Deck Driver not Compiling

[tjt22]

I'm trying to make a custom deck driver for a hall effect sensor that communicates over I2C and running into issues. The driver was heavily inspired by the examples on https://www.bitcraze.io/2020/07/intro-to-autonomous-robotics-with-the-crazyflie/ and https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/development/howto/.

When I add the .o file in the Kbuild file in src/deck/drivers/src/ and do make clean && make, the file doesn't show up in the terminal like all the other Crazyflie deck drivers do. The same issue happens when following the hello.c tutorial on the Bitcraze website.

Then after I flash it to the drone and check the console in the client, the following errors show:
DECK_INFO: CONFIG_DECK_FORCE=whiskerDeck found
DECK_INFO: WARNING: compile-time force driver whiskerDeck not found
DECK_CORE: 0 deck(s) found

What am I doing wrong? Relevant images and code are below:

Kbuild file:

Terminal after make clean && make with my driver not showing up:

Driver Code:

#define DEBUG_MODULE "whiskerDeck"

// Crazyflie system headers
#include "debug.h"
#include "i2cdev.h"
#include "deck.h"
#include "log.h"
#include "FreeRTOS.h"
#include "task.h"
#include "system.h"

// RTOS Stuff
#define WHISKER_TASK_STACKSIZE  (7*configMINIMAL_STACK_SIZE) 
#define WHISKER_TASK_NAME "WHISKER"
#define WHISKER_TASK_PRI 3

// variables
#define ADDRESS 0x35
#define DELAY 500
float x_flux;
float y_flux;
float z_flux;
static bool isInit;
void whiskerTask(void* arg);


static void whiskerInit()
{
    if (isInit)
        return;

    DEBUG_PRINT("Initializing Whisker...\n");
    i2cdevInit(I2C1_DEV);

    xTaskCreate(whiskerTask,WHISKER_TASK_NAME, WHISKER_TASK_STACKSIZE, NULL, WHISKER_TASK_PRI, NULL)
    
    isInit = true;
    DEBUG_PRINT("Whisker initialization complete!\n";)
}

static bool whiskerTest()
{
    DEBUG_PRINT("WhiskerDeck test\n");
    return true;
}

void whiskerTask(void* arg)
{
    // Read first 7 data bytes
    uint8_t buf[7]

    // Wait for system to start
    systemWaitStart();
    TickType_t xLastWakeTime;

    // UPDATE FOR MY SENSOR
    i2cdevWriteByte(I2C1_DEV, (uint8_t)ADDRESS, I2CDEV_NO_MEM_ADDR, (uint8_t)0b00100000);

    xLastWakeTime = xTaskGetTickCount();

    while (1) {
    vTaskDelayUntil(&xLastWakeTime, M2T(120));
   
    // Read seven bytes from the sensor
    i2cdevRead(I2C1_DEV, (uint8_t)BH1750I2CAddr, 7, &magdata);
    // Combine the seven bytes to get data
    int16_t x_flux = (int16_t)((magdata[0] << 8) | (magdata[4] & 0x0F)) >> 4;
    int16_t y_flux = (int16_t)((magdata[1] << 8) | ((magdata[4] & 0x0F) << 4)) >> 4;
    int16_t z_flux = (int16_t)((magdata[2] << 8) | ((magdata[5] & 0x0F) << 4)) >> 4;
    // DEBUG_PRINT("Light reading is: %f\n", intensity);
  }

}


// (rename source file pls)
static const DeckDriver WhiskerDriver = {
    .name = "mywhiskerDeck",
    .init = whiskerInit,
    .test = whiskerTest,
};



// Logging:
DECK_DRIVER(WhiskerDriver);
LOG_GROUP_START(Whisker)
LOG_ADD(LOG_FLOAT, x_flux, &x_flux)
LOG_ADD(LOG_FLOAT, y_flux, &y_flux)
LOG_ADD(LOG_FLOAT, z_flux, &z_flux)
LOG_GROUP_STOP(Whisker)

[ataffanel]

What you are doing seems correct. Adding the deck driver the way you are doing it does (try to) compile the driver for me. The driver does not compile so your problem is that the build system does not even try to build your driver.

Are you sure you have saved the Kconfig file? In your screenshot vscode shows that there is unsaved modification.

[tjt22]

All good. So I tried that and replaced activeMarkerDeck in the kbuild file, but it still shows up after running make clean && make and still doesn't compile my script.

[ataffanel]

I feel we are stuck in a loop of "works for me" and not for you so I tried to start from the beginning: I installed the vm in Virtualbox 7.0 and try to document my steps so that you can repeat them and hopefully we get to the same result.

