boards: emlid_navio - support 64-bit OS on Raspberry Pi 4,5 #24006

slgrobotics · 2024-11-20T23:49:22Z

Solved Problem

Raspberry Pi 4,5 support 64-bit OS (Ubuntu) and "aarch64-linux-gnu" toolchain.

This PR adds a single file that optionally allows cross-builds for ARM64 target architecture.

Solution

Using a Ubuntu 24.04 Intel or similar desktop machine for builds
This PR adds file boards/emlid/navio2/arm64.px4board
Install ARM64 toolchain: sudo apt install g++-aarch64-linux-gnu

The 32-bit toolchain can be installed by sudo apt install g++-arm-linux-gnueabihf

Now both 32-bit and 64-bit builds are available:

make emlid_navio2 upload
make emlid_navio2_arm64 upload

slgrobotics · 2024-11-20T23:53:04Z

@dagar - please take a look. RPi 5 is mainstream now and it doesn't support 32-bit Ubuntu

boards/emlid/navio2/arm64.px4board

dagar · 2024-11-21T00:37:23Z

@slgrobotics the build is failing here, but I'm not yet sure why.
https://github.com/PX4/PX4-Autopilot/actions/runs/11943770023/job/33293471754?pr=24006

slgrobotics · 2024-11-21T03:19:21Z

@dagar - it builds for me after I apply changes per #23994

I build on an Intel I7 Ubuntu 24.04 desktop machine, all updates applied.

.../PX4-Autopilot/platforms/common/spi.cpp

int px4_find_spi_bus(uint32_t devid)
{
// px4_spi_buses is only NULL on certain targets depending on defines
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Waddress"

        for (int i = 0; ((px4_spi_bus_t *) px4_spi_buses) != nullptr && i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
#pragma GCC diagnostic pop
		const px4_spi_bus_t &bus_data = px4_spi_buses[i];

Here is the trace:

sergei@sergeiu7:~/src11/PX4-Autopilot$ make emlid_navio2_arm64
-- PX4_GIT_TAG: v1.16.0-alpha1-1-g31328ed7c5
CMake Warning (dev) at CMakeLists.txt:176 (find_package):
  Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
  are removed.  Run "cmake --help-policy CMP0148" for policy details.  Use
  the cmake_policy command to set the policy and suppress this warning.

This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.12.3", minimum required is "3") 
-- PX4 config file: /home/sergei/src11/PX4-Autopilot/boards/emlid/navio2/arm64.px4board
-- PLATFORM posix
-- LINUX_TARGET y
-- TOOLCHAIN aarch64-linux-gnu
-- ARCHITECTURE cortex-a53
-- ROMFSROOT px4fmu_common
-- ROOTFSDIR .
-- TESTING y
-- ROOT_PATH /fs/microsd
-- PARAM_FILE /fs/mtd_params
-- PX4 config: emlid_navio2_arm64
-- PX4 platform: posix
-- PX4 lockstep: disabled
-- The CXX compiler identification is GNU 13.2.0
-- The C compiler identification is GNU 13.2.0
-- The ASM compiler identification is GNU
-- Found assembler: /usr/bin/aarch64-linux-gnu-gcc
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- cmake build type: RelWithDebInfo
CMake Deprecation Warning at platforms/posix/src/px4/common/lockstep_scheduler/CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 3.5 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


