boards: bluerobotics: Add navigator board support (#24018)

.vscode/cmake-variants.yaml

@@ -231,6 +231,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: bitcraze_crazyflie_default
+    bluerobotics_navigator_default:
+      short: bluerobotics_navigator
+      buildType: MinSizeRel
+      settings:
+        CONFIG: bluerobotics_navigator_default
     cuav_can-gps-v1_default:
       short: cuav_can-gps-v1_default
       buildType: MinSizeRel

Tools/docker_run.sh

@@ -5,8 +5,8 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
 		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
-		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
+	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]] || [[ $@ =~ .*navigator.* ]]; then
+		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default, bluerobotics_navigator_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64

boards/bluerobotics/navigator/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(neopixel)

boards/bluerobotics/navigator/cmake/upload.cmake

@@ -0,0 +1,53 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+if(DEFINED ENV{AUTOPILOT_HOST})
+	set(AUTOPILOT_HOST $ENV{AUTOPILOT_HOST})
+else()
+	set(AUTOPILOT_HOST "raspberrypi")
+endif()
+
+if(DEFINED ENV{AUTOPILOT_USER})
+	set(AUTOPILOT_USER $ENV{AUTOPILOT_USER})
+else()
+	set(AUTOPILOT_USER "pi")
+endif()
+
+add_custom_target(upload
+	COMMAND rsync -arh --progress
+			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/navigator/*.config ${PX4_BINARY_DIR}/etc # source
+			"${AUTOPILOT_USER}@${AUTOPILOT_HOST}:/home/${AUTOPILOT_USER}/px4" # destination
+	DEPENDS px4
+	COMMENT "uploading px4"
+	USES_TERMINAL
+)

boards/bluerobotics/navigator/default.px4board

@@ -0,0 +1,78 @@
+CONFIG_PLATFORM_POSIX=y
+CONFIG_BOARD_LINUX_TARGET=y
+CONFIG_BOARD_TESTING=y
+CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
+CONFIG_BOARD_ARCHITECTURE="cortex-a53"
+CONFIG_DRIVERS_ADC_ADS1115=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
+CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+CONFIG_PCA9685_USE_EXTERNAL_CRYSTAL=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+CONFIG_COMMON_RC=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SHUTDOWN=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_DYN_HELLO=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
+CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+CONFIG_EXAMPLES_WORK_ITEM=y

boards/bluerobotics/navigator/init/rc.board_defaults

@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# system_power not implemented
+param set CBRK_SUPPLY_CHK 894281
+
+# 1K + 4.7K
+param set BAT1_V_DIV 5.7
+
+# Always keep current config
+param set SYS_AUTOCONFIG 0

boards/bluerobotics/navigator/init/rc.board_extras

@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific extras init
+#------------------------------------------------------------------------------
+
+rc_input start -d /dev/ttyAMA1
+rc_update start

boards/bluerobotics/navigator/init/rc.board_sensors

@@ -0,0 +1,39 @@
+#!/bin/sh
+#
+# Navigator specific board sensors init
+#------------------------------------------------------------------------------
+
+if ! mmc5983ma start -s -m 0 -R 4
+then
+	echo "mmc5983ma not found."
+fi
+
+if ! ak09916 start -I -R 6
+then
+	echo "AK09916 not found."
+fi
+
+if ! icm20602 start -s -m 0 -R 14
+then
+	echo "ICM20602 not found."
+fi
+
+if ! bmp280 start -I
+then
+	echo "bmp280 not found."
+fi
+
+if ! ads1115 start -I
+then
+	echo "ads1115 not found."
+fi
+
+if ! pca9685_pwm_out start -a 0x40 -b 4
+then
+	echo "pca9685_pwm_out not found."
+fi
+
+if ! neopixel start
+then
+	echo "neopixel not found."
+fi

boards/bluerobotics/navigator/neopixel/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(arch_srgbled_dma
+	srgbled_impl.cpp
+)

