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AP_HAL_Linux: add PilotPi support 

Adds "pilotpi" board to support https://docs.px4.io/main/en/flight_controller/raspberry_pi_pilotpi.html
This commit is contained in:
Daniel Hiepler 2024-09-28 09:00:50 +02:00
parent 230bb84343
commit a2140b5076
12 changed files with 166 additions and 9 deletions
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2
libraries/AP_HAL_Linux/GPIO.h
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@ -45,4 +45,6 @@ private:
#include "GPIO_Disco.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
#include "GPIO_Aero.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
#include "GPIO_PilotPi.h"
#endif

74
libraries/AP_HAL_Linux/GPIO_PilotPi.cpp Normal file
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@ -0,0 +1,74 @@
#include "GPIO_PilotPi.h"
uint8_t GPIO_PilotPi::read(uint8_t pin)
{
static uint8_t real_pin;
/* MainOut (raspberry pi GPIOs)? */
if(mainOutPin(pin, &real_pin)) {
return GPIO_RPI::read(real_pin);
}
/* AUXOUT? (rcout) */
else if(auxOutPin(pin, &real_pin) && hal.rcout->supports_gpio()) {
return (uint8_t)hal.rcout->read(real_pin);
}
return 0;
}
void GPIO_PilotPi::write(uint8_t pin, uint8_t value)
{
static uint8_t real_pin;
/* MainOut (raspberry pi GPIOs)? */
if(mainOutPin(pin, &real_pin)) {
GPIO_RPI::write(real_pin, value);
return;
}
/* AUXOUT? (rcout) */
else if(auxOutPin(pin, &real_pin) && hal.rcout->supports_gpio()) {
hal.rcout->write_gpio(real_pin, value);
}
}
void GPIO_PilotPi::pinMode(uint8_t pin, uint8_t output)
{
static uint8_t real_pin;
/* MainOut (raspberry pi GPIOs)? */
if(mainOutPin(pin, &real_pin)) {
GPIO_RPI::pinMode(real_pin, output);
}
}
void GPIO_PilotPi::pinMode(uint8_t pin, uint8_t output, uint8_t alt)
{
static uint8_t real_pin;
/* MainOut (raspberry pi GPIOs)? */
if(mainOutPin(pin, &real_pin)) {
GPIO_RPI::pinMode(real_pin, output, alt);
}
}
/** convert ardupilot RELAYx_PIN to raspberry pi gpio pin */
bool GPIO_PilotPi::mainOutPin(uint8_t ap_pin, uint8_t *pin) {
if(100 >= ap_pin || ap_pin >= 200) {
return false;
}
/* GPIO available? */
if(ap_pin-101 >= (uint8_t) sizeof(PilotPiGPIOS)) {
return false;
}
*pin = PilotPiGPIOS[ap_pin-101];
return true;
}
/* convert ardupilot RELAYx_PIN to RCOUT GPIO pin */
bool GPIO_PilotPi::auxOutPin(uint8_t ap_pin, uint8_t *pin) {
if(50 > ap_pin || ap_pin > 100) {
return false;
}
*pin = ap_pin-50;
return true;
}

