mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
boards organization
This commit is contained in:
Daniel Agar
committed by
David Sidrane
David Sidrane
parent
c1f851a600
commit
f692ad04d0
84
boards/beaglebone/blue/cross.cmake
Normal file
84
boards/beaglebone/blue/cross.cmake
Normal file
@@ -0,0 +1,84 @@
|
||||
|
||||
px4_add_board(
|
||||
VENDOR beaglebone
|
||||
MODEL blue
|
||||
LABEL cross
|
||||
PLATFORM posix
|
||||
ARCH cortex-a8
|
||||
TOOLCHAIN Toolchain-arm-linux-gnueabihf
|
||||
TESTING
|
||||
|
||||
DRIVERS
|
||||
#barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
gps
|
||||
#imu # all available imu drivers
|
||||
#magnetometer # all available magnetometer drivers
|
||||
pwm_out_sim
|
||||
#telemetry # all available telemetry drivers
|
||||
vmount
|
||||
|
||||
linux_gpio
|
||||
linux_pwm_out
|
||||
linux_sbus
|
||||
bbblue_adc
|
||||
|
||||
DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
|
||||
mpu9250
|
||||
bmp280
|
||||
|
||||
MODULES
|
||||
attitude_estimator_q
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
events
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gnd_att_control
|
||||
gnd_pos_control
|
||||
#gpio_led
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_pos_control
|
||||
navigator
|
||||
position_estimator_inav
|
||||
sensors
|
||||
#uavcan
|
||||
vtol_att_control
|
||||
wind_estimator
|
||||
|
||||
SYSTEMCMDS
|
||||
esc_calib
|
||||
led_control
|
||||
mixer
|
||||
motor_ramp
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
sd_bench
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
ver
|
||||
|
||||
EXAMPLES
|
||||
bottle_drop # OBC challenge
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hwtest # Hardware test
|
||||
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
|
||||
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
|
||||
rover_steering_control # Rover example app
|
||||
segway
|
||||
)
|
||||
83
boards/beaglebone/blue/native.cmake
Normal file
83
boards/beaglebone/blue/native.cmake
Normal file
@@ -0,0 +1,83 @@
|
||||
|
||||
px4_add_board(
|
||||
VENDOR beaglebone
|
||||
MODEL blue
|
||||
LABEL native
|
||||
PLATFORM posix
|
||||
TOOLCHAIN Toolchain-native
|
||||
TESTING
|
||||
|
||||
DRIVERS
|
||||
#barometer # all available barometer drivers
|
||||
batt_smbus
|
||||
camera_trigger
|
||||
differential_pressure # all available differential pressure drivers
|
||||
distance_sensor # all available distance sensor drivers
|
||||
gps
|
||||
#imu # all available imu drivers
|
||||
#magnetometer # all available magnetometer drivers
|
||||
pwm_out_sim
|
||||
#telemetry # all available telemetry drivers
|
||||
vmount
|
||||
|
||||
linux_gpio
|
||||
linux_pwm_out
|
||||
linux_sbus
|
||||
bbblue_adc
|
||||
|
||||
DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
|
||||
mpu9250
|
||||
bmp280
|
||||
|
||||
MODULES
|
||||
attitude_estimator_q
|
||||
camera_feedback
|
||||
commander
|
||||
dataman
|
||||
ekf2
|
||||
events
|
||||
fw_att_control
|
||||
fw_pos_control_l1
|
||||
gnd_att_control
|
||||
gnd_pos_control
|
||||
#gpio_led
|
||||
land_detector
|
||||
landing_target_estimator
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_pos_control
|
||||
navigator
|
||||
position_estimator_inav
|
||||
sensors
|
||||
#uavcan
|
||||
vtol_att_control
|
||||
wind_estimator
|
||||
|
||||
SYSTEMCMDS
|
||||
esc_calib
|
||||
led_control
|
||||
mixer
|
||||
motor_ramp
|
||||
param
|
||||
perf
|
||||
pwm
|
||||
reboot
|
||||
sd_bench
|
||||
tests # tests and test runner
