Px4-autopilot: ll40ls for rpi3

[belaidH]

is the ll40ls compatible with the posix platform (rpi3) because when I compile I get error about (nuttx/clock.h and nuttx/wqueue.h).

[dagar]

You'll need to go through and fix those issues. Remove the nuttx headers first, then readd generic headers as needed.

[LorenzMeier]

Or in other words: It is reasonably easy and a pull request would be appreciated.

[belaidH]

So I just have to remove the headers ? because after that several problems concerning the variable or function 'work' appear .

[dagar]

@belaidH yes remove those headers, and in that case add #include <px4_workqueue.h>.

[belaidH]

Okey thank you. I will try it

[belaidH]

I think now it's okay for the workqueue. but I get an other error
about the irqstate_t on the LidarLiteI2C.cpp file (I would use the I2C of the rpi).

[dagar]

@belaidH you can replace the critical sections with ATOMIC_ENTER/ATOMIC_LEAVE.

On NuttX it's the same thing - https://github.com/PX4/Firmware/blob/master/src/drivers/device/nuttx/cdev_platform.hpp#L10

On other platforms it's a lock - https://github.com/PX4/Firmware/blob/master/src/drivers/device/posix/cdev_platform.hpp#L6

[belaidH]

@dagar thank you. after some tries it's compiled. Is there manip to start the ll40ls after launching the ./px4 because I don't see his topic when I use the "uorb top" command.

[dagar]

Does it work if you start it manually ll40ls start?

Once you're sure it's working you could add it to the raspberry pi configs here. https://github.com/PX4/Firmware/tree/master/posix-configs/rpi

[belaidH]

@dagar when I try this there is an error "Error opening fd".

but I have doing changed before on LidarLiteI2C.cpp, otherwise generate errors "no matchingfunction" at compile time.

case SENSORIOCGQUEUEDEPTH:
return _reports->size();

default: {
        int result = LidarLite::ioctl(filp, cmd, arg); // to int result=LidarLiteI2C::ioctl(flip,cmd,arg);

        if (result == -EINVAL) {
            result = I2C::ioctl(filp, cmd, arg); // to result= LidarLiteI2C::ioctl(flip,cmd,arg;
        }

        return result;
    }
}

}

[dagar]

If you open a pull request I can review and cross test. The I2C might be wrong for the raspberrypi as well.

On Linux the i2c buses map to /dev/i2c-X.

[belaidH]

@dagar okey, this is my pull requests https://github.com/belaidH/Firmware/pulls

[dagar]

Can you open as a pull request against the main PX4 Firmware repository? https://github.com/PX4/Firmware

[belaidH]

@dagar yes, I did it. https://github.com/PX4/Firmware/pull/8579

[dagar]

Done!