62
libraries/AP_HAL_Linux/GPIO_PilotPi.h Normal file
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@ -0,0 +1,62 @@
#pragma once
#include "GPIO_RPI.h"
using namespace Linux;
extern const AP_HAL::HAL& hal;
/**
* Provide unused Raspberry PI pins as GPIOs in the order of the PCB pinheader:
* AP GPIO Pin RPI BCM GPIO
* =============================
* 101 4
* 102 14
* 103 17
* 104 27
* 105 22
* 106 23
* 107 7
* 108 5
* 109 6
* 110 12
* 111 13
* 112 16
* 113 26
*
* and those SERVO outputs that are configured as GPIO:
* AP GPIO Pin SERVO
* ==============================
* 50 0
* 51 1
* ...
*/
class GPIO_PilotPi : public GPIO_RPI
{
public:
void pinMode(uint8_t pin, uint8_t output) override;
void pinMode(uint8_t pin, uint8_t output, uint8_t alt) override;
uint8_t read(uint8_t pin) override;
void write(uint8_t pin, uint8_t value) override;
private:
uint8_t PilotPiGPIOS[13] = {
RPI_GPIO_<4>(),
RPI_GPIO_<14>(),
RPI_GPIO_<17>(),
RPI_GPIO_<27>(),
RPI_GPIO_<22>(),
RPI_GPIO_<23>(),
RPI_GPIO_<7>(),
RPI_GPIO_<5>(),
RPI_GPIO_<6>(),
RPI_GPIO_<12>(),
RPI_GPIO_<13>(),
RPI_GPIO_<16>(),
RPI_GPIO_<26>()
};
bool mainOutPin(uint8_t ap_pin, uint8_t *pin);
bool auxOutPin(uint8_t ap_pin, uint8_t *pin);
};

3
libraries/AP_HAL_Linux/GPIO_RPI.cpp
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@ -6,7 +6,8 @@
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
#include "GPIO.h"
#include "GPIO_RPI.h"

12
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -58,7 +58,8 @@ using namespace Linux;
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
static UtilRPI utilInstance;
#else
static Util utilInstance;
@ -106,7 +107,8 @@ static UARTDriver* serialDrivers[] = {
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR|| \
((CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1) && (OBAL_ALLOW_ADC ==1)) || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
static AnalogIn_ADS1115 analogIn;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
@ -152,6 +154,8 @@ static GPIO_Sysfs gpioDriver;
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
static GPIO_Sysfs gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
static GPIO_PilotPi gpioDriver;
#else
static Empty::GPIO gpioDriver;
#endif
@ -188,6 +192,8 @@ static RCInput_SoloLink rcinDriver;
static RCInput_Navio2 rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
static RCInput_RCProtocol rcinDriver{"/dev/ttyPS0", NULL};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
static RCInput_Multi rcinDriver{2, NEW_NOTHROW RCInput_RCProtocol(NULL, NULL), NEW_NOTHROW RCInput_UDP()};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
// this is needed to allow for RC input using SERIALn_PROTOCOL=23. No fd is opened
@ -239,6 +245,8 @@ static RCOutput_Sysfs rcoutDriver(0, 0, 8);
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 0, 0, RPI_GPIO_<17>());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
static RCOutput_Sysfs rcoutDriver(0, 0, 2);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 24576000, 0, -1);
#else
static Empty::RCOutput rcoutDriver;
#endif

3
libraries/AP_HAL_Linux/RCInput_Multi.cpp
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@ -19,7 +19,8 @@
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
#include "RCInput_Multi.h"
extern const AP_HAL::HAL& hal;

3
libraries/AP_HAL_Linux/RCInput_Multi.h
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@ -17,7 +17,8 @@
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
#include "RCInput.h"
#include <stdarg.h>

3
libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp
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@ -34,7 +34,8 @@
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
extern const AP_HAL::HAL& hal;

3
libraries/AP_HAL_Linux/RCInput_RCProtocol.h
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@ -23,7 +23,8 @@
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
namespace Linux {

4
libraries/AP_HAL_Linux/SPIDevice.cpp
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@ -102,6 +102,10 @@ SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
SPIDesc("ms5611", 0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL, 10*MHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("icm42605", 0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 24*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu9250", 2, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),

3
libraries/AP_HAL_Linux/Scheduler.cpp
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@ -39,7 +39,8 @@ extern const AP_HAL::HAL& hal;
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
#define APM_LINUX_RCIN_RATE 500
#define APM_LINUX_IO_RATE 50
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1

3
libraries/AP_HAL_Linux/Util_RPI.cpp
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@ -9,7 +9,8 @@
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
#include <errno.h>
#include <stdarg.h>