fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 05:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

initial board and platform support for the ModalAI VOXL 2 (POSIX + QuRT)

Browse Source
This commit is contained in:
Eric Katzfey
2022-09-23 12:03:05 -04:00
committed by GitHub
parent e6b292b693
commit d30ccb2b1d
39 changed files with 1599 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/modalai/voxl2/README.md
+91
View File
@@ -0,0 +1,91 @@
# PX4 on VOXL 2
VOXL 2 from ModalAI can be used as a companion computer to a flight control board
but it can also run PX4 directly.
## Overview
When running PX4 directly on the QRB5165 SoC it runs partially on the Sensor Low Power Island (SLPI) DSP (aka sdsp) and partially on the application processor (ARM64 / aarch64).
The portion running on the DSP hosts the flight critical portions of PX4 such as
the IMU, barometer, magnetometer, GPS, ESC, and power management drivers, and the
state estimation. The DSP acts as the real time portion of the system. Non flight
critical applications such as Mavlink, logging, and commander are running on the
ARM CPU cluster (aka apps proc). The DSP and ARM CPU cluster communicate via a
Qualcomm proprietary shared memory interface.
## Build environment
In order to build for this platform both the Qualcomm Hexagon (DSP) toolchain and the Linaro ARM64 toolchain need to be installed. The (nearly) complete setup including the ARM64 toolchain is provided in the base Docker image provided by ModalAI, but since ModalAI is not allowed to redistribute the Qualcomm Hexagon DSP SDK this must be added by the end user.
The full instructions are available here:
- https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker
## Build overview
- Clone the repo (Don't forget to update and initialize all submodules)
- In the top level directory
```
px4$ boards/modalai/voxl2/run-docker.sh
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/clean.sh
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/build-posix.sh
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/build-qurt.sh
root@9373fa1401b8:/usr/local/workspace# exit
```
## Install and run on VOXL 2
Once the DSP and Linux images have been built they can be installed on a VOXL 2
board using ADB. There is a script to do this.
```
px4$ boards/modalai/voxl2/install-voxl.sh
```
## Running PX4 on VOXL 2
After installing PX4 on the board, open a terminal on VOXL 2 using ADB shell.
PX4 can be run using a start script.
```
root@m0054:/# voxl-px4
Found DSP signature file
/
INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO [px4] assuming working directory is rootfs, no symlinks needed.
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh /etc/modalai/voxl-px4.config 0
INFO [muorb] muorb protobuf initalize method succeeded
INFO [px4] Startup script returned successfully
pxh>
```
## Tips
Start with a VOXL 2 that only has the system image installed, not the SDK
In order to see DSP specific debug messages the mini-dm tool in the Hexagon SDK
can be used:
```
modalai@modalai-XPS-15-9570:/local/mnt/workspace/Qualcomm/Hexagon_SDK/4.1.0.4/tools/debug/mini-dm/Ubuntu18$ sudo ./mini-dm
[sudo] password for modalai:
Running mini-dm version: 3.2
Completed processing command line ---
Connecting to the only usbport connected
mini-dm is waiting for a DMSS connection...
DMSS is connected. Running mini-dm...
------------Mini-dm is ready to log-------------
[08500/02] 06:21.030 0069:01: SDSP: Creating new instance. 0355 sns_flight_controller_sensor.
[08500/02] 06:21.030 0069:01: SDSP: Creating data streams 0292 sns_flight_controller_sensor_
[08500/02] 06:21.030 0069:01: SDSP: Configuring devices 0305 sns_flight_controller_sensor_
[08500/02] 06:21.030 0069:01: SDSP: Flight controller sensor instance initialized 0344 sns_flight_controller_sensor_
[08500/01] 06:21.092 0069:01: SDSP: Hello, world! 0000 test
[08500/02] 06:21.092 006a:01: SDSP: CPU Utilization: 0.04, wait percentage 99.94 0162 sns_flight_controller_sensor.
[08500/02] 06:21.092 006a:01: SDSP: Got interrupt registered event 0082 sns_flight_controller_sensor_
```
boards/modalai/voxl2/build-posix.sh
Executable
+12
View File
@@ -0,0 +1,12 @@
#!/bin/bash
echo "*** Starting posix build ***"
source /home/build-env.sh
make modalai_voxl2_default
cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
echo "*** End of posix build ***"
boards/modalai/voxl2/build-qurt.sh
Executable
+11
View File
@@ -0,0 +1,11 @@
#!/bin/bash
echo "*** Starting qurt build ***"
source /home/build-env.sh
make modalai_voxl2_qurt
cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
echo "*** End of qurt build ***"
