mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_Linux: remove Qualcomm board support
This commit is contained in:
Francisco Ferreira
Andrew Tridgell
parent
695d92ddbf
commit
5e821428a1
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@ -2,8 +2,6 @@
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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#include <fcntl.h>
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#include <stdio.h>
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#include <sys/stat.h>
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@ -244,5 +242,3 @@ fail_snprintf:
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hal.console->printf("GPIO_Sysfs: Unable to export pin %u.\n", pin);
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return false;
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}
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#endif
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@ -21,7 +21,6 @@
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#include "OpticalFlow_Onboard.h"
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#include "RCInput.h"
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#include "RCInput_AioPRU.h"
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#include "RCInput_DSM.h"
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#include "RCInput_Navio2.h"
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#include "RCInput_PRU.h"
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#include "RCInput_RPI.h"
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@ -153,8 +152,6 @@ static RCInput_ZYNQ rcinDriver;
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static RCInput_UDP rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
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static RCInput_UART rcinDriver("/dev/ttyS5");
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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static RCInput_DSM rcinDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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static RCInput_Multi rcinDriver{2, new RCInput_SBUS, new RCInput_115200("/dev/uart-sumd")};
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
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@ -201,8 +198,6 @@ static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(
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/* UEFI with lpss set to PCI */
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"pci0000:00/0000:00:18.6" },
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PCA9685_PRIMARY_ADDRESS), false, 0, MINNOW_GPIO_S5_1);
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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static RCOutput_QFLIGHT rcoutDriver;
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
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static RCOutput_Disco rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_DISCO_BLDC_I2C_BUS, HAL_RCOUT_DISCO_BLDC_I2C_ADDR));
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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@ -291,10 +286,6 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
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{"uartD", true, 0, 'D'},
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{"uartE", true, 0, 'E'},
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{"uartF", true, 0, 'F'},
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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{"dsm", true, 0, 'S'},
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{"ESC", true, 0, 'e'},
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#endif
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{"log-directory", true, 0, 'l'},
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{"terrain-directory", true, 0, 't'},
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{"module-directory", true, 0, 'M'},
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@ -328,14 +319,6 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
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case 'F':
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uartFDriver.set_device_path(gopt.optarg);
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break;
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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case 'e':
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rcoutDriver.set_device_path(gopt.optarg);
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break;
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case 'S':
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rcinDriver.set_device_path(gopt.optarg);
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break;
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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case 'l':
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utilInstance.set_custom_log_directory(gopt.optarg);
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break;
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@ -1,73 +0,0 @@
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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this is a driver for DSM input in the QFLIGHT board. It could be
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extended to other boards in future by providing an open/read/write
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abstraction
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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#include "RCInput_DSM.h"
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#include <AP_HAL_Linux/qflight/qflight_util.h>
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#include <AP_HAL_Linux/qflight/qflight_dsp.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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void RCInput_DSM::init()
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{
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}
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void RCInput_DSM::set_device_path(const char *path)
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{
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device_path = path;
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printf("Set DSM device path %s\n", path);
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}
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void RCInput_DSM::_timer_tick(void)
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{
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if (device_path == nullptr) {
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return;
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}
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int ret;
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/*
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we defer the open to the timer tick to ensure all RPC calls are
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made in the same thread
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*/
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if (fd == -1) {
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ret = qflight_UART_open(device_path, &fd);
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if (ret == 0) {
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printf("Opened DSM input %s fd=%d\n", device_path, (int)fd);
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fflush(stdout);
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qflight_UART_set_baudrate(fd, 115200);
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}
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}
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if (fd != -1) {
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uint8_t bytes[16];
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int32_t nread;
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ret = qflight_UART_read(fd, bytes, sizeof(bytes), &nread);
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if (ret == 0 && nread > 0) {
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// printf("Read %u DSM bytes at %u\n", (unsigned)nread, AP_HAL::millis());
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fflush(stdout);
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add_dsm_input(bytes, nread);
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}
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}
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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@ -1,41 +0,0 @@
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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#include "RCInput.h"
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#include "RCInput_DSM.h"
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namespace Linux {
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class RCInput_DSM : public RCInput
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{
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public:
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void init() override;
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void _timer_tick(void) override;
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void set_device_path(const char *path);
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private:
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const char *device_path;
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int32_t fd = -1;
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};
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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@ -1,198 +0,0 @@
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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this is a driver for RC output in the QFLIGHT board. Output goes via
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a UART with a CRC. See libraries/RC_Channel/examples/RC_UART for an
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example of the other end of this protocol
