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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 16:43:34 +08:00
initial minimal PX4_ROS2 platform and px4_ros2_default build (#20689)
- new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2 - PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2 - currently doesn't do much other than allow you to build px4 msgs interface package
This commit is contained in:
Daniel Agar
@@ -39,7 +39,7 @@ add_dependencies(drivers_bootloaders prebuild_targets)
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include_directories(include)
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target_include_directories(drivers_bootloaders INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
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target_link_libraries(drivers_bootloaders PRIVATE systemlib)
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target_link_libraries(drivers_bootloaders PRIVATE crc)
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# generate bootloader_app_shared_t
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if(NOT "${PX4_BOARD_LABEL}" MATCHES "canbootloader")
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@@ -45,7 +45,7 @@
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#include "boot_alt_app_shared.h"
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#include <lib/systemlib/crc.h>
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#include <lib/crc/crc.h>
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/****************************************************************************
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* Name: bootloader_alt_app_shared_read
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@@ -46,7 +46,7 @@
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#include "arm_internal.h"
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#include "boot_app_shared.h"
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#include <lib/systemlib/crc.h>
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#include <lib/crc/crc.h>
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#define BOOTLOADER_COMMON_APP_SIGNATURE 0xB0A04150u
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#define BOOTLOADER_COMMON_BOOTLOADER_SIGNATURE 0xB0A0424Cu
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@@ -55,7 +55,6 @@
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#include <perf/perf_counter.h>
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#include <systemlib/err.h>
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#include <systemlib/conversions.h>
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#include <nuttx/arch.h>
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#include <nuttx/clock.h>
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+42
-41
@@ -31,44 +31,45 @@
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#
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############################################################################
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add_subdirectory(adsb)
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add_subdirectory(airspeed)
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add_subdirectory(avoidance)
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add_subdirectory(battery)
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add_subdirectory(bezier)
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add_subdirectory(button)
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add_subdirectory(cdev)
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add_subdirectory(circuit_breaker)
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add_subdirectory(collision_prevention)
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add_subdirectory(component_information)
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add_subdirectory(controllib)
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add_subdirectory(conversion)
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add_subdirectory(crypto)
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add_subdirectory(drivers)
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add_subdirectory(field_sensor_bias_estimator)
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add_subdirectory(geo)
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add_subdirectory(hysteresis)
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add_subdirectory(l1)
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add_subdirectory(led)
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add_subdirectory(matrix)
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add_subdirectory(mathlib)
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add_subdirectory(mixer_module)
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add_subdirectory(motion_planning)
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add_subdirectory(npfg)
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add_subdirectory(perf)
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add_subdirectory(pid)
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add_subdirectory(pid_design)
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add_subdirectory(rate_control)
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add_subdirectory(rc)
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add_subdirectory(sensor_calibration)
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add_subdirectory(slew_rate)
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add_subdirectory(systemlib)
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add_subdirectory(system_identification)
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add_subdirectory(tecs)
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add_subdirectory(terrain_estimation)
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add_subdirectory(timesync)
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add_subdirectory(tunes)
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add_subdirectory(version)
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add_subdirectory(weather_vane)
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add_subdirectory(wind_estimator)
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add_subdirectory(world_magnetic_model)
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add_subdirectory(adsb EXCLUDE_FROM_ALL)
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add_subdirectory(airspeed EXCLUDE_FROM_ALL)
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add_subdirectory(avoidance EXCLUDE_FROM_ALL)
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add_subdirectory(battery EXCLUDE_FROM_ALL)
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add_subdirectory(bezier EXCLUDE_FROM_ALL)
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add_subdirectory(button EXCLUDE_FROM_ALL)
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add_subdirectory(cdev EXCLUDE_FROM_ALL)
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add_subdirectory(circuit_breaker EXCLUDE_FROM_ALL)
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add_subdirectory(collision_prevention EXCLUDE_FROM_ALL)
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add_subdirectory(component_information EXCLUDE_FROM_ALL)
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add_subdirectory(controllib EXCLUDE_FROM_ALL)
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add_subdirectory(conversion EXCLUDE_FROM_ALL)
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add_subdirectory(crc EXCLUDE_FROM_ALL)
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add_subdirectory(crypto EXCLUDE_FROM_ALL)
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add_subdirectory(drivers EXCLUDE_FROM_ALL)
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add_subdirectory(field_sensor_bias_estimator EXCLUDE_FROM_ALL)
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add_subdirectory(geo EXCLUDE_FROM_ALL)
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add_subdirectory(hysteresis EXCLUDE_FROM_ALL)
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add_subdirectory(l1 EXCLUDE_FROM_ALL)
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add_subdirectory(led EXCLUDE_FROM_ALL)
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add_subdirectory(matrix EXCLUDE_FROM_ALL)
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add_subdirectory(mathlib EXCLUDE_FROM_ALL)
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add_subdirectory(mixer_module EXCLUDE_FROM_ALL)
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add_subdirectory(motion_planning EXCLUDE_FROM_ALL)
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add_subdirectory(npfg EXCLUDE_FROM_ALL)
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add_subdirectory(perf EXCLUDE_FROM_ALL)
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add_subdirectory(pid EXCLUDE_FROM_ALL)
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add_subdirectory(pid_design EXCLUDE_FROM_ALL)
