mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-01 02:55:07 +08:00
delete aerotenna ocpoc
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
5f9a98e316
commit
7393d5d761
@@ -17,7 +17,7 @@ pipeline {
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]
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]
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def armhf_builds = [
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def armhf_builds = [
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target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
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target: [beaglebone_blue_default", "emlid_navio2_default", "px4_raspberrypi_default", "scumaker_pilotpi_default"],
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image: docker_images.armhf,
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image: docker_images.armhf,
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archive: false
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archive: false
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]
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]
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@@ -15,7 +15,6 @@ jobs:
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strategy:
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strategy:
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matrix:
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matrix:
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config: [
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config: [
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aerotenna_ocpoc_default,
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beaglebone_blue_default,
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beaglebone_blue_default,
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emlid_navio2_default,
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emlid_navio2_default,
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px4_raspberrypi_default,
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px4_raspberrypi_default,
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+4
-4
@@ -5,8 +5,8 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
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if [[ $@ =~ .*px4_fmu.* ]]; then
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if [[ $@ =~ .*px4_fmu.* ]]; then
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# nuttx-px4fmu-v{1,2,3,4,5}
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# nuttx-px4fmu-v{1,2,3,4,5}
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PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-02-04"
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PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-02-04"
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elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
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elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
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# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
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# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
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PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
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PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
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elif [[ $@ =~ .*pilotpi.arm64 ]]; then
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elif [[ $@ =~ .*pilotpi.arm64 ]]; then
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# scumaker_pilotpi_arm64
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# scumaker_pilotpi_arm64
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@@ -14,8 +14,8 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
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elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
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elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
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# eagle, excelsior
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# eagle, excelsior
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PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
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PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
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elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
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elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
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# aerotenna_ocpoc_default, posix_rpi_cross, posix_bebop_default
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# posix_rpi_cross, posix_bebop_default
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PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
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PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
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elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
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elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
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# clang tools
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# clang tools
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@@ -1,34 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2018 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_subdirectory(adc)
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@@ -1,36 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2020 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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px4_add_library(arch_adc
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adc.cpp
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)