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <RC_Channel/RC_Channel.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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#include "RCOutput_qflight.h"
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#include <AP_HAL_Linux/qflight/qflight_util.h>
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#include <AP_HAL_Linux/qflight/qflight_dsp.h>
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#include <GCS_MAVLink/include/mavlink/v2.0/checksum.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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void RCOutput_QFLIGHT::init()
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{
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hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&RCOutput_QFLIGHT::timer_update, void));
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}
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void RCOutput_QFLIGHT::set_device_path(const char *_device)
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{
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device = _device;
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}
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void RCOutput_QFLIGHT::set_freq(uint32_t chmask, uint16_t freq_hz)
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{
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// no support for changing frequency yet
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}
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uint16_t RCOutput_QFLIGHT::get_freq(uint8_t ch)
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{
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// return fixed fake value - no control of frequency over the UART
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return 490;
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}
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void RCOutput_QFLIGHT::enable_ch(uint8_t ch)
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{
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if (ch >= channel_count) {
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return;
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}
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enable_mask |= 1U<<ch;
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}
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void RCOutput_QFLIGHT::disable_ch(uint8_t ch)
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{
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if (ch >= channel_count) {
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return;
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}
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enable_mask &= ~1U<<ch;
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}
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void RCOutput_QFLIGHT::write(uint8_t ch, uint16_t period_us)
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{
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if (ch >= channel_count) {
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return;
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}
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period[ch] = period_us;
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if (!corked) {
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need_write = true;
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}
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}
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uint16_t RCOutput_QFLIGHT::read(uint8_t ch)
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{
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if (ch >= channel_count) {
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return 0;
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}
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return period[ch];
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}
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void RCOutput_QFLIGHT::read(uint16_t *period_us, uint8_t len)
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{
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for (int i = 0; i < len; i++) {
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period_us[i] = read(i);
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}
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}
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void RCOutput_QFLIGHT::timer_update(void)
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{
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/*
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we defer the open to the time to ensure all RPC calls are made
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from the same thread
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*/
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if (fd == -1 && device != nullptr) {
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int ret = qflight_UART_open(device, &fd);
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printf("Opened ESC UART %s ret=%d fd=%d\n",
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device, ret, (int)fd);
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if (fd != -1) {
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qflight_UART_set_baudrate(fd, baudrate);
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}
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}
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if (!need_write || fd == -1) {
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return;
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}
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/*
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this implements the PWM over UART prototocol.
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*/
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struct PACKED {
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uint8_t magic = 0xF7;
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uint16_t period[channel_count];
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uint16_t crc;
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} frame;
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memcpy(frame.period, period, sizeof(period));
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frame.crc = crc_calculate((uint8_t*)frame.period, channel_count*2);
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int32_t nwritten;
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qflight_UART_write(fd, (uint8_t *)&frame, sizeof(frame), &nwritten);
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need_write = false;
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check_rc_in();
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}
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/*
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we accept RC input from the UART and treat it as RC overrides. This
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is an lazy way to allow an RCOutput driver to do RCInput. See the
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RC_UART example for the other end of this protocol
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*/
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void RCOutput_QFLIGHT::check_rc_in(void)
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{
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const uint8_t magic = 0xf6;
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while (nrcin_bytes != sizeof(rcu.bytes)) {
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int32_t nread;
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if (qflight_UART_read(fd, rcu.bytes, sizeof(rcu.bytes)-nrcin_bytes, &nread) != 0 || nread <= 0) {
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return;
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}
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nrcin_bytes += nread;
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if (rcu.rcin.magic != magic) {
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for (uint8_t i=1; i<nrcin_bytes; i++) {
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if (rcu.bytes[i] == magic) {
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memmove(&rcu.bytes[0], &rcu.bytes[i], nrcin_bytes-i);
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nrcin_bytes = nrcin_bytes - i;
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return;
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}
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}
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nrcin_bytes = 0;
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return;
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}
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}
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if (nrcin_bytes == sizeof(rcu.bytes)) {
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if (rcu.rcin.magic == 0xf6 &&
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crc_calculate((uint8_t*)rcu.rcin.rcin, sizeof(rcu.rcin.rcin)) == rcu.rcin.crc) {
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bool have_data = false;
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for (uint8_t i=0; i<8; i++) {
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if (rcu.rcin.rcin[i] != 0) {
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have_data = true;
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break;
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}
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}
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if (have_data) {
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// FIXME: This is an incredibly dirty hack as this probhibits the usage of
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// overrides if an RC reciever is connected, as the next RC input will
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// stomp over the GCS set overrides. This results in incredibly confusing,
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// undocumented behaviour, that cannot be reported to the user.
