https://github.com/emlid/rcio-dkms

https://github.com/emlid/rcio-dkms

ardupilot navio navio2

Last synced: about 1 month ago
JSON representation

• Host: GitHub
• URL: https://github.com/emlid/rcio-dkms
• Owner: emlid
• License: gpl-2.0
• Created: 2015-05-05T12:51:07.000Z (over 9 years ago)
• Default Branch: master
• Last Pushed: 2020-01-16T09:25:48.000Z (almost 5 years ago)
• Last Synced: 2024-04-16T03:46:31.950Z (9 months ago)
• Topics: ardupilot, navio, navio2
• Language: C
• Homepage:
• Size: 109 KB
• Stars: 9
• Watchers: 7
• Forks: 16
• Open Issues: 3
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# rcio-dkms

This is a kernel module for Raspberry Linux allowing it to communicate with Navio modules.

# Building

## Native compilation on Pi

Requirements

- Navio Raspbian running on Pi

Building

    # Get source

    pi@navio:~ $ git clone [email protected]:emlid/rcio-dkms.git

    pi@navio:~/rcio-dkms-private $ make

Updating dkms

    # Note: use valid version number (in this case 0.6.6)

    pi@navio:~/rcio-dkms-private $ sudo dkms remove rcio/0.6.6 --all

    # Note: you can use something like 

    # $ version=`dkms status | head -1 | awk -F, '{print $2;}' | sed 's/ /rcio\//g'`

    # $ sudo dkms remove $version --all

    # to auto-detect the current running version

    pi@navio:~/rcio-dkms-private $ sudo dkms install .

Re-launch kernel module

    pi@navio:~/rcio-dkms-private $ sudo modprobe -r rcio_spi

    pi@navio:~/rcio-dkms-private $ sudo insmod rcio_core.ko

    pi@navio:~/rcio-dkms-private $ sudo insmod rcio_spi.ko

Check whether it is alive:

    pi@navio:~ $ cat /sys/kernel/rcio/status/alive 

    # This should print "1"

## Cross-compilation on Linux machine

Requirements:

- gcc-arm-linux-gnueabi

- Navio Raspberry Kernel sources (will be downloaded in the next section)

Building Raspberry Linux Kernel

    # Download them

    laptop:~$ git clone https://github.com/emlid/linux-rpi-private/commits/feat-wifi-broadcast-rebase

    # Switch to the commit which is stated in pi's uname -a output

    # Thus, if

    # pi@navio:~ $ uname -a

    # Linux navio 4.4.36-a7765e7-emlid-v7+ #41 SMP PREEMPT Mon Mar 20 18:48:32 MSK 2017 armv7l GNU/Linux

    # you have to do

    laptop:~/linux-rpi-private $ git checkout a7765e7

    # Setup variables and configs

    laptop:~/linux-rpi-private $ export ARCH=arm 

    laptop:~/linux-rpi-private $ export CROSS_COMPILE=arm-linux-gnueabihf-

    laptop:~/linux-rpi-private $ make bcm2709_emlid_defconfig

    # Make it

    laptop:~/linux-rpi-private $ make -j5

Building rcio

    laptop:~$ git clone [email protected]:emlid/rcio-dkms-private.git

    laptop:~/rcio-dkms-private $ export ARCH=arm

    laptop:~/rcio-dkms-private $ export CROSS_COMPILE=arm-linux-gnueabihf-

    # Point KERNEL_SOURCE to where they actually are

    laptop:~/rcio-dkms-private $ export KERNEL_SOURCE=../linux-rpi-private/

    laptop:~/rcio-dkms-private $ make -j5

    # Here we should have a bunch of *.ko files.

Updating kernel modules on Raspberry

    pi@navio:~ $ mkdir rcio-dkms-crosscompiled

    # Point this to your Raspberry's IP address

    laptop:~/rcio-dkms-private $ export PI_IP=192.168.1.210

    laptop:~/rcio-dkms-private $ export PI_CROSSCOMPILED_PATH='~/rcio-dkms-crosscompiled'

    laptop:~/rcio-dkms-private $ rsync -vP *.ko pi@$PI_IP:"$PI_CROSSCOMPILED_PATH"

    pi@navio:~/rcio-dkms-crosscompiled $ sudo modprobe -r rcio_spi

    pi@navio:~/rcio-dkms-crosscompiled $ sudo insmod rcio_core.ko

    pi@navio:~/rcio-dkms-crosscompiled $ sudo insmod rcio_spi.ko

Check whether it is alive:

    pi@navio:~ $ cat /sys/kernel/rcio/status/alive 

    # This should print "1" again

# Troubleshooting

In case of any troubles

1. Double-check all necessary requirements

2. Double-check all environment variables and paths

3. Try 

    $ make clean

and/or

    $ make distclean