Fix RPi2 build system

Tools/scp_upload.sh

@@ -0,0 +1,24 @@
+#!/bin/bash
+
+if [[ "$#" < 2 ]]; then
+	echo "usage: scp_upload.sh SRC1 [SRC2 ...] DEST"
+	exit
+fi
+
+echo "Uploading..."
+
+# Get last argument
+for last; do true; done
+
+# Go through source files and push them one by one.
+i=0
+for arg
+do
+	if [[ $((i+1)) == "$#" ]]; then
+		break
+	fi
+	# echo "Pushing $arg to $last"
+	#adb push $arg $last
+	scp $arg pi@px4autopilot:$last
+	((i+=1))
+done

cmake/common/px4_base.cmake

@@ -528,6 +528,24 @@ function(px4_add_adb_push)
 		)
 endfunction()
 
+function(px4_add_scp_push)
+	px4_parse_function_args(
+		NAME px4_add_upload
+		ONE_VALUE OS BOARD OUT DEST
+		MULTI_VALUE FILES DEPENDS
+		REQUIRED OS BOARD OUT FILES DEPENDS DEST
+		ARGN ${ARGN})
+
+	add_custom_target(${OUT}
+		COMMAND ${CMAKE_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
+		DEPENDS ${DEPENDS}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		COMMENT "uploading ${BUNDLE}"
+		VERBATIM
+		USES_TERMINAL
+		)
+endfunction()
+
 
 #=============================================================================
 #

cmake/configs/posix_rpi2_release.cmake

@@ -1,59 +1,109 @@
 include(posix/px4_impl_posix)
 
-if ("${RPI_TOOLCHAIN_DIR}" STREQUAL "")
-	set(RPI_TOOLCHAIN_DIR /opt/rpi_toolchain)
-endif()
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
 
 set(CMAKE_PROGRAM_PATH
 	"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
 	${CMAKE_PROGRAM_PATH}
 	)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+# This definition allows to differentiate if this just the usual POSIX build
+# or if it is for the RPi.
+add_definitions(
+	-D__PX4_POSIX_RPI2
+	)
 
 set(config_module_list
+	#
+	# Board support modules
+	#
 	drivers/device
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
+	modules/sensors
+	platforms/posix/drivers/df_mpu9250_wrapper
+	platforms/posix/drivers/df_bmp280_wrapper
+	platforms/posix/drivers/df_hmc5883_wrapper
+	platforms/posix/drivers/df_trone_wrapper
+	platforms/posix/drivers/df_isl29501_wrapper
+
+	#
+	# System commands
+	#
 	systemcmds/param
 	systemcmds/mixer
 	systemcmds/ver
 	systemcmds/esc_calib
-	systemcmds/reboot
 	systemcmds/topic_listener
 	systemcmds/perf
-	modules/uORB
-	modules/param
-	modules/systemlib
-	modules/systemlib/mixer
-	modules/sensors
-	modules/mavlink
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	#modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
 	modules/attitude_estimator_q
 	modules/position_estimator_inav
-	modules/navigator
-	modules/vtol_att_control
-	modules/mc_pos_control
+	modules/local_position_estimator
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
 	modules/mc_att_control
-	modules/land_detector
+	modules/mc_pos_control
 	modules/fw_att_control
-	modules/fw_pos_control_l1
-	modules/dataman
+	modules/fw_pos_control_l1	
+	modules/vtol_att_control
+
+	#
+	# Library modules
+	#
 	modules/sdlog2
 	modules/logger
 	modules/commander
 	modules/load_mon
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/dataman
+	modules/land_detector
+	modules/navigator
+	modules/mavlink
+
+	#
+	# PX4 drivers
+	#
+
+	#
+	# Libraries
+	#
 	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter
-	lib/conversion
-	lib/ecl
-	lib/external_lgpl
 	lib/geo
+	lib/ecl
 	lib/geo_lookup
 	lib/launchdetection
+	lib/external_lgpl
+	lib/conversion
 	lib/terrain_estimation
 	lib/runway_takeoff
 	lib/tailsitter_recovery
 	lib/DriverFramework/framework
-)
+
+	#
+	# POSIX
+	#
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+
+	)
+
+set(config_df_driver_list
+	mpu9250
+	bmp280
+	hmc5883
+	trone
+	isl29501
+	)

cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake

@@ -0,0 +1,86 @@
+# defines:
+#
+# NM
+# OBJCOPY
+# LD
+# CXX_COMPILER
+# C_COMPILER
+# CMAKE_SYSTEM_NAME
+# CMAKE_SYSTEM_VERSION
+# GENROMFS
+# LINKER_FLAGS
+# CMAKE_EXE_LINKER_FLAGS
+# CMAKE_FIND_ROOT_PATH
+# CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
+# CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
+# CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
+
+include(CMakeForceCompiler)
+
+if ("$ENV{RPI_TOOLCHAIN_DIR}" STREQUAL "")
+        message(FATAL_ERROR "RPI_TOOLCHAIN_DIR not set")
+else()
+        set(RPI_TOOLCHAIN_DIR $ENV{RPI_TOOLCHAIN_DIR})
+endif()
+
+# this one is important
+set(CMAKE_SYSTEM_NAME Generic)
+
+#this one not so much
+set(CMAKE_SYSTEM_VERSION 1)
+
+# specify the cross compiler
+find_program(C_COMPILER arm-linux-gnueabihf-gcc
+	PATHS ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
+	NO_DEFAULT_PATH
+	)
+
+if(NOT C_COMPILER)
+	message(FATAL_ERROR "could not find arm-linux-gnueabihf-gcc compiler")
+endif()
+cmake_force_c_compiler(${C_COMPILER} GNU)
+
+find_program(CXX_COMPILER arm-linux-gnueabihf-g++
+	PATHS ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
+	NO_DEFAULT_PATH
+	)
+
+if(NOT CXX_COMPILER)
+	message(FATAL_ERROR "could not find arm-linux-gnueabihf-g++ compiler")
+endif()
+cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
+
+# compiler tools
+foreach(tool objcopy nm ld)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} arm-linux-gnueabihf-${tool}
+		PATHS ${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin
+		NO_DEFAULT_PATH
+		)
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
+	endif()
+endforeach()
+
+# os tools
+foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${TOOL}")
+	endif()
+endforeach()
+
+set(LINKER_FLAGS "-Wl,-gc-sections")
+set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
+set(CMAKE_C_FLAGS ${C_FLAGS})
+set(CMAKE_CXX_LINKER_FLAGS ${C_FLAGS})
+
+# where is the target environment
+set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

posix-configs/rpi2/mainapp.config

@@ -0,0 +1,17 @@
+uorb start
+param set SYS_AUTOSTART 4001
+sleep 1
+param set MAV_TYPE 2
+df_mpu9250_wrapper start
+df_hmc5883_wrapper start
+sensors start
+commander start
+ekf2 start
+land_detector start multicopter
+mc_pos_control start
+mc_att_control start
+mavlink start -u 14556 -r 1000000
+sleep 1
+mavlink stream -u 14556 -s HIGHRES_IMU -r 50
+mavlink stream -u 14556 -s ATTITUDE -r 50
+mavlink boot_complete

src/firmware/posix/CMakeLists.txt

@@ -36,6 +36,30 @@ if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
 				 ${CMAKE_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
 			 DEPENDS mainapp
 			 DEST /home/linaro)
+
+elseif ("${BOARD}" STREQUAL "rpi2")
+
+	add_executable(mainapp
+		${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
+		apps.h
+		)
+
+	target_link_libraries(mainapp
+		-Wl,--start-group
+		${module_libraries}
+		df_driver_framework
+		${df_driver_libs}
+		pthread m rt
+		-Wl,--end-group
+		)
+
+	px4_add_scp_push(OUT upload
+			 OS ${OS}
+			 BOARD ${BOARD}
+			 FILES ${CMAKE_CURRENT_BINARY_DIR}/mainapp
+				 ${CMAKE_SOURCE_DIR}/posix-configs/rpi2/mainapp.config
+			 DEPENDS mainapp
+			 DEST /home/pi)
 
 else()
 	add_executable(mainapp

src/platforms/posix/drivers/df_bmp280_wrapper/df_bmp280_wrapper.cpp

@@ -178,10 +178,10 @@ int DfBmp280Wrapper::_publish(struct baro_sensor_data &data)
 	const double R  = 287.05;	/* ideal gas constant in J/kg/K */
 
 	/* current pressure at MSL in kPa */
-	double p1 = MSL_PRESSURE / 1000.0;
+	double p1 = MSL_PRESSURE / 1000.0f;
 
 	/* measured pressure in kPa */
-	double p = data.pressure_pa / 1000.0;
+	double p = data.pressure_pa / 1000.0f;
 
 	/*
 	 * Solve: