Add platform configuration for CF2.1 brushless

- Platform comes with modified defaults for PID tuning, idle thrust, platform mass, and battery limit compared to CF2.1.
- The brushless defconfig enables manual arming and the DSHOT ESC protocol.
- Moved idle thrust configuration out of kbuild.

Kconfig

@@ -69,6 +69,11 @@ config PLATFORM_CF2
     select SENSORS_BMI088_BMP3XX
     select SENSORS_MPU9250_LPS25H
 
+config PLATFORM_CF21BL
+    bool "Build for CF2.1 brushless"
+    select SENSORS_BMI088_BMP3XX
+    select SENSORS_MPU9250_LPS25H
+
 config PLATFORM_BOLT
     bool "Build for Bolt"
     select SENSORS_BMI088_BMP3XX

Makefile

@@ -95,6 +95,10 @@ unquoted = $(patsubst "%",%,$(CONFIG_DECK_LOCO_2D_POSITION_HEIGHT))
 ARCH_CFLAGS += -DDECK_LOCO_2D_POSITION_HEIGHT=$(unquoted)
 endif
 
+ifeq ($(CONFIG_PLATFORM_CF21BL), y)
+PLATFORM = cf21bl
+endif
+
 ifeq ($(CONFIG_PLATFORM_TAG),y)
 PLATFORM = tag
 endif

configs/cf21bl_defconfig

@@ -0,0 +1,4 @@
+CONFIG_PLATFORM_CF21BL=y
+
+CONFIG_MOTORS_REQUIRE_ARMING=y
+CONFIG_MOTORS_ESC_PROTOCOL_DSHOT=y

docs/building-and-flashing/build.md

@@ -171,6 +171,7 @@ bindings_python : Build the python bindings for firmware wrappers
 menuconfig      : Open up a terminal user interface to set configuration options
 defconfig       : Generate a `.config` with the default configuration options
 cf2_defconfig   : Merge configuration options from `configs/cf2_defconfig` with default
+cf21bl_defconfig: Merge configuration options from `configs/cf21bl_defconfig` with default
 tag_defconfig   : Merge configuration options from `configs/tag_defconfig` with default
 bolt_defconfig   : Merge configuration options from `configs/bolt_defconfig` with default
 allyesconfig    : Generate a `.config` with the all configuration options enabled

docs/development/create_platform.md

@@ -81,6 +81,7 @@ We need to add a entry point for your platform. The way the build system determi
 ```Makefile
 obj-$(CONFIG_PLATFORM_BOLT) += platform_bolt.o
 obj-$(CONFIG_PLATFORM_CF2) += platform_cf2.o
+obj-$(CONFIG_PLATFORM_CF21BL) += platform_cf21bl.o
 obj-$(CONFIG_PLATFORM_TAG) += platform_tag.o
 obj-y += platform.o
 obj-y += platform_stm32f4.o
@@ -92,6 +93,7 @@ Let's add `RINCEWIND`:
 ```Makefile
 obj-$(CONFIG_PLATFORM_BOLT) += platform_bolt.o
 obj-$(CONFIG_PLATFORM_CF2) += platform_cf2.o
+obj-$(CONFIG_PLATFORM_CF21BL) += platform_cf21bl.o
 obj-$(CONFIG_PLATFORM_TAG) += platform_tag.o
 obj-$(CONFIG_PLATFORM_RINCEWIND) += platform_rincewind.o
 obj-y += platform.o
@@ -156,6 +158,9 @@ Your platform need to define suitable default values to (persistent) parameters.
 #ifdef CONFIG_PLATFORM_CF2
     #include "platform_defaults_cf2.h"
 #endif
+#ifdef CONFIG_PLATFORM_CF21BL
+    #include "platform_defaults_cf21bl.h"
+#endif
 #ifdef CONFIG_PLATFORM_BOLT
     #include "platform_defaults_bolt.h"
 #endif
@@ -175,6 +180,9 @@ Becomes:
 #ifdef CONFIG_PLATFORM_CF2
     #include "platform_defaults_cf2.h"
 #endif
+#ifdef CONFIG_PLATFORM_CF21BL
+    #include "platform_defaults_cf21bl.h"
+#endif
 #ifdef CONFIG_PLATFORM_BOLT
     #include "platform_defaults_bolt.h"
 #endif

src/modules/src/Kconfig

@@ -150,16 +150,6 @@ config MOTORS_REQUIRE_ARMING
         When enabled, system must be armed to be able to take off. Arming can
         be done in several ways, e.g. though cfclient or external transmitter.
 
