From fa614a3cc1534c9c5f46de9d2f118ea9b4f4e8e4 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 14 Jul 2016 17:34:41 +0200
Subject: [PATCH] RPi: just use RPI instead of RPI2.

The reason for this change is that RPi2 and RPi3 are compatible, and
hopefully all differences coming up can be resolved without ifdefs but
at runtime.
---
 Makefile                                      |  4 +--
 ...i2_common.cmake => posix_rpi_common.cmake} |  6 ++---
 ...rpi2_cross.cmake => posix_rpi_cross.cmake} |  2 +-
 ...i2_native.cmake => posix_rpi_native.cmake} |  2 +-
 ...olchain-arm-linux-gnueabihf-raspbian.cmake |  2 +-
 posix-configs/rpi2/mainapp.config             | 27 -------------------
 src/firmware/posix/CMakeLists.txt             |  4 +--
 src/lib/DriverFramework                       |  2 +-
 src/lib/version/version.h                     |  2 +-
 .../commander/accelerometer_calibration.cpp   |  8 +++---
 src/modules/commander/gyro_calibration.cpp    |  6 ++---
 src/modules/commander/mag_calibration.cpp     | 12 ++++-----
 src/modules/sensors/sensors.cpp               | 10 +++----
 src/modules/sensors/sensors_init.cpp          |  2 +-
 14 files changed, 31 insertions(+), 58 deletions(-)
 rename cmake/configs/{posix_rpi2_common.cmake => posix_rpi_common.cmake} (94%)
 rename cmake/configs/{posix_rpi2_cross.cmake => posix_rpi_cross.cmake} (86%)
 rename cmake/configs/{posix_rpi2_native.cmake => posix_rpi_native.cmake} (71%)
 delete mode 100644 posix-configs/rpi2/mainapp.config

diff --git a/Makefile b/Makefile
index 4d7529b61c..5435ef7c70 100644
--- a/Makefile
+++ b/Makefile
@@ -212,10 +212,10 @@ posix_excelsior_default:
 
 excelsior_default: posix_excelsior_default qurt_excelsior_default
 
-posix_rpi2_native:
+posix_rpi_native:
 	$(call cmake-build,$@)
 
-posix_rpi2_cross:
+posix_rpi_cross:
 	$(call cmake-build,$@)
 
 posix_bebop_default:
diff --git a/cmake/configs/posix_rpi2_common.cmake b/cmake/configs/posix_rpi_common.cmake
similarity index 94%
rename from cmake/configs/posix_rpi2_common.cmake
rename to cmake/configs/posix_rpi_common.cmake
index b6437879a8..a22565640b 100644
--- a/cmake/configs/posix_rpi2_common.cmake
+++ b/cmake/configs/posix_rpi_common.cmake
@@ -1,12 +1,12 @@
-# This file is shared between posix_rpi2_native.cmake
-# and posix_rpi2_cross.cmake.
+# This file is shared between posix_rpi_native.cmake
+# and posix_rpi_cross.cmake.
 
 include(posix/px4_impl_posix)
 
 # 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__PX4_POSIX_RPI
 	-D__LINUX
 )
 
diff --git a/cmake/configs/posix_rpi2_cross.cmake b/cmake/configs/posix_rpi_cross.cmake
similarity index 86%
rename from cmake/configs/posix_rpi2_cross.cmake
rename to cmake/configs/posix_rpi_cross.cmake
index d17ef5cec3..46243fc361 100644
--- a/cmake/configs/posix_rpi2_cross.cmake
+++ b/cmake/configs/posix_rpi_cross.cmake
@@ -1,4 +1,4 @@
-include(configs/posix_rpi2_common)
+include(configs/posix_rpi_common)
 
 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
 
diff --git a/cmake/configs/posix_rpi2_native.cmake b/cmake/configs/posix_rpi_native.cmake
similarity index 71%
rename from cmake/configs/posix_rpi2_native.cmake
rename to cmake/configs/posix_rpi_native.cmake
index 9b0f45c718..e58f370282 100644
--- a/cmake/configs/posix_rpi2_native.cmake
+++ b/cmake/configs/posix_rpi_native.cmake
@@ -1,3 +1,3 @@
-include(configs/posix_rpi2_common)
+include(configs/posix_rpi_common)
 
 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
diff --git a/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake b/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake
index 0a9d2b4f3b..4806222740 100644
--- a/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake
+++ b/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake
@@ -71,7 +71,7 @@ foreach(tool echo grep rm mkdir nm cp touch make unzip)
 endforeach()
 
 add_definitions(
-	-D __RPI2
+	-D __RPI
 	)
 
