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InvenSense ICM20602 and ICM20608-G: new standalone optimized drivers

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- uses the FIFO and SPI DMA to transfer full raw data (8 kHz gyro, 4 kHz accel)
 - new sensor messages for better visibility
   - sensor_{accel, gyro}_fifo: full raw data for optional logging and analysis
   - sensor_{accel, gyro}_status: metadata, clipping, etc
 - currently not enabled by default
This commit is contained in:
Daniel Agar
2019-12-03 23:21:32 -05:00
committed by GitHub
parent 2badea316f
commit 709961ec8c
26 changed files with 1895 additions and 114 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/px4/fmu-v2/default.cmake
+1 -1
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@@ -53,7 +53,7 @@ px4_add_board(
#pca9685
#protocol_splitter
#pwm_input
pwm_out_sim
#pwm_out_sim
px4fmu
px4io
#roboclaw
boards/px4/fmu-v4/default.cmake
+2
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@@ -28,6 +28,8 @@ px4_add_board(
imu/adis16448
imu/adis16477
imu/adis16497
imu/invensense/icm20602
imu/invensense/icm20608-g
imu/mpu6000
imu/mpu9250
irlock
boards/px4/fmu-v4/init/rc.board_sensors
+4
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@@ -49,5 +49,9 @@ then
mpu6000 -R 2 -T 20608 start
fi
# new sensor drivers (in testing)
#icm20602 -R 8 start
#icm20608g -R 8 start
# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
mpu9250 -R 2 start
boards/px4/fmu-v4/nuttx-config/include/board.h
+1 -14
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@@ -40,6 +40,7 @@
/************************************************************************************
* Included Files
************************************************************************************/
#include "board_dma_map.h"
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
@@ -195,17 +196,6 @@
# define SDIO_SDXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
#endif
/* DMA Channl/Stream Selections *****************************************************/
/* Stream selections are arbitrary for now but might become important in the future
* is we set aside more DMA channels/streams.
*
* SDIO DMA
*   DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA
*   DMAMAP_SDIO_2 = Channel 4, Stream 6
*/
#define DMAMAP_SDIO DMAMAP_SDIO_1
/* Alternate function pin selections ************************************************/
/*
@@ -235,9 +225,6 @@
/* UART8 has no alternate pin config */
/* UART RX DMA configurations */
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1 /*DMA2 Stream 2*/
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_1 /*DMA2 Stream 1*/
/*
* CAN
boards/px4/fmu-v4/nuttx-config/include/board_dma_map.h
+23
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@@ -0,0 +1,23 @@
#pragma once
/* DMA Channel/Stream Selections
*
* DMAMAP_USART3_RX = DMA1, Stream 1, Channel 4
* DMAMAP_UART4_RX = DMA1, Stream 2, Channel 4
* DMAMAP_UART7_RX = DMA1, Stream 3, Channel 5
* DMAMAP_USART2_RX = DMA1, Stream 5, Channel 4
* DMAMAP_TIM4_UP = DMA1, Stream 6, Channel 2
*
*   DMAMAP_SPI1_RX_1 = DMA2, Stream 0, Channel 3
*   DMAMAP_USART6_RX_1 = DMA2, Stream 1, Channel 4
*   DMAMAP_USART1_RX_1 = DMA2, Stream 2, Channel 4
*   DMAMAP_SPI1_TX_1 = DMA2, Stream 3, Channel 3
* DMAMAP_TIM1_UP = DMA2, Stream 5, Channel 6
*   DMAMAP_SDIO_2 = DMA2, Stream 6, Channel 4
*/
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_1
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1
#define DMAMAP_SDIO DMAMAP_SDIO_2
boards/px4/fmu-v4/nuttx-config/nsh/defconfig
+2
View File
@@ -186,8 +186,10 @@ CONFIG_STM32_SDIO_CARD=y
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_SPI1=y