-config MOTORS_DEFAULT_IDLE_THRUST
-    int "Default idle thrust for motors in armed state"
-    range 0 65535
-    default 0
-    depends on MOTORS_REQUIRE_ARMING
-    help
-        Default thrust for motors when idling in armed state, expressed as an
-        integer in the range 0 to 65535. This can be overridden with parameters;
-        the value specified here applies to the case when the persistent storage
-        does not contain an idle thrust value.
 
 config MOTORS_DEFAULT_PROP_TEST_PWM_RATIO
     int "Override default PWM ratio to use during motor tests"
@@ -192,7 +182,7 @@ choice
 
 config POWER_DISTRIBUTION_QUADROTOR
     bool "Quadrotor power distribution"
-    depends on PLATFORM_CF2 || PLATFORM_BOLT || PLATFORM_TAG
+    depends on PLATFORM_CF2 || PLATFORM_CF21BL|| PLATFORM_BOLT || PLATFORM_TAG
     help
         Power distribution function for quadrotors
 config POWER_DISTRIBUTION_FLAPPER

src/platform/interface/platform_defaults.h

@@ -7,7 +7,7 @@
  *
  * Crazyflie control firmware
  *
- * Copyright (C) 2022 Bitcraze AB
+ * Copyright (C) 2022-2024 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
@@ -34,6 +34,9 @@
 #ifdef CONFIG_PLATFORM_CF2
     #include "platform_defaults_cf2.h"
 #endif
+#ifdef CONFIG_PLATFORM_CF21BL
+    #include "platform_defaults_cf21bl.h"
+#endif
 #ifdef CONFIG_PLATFORM_BOLT
     #include "platform_defaults_bolt.h"
 #endif

src/platform/interface/platform_defaults_cf21bl.h

@@ -0,0 +1,134 @@
+/**
+ * ,---------,       ____  _ __
+ * |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+ * | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * | / ,--´  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2024 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
+ * the Free Software Foundation, in version 3.
+ *
+ * This program 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 General Public License for more details.
+ *
+ * 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_defaults_cf21bl.h - platform specific default values for the cf2.1 brushless platform
+ */
+
+#pragma once
+
+#ifndef __INCLUDED_FROM_PLATFORM_DEFAULTS__
+#pragma GCC error "Do not include this file directly, include platform_defaults.h instead."
+#endif
+
+// Defines for default values in the cf2 platform
+
+// Default values for battery limits
+#define DEFAULT_BAT_LOW_VOLTAGE 3.35f
+#define DEFAULT_BAT_CRITICAL_LOW_VOLTAGE 3.3f
+#define DEFAULT_BAT_LOW_DURATION_TO_TRIGGER_SEC 5
+
+// Default value for system shutdown in minutes after radio silence.
+// Requires kbuild config ENABLE_AUTO_SHUTDOWN to be activated.
+#define DEFAULT_SYSTEM_SHUTDOWN_TIMEOUT_MIN 5
+
+// Drone physical constants
+// m
+#define ARM_LENGTH 0.046f
+// kg
+#define CF_MASS 0.030f
+
+// Default PID gains
+#define PID_ROLL_RATE_KP 200.0
+#define PID_ROLL_RATE_KI 400.0
+#define PID_ROLL_RATE_KD 2.5
+#define PID_ROLL_RATE_KFF 0.0
+#define PID_ROLL_RATE_INTEGRATION_LIMIT 33.3
+
+#define PID_PITCH_RATE_KP 200.0
+#define PID_PITCH_RATE_KI 400.0
+#define PID_PITCH_RATE_KD 2.5
+#define PID_PITCH_RATE_KFF 0.0
+#define PID_PITCH_RATE_INTEGRATION_LIMIT 33.3
+
+#define PID_YAW_RATE_KP 120.0
+#define PID_YAW_RATE_KI 16.7
+#define PID_YAW_RATE_KD 0.0
+#define PID_YAW_RATE_KFF 0.0
+#define PID_YAW_RATE_INTEGRATION_LIMIT 166.7
+
+#define PID_ROLL_KP 6.0
+#define PID_ROLL_KI 3.0
+#define PID_ROLL_KD 0.0
+#define PID_ROLL_KFF 0.0
+#define PID_ROLL_INTEGRATION_LIMIT 20.0
+
+#define PID_PITCH_KP 6.0
+#define PID_PITCH_KI 3.0
+#define PID_PITCH_KD 0.0
+#define PID_PITCH_KFF 0.0
+#define PID_PITCH_INTEGRATION_LIMIT 20.0
+
+#define PID_YAW_KP 6.0
+#define PID_YAW_KI 1.0
+#define PID_YAW_KD 0.35
+#define PID_YAW_KFF 0.0
+#define PID_YAW_INTEGRATION_LIMIT 360.0
+
+#define PID_VEL_X_KP 25.0f
+#define PID_VEL_X_KI 1.0f
+#define PID_VEL_X_KD 0.0f
+#define PID_VEL_X_KFF 0.0f
+
+#define PID_VEL_Y_KP 25.0f
+#define PID_VEL_Y_KI 1.0f
+#define PID_VEL_Y_KD 0.0f
+#define PID_VEL_Y_KFF 0.0f
+
+#define PID_VEL_Z_KP 25.0f
+#define PID_VEL_Z_KI 15.0f
+#define PID_VEL_Z_KD 0.0f
+#define PID_VEL_Z_KFF 0.0f
+
+#define PID_VEL_Z_KP_BARO_Z_HOLD 3.0f
+#define PID_VEL_Z_KI_BARO_Z_HOLD 1.0f
+#define PID_VEL_Z_KD_BARO_Z_HOLD 1.5f
+#define PID_VEL_Z_KFF_BARO_Z_HOLD 0.0f
+
+#define PID_VEL_ROLL_MAX 20.0f
+#define PID_VEL_PITCH_MAX 20.0f
+#define PID_VEL_THRUST_BASE 30000.0f
+#define PID_VEL_THRUST_BASE_BARO_Z_HOLD 38000.0f
+#define PID_VEL_THRUST_MIN 20000.0f
+
+#define PID_POS_X_KP 2.0f
+#define PID_POS_X_KI 0.0f
+#define PID_POS_X_KD 0.0f
+#define PID_POS_X_KFF 0.0f
+
+#define PID_POS_Y_KP 2.0f
+#define PID_POS_Y_KI 0.0f
+#define PID_POS_Y_KD 0.0f
+#define PID_POS_Y_KFF 0.0f
+
+#define PID_POS_Z_KP 2.0f
+#define PID_POS_Z_KI 0.5f
+#define PID_POS_Z_KD 0.0f
+#define PID_POS_Z_KFF 0.0f
+
+#define PID_POS_VEL_X_MAX 1.0f
+#define PID_POS_VEL_Y_MAX 1.0f
+#define PID_POS_VEL_Z_MAX 1.0f
+
+// Manual arming, default idle thrust
+#define CONFIG_MOTORS_DEFAULT_IDLE_THRUST 7000

