Flashed to CF controlling Cherokey-Rover

off of commit:
commit 2107af2
Merge: e9e84fd 8b51f61
Author: Arnaud Taffanel <[email protected]>
Date:   Fri Apr 6 08:51:45 2018 +0200

    Merge pull request bitcraze#303 from USC-ACTLab/high-level-traj

    High-level commander: trajectory upload and exec.

Makefile

@@ -206,6 +206,9 @@ PROJ_OBJ += filter.o cpuid.o cfassert.o  eprintf.o crc.o num.o debug.o
 PROJ_OBJ += version.o FreeRTOS-openocd.o
 PROJ_OBJ_CF2 += configblockeeprom.o crc_bosch.o
 PROJ_OBJ_CF2 += sleepus.o
+# Added for crazycar
+PROJ_OBJ_CF2 += crazycar.o
+CFLAGS += -DDECK_FORCE=bcCrazycar
 
 # Libs
 PROJ_OBJ_CF2 += libarm_math.a
@@ -282,8 +285,8 @@ CFLAGS += -MD -MP -MF $(BIN)/dep/$(@).d -MQ $(@)
 #Permits to remove un-used functions and global variables from output file
 CFLAGS += -ffunction-sections -fdata-sections
 # Prevent promoting floats to doubles
-CFLAGS += -Wdouble-promotion
-
+#CFLAGS += -Wdouble-promotion
+# REMOVED FOR CRAZYCAR LOL
 
 ASFLAGS = $(PROCESSOR) $(INCLUDES)
 LDFLAGS = --specs=nano.specs $(PROCESSOR) -Wl,-Map=$(PROG).map,--cref,--gc-sections,--undefined=uxTopUsedPriority
@@ -403,3 +406,4 @@ include tools/make/targets.mk
 
 unit:
 	rake unit "DEFINES=$(CFLAGS)" "FILES=$(FILES)"
+

src/deck/drivers/src/crazycar.c

@@ -0,0 +1,116 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2016 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/>.
+ *
+ * crazycar.c - Deck driver for the Crazyflie 2.0 Crazycar deck
+ */
+
+#include <stdint.h>
+#include <stdlib.h>
+#include "stm32fxxx.h"
+
+#include "deck.h"
+
+#include "FreeRTOS.h"
+#include "timers.h"
+#include "uart2.h"
+#include "debug.h"
+#include "log.h"
+
+static int logIdRoll;
+static int logIdPitch;
+
+/* Template data for controlling the Skeleton bot */
+static char data[] = {'S', 'S', '0', '0', 0x0A};
+
+/* Create output string for sending to the Skeleton bot */
+void carSetControl(float roll, float pitch)
+{
+  float f = pitch / 30.0;
+  float t = roll / 60.0;
+
+  float m1 = f + t;
+  float m2 = f - t;
+
+  if (m1 > 1.0)
+    m1 = 1.0;
+  if (m1 < -1)
+    m1 = -1;
+
+  if (m2 > 1.0)
+    m2 = 1.0;
+  if (m2 < -1)
+    m2 = -1;
+
+  if (m1 > 0)
+  {
+    data[0] = 'F';
+    data[2] = (int)(m1 * 10) + '0';
+  } else {
+    data[0] = 'B';
+    data[2] = (int)(m1 * -10) + '0';
+  }
+
+  if (m2 > 0)
+  {
+    data[1] = 'F';
+    data[3] = (int)(m2 * 10) + '0';
+  } else {
+    data[1] = 'B';
+    data[3] = (int)(m2 * -10) + '0';
+  }
+}
+
+
+/* Send commands to Skeleton bot at 10Hz */
+static xTimerHandle timer;
+static void ctrlTimer(xTimerHandle timer)
+{
+    carSetControl(logGetFloat(logIdRoll), logGetFloat(logIdPitch));
+    uart2SendData(sizeof(data), (uint8_t*)data);
+}
+
+/* Initialize the deck driver */
+static void crazycarDeckInit(DeckInfo *info)
+{
+    logIdRoll = logGetVarId("ctrltarget", "roll");
+    logIdPitch = logGetVarId("ctrltarget", "pitch");
+
+    uart2Init(19200);
+    timer = xTimerCreate( "ctrlTimer", M2T(100),
+                           pdTRUE, NULL, ctrlTimer );
+    xTimerStart(timer, 100);
+}
+
+static const DeckDriver crazycar_deck = {
+  .vid = 0xBC,
+  .pid = 0x00,
+  .name = "bcCrazycar",
+
+  .usedPeriph = DECK_USING_UART2,
+  .usedGpio = DECK_USING_TX2 | DECK_USING_RX2,
+
+  .init = crazycarDeckInit
+};
+
+DECK_DRIVER(crazycar_deck);
+