 set(LINKER_FLAGS "-Wl,-gc-sections")
diff --git a/posix-configs/rpi2/mainapp.config b/posix-configs/rpi2/mainapp.config
deleted file mode 100644
index 003fb52c44..0000000000
--- a/posix-configs/rpi2/mainapp.config
+++ /dev/null
@@ -1,27 +0,0 @@
-uorb start
-param set SYS_AUTOSTART 4001
-param set MAV_BROADCAST 1
-sleep 1
-param set MAV_TYPE 2
-df_lsm9ds1_wrapper start -R 4
-#df_mpu9250_wrapper start -R 10
-#df_hmc5883_wrapper start
-df_ms5611_wrapper start
-gps start -d /dev/pts/0
-sensors start
-commander start
-attitude_estimator_q start
-position_estimator_inav start
-land_detector start multicopter
-mc_pos_control start
-mc_att_control start
-mavlink start -u 14556 -r 1000000
-sleep 1
-mavlink stream -u 14556 -s HIGHRES_IMU -r 50
-mavlink stream -u 14556 -s ATTITUDE -r 50
-mavlink start -d /dev/ttyUSB0
-mavlink stream -d /dev/ttyUSB0 -s HIGHRES_IMU -r 50
-mavlink stream -d /dev/ttyUSB0 -s ATTITUDE -r 50
-navio_sysfs_rc_in start
-navio_sysfs_pwm_out start
-mavlink boot_complete
\ No newline at end of file
diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index 74d4025a7a..ff348c9b45 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -37,7 +37,7 @@ if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
 			 DEPENDS mainapp
 			 DEST /home/linaro)
 
-elseif ("${BOARD}" STREQUAL "rpi2")
+elseif ("${BOARD}" STREQUAL "rpi")
 
 	add_executable(mainapp
 		${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
@@ -57,7 +57,7 @@ elseif ("${BOARD}" STREQUAL "rpi2")
 			 OS ${OS}
 			 BOARD ${BOARD}
 			 FILES ${CMAKE_CURRENT_BINARY_DIR}/mainapp
-				 ${CMAKE_SOURCE_DIR}/posix-configs/rpi2/mainapp.config
+				 ${CMAKE_SOURCE_DIR}/posix-configs/rpi/mainapp.config
 			 DEPENDS mainapp
 			 DEST /home/pi)
 
diff --git a/src/lib/DriverFramework b/src/lib/DriverFramework
index dab303d799..458b726027 160000
--- a/src/lib/DriverFramework
+++ b/src/lib/DriverFramework
@@ -1 +1 @@
-Subproject commit dab303d7992c9a3bbc39509b13eddf2b65d382b8
+Subproject commit 458b726027ec9d67099e744dd8e0af7208ea64a5
diff --git a/src/lib/version/version.h b/src/lib/version/version.h
index a78be4fda7..b524cb2878 100644
--- a/src/lib/version/version.h
+++ b/src/lib/version/version.h
@@ -59,7 +59,7 @@ __END_DECLS
 #  define	HW_ARCH "EAGLE"
 #elif defined(CONFIG_ARCH_BOARD_EXCELSIOR)
 #  define HW_ARCH "EXCELSIOR"
-#elif defined(CONFIG_ARCH_BOARD_RPI2) || defined(CONFIG_ARCH_BOARD_NAVIO2)
+#elif defined(CONFIG_ARCH_BOARD_RPI) || defined(CONFIG_ARCH_BOARD_NAVIO2)
 #  define	HW_ARCH "RPI"
 #elif defined(CONFIG_ARCH_BOARD_BEBOP)
 #  define	HW_ARCH "BEBOP"
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index bdb18eaab9..7b3cae8d3f 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -175,7 +175,7 @@ typedef struct  {
 
 int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI2)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI)
 	int fd;
 #endif
 
@@ -195,7 +195,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 
 	/* reset all sensors */
 	for (unsigned s = 0; s < max_accel_sens; s++) {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI2)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI)
 		sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s);
 		/* reset all offsets to zero and all scales to one */
 		fd = px4_open(str, 0);
@@ -329,7 +329,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 			return ERROR;
 		}
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI2)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI)
 		sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, i);
 		fd = px4_open(str, 0);
 
@@ -419,7 +419,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
 			break;
 		}
 
-#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_RPI2)
+#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_RPI)
 		// For QURT respectively the driver framework, we need to get the device ID by copying one report.
 		struct accel_report	accel_report;
 		orb_copy(ORB_ID(sensor_accel), worker_data.subs[i], &accel_report);
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index 9a48866ab5..945935e38d 100644
--- a/src/modules/commander/gyro_calibration.cpp
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -185,7 +185,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 
 		// Reset all offsets to 0 and scales to 1
 		(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale_zero));
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI2)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI)
 		sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
 		int fd = px4_open(str, 0);
 		if (fd >= 0) {
@@ -238,7 +238,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 	for (unsigned s = 0; s < gyro_count; s++) {
 
