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rename files and add navio target

This commit is contained in:
Hidenori 2016-06-30 14:54:58 -04:00 committed by Lorenz Meier
parent b871b322d2
commit 506d1855ff
7 changed files with 230 additions and 107 deletions
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3
Makefile
View File

@ -211,6 +211,9 @@ posix_rpi2_release:
posix_bebop_default:
$(call cmake-build,$@)
posix_navio2_release:
$(call cmake-build,$@)
posix: posix_sitl_default
broadcast: posix_sitl_broadcast

114
cmake/configs/posix_navio2_release.cmake Normal file
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@ -0,0 +1,114 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
set(CMAKE_PROGRAM_PATH
"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
${CMAKE_PROGRAM_PATH}
)
# This definition allows to differentiate if this just the usual POSIX build
# or if it is for the RPi.
add_definitions(
-D__PX4_POSIX_RPI2
-D__LINUX
)
set(config_module_list
#
# Board support modules
#
drivers/device
modules/sensors
platforms/posix/drivers/df_mpu9250_wrapper
platforms/posix/drivers/df_lsm9ds1_wrapper
platforms/posix/drivers/df_ms5611_wrapper
platforms/posix/drivers/df_hmc5883_wrapper
platforms/posix/drivers/df_trone_wrapper
platforms/posix/drivers/df_isl29501_wrapper
#
# System commands
#
systemcmds/param
systemcmds/mixer
systemcmds/ver
systemcmds/esc_calib
systemcmds/topic_listener
systemcmds/perf
#
# Estimation modules (EKF/ SO3 / other filters)
#
#modules/attitude_estimator_ekf
modules/ekf_att_pos_estimator
modules/attitude_estimator_q
modules/position_estimator_inav
modules/local_position_estimator
modules/ekf2
#
# Vehicle Control
#
modules/mc_att_control
modules/mc_pos_control
modules/fw_att_control
modules/fw_pos_control_l1
modules/vtol_att_control
#
# Library modules
#
modules/sdlog2
modules/logger
modules/commander
modules/load_mon
modules/param
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/dataman
modules/land_detector
modules/navigator
modules/mavlink
#
# PX4 drivers
#
drivers/gps
drivers/navio_sysfs_rc_in
drivers/navio_sysfs_pwm_out
#
# Libraries
#
lib/controllib
lib/mathlib
lib/mathlib/math/filter
lib/geo
lib/ecl
lib/geo_lookup
lib/launchdetection
lib/external_lgpl
lib/conversion
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
lib/DriverFramework/framework
#
# POSIX
#
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
)
set(config_df_driver_list
mpu9250
lsm9ds1
ms5611
hmc5883
trone
isl29501
)

7
src/drivers/pwm_out/CMakeLists.txt → src/drivers/navio_sysfs_pwm_out/CMakeLists.txt
View File

@ -31,13 +31,12 @@
#
############################################################################
px4_add_module(
MODULE drivers__pwm_out
MAIN pwm_out
MODULE drivers__navio_sysfs_pwm_out
MAIN navio_sysfs_pwm_out
COMPILE_FLAGS
-Os
-DMAVLINK_COMM_NUM_BUFFERS=1
SRCS
pwm_out.cpp
navio_sysfs_pwm_out.cpp
DEPENDS
platforms__common
)

28
src/drivers/pwm_out/pwm_out.cpp → src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp
View File

@ -50,7 +50,7 @@
#include <systemlib/param/param.h>
#include <systemlib/pwm_limit/pwm_limit.h>
namespace pwm_out
namespace navio_sysfs_pwm_out
{
static px4_task_t _task_handle = -1;
volatile bool _task_should_exit = false;
@ -431,12 +431,12 @@ void usage()
PX4_INFO(" pwm_out status");
}
} // namespace pwm_out
} // namespace navio_sysfs_pwm_out
/* driver 'main' command */
extern "C" __EXPORT int pwm_out_main(int argc, char *argv[]);
extern "C" __EXPORT int navio_sysfs_pwm_out_main(int argc, char *argv[]);
int pwm_out_main(int argc, char *argv[])
int navio_sysfs_pwm_out_main(int argc, char *argv[])
{
const char *device = nullptr;
int ch;
@ -456,43 +456,43 @@ int pwm_out_main(int argc, char *argv[])
switch (ch) {
case 'd':
device = myoptarg;
strncpy(pwm_out::_device, device, strlen(device));
strncpy(navio_sysfs_pwm_out::_device, device, strlen(device));
break;
}
}
// gets the parameters for the esc's pwm
param_get(param_find("PWM_DISARMED"), &pwm_out::_pwm_disarmed);
param_get(param_find("PWM_MIN"), &pwm_out::_pwm_min);
param_get(param_find("PWM_MAX"), &pwm_out::_pwm_max);
param_get(param_find("PWM_DISARMED"), &navio_sysfs_pwm_out::_pwm_disarmed);
param_get(param_find("PWM_MIN"), &navio_sysfs_pwm_out::_pwm_min);
param_get(param_find("PWM_MAX"), &navio_sysfs_pwm_out::_pwm_max);
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
if (pwm_out::_is_running) {
if (navio_sysfs_pwm_out::_is_running) {
PX4_WARN("pwm_out already running");
return 1;
}
pwm_out::start();
navio_sysfs_pwm_out::start();
}
else if (!strcmp(verb, "stop")) {
if (!pwm_out::_is_running) {
if (!navio_sysfs_pwm_out::_is_running) {
PX4_WARN("pwm_out is not running");
return 1;
}
pwm_out::stop();
navio_sysfs_pwm_out::stop();
}
else if (!strcmp(verb, "status")) {
PX4_WARN("pwm_out is %s", pwm_out::_is_running ? "running" : "not running");
PX4_WARN("pwm_out is %s", navio_sysfs_pwm_out::_is_running ? "running" : "not running");
return 0;
} else {
pwm_out::usage();
navio_sysfs_pwm_out::usage();
return 1;
}

