AP_HAL_Linux: add PilotPi support

Adds "pilotpi" board to support https://docs.px4.io/main/en/flight_controller/raspberry_pi_pilotpi.html
ArduPilot · Sep 28, 2024 · 5773c19 · 5773c19
1 parent 230bb84
commit 5773c19
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Showing 10 changed files with 28 additions and 10 deletions.
diff --git a/libraries/AP_HAL_Linux/GPIO.h b/libraries/AP_HAL_Linux/GPIO.h
@@ -29,7 +29,8 @@ class DigitalSource : public AP_HAL::DigitalSource {
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
 #include "GPIO_RPI.h"
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
 #include "GPIO_Navigator.h"

diff --git a/libraries/AP_HAL_Linux/GPIO_RPI.cpp b/libraries/AP_HAL_Linux/GPIO_RPI.cpp
@@ -6,7 +6,8 @@
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
 
 #include "GPIO.h"
 #include "GPIO_RPI.h"

diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -58,7 +58,8 @@ using namespace Linux;
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR ||  \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
 static UtilRPI utilInstance;
 #else
 static Util utilInstance;
@@ -106,7 +107,8 @@ static UARTDriver* serialDrivers[] = {
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR|| \
     ((CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1) && (OBAL_ALLOW_ADC ==1)) || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
 static AnalogIn_ADS1115 analogIn;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
@@ -188,6 +190,8 @@ static RCInput_SoloLink rcinDriver;
 static RCInput_Navio2 rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
 static RCInput_RCProtocol rcinDriver{"/dev/ttyPS0", NULL};
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
+static RCInput_Multi rcinDriver{2, NEW_NOTHROW RCInput_RCProtocol(NULL, NULL), NEW_NOTHROW RCInput_UDP()};
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
 // this is needed to allow for RC input using SERIALn_PROTOCOL=23. No fd is opened
@@ -239,6 +243,8 @@ static RCOutput_Sysfs rcoutDriver(0, 0, 8);
 static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 0, 0, RPI_GPIO_<17>());
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
 static RCOutput_Sysfs rcoutDriver(0, 0, 2);
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
+static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 24576000, 0, -1);
 #else
 static Empty::RCOutput rcoutDriver;
 #endif

diff --git a/libraries/AP_HAL_Linux/RCInput_Multi.cpp b/libraries/AP_HAL_Linux/RCInput_Multi.cpp
@@ -19,7 +19,8 @@
 #include <AP_HAL/AP_HAL.h>
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
 #include "RCInput_Multi.h"
 
 extern const AP_HAL::HAL& hal;

diff --git a/libraries/AP_HAL_Linux/RCInput_Multi.h b/libraries/AP_HAL_Linux/RCInput_Multi.h
@@ -17,7 +17,8 @@
 
 #include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
 
 #include "RCInput.h"
 #include <stdarg.h>

diff --git a/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp b/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp
@@ -34,7 +34,8 @@
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
 
 extern const AP_HAL::HAL& hal;
 

diff --git a/libraries/AP_HAL_Linux/RCInput_RCProtocol.h b/libraries/AP_HAL_Linux/RCInput_RCProtocol.h
@@ -23,7 +23,8 @@
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
 
 namespace Linux {
 

diff --git a/libraries/AP_HAL_Linux/SPIDevice.cpp b/libraries/AP_HAL_Linux/SPIDevice.cpp
@@ -102,6 +102,10 @@ SPIDesc SPIDeviceManager::_device[] = {
     SPIDesc("mpu9250",    0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL,  1*MHZ, 11*MHZ),
     SPIDesc("ms5611",     0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL,  10*MHZ, 10*MHZ),
 };
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
+SPIDesc SPIDeviceManager::_device[] = {
+    SPIDesc("icm42605",   0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL,  1*MHZ, 24*MHZ),
+};
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 SPIDesc SPIDeviceManager::_device[] = {
     SPIDesc("mpu9250",    2, 0, SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 11*MHZ),

diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp
@@ -39,7 +39,8 @@ extern const AP_HAL::HAL& hal;
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
 #define APM_LINUX_RCIN_RATE             500
 #define APM_LINUX_IO_RATE               50
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1

diff --git a/libraries/AP_HAL_Linux/Util_RPI.cpp b/libraries/AP_HAL_Linux/Util_RPI.cpp
@@ -9,7 +9,8 @@
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI
 
 #include <errno.h>
 #include <stdarg.h>