active_config->motorMap;
}
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_cf2.c b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_cf2.c
index fb250dad5..76c5299bd 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_cf2.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_cf2.c
@@ -37,28 +37,28 @@ static platformConfig_t configs[] = {
{
.deviceType = "CF20",
.deviceTypeName = "Crazyflie 2.0",
- .sensorImplementation = SensorImplementation_mpu9250_lps25h,
+ // .sensorImplementation = SensorImplementation_mpu9250_lps25h,
.physicalLayoutAntennasAreClose = true,
.motorMap = motorMapDefaultBrushed,
},
{
.deviceType = "CF21",
.deviceTypeName = "Crazyflie 2.1",
- .sensorImplementation = SensorImplementation_bmi088_bmp388,
+ // .sensorImplementation = SensorImplementation_bmi088_bmp388,
.physicalLayoutAntennasAreClose = false,
.motorMap = motorMapDefaultBrushed,
},
{ // Old ID of Crzyflie Bolt
.deviceType = "RZ10",
.deviceTypeName = "Crazyflie Bolt",
- .sensorImplementation = SensorImplementation_bmi088_spi_bmp388,
+ // .sensorImplementation = SensorImplementation_bmi088_spi_bmp388,
.physicalLayoutAntennasAreClose = false,
.motorMap = motorMapBoltBrushless,
},
{
.deviceType = "CB10",
.deviceTypeName = "Crazyflie Bolt",
- .sensorImplementation = SensorImplementation_bmi088_spi_bmp388,
+ // .sensorImplementation = SensorImplementation_bmi088_spi_bmp388,
.physicalLayoutAntennasAreClose = false,
.motorMap = motorMapBoltBrushless,
}
@@ -70,11 +70,12 @@ const platformConfig_t* platformGetListOfConfigurations(int* nrOfConfigs) {
}
void platformInitHardware() {
- //Low level init: Clock and Interrupt controller
- nvicInit();
+ //COMMENTED FIRMWARE
+ // //Low level init: Clock and Interrupt controller
+ // nvicInit();
- //EXTI interrupts
- extiInit();
+ // //EXTI interrupts
+ // extiInit();
}
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_stm32f4.c b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_stm32f4.c
index 77f5072b0..b4bc0bb04 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_stm32f4.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_stm32f4.c
@@ -38,33 +38,35 @@
#define DEFAULT_PLATFORM_STRING "0;CF20"
-#ifndef UNIT_TEST_MODE
-static char* getAddressOfOtpMemoryBlock(int blockNr) {
- return (char*)(0x1fff7800 + blockNr * 0x20);
-}
-#else
- // This function is replaced by a mock in unit tests
- char* getAddressOfOtpMemoryBlock(const int blockNr);
-#endif
+//COMMENTED FIRMWARE
+// #ifndef UNIT_TEST_MODE
+// static char* getAddressOfOtpMemoryBlock(int blockNr) {
+// return (char*)(0x1fff7800 + blockNr * 0x20);
+// }
+// #else
+// // This function is replaced by a mock in unit tests
+// char* getAddressOfOtpMemoryBlock(const int blockNr);
+// #endif
void platformGetDeviceTypeString(char* deviceTypeString) {
- char* block = 0;
+ //COMMENTED FIRMWARE
+ // char* block = 0;
- for (int i = 0; i < PLATFORM_INFO_OTP_NR_OF_BLOCKS; i++) {
- char* candidateBlock = getAddressOfOtpMemoryBlock(i);
- if (candidateBlock[0] != 0) {
- block = candidateBlock;
- break;
- }
- }
+ // for (int i = 0; i < PLATFORM_INFO_OTP_NR_OF_BLOCKS; i++) {
+ // char* candidateBlock = getAddressOfOtpMemoryBlock(i);
+ // if (candidateBlock[0] != 0) {
+ // block = candidateBlock;
+ // break;
+ // }
+ // }
- if (!block || ((unsigned char)block[0]) == 0xff) {
- block = DEFAULT_PLATFORM_STRING;
- }
+ // if (!block || ((unsigned char)block[0]) == 0xff) {
+ // block = DEFAULT_PLATFORM_STRING;
+ // }
- strncpy(deviceTypeString, block, PLATFORM_INFO_OTP_BLOCK_LEN);
- deviceTypeString[PLATFORM_INFO_OTP_BLOCK_LEN] = '\0';
+ // strncpy(deviceTypeString, block, PLATFORM_INFO_OTP_BLOCK_LEN);
+ // deviceTypeString[PLATFORM_INFO_OTP_BLOCK_LEN] = '\0';
}
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_tag.c b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_tag.c
index cc15b5445..7cb8eaa62 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_tag.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_tag.c
@@ -37,29 +37,32 @@ static platformConfig_t configs[] = {
{
.deviceType = "RR10",
.deviceTypeName = "Roadrunner 1.0",
- .sensorImplementation = SensorImplementation_bmi088_bmp388,
+ // .sensorImplementation = SensorImplementation_bmi088_bmp388,
.physicalLayoutAntennasAreClose = false,
.motorMap = motorMapNoMotors,
},
};
const platformConfig_t* platformGetListOfConfigurations(int* nrOfConfigs) {
- *nrOfConfigs = sizeof(configs) / sizeof(platformConfig_t);
- return configs;
+ //COMMENTED FIRMWARE
+ // *nrOfConfigs = sizeof(configs) / sizeof(platformConfig_t);
+ // return configs;
}
void platformInitHardware() {
- //Low level init: Clock and Interrupt controller
- nvicInit();
+ //COMMENTED FIRMWARE
+ // //Low level init: Clock and Interrupt controller
+ // nvicInit();
- //EXTI interrupts
- extiInit();
+ // //EXTI interrupts
+ // extiInit();
}
// Config functions ------------------------
const char* platformConfigGetPlatformName() {
- return "tag";
+ //COMMENTED FIRMWARE
+ // return "tag";
}
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_utils.c b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_utils.c
index 3f136b00e..e2d275fa9 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_utils.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_utils.c
@@ -38,8 +38,9 @@
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);
+ //COMMENTED FIRMWARE
+// // 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);
}
--
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