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for (uint8_t i = 0; i < 8; i++) {
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RC_Channels::set_override(i, rcu.rcin.rcin[i]);
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}
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}
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}
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nrcin_bytes = 0;
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}
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}
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void RCOutput_QFLIGHT::cork(void)
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{
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corked = true;
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}
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void RCOutput_QFLIGHT::push(void)
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{
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if (corked) {
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corked = false;
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need_write = true;
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}
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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@ -1,54 +0,0 @@
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_Linux.h"
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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namespace Linux {
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class RCOutput_QFLIGHT : public AP_HAL::RCOutput {
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public:
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void init();
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void set_freq(uint32_t chmask, uint16_t freq_hz);
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uint16_t get_freq(uint8_t ch);
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void enable_ch(uint8_t ch);
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void disable_ch(uint8_t ch);
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void write(uint8_t ch, uint16_t period_us);
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uint16_t read(uint8_t ch);
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void read(uint16_t *period_us, uint8_t len);
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void set_device_path(const char *device);
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void cork(void) override;
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void push(void) override;
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private:
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const char *device = nullptr;
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const uint32_t baudrate = 115200;
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static const uint8_t channel_count = 4;
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int32_t fd = -1;
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uint16_t enable_mask;
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uint16_t period[channel_count];
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volatile bool need_write;
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void timer_update(void);
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void check_rc_in(void);
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uint32_t last_read_check_ms;
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struct PACKED rcin_frame {
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uint8_t magic;
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uint16_t rcin[8];
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uint16_t crc;
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};
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union {
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struct rcin_frame rcin;
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uint8_t bytes[19];
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} rcu;
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uint8_t nrcin_bytes;
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bool corked;
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};
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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@ -18,13 +18,6 @@
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#include "UARTDriver.h"
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#include "Util.h"
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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#include <rpcmem.h>
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#include <AP_HAL_Linux/qflight/qflight_util.h>
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#include <AP_HAL_Linux/qflight/qflight_dsp.h>
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#include <AP_HAL_Linux/qflight/qflight_buffer.h>
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#endif
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#if HAL_WITH_UAVCAN
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#include "CAN.h"
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#endif
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@ -257,16 +250,6 @@ void Scheduler::_timer_task()
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_in_timer_proc = false;
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#if HAL_LINUX_UARTS_ON_TIMER_THREAD
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/*
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some boards require that UART calls happen on the same
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thread as other calls of the same time. This impacts the
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QFLIGHT calls where UART output is an RPC call to the DSPs
|
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*/
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_run_uarts();
|
||||
RCInput::from(hal.rcin)->_timer_tick();
|
||||
#endif
|
||||
|
||||
#if HAL_WITH_UAVCAN
|
||||
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
||||
for (i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) {
|
||||
|
|
@ -310,16 +293,12 @@ void Scheduler::_run_uarts()
|
|||
|
||||
void Scheduler::_rcin_task()
|
||||
{
|
||||
#if !HAL_LINUX_UARTS_ON_TIMER_THREAD
|
||||
RCInput::from(hal.rcin)->_timer_tick();
|
||||
#endif
|
||||
}
|
||||
|
||||
void Scheduler::_uart_task()
|
||||
{
|
||||
#if !HAL_LINUX_UARTS_ON_TIMER_THREAD
|
||||
_run_uarts();
|
||||
#endif
|
||||
}
|
||||
|
||||
void Scheduler::_tonealarm_task()
|
||||
|
|
@ -376,14 +355,6 @@ void Scheduler::stop_clock(uint64_t time_usec)
|
|||
|
||||
bool Scheduler::SchedulerThread::_run()
|
||||
{
|
||||
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
|
||||
if (_sched._timer_thread.is_current_thread()) {
|
||||
/* make rpcmem initialization on timer thread */
|
||||
printf("Initialising rpcmem\n");
|
||||
rpcmem_init();
|
||||
}
|
||||
#endif
|
||||
|
||||
_sched._wait_all_threads();
|
||||
|
||||
return PeriodicThread::_run();
|
||||
|
|
|
|||
|
|
@ -22,7 +22,6 @@
|
|||
#include "ConsoleDevice.h"
|
||||
#include "TCPServerDevice.h"
|
||||
#include "UARTDevice.h"
|
||||
#include "UARTQFlight.h"
|
||||
#include "UDPDevice.h"
|
||||
|
||||
#include <GCS_MAVLink/GCS.h>
|
||||
|
|
@ -129,10 +128,6 @@ AP_HAL::OwnPtr<SerialDevice> UARTDriver::_parseDevicePath(const char *arg)
|
|||
|
||||
if (stat(arg, &st) == 0 && S_ISCHR(st.st_mode)) {
|
||||
return AP_HAL::OwnPtr<SerialDevice>(new UARTDevice(arg));
|
||||
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
|
||||
} else if (strncmp(arg, "qflight:", 8) == 0) {
|
||||
return AP_HAL::OwnPtr<SerialDevice>(new QFLIGHTDevice(device_path));
|
||||
#endif
|
||||
} else if (strncmp(arg, "tcp:", 4) != 0 &&
|
||||
strncmp(arg, "udp:", 4) != 0 &&
|
||||
strncmp(arg, "udpin:", 6)) {
|
||||
|
|
|
|||
|
|
@ -1,103 +0,0 @@
|
|||
/*
|
||||
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, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
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/>.
