rename files and add navio target

Makefile

@@ -211,6 +211,9 @@ posix_rpi2_release:
 posix_bebop_default:
 	$(call cmake-build,$@)
 
+posix_navio2_release:
+	$(call cmake-build,$@)
+
 posix: posix_sitl_default
 
 broadcast: posix_sitl_broadcast

cmake/configs/posix_navio2_release.cmake

@@ -0,0 +1,114 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+
+set(CMAKE_PROGRAM_PATH
+	"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
+	${CMAKE_PROGRAM_PATH}
+)
+
+# This definition allows to differentiate if this just the usual POSIX build
+# or if it is for the RPi.
+add_definitions(
+	-D__PX4_POSIX_RPI2
+	-D__LINUX
+)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	modules/sensors
+	platforms/posix/drivers/df_mpu9250_wrapper
+	platforms/posix/drivers/df_lsm9ds1_wrapper
+	platforms/posix/drivers/df_ms5611_wrapper
+	platforms/posix/drivers/df_hmc5883_wrapper
+	platforms/posix/drivers/df_trone_wrapper
+	platforms/posix/drivers/df_isl29501_wrapper
+
+	#
+	# System commands
+	#
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/topic_listener
+	systemcmds/perf
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	#modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/fw_att_control
+	modules/fw_pos_control_l1	
+	modules/vtol_att_control
+
+	#
+	# Library modules
+	#
+	modules/sdlog2
+	modules/logger
+	modules/commander
+	modules/load_mon
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/dataman
+	modules/land_detector
+	modules/navigator
+	modules/mavlink
+
+	#
+	# PX4 drivers
+	#
+	drivers/gps
+	drivers/navio_sysfs_rc_in
+	drivers/navio_sysfs_pwm_out
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/ecl
+	lib/geo_lookup
+	lib/launchdetection
+	lib/external_lgpl
+	lib/conversion
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	lib/DriverFramework/framework
+
+	#
+	# POSIX
+	#
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+)
+
+set(config_df_driver_list
+	mpu9250
+	lsm9ds1
+	ms5611
+	hmc5883
+	trone
+	isl29501
+)

src/drivers/navio_sysfs_pwm_out/CMakeLists.txt

@@ -31,13 +31,12 @@
 #
 ############################################################################
 px4_add_module(
-	MODULE drivers__pwm_out
-	MAIN pwm_out
+	MODULE drivers__navio_sysfs_pwm_out
+	MAIN navio_sysfs_pwm_out
 	COMPILE_FLAGS
 		-Os
-		-DMAVLINK_COMM_NUM_BUFFERS=1
 	SRCS
-		pwm_out.cpp
+		navio_sysfs_pwm_out.cpp
 	DEPENDS
 		platforms__common
 	)

src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp

@@ -50,7 +50,7 @@
 #include <systemlib/param/param.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
 
-namespace pwm_out
+namespace navio_sysfs_pwm_out
 {
 static px4_task_t _task_handle = -1;
 volatile bool _task_should_exit = false;
@@ -431,12 +431,12 @@ void usage()
 	PX4_INFO("       pwm_out status");
 }
 
-} // namespace pwm_out
+} // namespace navio_sysfs_pwm_out
 
 /* driver 'main' command */
-extern "C" __EXPORT int pwm_out_main(int argc, char *argv[]);
+extern "C" __EXPORT int navio_sysfs_pwm_out_main(int argc, char *argv[]);
 
-int pwm_out_main(int argc, char *argv[])
+int navio_sysfs_pwm_out_main(int argc, char *argv[])
 {
 	const char *device = nullptr;
 	int ch;
@@ -456,43 +456,43 @@ int pwm_out_main(int argc, char *argv[])
 		switch (ch) {
 		case 'd':
 			device = myoptarg;
-			strncpy(pwm_out::_device, device, strlen(device));
+			strncpy(navio_sysfs_pwm_out::_device, device, strlen(device));
 			break;
 		}
 	}
 
 	// gets the parameters for the esc's pwm
-	param_get(param_find("PWM_DISARMED"), &pwm_out::_pwm_disarmed);
-	param_get(param_find("PWM_MIN"), &pwm_out::_pwm_min);
-	param_get(param_find("PWM_MAX"), &pwm_out::_pwm_max);
+	param_get(param_find("PWM_DISARMED"), &navio_sysfs_pwm_out::_pwm_disarmed);
+	param_get(param_find("PWM_MIN"), &navio_sysfs_pwm_out::_pwm_min);
+	param_get(param_find("PWM_MAX"), &navio_sysfs_pwm_out::_pwm_max);
 
 	/*
 	 * Start/load the driver.
 	 */
 	if (!strcmp(verb, "start")) {
-		if (pwm_out::_is_running) {
+		if (navio_sysfs_pwm_out::_is_running) {
 			PX4_WARN("pwm_out already running");
 			return 1;
 		}
 
-		pwm_out::start();
+		navio_sysfs_pwm_out::start();
 	}
 
 	else if (!strcmp(verb, "stop")) {
-		if (!pwm_out::_is_running) {
+		if (!navio_sysfs_pwm_out::_is_running) {
 			PX4_WARN("pwm_out is not running");
 			return 1;
 		}
 