/usr/bin/python3: Error while finding module specification for 'symforce.symbolic' (ModuleNotFoundError: No module named 'symforce')
-- Found Java: /usr/bin/java (found version "21.0.5") 
-- ROMFS: ROMFS/px4fmu_common
-- ROMFS:  Adding boards/emlid/navio2/init/rc.board_defaults -> /etc/init.d/rc.board_defaults
Architecture:  amd64
==> CPACK_INSTALL_PREFIX = @DEB_INSTALL_PREFIX@
-- Configuring done (2.3s)
-- Generating done (0.5s)
-- Build files have been written to: /home/sergei/src11/PX4-Autopilot/build/emlid_navio2_arm64
[0/1121] git submodule src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
[2/1121] git submodule src/drivers/gps/devices
[10/1121] git submodule src/modules/mavlink/mavlink
[15/1121] Generating actuators.json
/home/sergei/src11/PX4-Autopilot/Tools/module_config/output_groups_from_timer_config.py:33: SyntaxWarning: invalid escape sequence '\)'
  search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
/home/sergei/src11/PX4-Autopilot/Tools/module_config/output_groups_from_timer_config.py:38: SyntaxWarning: invalid escape sequence '\)'
  search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,\)]', line, re.IGNORECASE)
[431/1121] Building CXX object platforms/common/CMakeFiles/px4_platform.dir/spi.cpp.o
FAILED: platforms/common/CMakeFiles/px4_platform.dir/spi.cpp.o 
/usr/bin/aarch64-linux-gnu-g++ -DCONFIG_ARCH_BOARD_EMLID_NAVIO2 -D__CUSTOM_FILE_IO__ -D__PX4_LINUX -D__PX4_POSIX -D__STDC_FORMAT_MACROS -Dnoreturn_function="__attribute__((noreturn))" -I/home/sergei/src11/PX4-Autopilot/boards/emlid/navio2/src -I/home/sergei/src11/PX4-Autopilot/platforms/posix/src/px4/common/include -I/home/sergei/src11/PX4-Autopilot/build/emlid_navio2_arm64 -I/home/sergei/src11/PX4-Autopilot/build/emlid_navio2_arm64/src/lib -I/home/sergei/src11/PX4-Autopilot/platforms/posix/src/px4/generic/generic/include -I/home/sergei/src11/PX4-Autopilot/platforms/common -I/home/sergei/src11/PX4-Autopilot/platforms/common/include -I/home/sergei/src11/PX4-Autopilot/src -I/home/sergei/src11/PX4-Autopilot/src/include -I/home/sergei/src11/PX4-Autopilot/src/lib -I/home/sergei/src11/PX4-Autopilot/src/lib/matrix -I/home/sergei/src11/PX4-Autopilot/src/modules -I/home/sergei/src11/PX4-Autopilot/boards/emlid/navio2/include -I/home/sergei/src11/PX4-Autopilot/platforms/posix/include -I/home/sergei/src11/PX4-Autopilot/build/emlid_navio2_arm64/external/Install/include -O2 -g -DNDEBUG -std=gnu++14 -fPIC -g -fdata-sections -ffunction-sections -fomit-frame-pointer -fmerge-all-constants -fno-signed-zeros -fno-trapping-math -freciprocal-math -fno-math-errno -fno-strict-aliasing -fvisibility=hidden -include visibility.h -Wall -Wextra -Werror -Warray-bounds -Wcast-align -Wdisabled-optimization -Wdouble-promotion -Wfatal-errors -Wfloat-equal -Wformat-security -Winit-self -Wlogical-op -Wpointer-arith -Wshadow -Wuninitialized -Wunknown-pragmas -Wunused-variable -Wno-missing-field-initializers -Wno-missing-include-dirs -Wno-unused-parameter -fdiagnostics-color=always -Wno-stringop-truncation -fno-builtin-printf -fno-strength-reduce -Wformat=1 -Wunused-but-set-variable -Wno-format-truncation -fcheck-new -Wreorder -Wno-overloaded-virtual -fno-rtti -MD -MT platforms/common/CMakeFiles/px4_platform.dir/spi.cpp.o -MF platforms/common/CMakeFiles/px4_platform.dir/spi.cpp.o.d -o platforms/common/CMakeFiles/px4_platform.dir/spi.cpp.o -c /home/sergei/src11/PX4-Autopilot/platforms/common/spi.cpp
/home/sergei/src11/PX4-Autopilot/platforms/common/spi.cpp: In function ‘int px4_find_spi_bus(uint32_t)’:
/home/sergei/src11/PX4-Autopilot/platforms/common/spi.cpp:90:59: error: the address of ‘px4_spi_buses’ will never be NULL [-Werror=address]
   90 |         for (int i = 0; ((px4_spi_bus_t *) px4_spi_buses) != nullptr && i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
      |                         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors
[440/1121] Building CXX object platforms/posix/src/px4/common/px4_daemon/CMakeFiles/px4_daemon.dir/pxh.cpp.o
ninja: build stopped: subcommand failed.
make: *** [Makefile:227: emlid_navio2_arm64] Error 1
sergei@sergeiu7:~/src11/PX4-Autopilot$ meld /home/sergei/src11/PX4-Autopilot/platforms/common/spi.cpp /home/sergei/src0/PX4-Autopilot/platforms/common/spi.cpp
sergei@sergeiu7:~/src11/PX4-Autopilot$ 
sergei@sergeiu7:~/src11/PX4-Autopilot$ make emlid_navio2_arm64
[682/682] Linking CXX shared library src/examples/dyn_hello/examples__dyn_hello.px4mod
sergei@sergeiu7:~/src11/PX4-Autopilot$

slgrobotics · 2024-11-21T04:38:27Z

BTW, make scumaker_pilotpi_arm64 builds fine on my machine too.

But this still fails after I merged the #23994 from main:

Build all targets / Build Group [aarch64-0] (pull_request) Failing after 1m

Is it related to CONFIG_MODULES_UXRCE_DDS_CLIENT=y in the boards/emlid/navio2/default.px4board ?

https://github.com/PX4/PX4-Autopilot/actions/runs/11946532582/job/33301066857?pr=24006

  [105/1121] Performing configure step for 'libmicroxrceddsclient_project'
  FAILED: src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-configure 
  cd /__w/PX4-Autopilot/PX4-Autopilot/build/emlid_navio2_arm64/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-build && /usr/bin/cmake -P /__w/PX4-Autopilot/PX4-Autopilot/build/emlid_navio2_arm64/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-configure-RelWithDebInfo.cmake && /usr/bin/cmake -E touch /__w/PX4-Autopilot/PX4-Autopilot/build/emlid_navio2_arm64/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-configure
  CMake Error at /__w/PX4-Autopilot/PX4-Autopilot/build/emlid_navio2_arm64/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-configure-RelWithDebInfo.cmake:16 (message):
    Command failed: 1
  
     '/usr/bin/cmake' '-C/__w/PX4-Autopilot/PX4-Autopilot/build/emlid_navio2_arm64/src/modules/uxrce_dds_client/tmp/libmicroxrceddsclient_project-cache-RelWithDebInfo.cmake' '-GNinja' '/__w/PX4-Autopilot/PX4-Autopilot/src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client'
  
    See also
  
      /__w/PX4-Autopilot/PX4-Autopilot/build/emlid_navio2_arm64/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-configure-*.log

slgrobotics · 2024-11-21T04:52:10Z

Stripped comments from boards/emlid/navio2/arm64.px4board - maybe this affects build?