So, my understanding is that the main problem is that your driver is not compiling. I could get a file to compile with the following procedure:

• Launch a clean Bitcraze vm
• Open a terminal and type:
• cd projects/crazyflie-firmware
• git pull
• make cf2_defconfig
• make
• touch src/deck/drivers/src/hello.c # Creates an empty C files in the deck folder
• echo "obj-y += hello.o" >> src/deck/drivers/src/Kbuild # Adds the file to be always built
• make

This results in the new hello.c file to compile.

If you follow the same procedure exactly you should get the file to compile and so you should get in a state where you can add your own files.

[tjt22]

It finally compiles! I think something was wrong with my VM. I updated to VirtualBox 7 and followed your instructions exactly. Thanks so much for the help.

Now that it's compiling, I'm running into errors from my code. Do you mind helping me clear these? Do I have to clear these errors for the rest of the build to finish?

This code is supposed to read the 3 cartesian components from a hall effect sensor. Based on this code: https://github.com/Infineon/TLI493D-W2BW/blob/master/examples/Raw_I2C_readout/Raw_I2C_readout.ino for this sensor: https://www.infineon.com/cms/en/product/evaluation-boards/s2go_3d_tli493dw2bw-a0/

#define DEBUG_MODULE "whiskerDeck"

// Crazyflie system headers
#include "debug.h"
#include "i2cdev.h"
#include "deck.h"
#include "log.h"
#include "FreeRTOS.h"
#include "task.h"
#include "system.h"

// RTOS Stuffcrazyflie
#define WHISKER_TASK_STACKSIZE  (7*configMINIMAL_STACK_SIZE) 
#define WHISKER_TASK_NAME "WHISKER"
#define WHISKER_TASK_PRI 3

// variables
#define ADDRESS 0x35
#define DELAY 500

static bool isInit;
void whiskerTask(void* arg);


static void whiskerInit()
{
    if (isInit)
        return;

    DEBUG_PRINT("Initializing Whisker...\n");
    i2cdevInit(I2C1_DEV);

    xTaskCreate(whiskerTask,WHISKER_TASK_NAME, WHISKER_TASK_STACKSIZE, NULL, WHISKER_TASK_PRI, NULL);
    
    isInit = true;
    DEBUG_PRINT("Whisker initialization complete!\n");
}

static bool whiskerTest()
{
    DEBUG_PRINT("WhiskerDeck test\n");
    return true;
}

void whiskerTask(void* arg)
{
    // Read first 7 data bytes
    uint8_t magdata[7];

    // Wait for system to start
    systemWaitStart();
    TickType_t xLastWakeTime;

    // UPDATE FOR MY SENSOR
    i2cdevWriteByte(I2C1_DEV, (uint8_t)ADDRESS, I2CDEV_NO_MEM_ADDR, (uint8_t)0b00100000);

    xLastWakeTime = xTaskGetTickCount();

    while (1) {
    vTaskDelayUntil(&xLastWakeTime, M2T(120));
   
    // Read seven bytes from the sensor
    i2cdevRead(I2C1_DEV, (uint8_t)ADDRESS, 7, &magdata);
    // Combine the seven bytes to get data
    int16_t x_flux = (int16_t)((magdata[0] << 8) | (magdata[4] & 0x0F)) >> 4;
    int16_t y_flux = (int16_t)((magdata[1] << 8) | ((magdata[4] & 0x0F) << 4)) >> 4;
    int16_t z_flux = (int16_t)((magdata[2] << 8) | ((magdata[5] & 0x0F) << 4)) >> 4;
    // DEBUG_PRINT("Light reading is: %f\n", intensity);
  }

}


// (rename source file pls)
static const DeckDriver WhiskerDriver = {
    .name = "mywhiskerDeck",
    .init = whiskerInit,
    .test = whiskerTest,
};



// Logging:
DECK_DRIVER(WhiskerDriver);
LOG_GROUP_START(Whisker)
LOG_ADD(LOG_FLOAT, x_flux, &x_flux)
LOG_ADD(LOG_FLOAT, y_flux, &y_flux)
LOG_ADD(LOG_FLOAT, z_flux, &z_flux)
LOG_GROUP_STOP(Whisker)

[ataffanel]

You should remove the & on &magdata: in C an array name can be used directly to get a pointer to the first element. If you try to get a pointer to it you get a pointer to the pointer to the first element (very similar to a uint8_t **).

Ps. I have been editing your messages with ```c <source code> ```. This makes the C code much easier to read.

[tjt22]

Ahhh okay that fixed it. Thanks so much for the help, you guys are the best!