-		pwm_out::stop();
+		navio_sysfs_pwm_out::stop();
 	}
 
 	else if (!strcmp(verb, "status")) {
-		PX4_WARN("pwm_out is %s", pwm_out::_is_running ? "running" : "not running");
+		PX4_WARN("pwm_out is %s", navio_sysfs_pwm_out::_is_running ? "running" : "not running");
 		return 0;
 
 	} else {
-		pwm_out::usage();
+		navio_sysfs_pwm_out::usage();
 		return 1;
 	}
 

src/drivers/navio_sysfs_rc_in/CMakeLists.txt

@@ -31,12 +31,12 @@
 #
 ############################################################################
 px4_add_module(
-	MODULE modules__rcinput
-	MAIN rcinput
+	MODULE drivers__navio_sysfs_rc_in
+	MAIN navio_sysfs_rc_in
 	STACK_MAIN 1200
 	COMPILE_FLAGS -Os
 	SRCS
-		rcinput.cpp
+		navio_sysfs_rc_in.cpp
 	DEPENDS
 		platforms__common
 	)

src/drivers/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp

@@ -47,10 +47,10 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/input_rc.h>
 
-namespace rcinput
+namespace navio_sysfs_rc_in
 {
 
-extern "C" __EXPORT int rcinput_main(int argc, char *argv[]);
+extern "C" __EXPORT int navio_sysfs_rc_in_main(int argc, char *argv[]);
 
 #define RCINPUT_DEVICE_PATH_BASE "/sys/kernel/rcio/rcin"
 
@@ -61,20 +61,20 @@ class RcInput
 {
 public:
 	RcInput() :
-        _shouldExit(false),
-        _isRunning(false),
-        _work{},
-        _rcinput_pub(nullptr),
-        _channels(8), //D8R-II plus
-        _data{}
-    {
-        memset(_ch_fd, 0, sizeof(_ch_fd));
-    }
-    ~RcInput()
-    {
-        work_cancel(HPWORK, &_work);
-        _isRunning = false;
-    }
+		_shouldExit(false),
+		_isRunning(false),
+		_work{},
+		_rcinput_pub(nullptr),
+		_channels(8), //D8R-II plus
+		_data{}
+	{
+		memset(_ch_fd, 0, sizeof(_ch_fd));
+	}
+	~RcInput()
+	{
+		work_cancel(HPWORK, &_work);
+		_isRunning = false;
+	}
 
 	/* @return 0 on success, -errno on failure */
 	int start();
@@ -85,49 +85,53 @@ public:
 	/* Trampoline for the work queue. */
 	static void cycle_trampoline(void *arg);
 
-    bool isRunning() { return _isRunning; }
+	bool isRunning() { return _isRunning; }
 
 private:
-    void _cycle();
-    void _measure();
+	void _cycle();
+	void _measure();
 
-    bool _shouldExit;
-    bool _isRunning;
-    struct work_s _work;
+	bool _shouldExit;
+	bool _isRunning;
+	struct work_s _work;
 
-    orb_advert_t _rcinput_pub;
+	orb_advert_t _rcinput_pub;
 
-    int _channels;
-    int _ch_fd[input_rc_s::RC_INPUT_MAX_CHANNELS];
-    struct input_rc_s _data;
+	int _channels;
+	int _ch_fd[input_rc_s::RC_INPUT_MAX_CHANNELS];
+	struct input_rc_s _data;
 
 	int navio_rc_init();
 };
 
 int RcInput::navio_rc_init()
 {
-    int i;
-    char *buf;
-
-    for (i = 0; i < _channels; ++i) {
-        ::asprintf(&buf, "%s/ch%d", RCINPUT_DEVICE_PATH_BASE, i);
-        int fd = ::open(buf, O_RDONLY);
-        ::free(buf);
-        if (fd < 0) {
-            PX4_WARN("error: open %d failed", i);
-            break;
-        }
-        _ch_fd[i] = fd;
-    }
-    for (; i < input_rc_s::RC_INPUT_MAX_CHANNELS; ++i) {
-        _data.values[i] = UINT16_MAX;
-    }
-
-    _rcinput_pub = orb_advertise(ORB_ID(input_rc), &_data);
-    if (_rcinput_pub == nullptr) {
-        PX4_WARN("error: advertise failed");
-        return -1;
-    }
+	int i;
+	char *buf;
+
+	for (i = 0; i < _channels; ++i) {
+		::asprintf(&buf, "%s/ch%d", RCINPUT_DEVICE_PATH_BASE, i);
+		int fd = ::open(buf, O_RDONLY);
+		::free(buf);
+
+		if (fd < 0) {
+			PX4_WARN("error: open %d failed", i);
+			break;
+		}
+
+		_ch_fd[i] = fd;
+	}
+
+	for (; i < input_rc_s::RC_INPUT_MAX_CHANNELS; ++i) {
+		_data.values[i] = UINT16_MAX;
+	}
+
+	_rcinput_pub = orb_advertise(ORB_ID(input_rc), &_data);
+
+	if (_rcinput_pub == nullptr) {
+		PX4_WARN("error: advertise failed");
+		return -1;
+	}
 
 	return 0;
 }
@@ -140,66 +144,69 @@ int RcInput::start()
 
 	if (result != 0) {
 		PX4_WARN("error: RC initialization failed");
-        return -1;
+		return -1;
 	}
 