Well, same failure - https://github.com/PX4/PX4-Autopilot/actions/runs/11946837888/job/33301868373?pr=24006

slgrobotics · 2024-11-21T16:28:11Z

Build failure is likely related to CONFIG_MODULES_UXRCE_DDS_CLIENT=y in the boards/emlid/navio2/default.px4board

boards/scumaker/pilotpi/default.px4board does not have that switch and seems to compile fine before navio2

mrpollo · 2024-11-27T16:38:25Z

Hey just a heads up, I rebased this branch so it can pick up the latest fixes to CI, maybe this helps smooth things up.

Here's the original error so we don't loose track of it

https://github.com/PX4/PX4-Autopilot/actions/runs/11956021085/job/33329873334?pr=24006#step:8:1281

DronecodeBot · 2024-11-27T17:04:56Z

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-sync-q-a-nov-27-2024/42604/1

dagar · 2024-11-27T21:58:09Z

The error should be fixed by #24045.

To support 64-bit OS on Raspberry Pi 4,5

stripped comments

slgrobotics · 2024-11-28T15:02:39Z

Not sure what's crashing MAVROS, but the "Build all targets / Build Group [aarch64-0]" is successful.

mrpollo · 2024-11-28T16:45:15Z

Thanks @slgrobotics, you are right tests are unrelated and will be fixed soon in #24039

dagar reviewed Nov 21, 2024

View reviewed changes

boards/emlid/navio2/arm64.px4board Outdated Show resolved Hide resolved

dagar previously approved these changes Nov 21, 2024

View reviewed changes

mrpollo force-pushed the navio_arm64 branch from 485d98c to 40b10fb Compare November 21, 2024 00:58

slgrobotics dismissed dagar’s stale review via 9932c78 November 21, 2024 04:49

mrpollo force-pushed the navio_arm64 branch from 9932c78 to 1d28877 Compare November 21, 2024 15:07

slgrobotics mentioned this pull request Nov 21, 2024

spi: Suppress null pointer warning #23994

Merged

mrpollo force-pushed the navio_arm64 branch from 1d28877 to 90fb898 Compare November 27, 2024 16:37

mrpollo force-pushed the navio_arm64 branch from 90fb898 to ee5db68 Compare November 27, 2024 22:20

slgrobotics added 2 commits November 27, 2024 20:48

Create arm64.px4board

97a89cd

To support 64-bit OS on Raspberry Pi 4,5

Update arm64.px4board

7e6650c

stripped comments

slgrobotics force-pushed the navio_arm64 branch from ee5db68 to 7e6650c Compare November 28, 2024 02:48

mrpollo approved these changes Nov 28, 2024

View reviewed changes

mrpollo merged commit ab32001 into PX4:main Nov 28, 2024
54 of 59 checks passed

slgrobotics deleted the navio_arm64 branch November 28, 2024 23:43

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

boards: emlid_navio - support 64-bit OS on Raspberry Pi 4,5 #24006

boards: emlid_navio - support 64-bit OS on Raspberry Pi 4,5 #24006

slgrobotics commented Nov 20, 2024

slgrobotics commented Nov 20, 2024

dagar commented Nov 21, 2024

slgrobotics commented Nov 21, 2024

slgrobotics commented Nov 21, 2024 •

edited

Loading

slgrobotics commented Nov 21, 2024 •

edited

Loading

slgrobotics commented Nov 21, 2024

mrpollo commented Nov 27, 2024

DronecodeBot commented Nov 27, 2024

dagar commented Nov 27, 2024

slgrobotics commented Nov 28, 2024

mrpollo commented Nov 28, 2024

boards: emlid_navio - support 64-bit OS on Raspberry Pi 4,5 #24006

boards: emlid_navio - support 64-bit OS on Raspberry Pi 4,5 #24006

Conversation

slgrobotics commented Nov 20, 2024

Solved Problem

Solution

slgrobotics commented Nov 20, 2024

dagar commented Nov 21, 2024

slgrobotics commented Nov 21, 2024

slgrobotics commented Nov 21, 2024 • edited Loading

slgrobotics commented Nov 21, 2024 • edited Loading

slgrobotics commented Nov 21, 2024

mrpollo commented Nov 27, 2024

DronecodeBot commented Nov 27, 2024

dagar commented Nov 27, 2024

slgrobotics commented Nov 28, 2024

mrpollo commented Nov 28, 2024

slgrobotics commented Nov 21, 2024 •

edited

Loading

slgrobotics commented Nov 21, 2024 •

edited

Loading