boards: support new controller hardware rock5bplus

README.md

@@ -21,6 +21,35 @@ PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out o
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
 
+## Building a PX4 for Radxa's rock5b+
+
+1. **Prepare a build host**, such as an x86 Ubuntu 20.04 machine.
+
+2. **Set up the PX4 build environment** on the build host. You can refer to the official guide:
+   https://docs.px4.io/v1.15/en/dev_setup/dev_env.html
+
+3. **Install the cross-compilation tools** `aarch64-linux-gnu-gcc` and `aarch64-linux-gnu-g++`.
+   On Ubuntu, these commands are provided by the packages `gcc-aarch64-linux-gnu` and `g++-aarch64-linux-gnu`.
+
+4. **Clone this repository**, switch to the correct branch, and initialize all Git submodules.
+
+5. Run the following command to build PX4 for Rock5B Plus:
+   ```bash
+   make radxa_rock5bplus
+   ```
+6. Run the following command to upload the PX4 image to the target board:
+   ```bash
+   make radxa_rock5bplus upload
+   ```
+   By default, the login user is `radxa`. You can configure the target board's IP and login user
+   using the environment variables `AUTOPILOT_HOST` and `AUTOPILOT_USER`.
+7. On the target board, navigate to the px4 directory in the home folder and run:
+   ```bash
+   sudo ./bin/px4 -s ./rock5bplus.config
+   ```
+   to launch PX4 and observe the runtime behavior.
+
+
 ## Building a PX4 based drone, rover, boat or robot
 
 The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.

boards/radxa/rock5bplus/cmake/do_upload.cmake

@@ -0,0 +1,40 @@
+function(get_autopilot_credentials)
+    if(DEFINED ENV{AUTOPILOT_HOST})
+        set(AUTOPILOT_HOST $ENV{AUTOPILOT_HOST} PARENT_SCOPE)
+    else()
+        message(STATUS "have no env AUTOPILOT_HOST, please input host:")
+        execute_process(
+            COMMAND bash -c "read -r ip && echo \$ip"
+            OUTPUT_VARIABLE AUTOPILOT_HOST_INPUT
+            OUTPUT_STRIP_TRAILING_WHITESPACE
+        )
+        if(AUTOPILOT_HOST_INPUT STREQUAL "")
+            message(FATAL_ERROR "invalid host, abort")
+        endif()
+        set(AUTOPILOT_HOST ${AUTOPILOT_HOST_INPUT} PARENT_SCOPE)
+    endif()
+
+    if(DEFINED ENV{AUTOPILOT_USER})
+        set(AUTOPILOT_USER $ENV{AUTOPILOT_USER} PARENT_SCOPE)
+    else()
+        set(AUTOPILOT_USER "radxa" PARENT_SCOPE)
+    endif()
+endfunction()
+
+get_autopilot_credentials()
+
+execute_process(
+    COMMAND ssh ${AUTOPILOT_USER}@${AUTOPILOT_HOST} "mkdir -p /home/${AUTOPILOT_USER}/px4"
+    RESULT_VARIABLE mkdir_result
+)
+if(NOT mkdir_result EQUAL 0)
+    message(FATAL_ERROR "upload failed")
+endif()
+
+execute_process(
+    COMMAND rsync -arh --progress ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/radxa/rock5bplus.config ${PX4_BINARY_DIR}/etc "${AUTOPILOT_USER}@${AUTOPILOT_HOST}:/home/${AUTOPILOT_USER}/px4"
+    RESULT_VARIABLE scp_result
+)
+if(NOT scp_result EQUAL 0)
+    message(FATAL_ERROR "upload failed")
+endif()

boards/radxa/rock5bplus/cmake/upload.cmake

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+add_custom_target(upload
+    COMMAND ${CMAKE_COMMAND} -DCMAKE_RUNTIME_OUTPUT_DIRECTORY=${CMAKE_RUNTIME_OUTPUT_DIRECTORY} -DPX4_SOURCE_DIR=${PX4_SOURCE_DIR} -DPX4_BINARY_DIR=${PX4_BINARY_DIR} -P ${PX4_BOARD_DIR}/cmake/do_upload.cmake
+    DEPENDS px4
+    COMMENT "uploading px4"
+    USES_TERMINAL
+)

boards/radxa/rock5bplus/default.px4board

@@ -0,0 +1,49 @@
+CONFIG_PLATFORM_POSIX=y
+CONFIG_BOARD_LINUX_TARGET=y
+CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
+CONFIG_BOARD_ARCHITECTURE="cortex-a76"
+CONFIG_BOARD_TESTING=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SHUTDOWN=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/radxa/rock5bplus/src/CMakeLists.txt

@@ -0,0 +1,37 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+add_library(drivers_board
+	i2c.cpp
+	spi.cpp
+)

boards/radxa/rock5bplus/src/board_config.h

@@ -0,0 +1,57 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * RADXA internal definitions
+ */
+
+ #pragma once
+
+ #define BOARD_OVERRIDE_UUID "ROCK5BPLUS000000" // must be of length 16
+ #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_RADXA
+
+
+ #define CONFIG_SPI 1
+
+ #define CONFIG_I2C 1
+ #define PX4_NUMBER_I2C_BUSES 1
+
+ // now, fake
+ #define ADC_BATTERY_VOLTAGE_CHANNEL	0
+ #define ADC_BATTERY_CURRENT_CHANNEL	-1
+
+
+ #include <system_config.h>
+ #include <px4_platform_common/board_common.h>

boards/radxa/rock5bplus/src/i2c.cpp

@@ -0,0 +1,37 @@
+/****************************************************************************
+ *
+ *   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] = {
+};

boards/radxa/rock5bplus/src/spi.cpp

@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   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(0, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, 0)
+	}),
+};

platforms/common/include/px4_platform_common/board_common.h

@@ -377,6 +377,7 @@ typedef enum PX4_SOC_ARCH_ID_t {
 
 	PX4_SOC_ARCH_ID_VOXL2          =  0x100A,
 
+	PX4_SOC_ARCH_ID_RADXA          =  0x2000,
 } PX4_SOC_ARCH_ID_t;
 
 

posix-configs/radxa/rock5bplus.config

@@ -0,0 +1,10 @@
+#!/bin/sh
+# PX4 commands need the 'px4-' prefix in bash.
+# (px4-alias.sh is expected to be in the PATH)
+. px4-alias.sh
+
+param select parameters.bson
+icm20602 start -s 0 -b 0
+rc_input start -d /dev/ttyS3
+sensors start
+dataman start