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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Port PX4 to BeagleBone Blue Board using library librobotcontrol instead of a submodule
This commit is contained in:
Bob-F
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############################################################################
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#
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# Copyright (c) 2018 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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if ("${BOARD}" STREQUAL "bbblue")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-error")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error")
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px4_add_library(drivers_board
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init.c
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)
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endif()
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@@ -0,0 +1,121 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file board_config.h
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*
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* BBBLUE internal definitions
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*/
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#pragma once
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#ifndef BOARD_CONFIG_H
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#define BOARD_CONFIG_H
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#define BOARD_OVERRIDE_UUID "BBBLUEID " // must be of length 12 (PX4_CPU_UUID_BYTE_LENGTH)
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#define BOARD_OVERRIDE_MFGUID BOARD_OVERRIDE_UUID
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#define BOARD_NAME "BBBLUE"
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#define BOARD_BATTERY1_V_DIV (11.0f)
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//#define BOARD_BATTERY1_A_PER_V (15.391030303f)
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// Battery ADC channels
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#define ADC_BATTERY_VOLTAGE_CHANNEL 5
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#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
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#define ADC_AIRSPEED_VOLTAGE_CHANNEL ((uint8_t)(-1))
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#define BOARD_HAS_NO_BOOTLOADER
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#define BOARD_MAX_LEDS 4 // Number external of LED's this board has
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/*
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* I2C busses
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*/
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#define PX4_I2C_BUS_EXPANSION 1
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#define PX4_NUMBER_I2C_BUSES 1
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#include <system_config.h>
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#include "../common/board_common.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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int rc_init(void);
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void rc_cleaning(void);
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#ifdef __cplusplus
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}
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#endif
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#ifdef __RC_V0_3
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#define rc_i2c_lock_bus rc_i2c_claim_bus
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#define rc_i2c_unlock_bus rc_i2c_release_bus
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#define rc_i2c_get_lock rc_i2c_get_in_use_state
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#define rc_bmp_init rc_initialize_barometer
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#define rc_adc_read_raw rc_adc_raw
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#define rc_servo_send_pulse_us rc_send_servo_pulse_us
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#define rc_filter_empty rc_empty_filter
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#define rc_filter_march rc_march_filter
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#define rc_filter_prefill_inputs rc_prefill_filter_inputs
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#define rc_filter_prefill_outputs rc_prefill_filter_outputs
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#define rc_filter_butterworth_lowpass rc_butterworth_lowpass
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/**
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* struct to hold the data retreived during one read of the barometer.
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*/
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typedef struct rc_bmp_data_t{
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float temp_c; ///< temperature in degrees celcius
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float alt_m; ///< altitude in meters
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float pressure_pa; ///< current pressure in pascals
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} rc_bmp_data_t;
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#ifdef __cplusplus
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extern "C" {
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#endif
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int rc_bmp_read(rc_bmp_data_t* data);
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#ifdef __cplusplus
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}
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#endif
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#endif
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#endif // BOARD_CONFIG_H
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@@ -0,0 +1,154 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file init.c
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*
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* BBBLUE specific initialization
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*/
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#include <stddef.h>
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#include <px4_log.h>
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#include <robotcontrol.h>
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#include "board_config.h"
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// initialize roboticscape library similar to the deprecated rc_initialize()
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int rc_init(void)
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{
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#ifdef __RC_V0_3
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return rc_initialize();
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#else
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#ifdef __DF_BBBLUE
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if (rc_get_state() == RUNNING) { return 0; }
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PX4_INFO("Initializing Robotics Cape library ...");
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// make sure another instance isn't running
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rc_kill_existing_process(2.0f);
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// make PID file to indicate your project is running
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rc_make_pid_file();
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// start state as Uninitialized
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rc_set_state(UNINITIALIZED);
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// initialize pinmux
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/*
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if (rc_pinmux_set_default()) {
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PX4_ERR("rc_init failed to run rc_pinmux_set_default()");
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return -1;
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}
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// rc_pinmux_set_default() includes: rc_pinmux_set(DSM_HEADER_PIN, PINMUX_UART);
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*/
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/*
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// Due to device tree issue, rc_pinmux_set_default() currently does not work correctly
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// with kernel 4.14, use a simplified version for now
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//
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// shared pins
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int ret = 0;
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ret |= rc_pinmux_set(DSM_HEADER_PIN, PINMUX_UART);
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ret |= rc_pinmux_set(GPS_HEADER_PIN_3, PINMUX_UART);
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ret |= rc_pinmux_set(GPS_HEADER_PIN_4, PINMUX_UART);
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ret |= rc_pinmux_set(UART1_HEADER_PIN_3, PINMUX_UART);
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ret |= rc_pinmux_set(UART1_HEADER_PIN_4, PINMUX_UART);
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if (ret != 0) {
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PX4_ERR("rc_init failed to set default pinmux");
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return -1;
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}
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*/
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// no direct equivalent of configure_gpio_pins()
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if (rc_adc_init()) {
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PX4_ERR("rc_init failed to run rc_adc_init()");
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return -1;
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}
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if (rc_servo_init()) { // Configures the PRU to send servo pulses
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PX4_ERR("rc_init failed to run rc_servo_init()");
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return -1;
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}
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if(rc_servo_power_rail_en(1)) { // Turning On 6V Servo Power Rail
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PX4_ERR("rc_init failed to run rc_servo_power_rail_en(1)");
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return -1;
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}
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//i2c, barometer and mpu will be initialized later
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rc_set_state(RUNNING);
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// wait to let threads start up
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rc_usleep(10000);
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#endif
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return 0;
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#endif
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}
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void rc_cleaning(void)
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{
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#ifdef __RC_V0_3
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rc_cleanup(); return ;
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#else
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#ifdef __DF_BBBLUE
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if (rc_get_state() == EXITING) { return; }
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rc_set_state(EXITING);
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rc_adc_cleanup();
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rc_servo_power_rail_en(0);
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rc_servo_cleanup();
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rc_remove_pid_file();
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#endif
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#endif
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}
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#ifdef __RC_V0_3
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int rc_bmp_read(rc_bmp_data_t* data) {
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int rtn = rc_read_barometer();
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data->temp_c = rc_bmp_get_temperature();
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data->alt_m = rc_bmp_get_altitude_m();
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data->pressure_pa = rc_bmp_get_pressure_pa();
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return rtn;
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}
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#endif
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