6
src/modules/rcinput/CMakeLists.txt → src/drivers/navio_sysfs_rc_in/CMakeLists.txt
View File

@ -31,12 +31,12 @@
#
############################################################################
px4_add_module(
MODULE modules__rcinput
MAIN rcinput
MODULE drivers__navio_sysfs_rc_in
MAIN navio_sysfs_rc_in
STACK_MAIN 1200
COMPILE_FLAGS -Os
SRCS
rcinput.cpp
navio_sysfs_rc_in.cpp
DEPENDS
platforms__common
)

177
src/modules/rcinput/rcinput.cpp → src/drivers/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp
View File

@ -47,10 +47,10 @@
#include <uORB/uORB.h>
#include <uORB/topics/input_rc.h>
namespace rcinput
namespace navio_sysfs_rc_in
{
extern "C" __EXPORT int rcinput_main(int argc, char *argv[]);
extern "C" __EXPORT int navio_sysfs_rc_in_main(int argc, char *argv[]);
#define RCINPUT_DEVICE_PATH_BASE "/sys/kernel/rcio/rcin"
@ -61,20 +61,20 @@ class RcInput
{
public:
RcInput() :
_shouldExit(false),
_isRunning(false),
_work{},
_rcinput_pub(nullptr),
_channels(8), //D8R-II plus
_data{}
{
memset(_ch_fd, 0, sizeof(_ch_fd));
}
~RcInput()
{
work_cancel(HPWORK, &_work);
_isRunning = false;
}
_shouldExit(false),
_isRunning(false),
_work{},
_rcinput_pub(nullptr),
_channels(8), //D8R-II plus
_data{}
{
memset(_ch_fd, 0, sizeof(_ch_fd));
}
~RcInput()
{
work_cancel(HPWORK, &_work);
_isRunning = false;
}
/* @return 0 on success, -errno on failure */
int start();
@ -85,49 +85,53 @@ public:
/* Trampoline for the work queue. */
static void cycle_trampoline(void *arg);
bool isRunning() { return _isRunning; }
bool isRunning() { return _isRunning; }
private:
void _cycle();
void _measure();
void _cycle();
void _measure();
bool _shouldExit;
bool _isRunning;
struct work_s _work;
bool _shouldExit;
bool _isRunning;
struct work_s _work;
orb_advert_t _rcinput_pub;
orb_advert_t _rcinput_pub;
int _channels;
int _ch_fd[input_rc_s::RC_INPUT_MAX_CHANNELS];
struct input_rc_s _data;
int _channels;
int _ch_fd[input_rc_s::RC_INPUT_MAX_CHANNELS];
struct input_rc_s _data;
int navio_rc_init();
};
int RcInput::navio_rc_init()
{
int i;
char *buf;
int i;
char *buf;
for (i = 0; i < _channels; ++i) {
::asprintf(&buf, "%s/ch%d", RCINPUT_DEVICE_PATH_BASE, i);
int fd = ::open(buf, O_RDONLY);
::free(buf);
if (fd < 0) {
PX4_WARN("error: open %d failed", i);
break;
}
_ch_fd[i] = fd;
}
for (; i < input_rc_s::RC_INPUT_MAX_CHANNELS; ++i) {
_data.values[i] = UINT16_MAX;
}
for (i = 0; i < _channels; ++i) {
::asprintf(&buf, "%s/ch%d", RCINPUT_DEVICE_PATH_BASE, i);
int fd = ::open(buf, O_RDONLY);
::free(buf);
_rcinput_pub = orb_advertise(ORB_ID(input_rc), &_data);
if (_rcinput_pub == nullptr) {
PX4_WARN("error: advertise failed");
return -1;
}
if (fd < 0) {
PX4_WARN("error: open %d failed", i);
break;
}
_ch_fd[i] = fd;
}
for (; i < input_rc_s::RC_INPUT_MAX_CHANNELS; ++i) {
_data.values[i] = UINT16_MAX;
}
_rcinput_pub = orb_advertise(ORB_ID(input_rc), &_data);
if (_rcinput_pub == nullptr) {
PX4_WARN("error: advertise failed");
return -1;
}
return 0;
}
@ -140,66 +144,69 @@ int RcInput::start()
