From 506d1855ffc9ae0e077a82d5e984c0d5f6b0c0f2 Mon Sep 17 00:00:00 2001
From: Hidenori <hidenori.kobayashi@gmail.com>
Date: Thu, 30 Jun 2016 14:54:58 -0400
Subject: [PATCH] rename files and add navio target
---
Makefile | 3 +
cmake/configs/posix_navio2_release.cmake | 114 +++++++++++
.../CMakeLists.txt | 7 +-
.../navio_sysfs_pwm_out.cpp} | 28 +--
.../navio_sysfs_rc_in}/CMakeLists.txt | 6 +-
.../navio_sysfs_rc_in/navio_sysfs_rc_in.cpp} | 187 +++++++++---------
src/lib/version/version.h | 2 +-
7 files changed, 235 insertions(+), 112 deletions(-)
create mode 100644 cmake/configs/posix_navio2_release.cmake
rename src/drivers/{pwm_out => navio_sysfs_pwm_out}/CMakeLists.txt (95%)
rename src/drivers/{pwm_out/pwm_out.cpp => navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp} (93%)
rename src/{modules/rcinput => drivers/navio_sysfs_rc_in}/CMakeLists.txt (95%)
rename src/{modules/rcinput/rcinput.cpp => drivers/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp} (62%)
diff --git a/Makefile b/Makefile
index 61ba857dbd..e97f0c43ce 100644
--- a/Makefile
+++ b/Makefile
@@ -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
diff --git a/cmake/configs/posix_navio2_release.cmake b/cmake/configs/posix_navio2_release.cmake
new file mode 100644
index 0000000000..402b74dba8
--- /dev/null
+++ b/cmake/configs/posix_navio2_release.cmake
@@ -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
+)
diff --git a/src/drivers/pwm_out/CMakeLists.txt b/src/drivers/navio_sysfs_pwm_out/CMakeLists.txt
similarity index 95%
rename from src/drivers/pwm_out/CMakeLists.txt
rename to src/drivers/navio_sysfs_pwm_out/CMakeLists.txt
index ff6158c0cd..36841dbe6d 100644
--- a/src/drivers/pwm_out/CMakeLists.txt
+++ b/src/drivers/navio_sysfs_pwm_out/CMakeLists.txt
@@ -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
)
diff --git a/src/drivers/pwm_out/pwm_out.cpp b/src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp
similarity index 93%
rename from src/drivers/pwm_out/pwm_out.cpp
rename to src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp
index 12c4e7644b..2f794ceffe 100644
--- a/src/drivers/pwm_out/pwm_out.cpp
+++ b/src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp
@@ -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;
}
diff --git a/src/modules/rcinput/CMakeLists.txt b/src/drivers/navio_sysfs_rc_in/CMakeLists.txt
similarity index 95%
rename from src/modules/rcinput/CMakeLists.txt
rename to src/drivers/navio_sysfs_rc_in/CMakeLists.txt
index 5008242d19..03910a27ff 100644
--- a/src/modules/rcinput/CMakeLists.txt
+++ b/src/drivers/navio_sysfs_rc_in/CMakeLists.txt
@@ -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
)
diff --git a/src/modules/rcinput/rcinput.cpp b/src/drivers/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp
similarity index 62%
rename from src/modules/rcinput/rcinput.cpp
rename to src/drivers/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp
index 22a835ee0f..598f354ba4 100644
--- a/src/modules/rcinput/rcinput.cpp
+++ b/src/drivers/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp
@@ -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;
-
- 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;
- }
-
- _rcinput_pub = orb_advertise(ORB_ID(input_rc), &_data);
- if (_rcinput_pub == nullptr) {
- PX4_WARN("error: advertise failed");
- return -1;
- }
+ 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;
+ }
+
+ _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];
-
- 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';
-
- _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;
+ 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';
+
+ _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
diff --git a/src/lib/version/version.h b/src/lib/version/version.h
index 4a529f2751..ad3fc85cc7 100644
--- a/src/lib/version/version.h
+++ b/src/lib/version/version.h
@@ -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"
--
GitLab