boards: rename AirPi2 to PilotPi, add arm64 support, add to CI

* rename all
* add arm64 support
* change internal ist8310 onto I2C-1

.ci/Jenkinsfile-compile

@@ -10,17 +10,24 @@ pipeline {
           def build_nodes = [:]
           def docker_images = [
             armhf: "px4io/px4-dev-armhf:2020-04-01",
+            arm64: "px4io/px4-dev-aarch64:latest",
             base: "px4io/px4-dev-base-bionic:2020-04-01",
             nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
             snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
           ]
 
           def armhf_builds = [
-            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_airpi2_default"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
             image: docker_images.armhf,
             archive: false
           ]
 
+          def arm64_builds = [
+            target: ["scumaker_pilotpi_arm64"],
+            image: docker_images.arm64,
+            archive: false
+          ]
+
           def base_builds = [
             target: ["px4_sitl_rtps"],
             image: docker_images.base,

.github/workflows/compile_linux.yml

@@ -19,6 +19,7 @@ jobs:
           beaglebone_blue_default,
           emlid_navio2_default,
           px4_raspberrypi_default,
+          scumaker_pilotpi_default,
           ]
     steps:
     - uses: actions/checkout@v1

.github/workflows/compile_linux_arm64.yml

@@ -0,0 +1,50 @@
+name: Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:latest
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s

Tools/docker_run.sh

@@ -5,9 +5,12 @@ 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:2020-09-14"
-	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*airpi2.* ]]; then
-		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_airpi2_default
+	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
+		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-04-01"
+	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
+		# scumaker_pilotpi_arm64
+		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
 	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
 		# eagle, excelsior
 		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"

boards/scumaker/pilotpi/arm64.cmake

@@ -0,0 +1,93 @@
+add_definitions(
+	-D__PX4_LINUX
+)
+
+px4_add_board(
+	VENDOR scumaker
+	MODEL pilotpi
+	LABEL arm64
+	PLATFORM posix
+	ARCHITECTURE cortex-a53
+	ROMFSROOT px4fmu_common
+	TOOLCHAIN aarch64-linux-gnu
+	TESTING
+	DRIVERS
+		adc/ads1115
+		#barometer # all available barometer drivers
+		barometer/ms5611
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		#imu # all available imu drivers
+		imu/invensense/icm42688p
+		imu/invensense/icm42605
+		#magnetometer # all available magnetometer drivers
+		magnetometer/hmc5883
+		magnetometer/isentek/ist8310
+		pca9685_pwm_out
+		pwm_out_sim
+		rc_input
+		#telemetry # all available telemetry drivers
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		temperature_compensation
+		sih
+		#simulator
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		dyn
+		esc_calib
+		led_control
+		mixer
+		motor_ramp
+		param
+		perf
+		pwm
+		sd_bench
+		shutdown
+		tests # tests and test runner
+		#top
+		topic_listener
+		tune_control
+		ver
+		work_queue
+	EXAMPLES
+		dyn_hello # dynamically loading modules example
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		#hwtest # Hardware test
+		#matlab_csv_serial
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
+	)

boards/scumaker/pilotpi/cmake/upload.cmake

@@ -37,10 +37,16 @@ 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/airpi2*.config ${PX4_BINARY_DIR}/etc # source
-			pi@\$\{AUTOPILOT_HOST\}:/home/pi/px4 # destination
+			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/pilotpi*.config ${PX4_BINARY_DIR}/etc # source
+			\$\{AUTOPILOT_USER\}@\$\{AUTOPILOT_HOST\}:/home/\$\{AUTOPILOT_USER\}/px4 # destination
 	DEPENDS px4
 	COMMENT "uploading px4"
 	USES_TERMINAL

boards/scumaker/pilotpi/default.cmake

@@ -4,7 +4,7 @@ add_definitions(
 
 px4_add_board(
 	VENDOR scumaker
-	MODEL airpi2
+	MODEL pilotpi
 	LABEL default
 	PLATFORM posix
 	ARCHITECTURE cortex-a53

platforms/posix/cmake/Toolchain-aarch64-linux-gnu.cmake

@@ -0,0 +1,42 @@
+# arm-linux-gnueabihf-gcc toolchain
+
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR arm)
+set(CMAKE_SYSTEM_VERSION 1)
+
+set(triple aarch64-linux-gnu)
+set(CMAKE_LIBRARY_ARCHITECTURE ${triple})
+set(TOOLCHAIN_PREFIX ${triple})
+
+set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
+set(CMAKE_C_COMPILER_TARGET ${triple})
+
+set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}-g++)
+set(CMAKE_CXX_COMPILER_TARGET ${triple})
+
+set(CMAKE_ASM_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
+
+# compiler tools
+find_program(CMAKE_AR ${TOOLCHAIN_PREFIX}-gcc-ar)
+find_program(CMAKE_GDB ${TOOLCHAIN_PREFIX}-gdb)
+find_program(CMAKE_LD ${TOOLCHAIN_PREFIX}-ld)
+find_program(CMAKE_LINKER ${TOOLCHAIN_PREFIX}-ld)
+find_program(CMAKE_NM ${TOOLCHAIN_PREFIX}-gcc-nm)
+find_program(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}-objcopy)
+find_program(CMAKE_OBJDUMP ${TOOLCHAIN_PREFIX}-objdump)
+find_program(CMAKE_RANLIB ${TOOLCHAIN_PREFIX}-gcc-ranlib)
+find_program(CMAKE_STRIP ${TOOLCHAIN_PREFIX}-strip)
+
+set(CMAKE_FIND_ROOT_PATH get_file_component(${CMAKE_C_COMPILER} PATH))
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+# os tools
+foreach(tool grep make)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${tool}")
+	endif()
+endforeach()

posix-configs/rpi/pilotpi_mc.config

@@ -26,7 +26,7 @@ then
 	# some boards has ICM42605 inside
 	icm42605 start -s -R 4
 fi
-ist8310 start -X -a 15 -R 4
+ist8310 start -I -a 15 -R 4
 ms5611 start -I
 
 # ADC