CONFIG_STM32_SPI1_DMA=y
CONFIG_STM32_SPI2=y
CONFIG_STM32_SPI4=y
CONFIG_STM32_SPI_DMA=y
CONFIG_STM32_TIM10=y
CONFIG_STM32_TIM11=y
CONFIG_STM32_TIM1=y
boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
+2
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@@ -187,8 +187,10 @@ CONFIG_STM32_SDIO_CARD=y
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_SPI1=y
CONFIG_STM32_SPI1_DMA=y
CONFIG_STM32_SPI2=y
CONFIG_STM32_SPI4=y
CONFIG_STM32_SPI_DMA=y
CONFIG_STM32_TIM10=y
CONFIG_STM32_TIM11=y
CONFIG_STM32_TIM1=y
boards/px4/fmu-v4/src/board_config.h
+1 -2
View File
@@ -76,7 +76,6 @@
* PE15 HMC5983 PE12
* ---- ----------------------------------------------- -----
*/
#define GPIO_SPI1_CS_PORTC_PIN2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define GPIO_SPI1_CS_PORTC_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI1_CS_PORTE_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
@@ -325,7 +324,7 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
/* This board provides a DMA pool and APIs. */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
#define BOARD_DMA_ALLOC_POOL_SIZE (5120 + 512 + 1008) // 5120 fat + 512 + 1008 spi
#define BOARD_HAS_ON_RESET 1
boards/px4/fmu-v4pro/default.cmake
+2
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@@ -30,6 +30,8 @@ px4_add_board(
#imu # all available imu drivers
imu/mpu6000
imu/mpu9250
imu/invensense/icm20602
imu/invensense/icm20608-g
irlock
lights/blinkm
lights/rgbled
boards/px4/fmu-v4pro/nuttx-config/include/board.h
+10 -82
View File
@@ -36,24 +36,21 @@
*
************************************************************************************/
#ifndef __NUTTX_CONFIG_PX4FMUV4_PRO_INCLUDE_BOARD_H
#define __NUTTX_CONFIG_PX4FMUV4_PRO_INCLUDE_BOARD_H
#ifndef __ARCH_BOARD_BOARD_H
#define __ARCH_BOARD_BOARD_H
/************************************************************************************
* Included Files
************************************************************************************/
#include "board_dma_map.h"
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include <stm32.h>
/************************************************************************************
* Definitions
************************************************************************************/
@@ -201,7 +198,7 @@
* to service FIFOs in interrupt driven mode. These values have not been
* tuned!!!
*
* SDIOCLK =48MHz, SDMMC_CK=SDIOCLK/(118+2)=400 KHz
* SDIOCLK=48MHz, SDMMC_CK=SDIOCLK/(118+2)=400 KHz
*/
/* Use the Falling edge of the SDIO_CLK clock to change the edge the
@@ -210,16 +207,16 @@
#define SDIO_CLKCR_EDGE SDIO_CLKCR_NEGEDGE
#define SDIO_INIT_CLKDIV (118 << SDIO_CLKCR_CLKDIV_SHIFT)
#define SDIO_INIT_CLKDIV (118 << SDIO_CLKCR_CLKDIV_SHIFT)
/* DMA ON: SDIOCLK=48MHz, SDMMC_CK=SDIOCLK/(1+2)=16 MHz
* DMA OFF: SDIOCLK=48MHz, SDMMC_CK=SDIOCLK/(2+2)=12 MHz
*/
#ifdef CONFIG_STM32_SDIO_DMA
# define SDIO_MMCXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
# define SDIO_MMCXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
#else
# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
#endif
/* DMA ON: SDIOCLK=48MHz, SDMMC_CK=SDIOCLK/(1+2)=16 MHz
@@ -228,23 +225,11 @@
//TODO #warning "Check Freq for 24mHz"
#ifdef CONFIG_STM32_SDIO_DMA
# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
#else
# define SDIO_SDXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
# define SDIO_SDXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
#endif
/* DMA Channel/Stream Selections *****************************************************/
/* Stream selections are arbitrary for now but might become important in the future
* is we set aside more DMA channels/streams.