-    _isRunning = true;
+	_isRunning = true;
 	result = work_queue(HPWORK, &_work, (worker_t)&RcInput::cycle_trampoline, this, 0);
-    if (result == -1) {
-        _isRunning = false;
-    }
 
-    return result;
+	if (result == -1) {
+		_isRunning = false;
+	}
+
+	return result;
 }
 
 void RcInput::stop()
 {
-    _shouldExit = true;
+	_shouldExit = true;
 }
 
 void RcInput::cycle_trampoline(void *arg)
 {
-    RcInput *dev = reinterpret_cast<RcInput *>(arg);
-    dev->_cycle();
+	RcInput *dev = reinterpret_cast<RcInput *>(arg);
+	dev->_cycle();
 }
 
 void RcInput::_cycle()
 {
-    _measure();
+	_measure();
 
-    if (!_shouldExit) {
-        work_queue(HPWORK, &_work, (worker_t)&RcInput::cycle_trampoline, this,
-                   USEC2TICK(RCINPUT_MEASURE_INTERVAL_US));
-    }
+	if (!_shouldExit) {
+		work_queue(HPWORK, &_work, (worker_t)&RcInput::cycle_trampoline, this,
+			   USEC2TICK(RCINPUT_MEASURE_INTERVAL_US));
+	}
 }
 
 void RcInput::_measure(void)
 {
-    uint64_t ts;
-    char buf[12];
-
-    for (int i = 0; i < _channels; ++i) {
-        int res;
-        if ((res = ::pread(_ch_fd[i], buf, sizeof(buf) - 1, 0)) < 0) {
-            _data.values[i] = UINT16_MAX;
-            continue;
-        }
-        buf[sizeof(buf) -1] = '\0';
-
-        _data.values[i] = atoi(buf);
-    }
-
-    ts = hrt_absolute_time();
-    _data.timestamp_publication = ts;
-    _data.timestamp_last_signal = ts;
-    _data.channel_count = _channels;
-    _data.rssi = 100;
-    _data.rc_lost_frame_count = 0;
-    _data.rc_total_frame_count = 1;
-    _data.rc_ppm_frame_length = 100;
-    _data.rc_failsafe = false;
-    _data.rc_lost = false;
-    _data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
+	uint64_t ts;
+	char buf[12];
+
+	for (int i = 0; i < _channels; ++i) {
+		int res;
+
+		if ((res = ::pread(_ch_fd[i], buf, sizeof(buf) - 1, 0)) < 0) {
+			_data.values[i] = UINT16_MAX;
+			continue;
+		}
+
+		buf[sizeof(buf) - 1] = '\0';
+
+		_data.values[i] = atoi(buf);
+	}
+
+	ts = hrt_absolute_time();
+	_data.timestamp_publication = ts;
+	_data.timestamp_last_signal = ts;
+	_data.channel_count = _channels;
+	_data.rssi = 100;
+	_data.rc_lost_frame_count = 0;
+	_data.rc_total_frame_count = 1;
+	_data.rc_ppm_frame_length = 100;
+	_data.rc_failsafe = false;
+	_data.rc_lost = false;
+	_data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
 
 	orb_publish(ORB_ID(input_rc), _rcinput_pub, &_data);
 }
@@ -216,12 +223,12 @@ usage(const char *reason)
 		PX4_ERR("%s", reason);
 	}
 
-	PX4_INFO("usage: rcinput {start|stop|status}");
+	PX4_INFO("usage: navio_sysfs_rc_in {start|stop|status}");
 }
 
 static RcInput *rc_input = nullptr;
 
-int rcinput_main(int argc, char *argv[])
+int navio_sysfs_rc_in_main(int argc, char *argv[])
 {
 	if (argc < 2) {
 		usage("missing command");
@@ -294,4 +301,4 @@ int rcinput_main(int argc, char *argv[])
 
 }
 
-}; // namespace rcinput
+}; // namespace navio_sysfs_rc_in

src/lib/version/version.h

@@ -59,7 +59,7 @@ __END_DECLS
 #  define	HW_ARCH "LINUXTEST"
 #elif defined(CONFIG_ARCH_BOARD_EXCELSIOR)
 #  define HW_ARCH "LINUXTEST"
-#elif defined(CONFIG_ARCH_BOARD_RPI2)
+#elif defined(CONFIG_ARCH_BOARD_RPI2) || defined(CONFIG_ARCH_BOARD_NAVIO2)
 #  define	HW_ARCH "LINUXTEST"
 #elif defined(CONFIG_ARCH_BOARD_BEBOP)
 #  define	HW_ARCH "LINUXTEST"