|
||||
*/
|
||||
/*
|
||||
This is a UART driver for the QFLIGHT port. Actual UART output
|
||||
happens via RPC calls. See the qflight/ subdirectory for details
|
||||
*/
|
||||
|
||||
#include <AP_HAL/AP_HAL.h>
|
||||
|
||||
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
|
||||
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "UARTQFlight.h"
|
||||
|
||||
#include <AP_HAL_Linux/qflight/qflight_util.h>
|
||||
#include <AP_HAL_Linux/qflight/qflight_dsp.h>
|
||||
#include <stdio.h>
|
||||
|
||||
QFLIGHTDevice::QFLIGHTDevice(const char *_device_path)
|
||||
{
|
||||
device_path = _device_path;
|
||||
if (strncmp(device_path, "qflight:", 8) == 0) {
|
||||
device_path += 8;
|
||||
}
|
||||
}
|
||||
|
||||
QFLIGHTDevice::~QFLIGHTDevice()
|
||||
{
|
||||
close();
|
||||
}
|
||||
|
||||
bool QFLIGHTDevice::close()
|
||||
{
|
||||
if (fd != -1) {
|
||||
if (qflight_UART_close(fd) != 0) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
fd = -1;
|
||||
return true;
|
||||
}
|
||||
|
||||
bool QFLIGHTDevice::open()
|
||||
{
|
||||
int ret = qflight_UART_open(device_path, &fd);
|
||||
|
||||
if (ret != 0 || fd == -1) {
|
||||
printf("Failed to open UART device %s ret=%d fd=%d\n",
|
||||
device_path, ret, (int)fd);
|
||||
return false;
|
||||
}
|
||||
printf("opened QFLIGHT UART device %s ret=%d fd=%d\n",
|
||||
device_path, ret, (int)fd);
|
||||
return true;
|
||||
}
|
||||
|
||||
ssize_t QFLIGHTDevice::read(uint8_t *buf, uint16_t n)
|
||||
{
|
||||
int32_t nread = 0;
|
||||
int ret = qflight_UART_read(fd, buf, n, &nread);
|
||||
if (ret != 0) {
|
||||
return 0;
|
||||
}
|
||||
return nread;
|
||||
}
|
||||
|
||||
ssize_t QFLIGHTDevice::write(const uint8_t *buf, uint16_t n)
|
||||
{
|
||||
int32_t nwritten = 0;
|
||||
int ret = qflight_UART_write(fd, buf, n, &nwritten);
|
||||
if (ret != 0) {
|
||||
return 0;
|
||||
}
|
||||
return nwritten;
|
||||
}
|
||||
|
||||
void QFLIGHTDevice::set_blocking(bool blocking)
|
||||
{
|
||||
// no implementation yet
|
||||
}
|
||||
|
||||
void QFLIGHTDevice::set_speed(uint32_t baudrate)
|
||||
{
|
||||
qflight_UART_set_baudrate(fd, baudrate);
|
||||
}
|
||||
|
||||
#endif // CONFIG_HAL_BOARD_SUBTYPE
|
||||
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
#pragma once
|
||||
|
||||
#include <AP_HAL/AP_HAL.h>
|
||||
#include "SerialDevice.h"
|
||||
|
||||
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
|
||||
|
||||
class QFLIGHTDevice: public SerialDevice {
|
||||
public:
|
||||
QFLIGHTDevice(const char *device_path);
|
||||
virtual ~QFLIGHTDevice();
|
||||
|
||||
virtual bool open() override;
|
||||
virtual bool close() override;
|
||||
virtual ssize_t write(const uint8_t *buf, uint16_t n) override;
|
||||
virtual ssize_t read(uint8_t *buf, uint16_t n) override;
|
||||
virtual void set_blocking(bool blocking) override;
|
||||
virtual void set_speed(uint32_t speed) override;
|
||||
|
||||
private:
|
||||
int32_t fd = -1;
|
||||
const char *device_path;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -1,118 +0,0 @@
|
|||
# ArduPilot on Qualcomm Flight
|
||||
|
||||
This is a port of ArduPilot to the Qualcomm Flight development board:
|
||||
|
||||
http://shop.intrinsyc.com/products/snapdragon-flight-dev-kit
|
||||
|
||||
This board is interesting because it is small but offers a lot of CPU
|
||||
power and two on-board cameras.
|
||||
|
||||
The board has 4 'Krait' ARM cores which run Linux (by default Ubuntu
|
||||
14.04 Trusty), plus 3 'Hexagon' DSP cores which run the QURT RTOS.
|
||||
|
||||
There are two ports of ArduPilot to this board. One is called
|
||||
'HAL_QURT' and runs primarily on the DSPs, with just a small shim on
|
||||
the ARM cores. The other is a HAL_Linux subtype called 'QFLIGHT' which
|
||||
runs mostly on the ARM cores, with just sensor and UARTs on the DSPs.
|
||||
|
||||
This is the readme for the QFLIGHT port. See the AP_HAL_QURT directory
|
||||
for information on the QURT port.
|
||||
|
||||
# Building ArduPilot for 'QFLIGHT'
|
||||
|
||||
Due to some rather unusual licensing terms from Intrinsyc we cannot
|
||||
distribute binaries of ArduPilot (or any program built with the
|
||||
Qualcomm libraries). So you will have to build the firmware yourself.
|
||||
|
||||
To build ArduPilot you will need 3 library packages from
|
||||
Intrinsyc. They are:
|
||||
|
||||
* the HEXAGON_Tools package, tested with version 7.2.11
|
||||
* the Hexagon_SDK packet, version 2.0
|
||||
* the HexagonFCAddon package, tested with Flight_BSP_1.1_ES3_003.2
|
||||
|
||||
These packages should all be unpacked in a $HOME/Qualcomm directory.
|
||||
|
||||
To build APM:Copter you then do:
|
||||
|
||||
```
|
||||
cd ArduCopter
|
||||
make qflight -j4
|
||||
```
|
||||
|
||||
you can then upload the firmware to your board by joining to the WiFi
|
||||
network of the board and doing this
|
||||
|
||||
```
|
||||
make qflight_send FLIGHT_BOARD=myboard
|
||||
```
|
||||
|
||||
where "myboard" is the hostname or IP address of your board.
