Enable PA on all platforms

Author: ataffanel

Makefile

@@ -44,6 +44,7 @@ SRC_FILES += \
   $(PROJ_DIR)/uart.c \
   $(PROJ_DIR)/bootloader.c \
   $(PROJ_DIR)/crc.c \
+  $(PROJ_DIR)/platform.c \
   $(SDK_ROOT)/external/segger_rtt/RTT_Syscalls_GCC.c \
   $(SDK_ROOT)/external/segger_rtt/SEGGER_RTT.c \
   $(SDK_ROOT)/external/segger_rtt/SEGGER_RTT_printf.c \

config/custom_board.h

@@ -50,6 +50,9 @@
 
 #define STM_NRST_PIN 21
 
+#define RADIO_PAEN_PIN 19
+#define RADIO_PATX_DIS_PIN 20
+
 // Pins if RFX2411N is used
 #define RADIO_PA_RX_EN  20
 #define RADIO_PA_ANT_SW 18

src/crazyflie2_pm.c

@@ -3,6 +3,7 @@
 #include "nrf.h"
 #include "nrf_gpio.h"
 #include "boards.h"
+#include "platform.h"
 
 static pm_state_t m_state = PM_STATE_OFF;
 
@@ -28,24 +29,37 @@ void crazyflie2_pm_init(void) {
     // todo: setup analog measurement
 
     // Setup radio PA
-    nrf_gpio_cfg_output(RADIO_PA_RX_EN);
-    nrf_gpio_cfg_output(RADIO_PA_MODE);
-    nrf_gpio_cfg_output(RADIO_PA_ANT_SW);
+    if (platformHasRfx2411n()) {
+      // Enable RF power amplifier
+      nrf_gpio_cfg_output(RADIO_PA_RX_EN);
+      nrf_gpio_cfg_output(RADIO_PA_MODE);
+      nrf_gpio_cfg_output(RADIO_PA_ANT_SW);
+    #ifdef USE_EXT_ANTENNA
+      // Select u.FL antenna
+      nrf_gpio_pin_clear(RADIO_PA_ANT_SW);
+    #else
+      // Select chip antenna
+      nrf_gpio_pin_set(RADIO_PA_ANT_SW);
+    #endif
 
-#ifdef USE_EXT_ANTENNA
-    // Select u.FL antenna
-    nrf_gpio_pin_clear(RADIO_PA_ANT_SW);
-#else
-    // Select chip antenna
-    nrf_gpio_pin_set(RADIO_PA_ANT_SW);
-#endif
+    #ifdef RFX2411N_BYPASS_MODE
+        nrf_gpio_pin_set(RADIO_PA_MODE);
+    #else
+        nrf_gpio_pin_set(RADIO_PA_RX_EN);
+        nrf_gpio_pin_clear(RADIO_PA_MODE);
+    #endif
+    } else {
+        // Enable RF power amplifier
+        nrf_gpio_cfg_output(RADIO_PAEN_PIN);
 
-#ifdef RFX2411N_BYPASS_MODE
-    nrf_gpio_pin_set(RADIO_PA_MODE);
-#else
-    nrf_gpio_pin_set(RADIO_PA_RX_EN);
-    nrf_gpio_pin_clear(RADIO_PA_MODE);
-#endif
+    #ifdef DISABLE_PA
+        nrf_gpio_pin_clear(RADIO_PAEN_PIN);
+        nrf_gpio_cfg_output(RADIO_PATX_DIS_PIN);
+        nrf_gpio_pin_clear(RADIO_PATX_DIS_PIN);
+    #else
+        nrf_gpio_pin_set(RADIO_PAEN_PIN);
+    #endif
+    }
 
     crazyflie2_pm_set_state(PM_STATE_SYSTEM_OFF);
 }

src/main.c

@@ -78,6 +78,7 @@
 #include "uart.h"
 #include "systick.h"
 #include "bootloader.h"
+#include "platform.h"
 
 #include "crtp.h"
 
@@ -549,6 +550,8 @@ int main(void)
     uint32_t err_code;
     static char address[5];
 
+    platformInitByDeviceType();
+
     sd_mbr_command(&startSdCmd);
     sd_softdevice_vector_table_base_set(BOOTLOADER_ADDRESS);
 
@@ -585,8 +588,8 @@ int main(void)
     // err_code = syslinkInit();
     // APP_ERROR_CHECK(err_code);
 
