Resolving HAL Linux Differences between Master Branch and Rover 4.6 Branch

ArduRover Rover 4.6
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1

Hey all,

We are migrating our fork of Ardurover from the Master Branch to Rover 4.6.3. We are using a Raspberry Pi 5 and integrated it using AP_HAL_Linux. Originally, we created a hwdef.dat file to setup our IMU, GPIO, and CAN connections. The hwdef file was located in /libraries/AP_HAL_Linux/hwdef/.

On the Rover 4.6.3 tag it appears there are no hwdef files. How do we configure our Raspberry Pi with sensors without creating a hwdef? Is there an easy way to port our HAL configuration from the Master Branch to Rover 4.6?

I attached our hwdef file as well as the specific commits.

define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_LINUX_MOWZE
env TOOLCHAIN aarch64-linux-gnu
env OPTIMIZE -fomit-frame-pointer -ftree-vectorize

# IMU
IMU Invensensev3 SPI:icm42688 ROTATION_NONE

# GPIO
define HAL_LINUX_GPIO_RPI_ENABLED 1

# CAN
define HAL_CANMANAGER_ENABLED 1
define HAL_NUM_CAN_IFACES 2
define HAL_WITH_ESC TELEM 1
define HAL_ENABLE_DRONECAN_DRIVERS 1

# Define the directories
define HAL_BOARD_LOG_DIRECTORY "logs"
define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
define HAL_BOARD_STORAGE_DIRECTORY "."

# SPI devices

#              NAME         BUS   SUBDEV   MODE         BPW   CS_PIN           LOWSPD   HIGHSPD
LINUX_SPIDEV   "icm42688"   0     0        SPI_MODE_3   8     SPI_CS_KERNEL    1*MHZ    24*MHZ

The hwdef is from the following commit on Master branch:

image
image739×107 12.8 KB

And we are trying to migrate to this commit

Thanks!

2

Looks like we migrated to hwdef for 4.7 from a legacy mechanism for Linux builds. Is there anything you specifically dislike about the master branch that is driving you toward this solution?

4.7 is close to a beta period and release, and it may be worth your while to simply maintain what you’ve got until the stable release rather than working toward backporting.

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3

I agree with @Yuri_Rage, if you can wait for 4.7 that would be best. We should start beta testing 4.7 late next week but it takes us 2 to 3 months before we can release it as the stable version

4

Okay we’ll wait for 4.7. No reason we can’t run on the Master Branch for now.

Thank you both for the help!

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