|
||||
|
||||
This will install two files:
|
||||
|
||||
```
|
||||
/root/ArduCopter.elf
|
||||
/usr/share/data/adsp/libqflight_skel.so
|
||||
```
|
||||
|
||||
To start ArduPilot just run the elf file as root on the flight
|
||||
board. You can control UART output with command line options. A
|
||||
typical startup command would be:
|
||||
|
||||
```
|
||||
/root/ArduCopter.elf -A udp:192.168.1.255:14550:bcast -e /dev/tty-3 -B qflight:/dev/tty-2 --dsm /dev/tty-4
|
||||
```
|
||||
|
||||
That will start ArduPilot with telemetry over UDP on port 14550, GPS
|
||||
on tty-2 on the DSPs, Skektrum satellite RC input on tty-4 and
|
||||
ESC output on tty-3.
|
||||
|
||||
Then you can open your favourite MAVLink compatible GCS and connect
|
||||
with UDP.
|
||||
|
||||
# Logging
|
||||
|
||||
Logs will appear in /var/APM/logs as usual for Linux ArduPilot
|
||||
ports. You can download logs over MAVLink or transfer over WiFi.
|
||||
|
||||
# UART connections
|
||||
|
||||
The Qualcomm Flight board has 4 DF13 6 pin UART connectors. Be careful
|
||||
though as they do not have the same pinout as the same connectors on a
|
||||
Pixhawk.
|
||||
|
||||
The pinout of them all is:
|
||||
|
||||
* pin1: power
|
||||
* pin2: TX
|
||||
* pin3: RX
|
||||
* pin5: GND
|
||||
|
||||
3 of the 4 ports provide 3.3V power on pin1, while the 4th port
|
||||
provides 5V power. Note that pin6 is not ground, unlike on a Pixhawk.
|
||||
|
||||
The 4 ports are called /dev/tty-1, /dev/tty-2, /dev/tty-3 and
|
||||
/dev/tty-4. The first port is the one closest to the USB3
|
||||
connector. The ports proceed counter-clockwise from there. So tty-2 is
|
||||
the one closest to the power connector.
|
||||
|
||||
Only tty-2 provides 5V power. The others provide 3.3V power. You will
|
||||
need to check whether your GPS can be powered off 3.3V.
|
||||
|
||||
# ESC PWM Output
|
||||
|
||||
To get signals to ESCs or servos you need to use a UART. The default
|
||||
setup is to send 4 PWM signals as serial data on /dev/tty-3. This is
|
||||
designed to work with this firmware for any ArduPilot compatible
|
||||
board:
|
||||
|
||||
https://github.com/tridge/ardupilot/tree/hal-qurt/libraries/RC_Channel/examples/RC_UART
|
||||
|
||||
that firmware will read the UART serial stream and output to the PWM
|
||||
output of the board you use. For example, you could use a Pixracer or
|
||||
Pixhawk board. This is an interim solution until Qualcomm/Intrinsyc
|
||||
release an ESC add-on control board for the Qualcomm Flight.
|
||||
|
||||
Note that you can also use RC input from that attached board, allowing
|
||||
you to use any ArduPilot compatible RC receiver.
|
||||
|
|
@ -1,393 +0,0 @@
|
|||
/*
|
||||
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, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
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/>.
|
||||
*/
|
||||
/*
|
||||
This is an implementation of all of the code for the QFLIGHT board
|
||||
that runs on the DSPs. See qflight_dsp.idl for the interface
|
||||
definition for the RPC calls
|
||||
*/
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdint.h>
|
||||
#include "qflight_dsp.h"
|
||||
extern "C" {
|
||||
#include "bmp280_api.h"
|
||||
#include "mpu9x50.h"
|
||||
}
|
||||
|
||||
#include <types.h>
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#include <stdint.h>
|
||||
#include <stdarg.h>
|
||||
#include <sys/timespec.h>
|
||||
#include <errno.h>
|
||||
#include <string.h>
|
||||
#include <time.h>
|
||||
#include <dspal_time.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/types.h>
|
||||
#include <dirent.h>
|
||||
#include <stdlib.h>
|
||||
#include <dev_fs_lib_serial.h>
|
||||
#include "qflight_buffer.h"
|
||||
#include <AP_HAL/utility/RingBuffer.h>
|
||||
|
||||
const float GRAVITY_MSS = 9.80665;
|
||||
const float ACCEL_SCALE_1G = GRAVITY_MSS / 2048.0;
|
||||
const float GYRO_SCALE = 0.0174532 / 16.4;
|
||||
const float RAD_TO_DEG = 57.295779513082320876798154814105;
|
||||
|
||||
static ObjectBuffer<DSPBuffer::IMU::BUF> imu_buffer(30);
|
||||
static ObjectBuffer<DSPBuffer::MAG::BUF> mag_buffer(10);
|
||||
static ObjectBuffer<DSPBuffer::BARO::BUF> baro_buffer(10);
|
||||
static bool mpu9250_started;
|
||||
static uint32_t bmp280_handle;
|
||||
static uint32_t baro_counter;
|
||||
|
||||
/*
|
||||
read buffering for UARTs
|
||||
*/
|
||||
static const uint8_t max_uarts = 8;
|
||||
static uint8_t num_open_uarts;
|
||||
static struct uartbuf {
|
||||
int fd;
|
||||
ByteBuffer *readbuffer;
|
||||
} uarts[max_uarts];
|
||||
|
||||
extern "C" {
|
||||
void HAP_debug(const char *msg, int level, const char *filename, int line);
|
||||
}
|
||||
|
||||
void HAP_printf(const char *file, int line, const char *format, ...)
