EVL4_PX4: Add evl support

.vscode/cmake-variants.yaml

@@ -6,6 +6,11 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_evl4:
+      short: px4_sitl_evl4
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_evl4
     px4_sitl_nolockstep:
       short: px4_sitl_nolockstep
       buildType: RelWithDebInfo
@@ -426,3 +431,8 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: x-mav_ap-h743v2_default
+    radxa_rock5b_default:
+      short: radxa_rock5b
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: radxa_rock5b_default

Kconfig

@@ -46,6 +46,12 @@ menu "Toolchain"
         help
             Board Platform is running the Linux operating system
 
+    config BOARD_EVL4_TARGET
+	bool "EVL4 OS Target"
+	depends on PLATFORM_POSIX
+	help
+	    Board Platform is running the EVL4 operating system
+
     config BOARD_TOOLCHAIN
         string "Toolchain"
         default ""

boards/px4/sitl/evl4.px4board

@@ -0,0 +1,87 @@
+CONFIG_PLATFORM_POSIX=y
+CONFIG_BOARD_NOLOCKSTEP=y
+CONFIG_BOARD_EVL4_TARGET=y
+CONFIG_BOARD_TESTING=y
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_ROOT_PATH="."
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_EKF2_VERBOSE_STATUS=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_FIGURE_OF_EIGHT=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=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_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_REPLAY=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_COMMON_SIMULATION=y
+CONFIG_MODULES_SIMULATION_GZ_MSGS=y
+CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
+CONFIG_MODULES_SIMULATION_GZ_PLUGINS=y
+CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_FAILURE=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SHUTDOWN=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_DYN_HELLO=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_EXAMPLES_FAKE_IMU=y
+CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
+CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+CONFIG_EXAMPLES_WORK_ITEM=y
+CONFIG_MODULES_SPACECRAFT=n

boards/px4/sitl/test.px4board

@@ -1,2 +1,3 @@
 CONFIG_BOARD_NOLOCKSTEP=y
+CONFIG_BOARD_EVL4_TARGET=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y

boards/radxa/rock5b/default.px4board

@@ -1,6 +1,5 @@
 CONFIG_PLATFORM_POSIX=y
 CONFIG_BOARD_LINUX_TARGET=y
-CONFIG_BOARD_EVL4_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
 CONFIG_BOARD_ARCHITECTURE="rk3588s2"
 CONFIG_COMMON_BAROMETERS=y

boards/radxa/rock5b/evl.px4board

@@ -0,0 +1,73 @@
+CONFIG_PLATFORM_POSIX=y
+CONFIG_BOARD_LINUX_TARGET=y
+CONFIG_BOARD_EVL4_TARGET=y
+CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
+CONFIG_BOARD_ARCHITECTURE="rk3588s2"
+CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_COMMON_IMU=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_BOARD_ROOT_PATH="."
+CONFIG_DRIVERS_LINUX_PWM_OUT=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=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_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=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_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=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_BATTERY_SIMULATOR=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_MAVLINK=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SHUTDOWN=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=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/rock5b/src/CMakeLists.txt

@@ -31,6 +31,10 @@
 #
 ############################################################################
 
+if(EVL4_TARGET)
+	add_definitions( "-D__PX4_EVL4" )
+endif()
+
 add_library(drivers_board
 	i2c.cpp
 	spi.cpp

boards/radxa/rock5b/src/board_pwm_out.cpp

@@ -41,10 +41,20 @@
 #include <unistd.h>
 #include <px4_platform_common/log.h>
 
+#ifdef __PX4_EVL4
+#include <evl/syscall.h>
+#include <linux/pwm.h>
+#include <string.h>
+#endif
+
 using namespace pwm_out;
 
 const char RockSysfsPWMOut::_device[] = "/sys/class/pwm/pwmchip";
 
+#if defined(__PX4_EVL4)
+const char RockSysfsPWMOut::_oob_device[] = "/dev/pwm";
+#endif
+
 RockSysfsPWMOut::RockSysfsPWMOut(int max_num_outputs)
 {
 	if (max_num_outputs > MAX_NUM_PWM) {
@@ -115,6 +125,26 @@ int RockSysfsPWMOut::init()
 	return 0;
 }
 
+#ifdef __PX4_EVL4
+int RockSysfsPWMOut::oob_init()
+{
+	int i;
+	char path[128];
+
+	for (i = 0; i < _pwm_num; ++i) {
+		::snprintf(path, sizeof(path), "%s%d", _oob_device, i>0?i+1:0); // 1 is pwm fan
+		_pwm_fd[i] = ::open(path, O_WRONLY | 010000000000);
+
+		if (_pwm_fd[i] == -1) {
+			PX4_ERR("PWM: Failed to open %s. error: %s", path, strerror(errno));
+			return -errno;
+		}
+	}
+
+	return 0;
+}
+#endif
+
 int RockSysfsPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
 {
 	char data[16];
@@ -138,6 +168,35 @@ int RockSysfsPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
 	return ret;
 }
 
+#ifdef __PX4_EVL4
+int RockSysfsPWMOut::oob_send_output_pwm(const uint16_t *pwm, int num_outputs)
+{
+	if (num_outputs > _pwm_num) {
+		num_outputs = _pwm_num;
+	}
+
+	int ret = 0;
+	struct pwm_state_request req;
+
+	req.enabled = true;
+        req.polarity = PWM_UAPI_POLARITY_NORMAL;
+        req.period = (int)1e9 / FREQUENCY_PWM;
+
+	//convert this to duty_cycle in ns
+	for (int i = 0; i < num_outputs; ++i) {
+		req.duty_cycle = pwm[i] * 1000;
+		ret = ioctl(_pwm_fd[i], PWM_SET_STATE_IOCTL, &req);
+
+		if (ret < 0) {
+			PX4_ERR("PWM: Failed to oob_set duty cycle. error: %s", strerror(errno));
+			return -errno;
+		}
+	}
+
+	return ret;
+}
+#endif
+
 int RockSysfsPWMOut::pwm_write_sysfs(char *path, int value)
 {
 	int fd = ::open(path, O_WRONLY | O_CLOEXEC);

boards/radxa/rock5b/src/board_pwm_out.h

@@ -54,6 +54,11 @@ class RockSysfsPWMOut : public PWMOutBase
 
 	int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
 
+#ifdef __PX4_EVL4
+	int oob_init() override;
+	int oob_send_output_pwm(const uint16_t *pwm, int num_outputs) override;
+#endif
+
 private:
 	int pwm_write_sysfs(char *path, int value);
 	int pwm_write_sysfs_str(char *path,const char* s, int n);
@@ -64,6 +69,9 @@ class RockSysfsPWMOut : public PWMOutBase
 	int _pwm_num;
 
 	static const char _device[];
+#ifdef __PX4_EVL4
+	static const char _oob_device[];
+#endif
 };
 
 }

cmake/kconfig.cmake

@@ -390,6 +390,10 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		add_definitions( "-D__PX4_LINUX" )
 	endif()
 
+	if(EVL4_TARGET)
+		add_definitions( "-D__PX4_EVL4" )
+	endif()
+
 	if(LOCKSTEP)
 		set(ENABLE_LOCKSTEP_SCHEDULER yes)
 	endif()

platforms/common/include/px4_platform_common/board_common.h

@@ -377,6 +377,8 @@ typedef enum PX4_SOC_ARCH_ID_t {
 
 	PX4_SOC_ARCH_ID_VOXL2          =  0x100A,
 
+	PX4_SOC_ARCH_ID_RADXA          =  0x1010,
+
 } PX4_SOC_ARCH_ID_t;