boards/modalai/voxl2/clean.sh
Executable
+5
View File
@@ -0,0 +1,5 @@
#!/bin/bash
# Clean out the build artifacts
source /home/build-env.sh
make clean
boards/modalai/voxl2/cmake/voxl2_posix.cmake
+54
View File
@@ -0,0 +1,54 @@
############################################################################
#
# Copyright (c) 2022 ModalAI, Inc. 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.
#
############################################################################
#
# Overview:
# Voxl2 PX4 is built in 2 parts, the part that runs on the
# application (apps) processor, and the library that is loaded on the DSP.
#
############################################################################
include(px4_git)
list(APPEND CMAKE_MODULE_PATH
"${PX4_SOURCE_DIR}/platforms/posix/cmake"
)
# set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
add_definitions(-DORB_COMMUNICATOR)
set(CONFIG_PARAM_SERVER "1")
add_definitions( -D__PX4_LINUX )
include(CMakeParseArguments)
boards/modalai/voxl2/cmake/voxl2_qurt.cmake
+43
View File
@@ -0,0 +1,43 @@
############################################################################
#
# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
#
############################################################################
#
# This cmake config builds for QURT which is the operating system running on
# the DSP side of VOXL 2
#
# Required environment variables:
# HEXAGON_TOOLS_ROOT
# HEXAGON_SDK_ROOT
#
############################################################################
if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
else()
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
endif()
if ("$ENV{HEXAGON_TOOLS_ROOT}" STREQUAL "")
message(FATAL_ERROR "Environment variable HEXAGON_TOOLS_ROOT must be set")
else()
set(HEXAGON_TOOLS_ROOT $ENV{HEXAGON_TOOLS_ROOT})
endif()
include(px4_git)
list(APPEND CMAKE_MODULE_PATH
"${PX4_SOURCE_DIR}/platforms/qurt/cmake"
)
include(Toolchain-qurt)
include(qurt_reqs)
include_directories(${HEXAGON_SDK_INCLUDES})
add_definitions(-DORB_COMMUNICATOR)
set(CONFIG_PARAM_CLIENT "1")
set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
boards/modalai/voxl2/default.px4board
+4
View File
@@ -0,0 +1,4 @@
CONFIG_PLATFORM_POSIX=y
CONFIG_BOARD_LINUX=y
CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
CONFIG_MODULES_MUORB_APPS=y
boards/modalai/voxl2/install-voxl.sh
Executable
+19
View File
@@ -0,0 +1,19 @@
#!/bin/bash
# Push qurt image to voxl2
adb push build/modalai_voxl2_qurt/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
# Push posix image to voxl2
adb push build/modalai_voxl2_default/bin/px4 /usr/bin
# Push scripts to voxl2
adb push build/modalai_voxl2_default/bin/px4-alias.sh /usr/bin
adb push boards/modalai/voxl2/voxl-px4 /usr/bin
adb shell chmod a+x /usr/bin/px4-alias.sh
adb shell chmod a+x /usr/bin/voxl-px4
# Push configuration file
adb shell mkdir -p /etc/modalai
adb push boards/modalai/voxl2/voxl-px4.config /etc/modalai
adb shell sync
boards/modalai/voxl2/qurt.px4board
+3
View File
@@ -0,0 +1,3 @@
CONFIG_PLATFORM_QURT=y
CONFIG_BOARD_TOOLCHAIN="qurt"
CONFIG_MODULES_MUORB_SLPI=y
boards/modalai/voxl2/run-docker.sh
Executable
+4
View File
@@ -0,0 +1,4 @@
#!/bin/bash
# Run this from the px4 project top level directory
docker run -it --rm -v `pwd`:/usr/local/workspace rb5-flight-px4-build-docker
boards/modalai/voxl2/src/CMakeLists.txt
+37
View File
@@ -0,0 +1,37 @@
############################################################################
#
# Copyright (c) 2022 ModalAI, Inc. 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
board_config.h
init.c
)
boards/modalai/voxl2/src/board_config.h
+51
View File
@@ -0,0 +1,51 @@
/****************************************************************************
*
* Copyright (c) 2022 ModalAI, Inc. 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
*
* VOXL2 internal definitions
*/
#pragma once
#define BOARD_HAS_NO_RESET
#define BOARD_HAS_NO_BOOTLOADER
/*
* I2C buses
*/
#define PX4_NUMBER_I2C_BUSES 3
#include <system_config.h>
#include <px4_platform_common/board_common.h>
boards/modalai/voxl2/src/init.c
+35
View File
@@ -0,0 +1,35 @@
/****************************************************************************
*
* Copyright (C) 2022 ModalAI, Inc. 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 "board_config.h"
// Place holder for VOXL2-specific early startup code
boards/modalai/voxl2/voxl-px4
+36
View File
@@ -0,0 +1,36 @@
#!/bin/bash
# Make sure that the SLPI DSP test signature is there otherwise px4 cannot run
# on the DSP
if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
/bin/echo "Found DSP signature file"
else
/bin/echo "Error, could not find DSP signature file"
# Look for the DSP signature generation script
if [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
/bin/echo "Attempting to generate the DSP signature file"
# Automatically generate the test signature so that px4 can run on SLPI DSP
/share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh
else
/bin/echo "Could not find the DSP signature file generation script"
fi
exit 0
fi
# Make sure to setup all of the needed px4 aliases.
cd /usr/bin
/bin/ln -f -s px4 px4-muorb
/bin/ln -f -s px4 px4-uorb
cd -
DAEMON=" "
while getopts "d" flag
do
case "${flag}" in
# Use -d to put PX4 into daemon mode
d) DAEMON="-d";;
esac
done
px4 $DAEMON -s /etc/modalai/voxl-px4.config
boards/modalai/voxl2/voxl-px4.config
Executable
+6
View File
@@ -0,0 +1,6 @@
#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh
muorb start