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@@ -1,103 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2020 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
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* 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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#include <board_config.h>
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#include <drivers/drv_adc.h>
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#include <px4_platform_common/log.h>
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#include <fcntl.h>
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#include <stdint.h>
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#include <unistd.h>
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#define ADC_SYSFS_PATH "/sys/bus/iio/devices/iio:device0"
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#define ADC_MAX_CHAN 9
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int _channels_fd[ADC_MAX_CHAN];
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int px4_arch_adc_init(uint32_t base_address)
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{
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for (int i = 0; i < ADC_MAX_CHAN; i++) {
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_channels_fd[i] = -1;
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}
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return 0;
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}
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void px4_arch_adc_uninit(uint32_t base_address)
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{
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for (int i = 0; i < ADC_MAX_CHAN; i++) {
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::close(_channels_fd[i]);
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_channels_fd[i] = -1;
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}
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}
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uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
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{
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if (channel > ADC_MAX_CHAN) {
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PX4_ERR("channel %d out of range: %d", channel, ADC_MAX_CHAN);
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return UINT32_MAX; // error
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}
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// open channel if necessary
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if (_channels_fd[channel] == -1) {
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// ADC_SYSFS_PATH
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char channel_path[strlen(ADC_SYSFS_PATH) + 20] {};
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if (sprintf(channel_path, "%s/in_voltage%d_raw", ADC_SYSFS_PATH, channel) == -1) {
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PX4_ERR("adc channel: %d\n", channel);
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return UINT32_MAX; // error
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}
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_channels_fd[channel] = ::open(channel_path, O_RDONLY);
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}
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char buffer[10] {};
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if (::pread(_channels_fd[channel], buffer, sizeof(buffer), 0) < 0) {
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PX4_ERR("read channel %d failed", channel);
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return UINT32_MAX; // error
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}
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return atoi(buffer);
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}
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float px4_arch_adc_reference_v()
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{
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return BOARD_ADC_POS_REF_V;
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}
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uint32_t px4_arch_adc_dn_fullcount()
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{
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return 1 << 12; // 12 bit ADC
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}
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@@ -1,99 +0,0 @@
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add_definitions(
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-D__PX4_LINUX
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)
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px4_add_board(
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VENDOR aerotenna
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MODEL ocpoc
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LABEL default
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PLATFORM posix
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ARCHITECTURE cortex-a9
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ROMFSROOT px4fmu_common
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TOOLCHAIN arm-linux-gnueabihf
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TESTING
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SERIAL_PORTS
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GPS1:/dev/ttyS3 # GPS/Compass #1 (OcPoC Port 6)
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GPS2:/dev/ttyS7 # GPS/Compass #2 (OcPoC Port 7)
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GPS3:/dev/ttyS1 # GPS/Compass #3 (OcPoC Port 9)
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TEL1:/dev/ttyPS1 # Radio Telemetry (OcPoC Port 4)
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TEL2:/dev/ttyS6 # uLanding Radar Altimeter (OcPoC Port 8)
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TEL3:/dev/ttyS2 # (OcPoC Port 2)
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TEL4:/dev/ttyS0 # uSharp-Patch (OcPoC Port 5)