|
||||
{
|
||||
va_list ap;
|
||||
char buf[300];
|
||||
|
||||
va_start(ap, format);
|
||||
vsnprintf(buf, sizeof(buf), format, ap);
|
||||
va_end(ap);
|
||||
HAP_debug(buf, 0, file, line);
|
||||
}
|
||||
|
||||
void HAP_printf(const char *file, int line, const char *format, ...);
|
||||
#define HAP_PRINTF(...) HAP_printf(__FILE__, __LINE__, __VA_ARGS__)
|
||||
|
||||
static int init_barometer(void)
|
||||
{
|
||||
int ret = bmp280_open("/dev/i2c-2", &bmp280_handle);
|
||||
HAP_PRINTF("**** bmp280: ret=%d handle=0x%x\n", ret, (unsigned)bmp280_handle);
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int init_mpu9250(void)
|
||||
{
|
||||
struct mpu9x50_config config;
|
||||
|
||||
config.gyro_lpf = MPU9X50_GYRO_LPF_184HZ;
|
||||
config.acc_lpf = MPU9X50_ACC_LPF_184HZ;
|
||||
config.gyro_fsr = MPU9X50_GYRO_FSR_2000DPS;
|
||||
config.acc_fsr = MPU9X50_ACC_FSR_16G;
|
||||
config.gyro_sample_rate = MPU9x50_SAMPLE_RATE_1000HZ;
|
||||
config.compass_enabled = true;
|
||||
config.compass_sample_rate = MPU9x50_COMPASS_SAMPLE_RATE_100HZ;
|
||||
config.spi_dev_path = "/dev/spi-1";
|
||||
|
||||
int ret;
|
||||
ret = mpu9x50_validate_configuration(&config);
|
||||
HAP_PRINTF("***** mpu9250 validate ret=%d\n", ret);
|
||||
if (ret != 0) {
|
||||
return ret;
|
||||
}
|
||||
ret = mpu9x50_initialize(&config);
|
||||
HAP_PRINTF("***** mpu9250 initialise ret=%d\n", ret);
|
||||
|
||||
mpu9250_started = true;
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/*
|
||||
thread gathering sensor data from mpu9250
|
||||
*/
|
||||
static void *mpu_data_ready(void *ctx)
|
||||
{
|
||||
struct mpu9x50_data data;
|
||||
memset(&data, 0, sizeof(data));
|
||||
|
||||
int ret = mpu9x50_get_data(&data);
|
||||
if (ret != 0) {
|
||||
return nullptr;
|
||||
}
|
||||
DSPBuffer::IMU::BUF b;
|
||||
b.timestamp = data.timestamp;
|
||||
b.accel[0] = data.accel_raw[0]*ACCEL_SCALE_1G;
|
||||
b.accel[1] = data.accel_raw[1]*ACCEL_SCALE_1G;
|
||||
b.accel[2] = data.accel_raw[2]*ACCEL_SCALE_1G;
|
||||
b.gyro[0] = data.gyro_raw[0]*GYRO_SCALE;
|
||||
b.gyro[1] = data.gyro_raw[1]*GYRO_SCALE;
|
||||
b.gyro[2] = data.gyro_raw[2]*GYRO_SCALE;
|
||||
imu_buffer.push(b);
|
||||
|
||||
if (data.mag_data_ready) {
|
||||
DSPBuffer::MAG::BUF m;
|
||||
m.mag_raw[0] = data.mag_raw[0];
|
||||
m.mag_raw[1] = data.mag_raw[1];
|
||||
m.mag_raw[2] = data.mag_raw[2];
|
||||
m.timestamp = data.timestamp;
|
||||
mag_buffer.push(m);
|
||||
}
|
||||
|
||||
if (bmp280_handle != 0 && baro_counter++ % 10 == 0) {
|
||||
struct bmp280_sensor_data data;
|
||||
memset(&data, 0, sizeof(data));
|
||||
int ret = bmp280_get_sensor_data(bmp280_handle, &data, false);
|
||||
if (ret == 0) {
|
||||
DSPBuffer::BARO::BUF b;
|
||||
b.pressure_pa = data.pressure_in_pa;
|
||||
b.temperature_C = data.temperature_in_c;
|
||||
b.timestamp = data.last_read_time_in_usecs;
|
||||
baro_buffer.push(b);
|
||||
}
|
||||
}
|
||||
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
static void mpu9250_startup(void)
|
||||
{
|
||||
if (!mpu9250_started) {
|
||||
if (init_mpu9250() != 0) {
|
||||
return;
|
||||
}
|
||||
mpu9x50_register_interrupt(65, mpu_data_ready, nullptr);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
get any available IMU data
|
||||
*/
|
||||
int qflight_get_imu_data(uint8_t *buf, int len)
|
||||
{
|
||||
DSPBuffer::IMU &imu = *(DSPBuffer::IMU *)buf;
|
||||
|
||||
if (len != sizeof(imu)) {
|
||||
HAP_PRINTF("incorrect size for imu data %d should be %d\n",
|
||||
len, sizeof(imu));
|
||||
return 1;
|
||||
}
|
||||
|
||||
mpu9250_startup();
|
||||
|
||||
imu.num_samples = 0;
|
||||
while (imu.num_samples < imu.max_samples &&
|
||||