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add_subdirectory(rate_control EXCLUDE_FROM_ALL)
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add_subdirectory(rc EXCLUDE_FROM_ALL)
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add_subdirectory(sensor_calibration EXCLUDE_FROM_ALL)
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add_subdirectory(slew_rate EXCLUDE_FROM_ALL)
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add_subdirectory(systemlib EXCLUDE_FROM_ALL)
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add_subdirectory(system_identification EXCLUDE_FROM_ALL)
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add_subdirectory(tecs EXCLUDE_FROM_ALL)
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add_subdirectory(terrain_estimation EXCLUDE_FROM_ALL)
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add_subdirectory(timesync EXCLUDE_FROM_ALL)
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add_subdirectory(tunes EXCLUDE_FROM_ALL)
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add_subdirectory(version EXCLUDE_FROM_ALL)
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add_subdirectory(weather_vane EXCLUDE_FROM_ALL)
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add_subdirectory(wind_estimator EXCLUDE_FROM_ALL)
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add_subdirectory(world_magnetic_model EXCLUDE_FROM_ALL)
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@@ -0,0 +1,39 @@
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############################################################################
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#
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# Copyright (c) 2015-2022 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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add_library(crc STATIC EXCLUDE_FROM_ALL
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crc.c
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crc.h
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)
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add_dependencies(crc prebuild_targets)
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target_compile_options(crc PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
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@@ -172,8 +172,8 @@ if(${PX4_PLATFORM} STREQUAL "nuttx")
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endif()
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# TODO: find a better way to do this
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if (NOT "${PX4_BOARD}" MATCHES "px4_io")
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add_library(parameters
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if(NOT "${PX4_BOARD}" MATCHES "px4_io")
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add_library(parameters STATIC EXCLUDE_FROM_ALL
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${SRCS}
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px4_parameters.hpp
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)
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@@ -188,7 +188,7 @@ if (NOT "${PX4_BOARD}" MATCHES "px4_io")
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-Wno-sign-compare # TODO: fix and enable
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)
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else()
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add_library(parameters ${PX4_SOURCE_DIR}/platforms/common/empty.c)
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add_library(parameters STATIC EXCLUDE_FROM_ALL ${PX4_SOURCE_DIR}/platforms/common/empty.c)
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endif()
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add_dependencies(parameters prebuild_targets)
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@@ -32,17 +32,17 @@
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############################################################################
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set(SRCS
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conversions.c
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conversions.h
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crc.c
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crc.h
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err.h
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mavlink_log.cpp
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mavlink_log.h
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px4_macros.h
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)
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if(${PX4_PLATFORM} STREQUAL "nuttx")
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list(APPEND SRCS
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otp.c
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otp.h
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ppm_decode.h
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)
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endif()
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@@ -1,57 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Lorenz Meier <lm@inf.ethz.ch>
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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 conversions.c
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* Implementation of commonly used conversions.
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*/
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#include <px4_platform_common/px4_config.h>
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#include <float.h>
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#include "conversions.h"
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int16_t
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int16_t_from_bytes(uint8_t bytes[])
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{
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union {
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uint8_t b[2];
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int16_t w;
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} u;
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u.b[1] = bytes[0];
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u.b[0] = bytes[1];
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return u.w;
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}
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@@ -1,61 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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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 conversions.h
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* Definition of commonly used conversions.
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*
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* Includes bit / byte / geo representation and unit conversions.
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*/
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#ifndef CONVERSIONS_H_
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#define CONVERSIONS_H_
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#include <float.h>
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#include <stdint.h>
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__BEGIN_DECLS
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/**
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* Converts a signed 16 bit integer from big endian to little endian.
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*
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* This function is for commonly used 16 bit big endian sensor data,
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* delivered by driver routines as two 8 bit numbers in big endian order.
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* Common vendors with big endian representation are Invense, Bosch and
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* Honeywell. ST micro devices tend to use a little endian representation.
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*/
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__EXPORT int16_t int16_t_from_bytes(uint8_t bytes[]);
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__END_DECLS
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#endif /* CONVERSIONS_H_ */
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@@ -49,9 +49,8 @@
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#include <math.h>
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#include <unistd.h>
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#include <string.h> // memset
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#include "conversions.h"
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#include "otp.h"
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#include "err.h" // warnx
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#include "err.h" // warnx
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#include <assert.h>
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