 		worker_data.gyro_sensor_sub[s] = orb_subscribe_multi(ORB_ID(sensor_gyro), s);
-#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_RPI2)
+#if defined(__PX4_QURT) || defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_RPI)
 		// For QURT respectively the driver framework, we need to get the device ID by copying one report.
 		struct gyro_report gyro_report;
 		orb_copy(ORB_ID(sensor_gyro), worker_data.gyro_sensor_sub[s], &gyro_report);
@@ -336,7 +336,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 				(void)sprintf(str, "CAL_GYRO%u_ID", s);
 				failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.device_id[s])));
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI2)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI)
 				/* apply new scaling and offsets */
 				(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
 				int fd = px4_open(str, 0);
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
index 4d02260b40..10f1c5510d 100644
--- a/src/modules/commander/mag_calibration.cpp
+++ b/src/modules/commander/mag_calibration.cpp
@@ -124,7 +124,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
 	_last_mag_progress = 0;
 
 	for (unsigned cur_mag = 0; cur_mag < max_mags; cur_mag++) {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
 		// Reset mag id to mag not available
 		(void)sprintf(str, "CAL_MAG%u_ID", cur_mag);
 		result = param_set_no_notification(param_find(str), &(device_ids[cur_mag]));
@@ -166,7 +166,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
 #endif
 
 /* for calibration, commander will run on apps, so orb messages are used to get info from dsp */
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
 		// Attempt to open mag
 		(void)sprintf(str, "%s%u", MAG_BASE_DEVICE_PATH, cur_mag);
 		int fd = px4_open(str, O_RDONLY);
@@ -508,7 +508,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
 			// Mag in this slot is available
 			worker_data.sub_mag[cur_mag] = orb_subscribe_multi(ORB_ID(sensor_mag), cur_mag);
 
-#if defined(__PX4_QURT) || defined(__PX4_POSIX_RPI2)
+#if defined(__PX4_QURT) || defined(__PX4_POSIX_RPI)
 			// For QURT respectively the driver framework, we need to get the device ID by copying one report.
 			struct mag_report	mag_report;
 			orb_copy(ORB_ID(sensor_mag), worker_data.sub_mag[cur_mag], &mag_report);
@@ -664,7 +664,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
 		for (unsigned cur_mag=0; cur_mag<max_mags; cur_mag++) {
 			if (device_ids[cur_mag] != 0) {
 				struct mag_calibration_s mscale;
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
 				int fd_mag = -1;
 
 				// Set new scale
@@ -688,7 +688,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
 					mscale.y_offset = sphere_y[cur_mag];
 					mscale.z_offset = sphere_z[cur_mag];
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
 					if (px4_ioctl(fd_mag, MAGIOCSSCALE, (long unsigned int)&mscale) != OK) {
 						calibration_log_critical(mavlink_log_pub, CAL_ERROR_APPLY_CAL_MSG, cur_mag);
 						result = calibrate_return_error;
@@ -696,7 +696,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
 #endif
 				}
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
 				// Mag device no longer needed
 				if (fd_mag >= 0) {
 					px4_close(fd_mag);
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 1d69e03cfd..b9dc1ca382 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1017,7 +1017,7 @@ Sensors::parameters_update()
 	DevHandle h_baro;
 	DevMgr::getHandle(BARO0_DEVICE_PATH, h_baro);
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
 
 	// TODO: this needs fixing for QURT and Raspberry Pi
 	if (!h_baro.isValid()) {
@@ -1671,7 +1671,7 @@ Sensors::parameter_update_poll(bool forced)
 bool
 Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id)
 {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
 
 	/* On most systems, we can just use the IOCTL call to set the calibration params. */
 	return !h.ioctl(GYROIOCSSCALE, (long unsigned int)gcal);
@@ -1685,7 +1685,7 @@ Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *g
 bool
 Sensors::apply_accel_calibration(DevHandle &h, const struct accel_calibration_s *acal, const int device_id)
 {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
 
 	/* On most systems, we can just use the IOCTL call to set the calibration params. */
 	return !h.ioctl(ACCELIOCSSCALE, (long unsigned int)acal);
@@ -1699,7 +1699,7 @@ Sensors::apply_accel_calibration(DevHandle &h, const struct accel_calibration_s
 bool
 Sensors::apply_mag_calibration(DevHandle &h, const struct mag_calibration_s *mcal, const int device_id)
 {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
 
 	/* On most systems, we can just use the IOCTL call to set the calibration params. */
 	return !h.ioctl(MAGIOCSSCALE, (long unsigned int)mcal);
@@ -2253,7 +2253,7 @@ Sensors::task_main()
 	/* This calls a sensors_init which can have different implementations on NuttX, POSIX, QURT. */
 	ret = sensors_init();
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI2)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
 	// TODO: move adc_init into the sensors_init call.
 	ret = ret || adc_init();
 #endif
diff --git a/src/modules/sensors/sensors_init.cpp b/src/modules/sensors/sensors_init.cpp
index 93742333bd..561ee06e27 100644
--- a/src/modules/sensors/sensors_init.cpp
+++ b/src/modules/sensors/sensors_init.cpp
@@ -52,7 +52,7 @@
 
 using namespace DriverFramework;
 
-#if defined(__PX4_QURT) || defined(__PX4_POSIX_RPI2)
+#if defined(__PX4_QURT) || defined(__PX4_POSIX_RPI)
 
 // Sensor initialization is performed automatically when the QuRT sensor drivers
 // are loaded.
-- 
GitLab