imu_buffer.pop(imu.buf[imu.num_samples])) {
|
||||
imu.num_samples++;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*
|
||||
get any available mag data
|
||||
*/
|
||||
int qflight_get_mag_data(uint8_t *buf, int len)
|
||||
{
|
||||
DSPBuffer::MAG &mag = *(DSPBuffer::MAG *)buf;
|
||||
|
||||
if (len != sizeof(mag)) {
|
||||
HAP_PRINTF("incorrect size for mag data %d should be %d\n",
|
||||
len, sizeof(mag));
|
||||
return 1;
|
||||
}
|
||||
|
||||
mpu9250_startup();
|
||||
|
||||
mag.num_samples = 0;
|
||||
while (mag.num_samples < mag.max_samples &&
|
||||
mag_buffer.pop(mag.buf[mag.num_samples])) {
|
||||
mag.num_samples++;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
get any available baro data
|
||||
*/
|
||||
int qflight_get_baro_data(uint8_t *buf, int len)
|
||||
{
|
||||
DSPBuffer::BARO &baro = *(DSPBuffer::BARO *)buf;
|
||||
|
||||
if (len != sizeof(baro)) {
|
||||
HAP_PRINTF("incorrect size for baro data %d should be %d\n",
|
||||
len, sizeof(baro));
|
||||
return 1;
|
||||
}
|
||||
|
||||
mpu9250_startup();
|
||||
|
||||
if (bmp280_handle == 0) {
|
||||
if (init_barometer() != 0) {
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
||||
baro.num_samples = 0;
|
||||
while (baro.num_samples < baro.max_samples &&
|
||||
baro_buffer.pop(baro.buf[baro.num_samples])) {
|
||||
baro.num_samples++;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
extern "C" {
|
||||
static void read_callback_trampoline(void *, char *, size_t );
|
||||
}
|
||||
|
||||
static void read_callback_trampoline(void *ctx, char *buf, size_t size)
|
||||
{
|
||||
if (size > 0) {
|
||||
((ByteBuffer *)ctx)->write((const uint8_t *)buf, size);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
open a UART
|
||||
*/
|
||||
int qflight_UART_open(const char *device, int32_t *_fd)
|
||||
{
|
||||
if (num_open_uarts == max_uarts) {
|
||||
return -1;
|
||||
}
|
||||
struct uartbuf &b = uarts[num_open_uarts];
|
||||
int fd = open(device, O_RDWR | O_NONBLOCK|O_CLOEXEC);
|
||||
if (fd == -1) {
|
||||
return -1;
|
||||
}
|
||||
b.fd = fd;
|
||||
b.readbuffer = new ByteBuffer(16384);
|
||||
|
||||
struct dspal_serial_open_options options;
|
||||
options.bit_rate = DSPAL_SIO_BITRATE_57600;
|
||||
options.tx_flow = DSPAL_SIO_FCTL_OFF;
|
||||
options.rx_flow = DSPAL_SIO_FCTL_OFF;
|
||||
options.rx_data_callback = nullptr;
|
||||
options.tx_data_callback = nullptr;
|
||||
options.is_tx_data_synchronous = false;
|
||||
int ret = ioctl(fd, SERIAL_IOCTL_OPEN_OPTIONS, (void *)&options);
|
||||
if (ret != 0) {
|
||||
HAP_PRINTF("Failed to setup UART flow control options");
|
||||
}
|
||||
|
||||
struct dspal_serial_ioctl_receive_data_callback callback {};
|
||||
callback.context = b.readbuffer;
|
||||
callback.rx_data_callback_func_ptr = read_callback_trampoline;
|
||||
ret = ioctl(fd, SERIAL_IOCTL_SET_RECEIVE_DATA_CALLBACK, (void *)&callback);
|
||||
if (ret != 0) {
|
||||
HAP_PRINTF("Failed to setup UART read trampoline");
|
||||
delete b.readbuffer;
|
||||
close(fd);
|
||||
return -1;
|
||||
}
|
||||
|
||||
HAP_PRINTF("UART open %s fd=%d num_open=%u",
|
||||
device, fd, num_open_uarts);
|
||||
num_open_uarts++;
|
||||
*_fd = fd;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*
|
||||
close a UART
|
||||
*/
|
||||
int qflight_UART_close(int32_t fd)
|
||||
{
|
||||
uint8_t i;
|
||||
for (i=0; i<num_open_uarts; i++) {
|
||||
if (fd == uarts[i].fd) break;
|
||||
}
|
||||
if (i == num_open_uarts) {
|
||||
return -1;
|
||||
}
|
||||
close(fd);
|
||||
delete uarts[i].readbuffer;
|
||||
if (i < num_open_uarts-1) {
|
||||
memmove(&uarts[i], &uarts[i+1], ((num_open_uarts-1)-i)*sizeof(uarts[0]));
|
||||
}
|
||||