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
ver
|
||||
|
||||
EXAMPLES
|
||||
bottle_drop # OBC challenge
|
||||
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
|
||||
#hwtest # Hardware test
|
||||
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
|
||||
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
|
||||
rover_steering_control # Rover example app
|
||||
segway
|
||||
)
|
||||
40
boards/beaglebone/blue/src/CMakeLists.txt
Normal file
40
boards/beaglebone/blue/src/CMakeLists.txt
Normal file
@@ -0,0 +1,40 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-error")
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error")
|
||||
|
||||
px4_add_library(drivers_board
|
||||
init.c
|
||||
${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
|
||||
)
|
||||
|
||||
120
boards/beaglebone/blue/src/board_config.h
Normal file
120
boards/beaglebone/blue/src/board_config.h
Normal file
@@ -0,0 +1,120 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 board_config.h
|
||||
*
|
||||
* BBBLUE internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#ifndef BOARD_CONFIG_H
|
||||
#define BOARD_CONFIG_H
|
||||
|
||||
#define BOARD_OVERRIDE_UUID "BBBLUEID00000000" // must be of length 16
|
||||
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_BBBLUE
|
||||
|
||||
#define BOARD_NAME "BBBLUE"
|
||||
|
||||
#define BOARD_BATTERY1_V_DIV (11.0f)
|
||||
//#define BOARD_BATTERY1_A_PER_V (15.391030303f)
|
||||
|
||||
// Battery ADC channels
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL 5
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
|
||||
#define ADC_AIRSPEED_VOLTAGE_CHANNEL ((uint8_t)(-1))
|
||||
|
||||
#define BOARD_HAS_NO_BOOTLOADER
|
||||
|
||||
#define BOARD_MAX_LEDS 4 // Number external of LED's this board has
|
||||
|
||||
/*
|
||||
* I2C busses
|
||||
*/
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_NUMBER_I2C_BUSES 1
|
||||
|
||||
#include <system_config.h>
|
||||
#include <drivers/boards/common/board_common.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
int rc_init(void);
|
||||
void rc_cleaning(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef __RC_V0_3
|
||||
#define rc_i2c_lock_bus rc_i2c_claim_bus
|
||||
#define rc_i2c_unlock_bus rc_i2c_release_bus
|
||||
#define rc_i2c_get_lock rc_i2c_get_in_use_state
|
||||
|
||||
#define rc_bmp_init rc_initialize_barometer
|
||||
|
||||
#define rc_adc_read_raw rc_adc_raw
|
||||
|
||||
#define rc_servo_send_pulse_us rc_send_servo_pulse_us
|
||||
|
||||
#define rc_filter_empty rc_empty_filter
|
||||
#define rc_filter_march rc_march_filter
|
||||
#define rc_filter_prefill_inputs rc_prefill_filter_inputs
|
||||
#define rc_filter_prefill_outputs rc_prefill_filter_outputs
|
||||
#define rc_filter_butterworth_lowpass rc_butterworth_lowpass
|
||||
|
||||
/**
|
||||
* struct to hold the data retreived during one read of the barometer.
|
||||
*/
|
||||
typedef struct rc_bmp_data_t {
|
||||
float temp_c; ///< temperature in degrees celcius
|
||||
float alt_m; ///< altitude in meters
|
||||
float pressure_pa; ///< current pressure in pascals
|
||||
} rc_bmp_data_t;
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
int rc_bmp_read(rc_bmp_data_t *data);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
#endif // BOARD_CONFIG_H
|
||||
154
boards/beaglebone/blue/src/init.c
Normal file
154
boards/beaglebone/blue/src/init.c
Normal file
@@ -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_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
|
||||
Reference in New Issue
Block a user