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make niryo one compile on aarch64 #54

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7022a76
make niryo one compile on aarch64
wolfv Jul 2, 2021
b42dd3e
fix grouping of regex
wolfv Jul 3, 2021
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2 changes: 1 addition & 1 deletion dynamixel_sdk/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ add_dependencies(dynamixel_sdk ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPO
EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE )
message( STATUS "Architecture: ${ARCHITECTURE}" )

if (${ARCHITECTURE} MATCHES "arm")
if (${ARCHITECTURE} MATCHES "(arm|aarch64)")
message(STATUS "wiringPi library is required - arm processor")
target_link_libraries(dynamixel_sdk
${catkin_LIBRARIES}
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8 changes: 4 additions & 4 deletions dynamixel_sdk/src/port_handler_linux.cpp
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Expand Up @@ -67,7 +67,7 @@ PortHandlerLinux::PortHandlerLinux(const char *port_name)
}

#include <fcntl.h>
#ifdef __arm__
#if defined(__arm__) || defined(__aarch64__)
#include <wiringPi.h>
#endif
#include <time.h>
Expand All @@ -76,7 +76,7 @@ PortHandlerLinux::PortHandlerLinux(const char *port_name)

bool PortHandlerLinux::setupGpio()
{
#ifdef __arm__
#if defined(__arm__) || defined(__aarch64__)
int result = wiringPiSetupGpio();
if (!result) {
//printf("Gpio started\n");
Expand All @@ -98,14 +98,14 @@ bool PortHandlerLinux::setupGpio()

void PortHandlerLinux::gpioHigh()
{
#ifdef __arm__
#if defined(__arm__) || defined(__aarch64__)
digitalWrite(GPIO_HALF_DUPLEX_DIRECTION, HIGH);
#endif
}

void PortHandlerLinux::gpioLow()
{
#ifdef __arm__
#if defined(__arm__) || defined(__aarch64__)
digitalWrite(GPIO_HALF_DUPLEX_DIRECTION, LOW);
#endif
}
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2 changes: 1 addition & 1 deletion mcp_can_rpi/CMakeLists.txt
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Expand Up @@ -31,7 +31,7 @@ add_dependencies(mcp_can_rpi ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORT
EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE )
message( STATUS "Architecture: ${ARCHITECTURE}" )

if (${ARCHITECTURE} MATCHES "arm")
if (${ARCHITECTURE} MATCHES "(arm|aarch64)")
message(STATUS "wiringPi library is required for mcp_can_rpi (ARM processor)")
target_link_libraries(mcp_can_rpi
${catkin_LIBRARIES}
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2 changes: 1 addition & 1 deletion mcp_can_rpi/include/mcp_can_rpi/mcp_can_rpi.h
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Expand Up @@ -43,7 +43,7 @@
#ifndef MCP_CAN_RPI_H
#define MCP_CAN_RPI_H

#ifdef __arm__
#if defined(__arm__) || defined(__aarch64__)
#include <wiringPi.h>
#include <wiringPiSPI.h>
#endif
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8 changes: 4 additions & 4 deletions mcp_can_rpi/src/mcp_can_rpi.cpp
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Expand Up @@ -47,7 +47,7 @@
*********************************************************************************************************/
void MCP_CAN::spiTransfer(uint8_t byte_number, unsigned char *buf)
{
#ifdef __arm__
#if defined(__arm__) || defined(__aarch64__)
wiringPiSPIDataRW(spi_channel, buf, byte_number);
nanosleep(&delay_spi_can, (struct timespec *)NULL);
#endif
Expand All @@ -59,7 +59,7 @@ void MCP_CAN::spiTransfer(uint8_t byte_number, unsigned char *buf)
*********************************************************************************************************/
bool MCP_CAN::setupInterruptGpio()
{
#ifdef __arm__
#if defined(__arm__) || defined(__aarch64__)
int result = wiringPiSetupGpio();
if (!result) {
printf("Gpio started\n");
Expand All @@ -84,7 +84,7 @@ bool MCP_CAN::setupInterruptGpio()
*********************************************************************************************************/
bool MCP_CAN::setupSpi()
{
#ifdef __arm__
#if defined(__arm__) || defined(__aarch64__)
int result_spi = wiringPiSPISetup(spi_channel, spi_baudrate);
printf("Started SPI : %d\n", result_spi);
if (result_spi < 0) {
Expand All @@ -104,7 +104,7 @@ bool MCP_CAN::setupSpi()
*********************************************************************************************************/
bool MCP_CAN::canReadData()
{
#ifdef __arm__
#if defined(__arm__) || defined(__aarch64__)
return !digitalRead(gpio_can_interrupt);
#else
return false;
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2 changes: 1 addition & 1 deletion niryo_one_debug/CMakeLists.txt
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Expand Up @@ -38,7 +38,7 @@ add_executable(dxl_debug_tools
EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE )
message( STATUS "Architecture: ${ARCHITECTURE}" )

if (${ARCHITECTURE} MATCHES "arm")
if (${ARCHITECTURE} MATCHES "(arm|aarch64)")
message(STATUS "wiringPi library is required - arm processor")
target_link_libraries(dxl_debug_tools
${catkin_LIBRARIES}
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2 changes: 1 addition & 1 deletion niryo_one_driver/CMakeLists.txt
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Expand Up @@ -63,7 +63,7 @@ add_executable(${PROJECT_NAME}
EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE )
message( STATUS "Architecture: ${ARCHITECTURE}" )

if (${ARCHITECTURE} MATCHES "arm")
if (${ARCHITECTURE} MATCHES "(arm|aarch64)")
message(STATUS "wiringPi library is required - arm processor")
target_link_libraries(niryo_one_driver
${catkin_LIBRARIES}
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2 changes: 1 addition & 1 deletion niryo_one_driver/include/niryo_one_driver/rpi_diagnostics.h
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Expand Up @@ -20,7 +20,7 @@
#ifndef RPI_DIAGNOSTICS_H
#define RPI_DIAGNOSTICS_H

#ifdef __arm__
#if defined(__arm__) || defined(__aarch64__)
#include <fstream>
#endif

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2 changes: 1 addition & 1 deletion niryo_one_driver/src/rpi_diagnostics.cpp
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Expand Up @@ -33,7 +33,7 @@ int RpiDiagnostics::getRpiCpuTemperature()

void RpiDiagnostics::readCpuTemperature()
{
#ifdef __arm__
#if defined(__arm__) || defined(__aarch64__)
std::fstream cpu_temp_file("/sys/class/thermal/thermal_zone0/temp", std::ios_base::in);

int read_temp;
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2 changes: 1 addition & 1 deletion niryo_one_driver/src/utils/change_hardware_version.cpp
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Expand Up @@ -21,7 +21,7 @@

int change_hardware_version_and_reboot(int old_version, int new_version)
{
#ifdef __arm__
#if defined(__arm__) || defined(__aarch64__)

std::ostringstream text;

Expand Down