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DRIVERS
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#barometer # all available barometer drivers
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barometer/ms5611
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batt_smbus
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camera_capture
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camera_trigger
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differential_pressure # all available differential pressure drivers
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distance_sensor # all available distance sensor drivers
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gps
|
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imu/invensense/mpu9250
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lights/rgbled
|
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linux_pwm_out
|
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#magnetometer # all available magnetometer drivers
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magnetometer/hmc5883
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pwm_out_sim
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rc_input
|
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#telemetry # all available telemetry drivers
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MODULES
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airspeed_selector
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attitude_estimator_q
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battery_status
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camera_feedback
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commander
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dataman
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ekf2
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||||||
events
|
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||||||
flight_mode_manager
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|
||||||
fw_att_control
|
|
||||||
fw_pos_control_l1
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|
||||||
land_detector
|
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||||||
landing_target_estimator
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|
||||||
load_mon
|
|
||||||
local_position_estimator
|
|
||||||
logger
|
|
||||||
mavlink
|
|
||||||
mc_att_control
|
|
||||||
mc_hover_thrust_estimator
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|
||||||
mc_pos_control
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|
||||||
mc_rate_control
|
|
||||||
#micrortps_bridge
|
|
||||||
navigator
|
|
||||||
rc_update
|
|
||||||
rover_pos_control
|
|
||||||
sensors
|
|
||||||
sih
|
|
||||||
#simulator
|
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||||||
temperature_compensation
|
|
||||||
vmount
|
|
||||||
vtol_att_control
|
|
||||||
SYSTEMCMDS
|
|
||||||
esc_calib
|
|
||||||
led_control
|
|
||||||
mixer
|
|
||||||
motor_ramp
|
|
||||||
motor_test
|
|
||||||
param
|
|
||||||
perf
|
|
||||||
pwm
|
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||||||
sd_bench
|
|
||||||
system_time
|
|
||||||
shutdown
|
|
||||||
tests # tests and test runner
|
|
||||||
#top
|
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||||||
topic_listener
|
|
||||||
tune_control
|
|
||||||
uorb
|
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||||||
ver
|
|
||||||
work_queue
|
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||||||
EXAMPLES
|
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||||||
fake_gps
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|
||||||
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
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|
||||||
rover_steering_control # Rover example app
|
|
||||||
)
|
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||||||
@@ -1,38 +0,0 @@
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|||||||
/****************************************************************************
|
|
||||||
*
|
|
||||||
* Copyright (c) 2020 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.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
#pragma once
|
|
||||||
|
|
||||||
#define SYSTEM_ADC_BASE 0 // not used
|
|
||||||
|
|
||||||
#define px4_arch_adc_temp_sensor_mask() (0)
|
|
||||||
@@ -1,38 +0,0 @@
|
|||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (c) 2017 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.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
add_library(drivers_board
|
|
||||||
board_pwm_out.cpp
|
|
||||||
i2c.cpp
|
|
||||||
spi.cpp
|
|
||||||
)
|
|
||||||
@@ -1,61 +0,0 @@
|
|||||||
/****************************************************************************
|
|
||||||
*
|
|
||||||
* Copyright (c) 2017 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
|
|
||||||
*
|
|
||||||
* Aerotenna Ocpoc internal definitions
|
|
||||||
*/
|
|
||||||
|
|
||||||
#pragma once
|
|
||||||
|
|
||||||
#define BOARD_OVERRIDE_UUID "OCPOC00000000000" // must be of length 16
|
|
||||||
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_OCPOC
|
|
||||||
|
|
||||||
#define BOARD_BATTERY1_V_DIV (10.177939394f)
|
|
||||||
|
|
||||||
#define BOARD_MAX_LEDS 1 // Number of external LED's this board has
|
|
||||||
|
|
||||||
#define PX4_NUMBER_I2C_BUSES 4
|
|
||||||
|
|
||||||
#define PX4_I2C_BUS_LED 1
|
|
||||||
|
|
||||||
// ADC channels:
|
|
||||||
#define ADC_CHANNELS (1 << 8)
|
|
||||||
|
|
||||||
#define ADC_BATTERY_VOLTAGE_CHANNEL 8
|
|
||||||
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
|
|
||||||
|
|
||||||
|
|
||||||
#include <system_config.h>
|
|
||||||
#include <px4_platform_common/board_common.h>
|
|
||||||
@@ -1,113 +0,0 @@
|
|||||||
/****************************************************************************
|
|
||||||
*
|
|
||||||
* Copyright (c) 2017 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.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
#ifndef MODULE_NAME
|
|
||||||
#define MODULE_NAME "ocpoc_pwm_out"
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#include "board_pwm_out.h"