boards/bluerobotics/navigator/neopixel/srgbled_impl.cpp

@@ -0,0 +1,157 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file srgbled_impl.cpp
+ *
+ * Implementation of functions to control NeoPixel LEDs on the BlueRobotics Navigator for the neopixel driver.
+ *
+ * Definitions:
+ * - BOARD_HAS_N_S_RGB_LED: Number of NeoPixel LEDs on the Navigator.
+ * - BOARD_RGB_SPI_BUS: SPI bus connected to the NeoPixel data line.
+ * - BOARD_RGB_SPI_FREQ: SPI bus frequency for the NeoPixel connection.
+ */
+
+#include <board_config.h>
+#include <drivers/drv_neopixel.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/sem.h>
+
+#if defined(BOARD_HAS_N_S_RGB_LED)
+
+#if !defined(BOARD_RGB_SPI_BUS)
+#  error  BOARD_RGB_SPI_BUS must be defined to use the NeoPixel driver implementation for the BlueRobotics Navigator
+#endif
+#if !defined(BOARD_RGB_SPI_FREQ)
+#  error  BOARD_RGB_SPI_FREQ must be defined to use the NeoPixel driver implementation for the BlueRobotics Navigator
+#endif
+
+#define LED_T0 0b11000000
+#define LED_T1 0b11110000
+
+class NavigatorLED : public device::SPI
+{
+public:
+	NavigatorLED();
+	~NavigatorLED() override = default;
+
+	int init();
+	int write(uint8_t red, uint8_t green, uint8_t blue);
+	int deinit();
+
+protected:
+	void _setup_data(uint8_t red, uint8_t green, uint8_t blue);
+
+private:
+	uint8_t _data[24];
+	px4_sem_t _sem;
+};
+
+NavigatorLED::NavigatorLED() :
+	// By default we don't use the CS line and MODE must be 0 for compatibility with Raspberry Pi
+	SPI(DRV_DEVTYPE_UNUSED, "navigator-neopixel", BOARD_RGB_SPI_BUS, 0, SPIDEV_MODE0, BOARD_RGB_SPI_FREQ)
+{
+	px4_sem_init(&_sem, 0, 1);
+}
+
+int NavigatorLED::init()
+{
+	int ret = SPI::init();
+
+	if (ret != PX4_OK) {
+		PX4_ERR("Neopixel SPI init failed");
+		return ret;
+	}
+
+	return PX4_OK;
+}
+
+void NavigatorLED::_setup_data(uint8_t red, uint8_t green, uint8_t blue)
+{
+	for (uint8_t i = 0; i < 8; i++) {
+		_data[i] = (green & (1 << (7 - i))) ? LED_T1 : LED_T0;
+	}
+
+	for (uint8_t i = 0; i < 8; i++) {
+		_data[8 + i] = (red & (1 << (7 - i))) ? LED_T1 : LED_T0;
+	}
+
+	for (uint8_t i = 0; i < 8; i++) {
+		_data[16 + i] = (blue & (1 << (7 - i))) ? LED_T1 : LED_T0;
+	}
+}
+
+int NavigatorLED::write(uint8_t red, uint8_t green, uint8_t blue)
+{
+	_setup_data(red, green, blue);
+
+	px4_sem_wait(&_sem);
+
+	int ret = transfer(_data, nullptr, sizeof(_data));
+
+	px4_sem_post(&_sem);
+
+	if (ret != PX4_OK) {
+		PX4_ERR("Failed to write data to NeoPixel %d", ret);
+	}
+
+	return ret;
+}
+
+int NavigatorLED::deinit()
+{
+	PX4_INFO("Neopixel deinitialized");
+	return PX4_OK;
+}
+
+// Neopixel driver impl
+
+NavigatorLED navigator_led;
+
+int neopixel_init(neopixel::NeoLEDData *led_data, int number_of_packages)
+{
+	return navigator_led.init();
+}
+
+int neopixel_write(neopixel::NeoLEDData *led_data, int number_of_packages)
+{
+	return navigator_led.write(led_data->R(), led_data->G(), led_data->B());
+}
+
+int neopixel_deinit()
+{
+	return navigator_led.deinit();
+}
+#endif // defined(BOARD_HAS_N_S_RGB_LED)

boards/bluerobotics/navigator/src/CMakeLists.txt

@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(drivers_board
+	i2c.cpp
+	spi.cpp
+)

boards/bluerobotics/navigator/src/board_config.h

@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * BlueRobotics Navigator board configuration.
+ */
+
+#pragma once
+
+#define BOARD_OVERRIDE_UUID "BRNAVID000000000" // must be of length 16
+#define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_RPI
+
+#define BOARD_MAX_LEDS 1
+
+// Neopixel config
+#define BOARD_HAS_N_S_RGB_LED 1
+#define BOARD_RGB_SPI_BUS 0
+#define BOARD_RGB_SPI_FREQ 8 * 1000 * 1000 // Emulated 800Kbps since we use 1 byte as 1 bit
+
+// I2C
+#define CONFIG_I2C 1
+#define PX4_NUMBER_I2C_BUSES    3
+
+// SPI
+#define CONFIG_SPI 1
+
+#define ADC_BATTERY_VOLTAGE_CHANNEL  3
+#define ADC_BATTERY_CURRENT_CHANNEL  2
+#define ADC_5V_RAIL_SENSE            0
+
+#define ADC_DP_V_DIV 1.0f
+
+#include <system_config.h>
+#include <px4_platform_common/board_common.h>

boards/bluerobotics/navigator/src/i2c.cpp

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+	initI2CBusInternal(4),
+	initI2CBusExternal(6),
+};

boards/bluerobotics/navigator/src/spi.cpp

@@ -0,0 +1,45 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(1, {
+		initSPIDevice(DRV_MAG_DEVTYPE_MMC5983MA, 1),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, 2),
+	}),
+	initSPIBus(0, {
+		initSPIDevice(DRV_DEVTYPE_UNUSED, 0),
+	}),
+};

posix-configs/rpi/navigator/sub.config

@@ -0,0 +1,49 @@
+#!/bin/sh
+. px4-alias.sh
+
+param select parameters.bson
+param import
+
+. ./etc/init.d/rc.board_defaults
+
+# Submarine
+set VEHICLE_TYPE uuv
+param set MAV_TYPE 12
+param set SYS_AUTOSTART 60002
+
+# Disable GPS check and use barometer as reference
+param set EKF2_GPS_CTRL 0
+param set EKF2_GPS_CHECK 0
+
+param set EKF2_BARO_CTRL 1
+param set EKF2_HGT_REF 0
+
+param set EKF2_RNG_CTRL 0
+param set EKF2_OF_CTRL 0
+param set EKF2_EV_CTRL 0
+
+dataman start
+load_mon start
+battery_status start
+
+. ./etc/init.d/rc.board_sensors
+
+. ./etc/init.d/rc.board_extras
+
+# Sensoring and core modules
+sensors start
+commander start
+navigator start
+ekf2 start
+flight_mode_manager start
+control_allocator start
+
+# Sub specific modules
+land_detector start rover
+uuv_att_control start
+uuv_pos_control start
+
+mavlink start -x -u 14556 -r 1000000 -p
+logger start -t -b 200
+
+mavlink boot_complete