src/platform/src/Kbuild

@@ -1,5 +1,6 @@
 obj-$(CONFIG_PLATFORM_BOLT) += platform_bolt.o
 obj-$(CONFIG_PLATFORM_CF2) += platform_cf2.o
+obj-$(CONFIG_PLATFORM_CF21BL) += platform_cf21bl.o
 obj-$(CONFIG_PLATFORM_TAG) += platform_tag.o
 obj-$(CONFIG_PLATFORM_FLAPPER) += platform_flapper.o
 obj-y += platform.o

src/platform/src/platform_cf21bl.c

@@ -0,0 +1,66 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2024 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
+ * the Free Software Foundation, in version 3.
+ *
+ * This program 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 General Public License for more details.
+ *
+ * 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 functionality for the CF2.1 brushless platform
+ */
+
+#define DEBUG_MODULE "PLATFORM"
+
+#include <string.h>
+
+#include "platform.h"
+#include "exti.h"
+#include "nvic.h"
+#include "debug.h"
+
+static platformConfig_t configs[] = {
+#ifdef CONFIG_SENSORS_BMI088_BMP3XX
+  {
+    .deviceType = "C21B",
+    .deviceTypeName = "Crazyflie 2.1 Brushless",
+    .sensorImplementation = SensorImplementation_bmi088_bmp3xx,
+    .physicalLayoutAntennasAreClose = true,
+    .motorMap = motorMapCF21Brushless,
+  },
+#endif
+};
+
+const platformConfig_t* platformGetListOfConfigurations(int* nrOfConfigs) {
+  *nrOfConfigs = sizeof(configs) / sizeof(platformConfig_t);
+  return configs;
+}
+
+void platformInitHardware() {
+  //Low level init: Clock and Interrupt controller
+  nvicInit();
+
+  //EXTI interrupts
+  extiInit();
+}
+
+
+// Config functions ------------------------
+
+const char* platformConfigGetPlatformName() {
+  return "cf21bl";
+}