-    // crazyflie2_pm_init();
-    // crazyflie2_pm_set_state(PM_STATE_SYSTEM_ON);
+    crazyflie2_pm_init();
+    crazyflie2_pm_set_state(PM_STATE_SYSTEM_ON);
 
     err_code = app_mailbox_create(&m_uplink);
     APP_ERROR_CHECK(err_code);

src/platform.c

@@ -0,0 +1,77 @@
+#include "platform.h"
+
+#include <string.h>
+#include <nrf.h>
+
+static const char *defaultDeviceType = "0;CF20;R=D";
+
+static char *deviceTypeStringLocation = (void*)PLATFORM_DEVICE_DATA_FLASH_POS;
+
+static bool has_rfx2411n = false;
+
+void platformGetDeviceTypeString(char *deviceTypeString)
+{
+  if (deviceTypeStringLocation[0] == 0xffu) {
+    strncpy(deviceTypeString, defaultDeviceType, 32);
+    deviceTypeString[32] = 0;
+  } else {
+    strncpy(deviceTypeString, deviceTypeStringLocation, 32);
+    deviceTypeString[32] = 0;
+  }
+}
+
+/**
+ * Parse deviceType string to extract the deviceType
+ *
+ * Ignores the key=value sections.
+ *
+ * \param [in] deviceTypeString deviceTypeString extracted from the hardware
+ * \param [out] deviceType Buffer of at least PLATFORM_DEVICE_TYPE_MAX_LEN
+ *                         bytes where the device type will be stored
+ * \return 0 in case of success, 1 in case of failure.
+ */
+static int platformParseDeviceTypeString(char* deviceTypeString, char* deviceType) {
+  // char *state;
+
+  memcpy(deviceType, deviceTypeString+2, 4);
+  deviceType[4]  = '\0';
+  
+  return 0;
+}
+
+// This function configures the platform in runtime based on the device type.
+// The main reason to not move it into the platform files is that if a user
+// flashes the wrong binary in the NRF we still want it to start up.
+int platformInitByDeviceType() {
+  static char deviceTypeString[PLATFORM_DEVICE_TYPE_STRING_MAX_LEN];
+  static char deviceType[PLATFORM_DEVICE_TYPE_MAX_LEN];
+
+  platformGetDeviceTypeString(deviceTypeString);
+  if (platformParseDeviceTypeString(deviceTypeString, deviceType) != 0) {
+    return 1;
+  }
+
+  if (0 == strcmp(deviceType, "CF20")) {
+    has_rfx2411n = false;
+
+  } else if (0 == strcmp(deviceType, "CF21")) {
+    has_rfx2411n = true;
+
+  } else if (0 == strcmp(deviceType, "RR10")) {
+    has_rfx2411n = true;
+
+  } else if ((0 == strcmp(deviceType, "RZ10")) ||
+             (0 == strcmp(deviceType, "CB10")) ||
+             (0 == strcmp(deviceType, "CB11"))) {
+    has_rfx2411n = true;
+
+  } else {
+    has_rfx2411n = false;
+  }
+
+  return 0;
+}
+
+bool platformHasRfx2411n() {
+  return has_rfx2411n;
+}

src/platform.h

@@ -0,0 +1,67 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie 2.0 NRF Firmware
+ * Copyright (c) 2024, Bitcraze AB, All rights reserved.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 3.0 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library.
+ */
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#define PLATFORM_DEVICE_DATA_FLASH_POS  0x3FFE0
+#define PLATFORM_DEVICE_TYPE_STRING_MAX_LEN 33
+#define PLATFORM_DEVICE_TYPE_MAX_LEN 31
+
+/**
+ * Fetch deviceType string from flash
+ * 
+ * This function defaults to "0;CF20;R=D" if no string is present in the
+ * hardware
+ * 
+ * \param [out] deviceTypeString Buffer of at least 
+ *                               PLATFORM_DEVICE_TYPE_STRING_MAX_LEN bytes
+ *                               where the platform string will be stored
+ */
+void platformGetDeviceTypeString(char *deviceTypeString);
+
+/**
+ * Initialize the platform
+ * 
+ * Initialize the platform discovering capabilities and returns if it has been successful
+ * 
+ * \return 0 in case of success, 1 in case of failure.
+ */
+int platformInit();
+
+/**
+ * Initialize the platform based on device type
+ *
+ * Generic initialization based on device type
+ *
+ * \return 0 in case of success, 1 in case of failure.
+ */
+int platformInitByDeviceType();
+
+// ************** Capabilities functions **************
+// The following functions can be implemented by different platform to give
+// access to the current device capabilities. Not all platform has to implement
+// all functions
+bool platformHasRfx2411n();