beaglebone blue: build librobotcontrol with cmake

2026-10-17 13:13:33 +08:00 · 2019-12-29 17:32:06 -05:00
parent b3889e6187
commit cc7a0cd69d
14 changed files with 92 additions and 50 deletions
@@ -0,0 +1,154 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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 init.c
+ *
+ * BBBLUE specific initialization
+ */
+#include <stddef.h>
+#include <px4_platform_common/log.h>
+
+#include <robotcontrol.h>
+
+#include "board_config.h"
+
+// initialize roboticscape library similar to the deprecated rc_initialize()
+int rc_init(void)
+{
+#ifdef __RC_V0_3
+	return rc_initialize();
+#else
+#ifdef __DF_BBBLUE
+
+	if (rc_get_state() == RUNNING) {  return 0; }
+
+	PX4_INFO("Initializing librobotcontrol ...");
+
+	// make sure another instance isn't running
+	rc_kill_existing_process(2.0f);
+
+	// make PID file to indicate your project is running
+	rc_make_pid_file();
+
+	// start state as Uninitialized
+	rc_set_state(UNINITIALIZED);
+
+	// initialize pinmux
+	/*
+	if (rc_pinmux_set_default()) {
+		PX4_ERR("rc_init failed to run rc_pinmux_set_default()");
+		return -1;
+	}
+	// rc_pinmux_set_default() includes: rc_pinmux_set(DSM_HEADER_PIN, PINMUX_UART);
+	 */
+
+	/*
+	// Due to device tree issue, rc_pinmux_set_default() currently does not work correctly
+	// with kernel 4.14, use a simplified version for now
+	//
+	// shared pins
+	int ret = 0;
+	ret |= rc_pinmux_set(DSM_HEADER_PIN, PINMUX_UART);
+	ret |= rc_pinmux_set(GPS_HEADER_PIN_3, PINMUX_UART);
+	ret |= rc_pinmux_set(GPS_HEADER_PIN_4, PINMUX_UART);
+	ret |= rc_pinmux_set(UART1_HEADER_PIN_3, PINMUX_UART);
+	ret |= rc_pinmux_set(UART1_HEADER_PIN_4, PINMUX_UART);
+
+	if (ret != 0) {
+		PX4_ERR("rc_init failed to set default pinmux");
+		return -1;
+	}
+	*/
+
+	// no direct equivalent of configure_gpio_pins()
+
+	if (rc_adc_init()) {
+		PX4_ERR("rc_init failed to run rc_adc_init()");
+		return -1;
+	}
+
+	if (rc_servo_init()) {  // Configures the PRU to send servo pulses
+		PX4_ERR("rc_init failed to run rc_servo_init()");
+		return -1;
+	}
+
+	if (rc_servo_power_rail_en(1)) { // Turning On 6V Servo Power Rail
+		PX4_ERR("rc_init failed to run rc_servo_power_rail_en(1)");
+		return -1;
+	}
+
+	//i2c, barometer and mpu will be initialized later
+
+	rc_set_state(RUNNING);
+#endif
+
+	return 0;
+#endif
+}
+
+
+void rc_cleaning(void)
+{
+#ifdef __RC_V0_3
+	rc_cleanup();  return ;
+#else
+#ifdef __DF_BBBLUE
+
+	if (rc_get_state() == EXITING) { return; }
+
+	rc_set_state(EXITING);
+
+	rc_adc_cleanup();
+
+	rc_servo_power_rail_en(0);
+	rc_servo_cleanup();
+
+	rc_remove_pid_file();
+#endif
+#endif
+}
+
+
+#ifdef __RC_V0_3
+int rc_bmp_read(rc_bmp_data_t *data)
+{
+	int rtn = rc_read_barometer();
+
+	data->temp_c 		= rc_bmp_get_temperature();
+	data->alt_m  		= rc_bmp_get_altitude_m();
+	data->pressure_pa	= rc_bmp_get_pressure_pa();
+
+	return rtn;
+}
+#endif