Pin Assignment on Raspberry Pi 3 with PX4

PX4 Autopilot Flight Controllers 💻
1

Which configuration file is responsible for I/O pin assignment on Raspberry Pi 3 when make posix_rpi_native is used?
At least how will I know which Raspberry Pi 3 GPIO pin is assigned to which sensor driver with default native build (followed the steps provided in the PX4 documentation)?

I am trying to run PX4 on Raspberry Pi 3 with Ubuntu 18.04 using a custom sensor board. Perhaps I need to write the driver for the sensor which has SPI interface as it is not available in df_ in px4.config. Any documentation or resource I should look into to write the driver? One of the drivers in https://github.com/PX4/Firmware/tree/master/src/drivers is quite similar to what I need but it is for NuttX. Is there any procedure to migrate NuttX driver to Linux?

2

We are trying to move away from DriverFramework, see https://github.com/PX4/Firmware/pull/12136.

Therefore, I’d suggest to think about how you could add it to the existing driver infrastructure in Firmware.

3

Thanks JulianOes for the update.
One more thing I want to ask for the Navio 2 board. There is an EEPROM connected to pin 27 and 28 of Raspberry Pi 3 board. I read somewhere that this EEPROM is used for auto configuration or Navio 2 board specific ID. I need to know if PX4 code will work without the EEPROM?

BTW I found the following link which answers my earlier query.

4

Usually on “Posix” which is what we call non-NuttX boards the params are just saved in a params file.