if (result != 0) {
PX4_WARN("error: RC initialization failed");
return -1;
return -1;
}
_isRunning = true;
_isRunning = true;
result = work_queue(HPWORK, &_work, (worker_t)&RcInput::cycle_trampoline, this, 0);
if (result == -1) {
_isRunning = false;
}
return result;
if (result == -1) {
_isRunning = false;
}
return result;
}
void RcInput::stop()
{
_shouldExit = true;
_shouldExit = true;
}
void RcInput::cycle_trampoline(void *arg)
{
RcInput *dev = reinterpret_cast<RcInput *>(arg);
dev->_cycle();
RcInput *dev = reinterpret_cast<RcInput *>(arg);
dev->_cycle();
}
void RcInput::_cycle()
{
_measure();
_measure();
if (!_shouldExit) {
work_queue(HPWORK, &_work, (worker_t)&RcInput::cycle_trampoline, this,
USEC2TICK(RCINPUT_MEASURE_INTERVAL_US));
}
if (!_shouldExit) {
work_queue(HPWORK, &_work, (worker_t)&RcInput::cycle_trampoline, this,
USEC2TICK(RCINPUT_MEASURE_INTERVAL_US));
}
}
void RcInput::_measure(void)
{
uint64_t ts;
char buf[12];
uint64_t ts;
char buf[12];
for (int i = 0; i < _channels; ++i) {
int res;
if ((res = ::pread(_ch_fd[i], buf, sizeof(buf) - 1, 0)) < 0) {
_data.values[i] = UINT16_MAX;
continue;
}
buf[sizeof(buf) -1] = '\0';
for (int i = 0; i < _channels; ++i) {
int res;
_data.values[i] = atoi(buf);
}
if ((res = ::pread(_ch_fd[i], buf, sizeof(buf) - 1, 0)) < 0) {
_data.values[i] = UINT16_MAX;
continue;
}
ts = hrt_absolute_time();
_data.timestamp_publication = ts;
_data.timestamp_last_signal = ts;
_data.channel_count = _channels;
_data.rssi = 100;
_data.rc_lost_frame_count = 0;
_data.rc_total_frame_count = 1;
_data.rc_ppm_frame_length = 100;
_data.rc_failsafe = false;
_data.rc_lost = false;
_data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
buf[sizeof(buf) - 1] = '\0';
_data.values[i] = atoi(buf);
}
ts = hrt_absolute_time();
_data.timestamp_publication = ts;
_data.timestamp_last_signal = ts;
_data.channel_count = _channels;
_data.rssi = 100;
_data.rc_lost_frame_count = 0;
_data.rc_total_frame_count = 1;
_data.rc_ppm_frame_length = 100;
_data.rc_failsafe = false;
_data.rc_lost = false;
_data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
orb_publish(ORB_ID(input_rc), _rcinput_pub, &_data);
}
@ -216,12 +223,12 @@ usage(const char *reason)
PX4_ERR("%s", reason);
}
PX4_INFO("usage: rcinput {start|stop|status}");
PX4_INFO("usage: navio_sysfs_rc_in {start|stop|status}");
}
static RcInput *rc_input = nullptr;
int rcinput_main(int argc, char *argv[])
int navio_sysfs_rc_in_main(int argc, char *argv[])
{
if (argc < 2) {
usage("missing command");
@ -294,4 +301,4 @@ int rcinput_main(int argc, char *argv[])
}
}; // namespace rcinput
}; // namespace navio_sysfs_rc_in

2
src/lib/version/version.h
View File

@ -59,7 +59,7 @@ __END_DECLS
# define HW_ARCH "LINUXTEST"
#elif defined(CONFIG_ARCH_BOARD_EXCELSIOR)
# define HW_ARCH "LINUXTEST"
#elif defined(CONFIG_ARCH_BOARD_RPI2)
#elif defined(CONFIG_ARCH_BOARD_RPI2) || defined(CONFIG_ARCH_BOARD_NAVIO2)
# define HW_ARCH "LINUXTEST"
#elif defined(CONFIG_ARCH_BOARD_BEBOP)
# define HW_ARCH "LINUXTEST"