num_open_uarts--;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*
|
||||
read from a UART
|
||||
*/
|
||||
int qflight_UART_read(int32_t fd, uint8_t *buf, int size, int32_t *nread)
|
||||
{
|
||||
uint8_t i;
|
||||
for (i=0; i<num_open_uarts; i++) {
|
||||
if (fd == uarts[i].fd) break;
|
||||
}
|
||||
if (i == num_open_uarts) {
|
||||
return -1;
|
||||
}
|
||||
*nread = uarts[i].readbuffer->read(buf, size);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*
|
||||
write to a UART
|
||||
*/
|
||||
int qflight_UART_write(int32_t fd, const uint8_t *buf, int size, int32_t *nwritten)
|
||||
{
|
||||
*nwritten = write(fd, buf, size);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static const struct {
|
||||
uint32_t baudrate;
|
||||
enum DSPAL_SERIAL_BITRATES arg;
|
||||
} baudrate_table[] = {
|
||||
{ 9600, DSPAL_SIO_BITRATE_9600 },
|
||||
{ 14400, DSPAL_SIO_BITRATE_14400 },
|
||||
{ 19200, DSPAL_SIO_BITRATE_19200 },
|
||||
{ 38400, DSPAL_SIO_BITRATE_38400 },
|
||||
{ 57600, DSPAL_SIO_BITRATE_57600 },
|
||||
{ 76800, DSPAL_SIO_BITRATE_76800 },
|
||||
{ 115200, DSPAL_SIO_BITRATE_115200 },
|
||||
{ 230400, DSPAL_SIO_BITRATE_230400 },
|
||||
{ 250000, DSPAL_SIO_BITRATE_250000 },
|
||||
{ 460800, DSPAL_SIO_BITRATE_460800 },
|
||||
{ 921600, DSPAL_SIO_BITRATE_921600 },
|
||||
{ 2000000, DSPAL_SIO_BITRATE_2000000 },
|
||||
};
|
||||
|
||||
/*
|
||||
set UART baudrate
|
||||
*/
|
||||
int qflight_UART_set_baudrate(int32_t fd, uint32_t baudrate)
|
||||
{
|
||||
for (uint8_t i=0; i<sizeof(baudrate_table)/sizeof(baudrate_table[0]); i++) {
|
||||
if (baudrate <= baudrate_table[i].baudrate) {
|
||||
struct dspal_serial_ioctl_data_rate rate {};
|
||||
rate.bit_rate = baudrate_table[i].arg;
|
||||
int ret = ioctl(fd, SERIAL_IOCTL_SET_DATA_RATE, (void *)&rate);
|
||||
HAP_PRINTF("set_rate -> %d\n", ret);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
|
@ -1,38 +0,0 @@
|
|||
#pragma once
|
||||
|
||||
/*
|
||||
shared memory structures for sensor data and peripheral control on Qualcomm flight board
|
||||
*/
|
||||
struct DSPBuffer {
|
||||
// IMU data
|
||||
struct IMU {
|
||||
static const uint32_t max_samples = 10;
|
||||
uint32_t num_samples;
|
||||
struct BUF {
|
||||
uint64_t timestamp;
|
||||
float accel[3];
|
||||
float gyro[3];
|
||||
} buf[max_samples];
|
||||
} imu;
|
||||
|
||||
// MAG data
|
||||
struct MAG {
|
||||
static const uint64_t max_samples = 10;
|
||||
uint32_t num_samples;
|
||||
struct BUF {
|
||||
uint64_t timestamp;
|
||||
int16_t mag_raw[3];
|
||||
} buf[max_samples];
|
||||
} mag;
|
||||
|
||||
// baro data
|
||||
struct BARO {
|
||||
static const uint32_t max_samples = 10;
|
||||
uint32_t num_samples;
|
||||
struct BUF {
|
||||
uint64_t timestamp;
|
||||
float pressure_pa;
|
||||
float temperature_C;
|
||||
} buf[max_samples];
|
||||
} baro;
|
||||
};
|
||||
|
|
@ -1,15 +0,0 @@
|
|||
#include "AEEStdDef.idl"
|
||||
|
||||
interface qflight {
|
||||
// sensor calls
|
||||
long get_imu_data(rout sequence<uint8> outdata);
|
||||
long get_mag_data(rout sequence<uint8> outdata);
|
||||
long get_baro_data(rout sequence<uint8> outdata);
|
||||
|
||||
// UART control
|
||||
long UART_open(in string device, rout int32 fd);
|
||||
long UART_set_baudrate(in int32 fd, in uint32 baudrate);
|
||||
long UART_read(in int32 fd, rout sequence<uint8> buf, rout int32 nread);
|
||||
long UART_write(in int32 fd, in sequence<uint8> buf, rout int32 nwritten);
|
||||
long UART_close(in int32 fd);
|
||||
};
|
||||
|
|
@ -1,3 +0,0 @@
|
|||
#include <rpcmem.h>
|
||||
|
||||
#define QFLIGHT_RPC_ALLOCATE(type) (type *)rpcmem_alloc_def(sizeof(type))
|
||||
Loading…
Reference in New Issue