|
|
||||||
|
|
||||||
#include <px4_platform_common/log.h>
|
|
||||||
|
|
||||||
#include <fcntl.h>
|
|
||||||
#include <sys/mman.h>
|
|
||||||
#include <unistd.h>
|
|
||||||
|
|
||||||
using namespace pwm_out;
|
|
||||||
|
|
||||||
#define RCOUT_ZYNQ_PWM_BASE 0x43c00000
|
|
||||||
static const int TICK_PER_US = 50;
|
|
||||||
static const int FREQUENCY_PWM = 400;
|
|
||||||
static const int TICK_PER_S = 50000000;
|
|
||||||
|
|
||||||
OcpocMmapPWMOut::OcpocMmapPWMOut(int max_num_outputs)
|
|
||||||
{
|
|
||||||
_num_outputs = max_num_outputs;
|
|
||||||
|
|
||||||
if (_num_outputs > MAX_ZYNQ_PWMS) {
|
|
||||||
PX4_WARN("number of outputs too large. Setting to %i", MAX_ZYNQ_PWMS);
|
|
||||||
_num_outputs = MAX_ZYNQ_PWMS;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
OcpocMmapPWMOut::~OcpocMmapPWMOut()
|
|
||||||
{
|
|
||||||
if (_shared_mem_cmd) {
|
|
||||||
munmap((void *)_shared_mem_cmd, 0x1000);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
unsigned long OcpocMmapPWMOut::freq2tick(uint16_t freq_hz)
|
|
||||||
{
|
|
||||||
unsigned long duty = TICK_PER_S / (unsigned long)freq_hz;
|
|
||||||
return duty;
|
|
||||||
}
|
|
||||||
|
|
||||||
int OcpocMmapPWMOut::init()
|
|
||||||
{
|
|
||||||
uint32_t mem_fd = open(_device, O_RDWR | O_SYNC);
|
|
||||||
_shared_mem_cmd = (struct pwm_cmd *) mmap(0, 0x1000, PROT_READ | PROT_WRITE,
|
|
||||||
MAP_SHARED, mem_fd, RCOUT_ZYNQ_PWM_BASE);
|
|
||||||
close(mem_fd);
|
|
||||||
|
|
||||||
if (_shared_mem_cmd == nullptr) {
|
|
||||||
PX4_ERR("initialize pwm pointer failed.");
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
for (int i = 0; i < _num_outputs; ++i) {
|
|
||||||
_shared_mem_cmd->periodhi[i].period = freq2tick(FREQUENCY_PWM);
|
|
||||||
_shared_mem_cmd->periodhi[i].hi = freq2tick(FREQUENCY_PWM) / 2;
|
|
||||||
PX4_DEBUG("Output values: %d, %d", _shared_mem_cmd->periodhi[i].period, _shared_mem_cmd->periodhi[i].hi);
|
|
||||||
}
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
int OcpocMmapPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
|
|
||||||
{
|
|
||||||
if (num_outputs > _num_outputs) {
|
|
||||||
num_outputs = _num_outputs;
|
|
||||||
}
|
|
||||||
|
|
||||||
//convert this to duty_cycle in ns
|
|
||||||
for (int i = 0; i < num_outputs; ++i) {
|
|
||||||
//n = ::asprintf(&data, "%u", pwm[i] * 1000);
|
|
||||||
//::write(_pwm_fd[i], data, n);
|
|
||||||
_shared_mem_cmd->periodhi[i].hi = TICK_PER_US * pwm[i];
|
|
||||||
//printf("ch:%d, val:%d*%d ", ch, period_us, TICK_PER_US);
|
|
||||||
}
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
@@ -1,77 +0,0 @@
|
|||||||
/****************************************************************************
|
|
||||||
*
|
|
||||||
* Copyright (c) 2017 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.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
#pragma once
|
|
||||||
|
|
||||||
#include <px4_platform/pwm_out_base.h>
|
|
||||||
|
|
||||||
#define BOARD_PWM_OUT_IMPL OcpocMmapPWMOut
|
|
||||||
|
|
||||||
namespace pwm_out
|
|
||||||
{
|
|
||||||
|
|
||||||
/**
|
|
||||||
** class OcpocMmapPWMOut
|
|
||||||
* PWM output class for Aerotenna OcPoC via mmap
|
|
||||||
*/
|
|
||||||
class OcpocMmapPWMOut : public PWMOutBase
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
OcpocMmapPWMOut(int max_num_outputs);
|
|
||||||
virtual ~OcpocMmapPWMOut();
|
|
||||||
|
|
||||||
int init() override;
|
|
||||||
|
|
||||||
int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
|
|
||||||
|
|
||||||
private:
|
|
||||||
static unsigned long freq2tick(uint16_t freq_hz);
|
|
||||||
|
|
||||||
static constexpr int MAX_ZYNQ_PWMS = 8; /**< maximum number of pwm channels */
|
|
||||||
|
|
||||||
// Period|Hi 32 bits each
|
|
||||||
struct s_period_hi {
|
|
||||||
uint32_t period;
|
|
||||||
uint32_t hi;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct pwm_cmd {
|
|
||||||
struct s_period_hi periodhi[MAX_ZYNQ_PWMS];
|
|
||||||
};
|
|
||||||
|
|
||||||
volatile struct pwm_cmd *_shared_mem_cmd = nullptr;
|
|
||||||
static constexpr const char *_device = "/dev/mem";
|
|
||||||
int _num_outputs;
|
|
||||||
};
|
|
||||||
|
|
||||||
}
|
|
||||||
@@ -1,41 +0,0 @@
|
|||||||
/****************************************************************************
|
|
||||||
*
|
|
||||||
* Copyright (C) 2020 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.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
#include <px4_arch/i2c_hw_description.h>
|
|
||||||
|
|
||||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
|
||||||
initI2CBusExternal(2), // i2c-2: Air Data Probe or I2C Splitter
|
|
||||||
initI2CBusExternal(4), // i2c-4: GPS/Compass #1
|
|
||||||
initI2CBusExternal(5), // i2c-5: GPS/Compass #2
|
|
||||||
initI2CBusExternal(3), // i2c-3: GPS/Compass #3
|
|
||||||
};
|
|
||||||
@@ -1,42 +0,0 @@
|
|||||||
/****************************************************************************
|
|
||||||
*
|
|
||||||
* Copyright (C) 2020 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.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
#include <px4_arch/spi_hw_description.h>
|
|
||||||
#include <drivers/drv_sensor.h>
|
|
||||||
|
|
||||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
|
||||||
initSPIBus(1, {
|
|
||||||
initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, 0),
|
|
||||||
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, 1),
|
|
||||||
}),
|
|
||||||
};
|
|
||||||
@@ -339,11 +339,11 @@ typedef enum PX4_SOC_ARCH_ID_t {
|
|||||||
|
|
||||||
PX4_SOC_ARCH_ID_EAGLE = 0x1001,
|
PX4_SOC_ARCH_ID_EAGLE = 0x1001,
|
||||||
PX4_SOC_ARCH_ID_QURT = 0x1002,
|
PX4_SOC_ARCH_ID_QURT = 0x1002,
|
||||||
PX4_SOC_ARCH_ID_OCPOC = 0x1003,
|
|
||||||
PX4_SOC_ARCH_ID_RPI = 0x1004,
|
PX4_SOC_ARCH_ID_RPI = 0x1004,
|
||||||
PX4_SOC_ARCH_ID_SIM = 0x1005,
|
PX4_SOC_ARCH_ID_SIM = 0x1005,
|
||||||
PX4_SOC_ARCH_ID_SITL = 0x1006,
|
PX4_SOC_ARCH_ID_SITL = 0x1006,
|
||||||
PX4_SOC_ARCH_ID_BEBOP = 0x1007,
|
|
||||||
PX4_SOC_ARCH_ID_BBBLUE = 0x1008,
|
PX4_SOC_ARCH_ID_BBBLUE = 0x1008,
|
||||||
|
|
||||||
} PX4_SOC_ARCH_ID_t;
|
} PX4_SOC_ARCH_ID_t;
|
||||||
|
|||||||
Reference in New Issue
Block a user