Closes #25: Implement automatic support for CF20/CF21 using the same bin

Makefile

@@ -6,6 +6,8 @@ CLOAD_SCRIPT ?= ../crazyflie-clients-python/bin/cfloader
 S110 ?= 1     # SoftDevice flashed or not
 BLE  ?= 1     # BLE mode activated or not. If disabled, CRTP mode is active
 
+PLATFORM ?= cf2
+
 CROSS_COMPILE?=arm-none-eabi-
 
 CC=$(CROSS_COMPILE)gcc
@@ -22,7 +24,7 @@ OPENOCD_TARGET    ?= target/nrf51_stlink.tcl
 OPENOCD_CMDS      ?=
 
 
-POWER_MANAGEMENT  ?= cf2
+POWER_MANAGEMENT  ?= $(PLATFORM)
 
 NRF51_SDK ?= nrf51_sdk/nrf51822
 NRF_S110 ?= s110
@@ -35,7 +37,7 @@ PERSONAL_DEFINES ?=
 
 PROCESSOR = -mcpu=cortex-m0 -mthumb
 NRF= -DNRF51
-PROGRAM=cf2_nrf
+PROGRAM=$(PLATFORM)_nrf
 
 CFLAGS+=$(PROCESSOR) $(NRF) $(PERSONAL_DEFINES) $(INCLUDES) $(CONFIG) $(BUILD_OPTION)
 ASFLAGS=$(PROCESSOR)
@@ -85,7 +87,7 @@ OBJS += src/main.o gcc_startup_nrf51.o system_nrf51.o src/uart.o \
         src/syslink.o src/pm_$(POWER_MANAGEMENT).o src/systick.o src/button.o src/swd.o src/ow.o \
         src/ow/owlnk.o src/ow/ownet.o src/ow/owtran.o \
         src/ow/crcutil.o src/ds2431.o src/ds28e05.o src/esb.o src/memory.o \
-		src/platform_info.o
+		src/platform.o src/platform_$(PLATFORM).o
 
 all: $(PROGRAM).elf $(PROGRAM).bin $(PROGRAM).hex
 	$(SIZE) $(PROGRAM).elf
@@ -99,6 +101,7 @@ ifeq ($(strip $(BLE)),1)
 else
 	@echo "BLE  Disabled"
 endif
+	@echo "Built for platform $(PLATFORM)"
 
 $(PROGRAM).hex: $(PROGRAM).elf
 	$(OBJCOPY) $^ -O ihex $@

interface/platform.h

@@ -0,0 +1,45 @@
+#pragma once
+
+#include <stdbool.h>
+
+#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);
+
+/**
+ * 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.
+ */
+int platformParseDeviceTypeString(const char* deviceTypeString, char* deviceType);
+
+/**
+ * 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();
+
+// ************** 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();

src/main.c

@@ -30,6 +30,8 @@
 #include <stdio.h>
 #include <string.h>
 
+#include "platform.h"
+
 #include "uart.h"
 #include "esb.h"
 #include "syslink.h"
@@ -38,7 +40,6 @@
 #include "pm.h"
 #include "pinout.h"
 #include "systick.h"
-#include "uart.h"
 
 #include "memory.h"
 #include "ownet.h"
@@ -74,6 +75,11 @@ static void handleBootloaderCmd(struct esbPacket_s *packet);
 
 int main()
 {
+  // Stop early if the platform is not supported
+  if (platformInit() != 0) {
+    while(1);
+  }
+
   systickInit();
   memoryInit();
 

src/platform.c

@@ -0,0 +1,41 @@
+#include "platform.h"
+
+#include <string.h>
+
+static const char *defaultDeviceType = "0;CF20;R=D";
+
+static volatile unsigned char *deviceTypeStringLocation = 0x3FFE0;
+
+void platformGetDeviceTypeString(char *deviceTypeString)
+{
+  if (deviceTypeStringLocation[0] == 0xffu) {
+    strncpy(deviceTypeString, defaultDeviceType, 32);
+    deviceTypeString[32] = 0;
+  } else {
+    strncpy(deviceTypeString, deviceTypeStringLocation, 32);
+    deviceTypeString[32] = 0;
+  }
+}
+
+int platformParseDeviceTypeString(const char* deviceTypeString, char* deviceType) {
+  char *state;
+  char *tok;
+
+  // first token is the version, must be "0"
+  tok = strtok_r(deviceTypeString, ";", &state);
+  if (tok == NULL || strcmp(tok, "0")) {
+    return 1;
+  }
+
+  // Second token is the platform name
+  tok = strtok_r(NULL, ";", &state);
+  if (tok == NULL) {
+    return 1;
+  }
+  strncpy(deviceType, tok, PLATFORM_DEVICE_TYPE_MAX_LEN);
+  deviceType[PLATFORM_DEVICE_TYPE_MAX_LEN-1] = '\0';
+
+  // Next tokens are KEY=VALUE pairs, ignored for now
+
+  return 0;
+}

src/platform_cf2.c

@@ -0,0 +1,31 @@
+#include "platform.h"
+
+#include <string.h>
+
+bool has_rfx2411n = false;
+
+bool platformHasRfx2411n()
+{
+  return has_rfx2411n;
+}
+
+int platformInit()
+{
+  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 (!strcmp(deviceType, "CF20")) {
+    has_rfx2411n = false;
+  } else if (!strcmp(deviceType, "CF21")) {
+    has_rfx2411n = true;
+  } else {
+    return 1;
+  }
+
+  return 0;
+}

src/platform_rzr.c

@@ -0,0 +1,6 @@
+#include "platform.h"
+
+int platformInit()
+{
+  return 0;
+}

src/pm_cf2.c

@@ -34,6 +34,7 @@
 #include "led.h"
 #include "systick.h"
 #include "uart.h"
+#include "platform.h"
 
 #define TICK_BETWEEN_STATE 2
 #define TICK_BETWEEN_ADC_MEAS 5
@@ -115,13 +116,13 @@ static void pmNrfPower(bool enable)
     //stop NRF
     LED_OFF();
     // Turn off PA
-#ifdef HAS_RFX2411N
-    nrf_gpio_pin_clear(RADIO_PA_RX_EN);
-    nrf_gpio_pin_clear(RADIO_PA_MODE);
-    nrf_gpio_pin_clear(RADIO_PA_ANT_SW);
-#else
-    nrf_gpio_pin_clear(RADIO_PAEN_PIN);
-#endif
+    if (platformHasRfx2411n) {
+      nrf_gpio_pin_clear(RADIO_PA_RX_EN);
+      nrf_gpio_pin_clear(RADIO_PA_MODE);
+      nrf_gpio_pin_clear(RADIO_PA_ANT_SW);
+    } else {
+      nrf_gpio_pin_clear(RADIO_PAEN_PIN);
+    }
     // Disable 1-wire pull-up
     nrf_gpio_pin_clear(OW_PULLUP_PIN);
     // CE, EN1 and EN2 externally pulled low. Put low to not draw any current.
@@ -207,37 +208,37 @@ static void pmRunSystem(bool enable)
     nrf_gpio_pin_clear(PM_CHG_EN);
 #endif
 
-#ifdef HAS_RFX2411N
-    // 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 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
+  if (platformHasRfx2411n()) {
       // Enable RF power amplifier
-      nrf_gpio_cfg_output(RADIO_PAEN_PIN);
-
-  #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
-#endif
+      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 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 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
+  }
 
 #ifdef HAS_BAT_SINK
     // Sink battery divider