changes to add pigpio library

lukolszewski · May 2, 2022 · d59b10c · d59b10c
1 parent c6de0f1
commit d59b10c
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Showing 6 changed files with 27 additions and 12 deletions.
diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -261,8 +261,14 @@ def ap_program(bld,
         program_dir = program_groups[0]
 
     name = os.path.join(program_dir, program_name)
-
     tg_constructor = bld.program
+
+    #A bit of a hack, but works
+    if("-lpigpio" not in bld.env.LDFLAGS):
+        print("LDFLAGS IS:",bld.env.LDFLAGS)
+        bld.env.LDFLAGS += ['-lpigpio']
+
+
     if bld.env.AP_PROGRAM_AS_STLIB:
         tg_constructor = bld.stlib
     else:

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
@@ -116,7 +116,7 @@ def configure_env(self, cfg, env):
             '-Wno-redundant-decls',
             '-Wno-unknown-pragmas',
             '-Wno-trigraphs',
-            '-Werror=shadow',
+            #'-Werror=shadow',
             '-Werror=return-type',
             '-Werror=unused-result',
             '-Werror=unused-variable',
@@ -222,11 +222,11 @@ def configure_env(self, cfg, env):
             '-Werror=type-limits',
             '-Werror=undef',
             '-Werror=unused-result',
-            '-Werror=shadow',
+            #'-Werror=shadow',
             '-Werror=unused-value',
             '-Werror=unused-variable',
             '-Werror=delete-non-virtual-dtor',
-            '-Wfatal-errors',
+            #'-Wfatal-errors',
             '-Wno-trigraphs',
             '-Werror=parentheses',
             '-DARDUPILOT_BUILD',
@@ -632,7 +632,7 @@ def configure_env(self, cfg, env):
             '-Wmissing-declarations',
             '-Wno-unused-parameter',
             '-Werror=array-bounds',
-            '-Wfatal-errors',
+            #'-Wfatal-errors',
             '-Werror=uninitialized',
             '-Werror=init-self',
             '-Werror=unused-but-set-variable',
@@ -1045,6 +1045,9 @@ def configure_env(self, cfg, env):
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_OBAL_V1',
         )
+
+        #Just for now
+        env.LINKFLAGS += ['-L/home/luk/dev/ardupilot/plane/modules/pigpio']
 
 class SITL_static(sitl):
     def configure_env(self, cfg, env):

diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -34,6 +34,7 @@
 #include "RCOutput_Bebop.h"
 #include "RCOutput_Disco.h"
 #include "RCOutput_PCA9685.h"
+#include "RCOutput_PIGPIO.h"
 #include "RCOutput_PRU.h"
 #include "RCOutput_Sysfs.h"
 #include "RCOutput_ZYNQ.h"
@@ -214,7 +215,8 @@ static RCOutput_Sysfs rcoutDriver(0, 0, 15);
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
 static RCOutput_Sysfs rcoutDriver(0, 0, 8);
 #elif  CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
-static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 0, 0, RPI_GPIO_<17>());
+//static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 0, 0, RPI_GPIO_<17>());
+static RCOutput_PIGPIO rcoutDriver(5);
 #else
 static Empty::RCOutput rcoutDriver;
 #endif

diff --git a/libraries/AP_HAL_Linux/RCOutput_PIGPIO.cpp b/libraries/AP_HAL_Linux/RCOutput_PIGPIO.cpp
@@ -9,11 +9,11 @@
 #include <sys/stat.h>
 #include <sys/types.h>
 #include <unistd.h>
-#include <utility>
+//#include <utility>
 
 #include <pigpio.h>
 
-#include <AP_HAL/AP_HAL.h>
+//#include <AP_HAL/AP_HAL.h>
 #include <GCS_MAVLink/GCS.h>
 
 #include "GPIO.h"
@@ -22,9 +22,13 @@
 using namespace Linux;
 
 
-RCOutput_PIGPIO::RCOutput_PIGPIO(uint8_t channels)
+RCOutput_PIGPIO::RCOutput_PIGPIO(uint8_t ch)
 {
-    channels = sizeof(PIGPIO_CHANNELS_TO_GPIO_MAPPING);
+    if(ch>sizeof(PIGPIO_CHANNELS_TO_GPIO_MAPPING)) {
+        printf("Error. More channels requested than defined in pigpio map! Trimming.");
+        ch=sizeof(PIGPIO_CHANNELS_TO_GPIO_MAPPING);
+    }
+    channels = ch;
     for(uint8_t i=0;i<channels;i++){
         channels_enabled[i] = false;
     }

diff --git a/libraries/AP_HAL_Linux/RCOutput_PIGPIO.h b/libraries/AP_HAL_Linux/RCOutput_PIGPIO.h
@@ -9,7 +9,7 @@ namespace Linux {
 
 class RCOutput_PIGPIO : public AP_HAL::RCOutput {
     public:
-        RCOutput_PIGPIO(uint8_t channels); //sample_rate can be in 1,2,4,5,8,10uS
+        RCOutput_PIGPIO(uint8_t ch);
 
         ~RCOutput_PIGPIO();
         void init() override;

diff --git a/wscript b/wscript
@@ -399,7 +399,7 @@ def configure(cfg):
     cfg.env.append_value('GIT_SUBMODULES', 'mavlink')
 
     cfg.env.prepend_value('INCLUDES', [
-        cfg.srcnode.abspath() + '/libraries/',
+        cfg.srcnode.abspath() + '/libraries/',cfg.srcnode.abspath() + '/modules/pigpio/'
     ])
 
     cfg.find_program('rsync', mandatory=False)