*
* SDIO DMA
*   DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA
*   DMAMAP_SDIO_2 = Channel 4, Stream 6
*/
#define DMAMAP_SDIO DMAMAP_SDIO_1
/* FLASH wait states
*
* --------- ---------- ----------- ---------
@@ -260,58 +245,6 @@
#define BOARD_FLASH_WAITSTATES 5
/* LED definitions ******************************************************************/
/* The px4_fmu-v4pro board has numerous LEDs.
* FMU_LED_RED, FMU_LED_GREEN & FMU_LED_BLUE are directly connected and
* can be controlled by software.
*
* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
* The following definitions are used to access individual LEDs.
*/
/* LED index values for use with board_userled() */
#define BOARD_LED1 0
#define BOARD_LED2 1
#define BOARD_LED3 2
#define BOARD_NLEDS 3
#define BOARD_LED_RED BOARD_LED1
#define BOARD_LED_GREEN BOARD_LED2
#define BOARD_LED_BLUE BOARD_LED3
/* LED bits for use with board_userled_all() */
#define BOARD_LED1_BIT (1 << BOARD_LED1)
#define BOARD_LED2_BIT (1 << BOARD_LED2)
#define BOARD_LED3_BIT (1 << BOARD_LED3)
/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
* include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
* events as follows:
*
*
* SYMBOL Meaning LED state
* Red Green Blue
* ---------------------- -------------------------- ------ ------ ----*/
#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */
#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */
#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */
#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */
#define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */
#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */
#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */
#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */
#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
/* Thus if the Green LED is statically on, NuttX has successfully booted and
* is, apparently, running normally. If the Red LED is flashing at
* approximately 2Hz, then a fatal error has been detected and the system
* has halted.
*/
/* Alternate function pin selections ************************************************/
/*
@@ -341,9 +274,6 @@
/* UART8 has no alternate pin config */
/* UART RX DMA configurations */
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
/*
* CAN
@@ -383,7 +313,6 @@
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_1
@@ -422,7 +351,6 @@
# define PROBE_MARK(n)
#endif
/************************************************************************************
* Public Data
************************************************************************************/
@@ -458,4 +386,4 @@ EXTERN void stm32_boardinitialize(void);
#endif
#endif /* __ASSEMBLY__ */
#endif /* __NUTTX_CONFIG_PX4FMUV4_PRO_INCLUDE_BOARD_H */
#endif /* __ARCH_BOARD_BOARD_H */
boards/px4/fmu-v4pro/nuttx-config/include/board_dma_map.h
+23
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@@ -0,0 +1,23 @@
#pragma once
/* DMA Channel/Stream Selections
*
* DMAMAP_USART3_RX = DMA1, Stream 1, Channel 4
* DMAMAP_UART4_RX = DMA1, Stream 2, Channel 4
* DMAMAP_UART7_RX = DMA1, Stream 3, Channel 5
* DMAMAP_USART2_RX = DMA1, Stream 5, Channel 4
* DMAMAP_UART8_RX = DMA1, Stream 6, Channel 5
*
*   DMAMAP_SPI1_RX_1 = DMA2, Stream 0, Channel 3
*   DMAMAP_USART6_RX_2 = DMA2, Stream 2, Channel 5
*   DMAMAP_SPI1_TX_1 = DMA2, Stream 3, Channel 3
* DMAMAP_USART1_RX_2 = DMA2, Stream 5, Channel 4
*   DMAMAP_SDIO_2 = DMA2, Stream 6, Channel 4
* DMAMAP_USART6_TX_2 = DMA2, Stream 7, Channel 5
*/
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
#define DMAMAP_SDIO DMAMAP_SDIO_2
#define DMAMAP_USART6_RX DMAMAP_USART6_TX_2
boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
+2
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@@ -190,9 +190,11 @@ CONFIG_STM32_SDIO_CARD=y
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_SPI1=y
CONFIG_STM32_SPI1_DMA=y
CONFIG_STM32_SPI2=y
CONFIG_STM32_SPI5=y
CONFIG_STM32_SPI6=y
CONFIG_STM32_SPI_DMA=y
CONFIG_STM32_TIM10=y
CONFIG_STM32_TIM11=y
CONFIG_STM32_TIM1=y
boards/px4/fmu-v4pro/src/board_config.h
+2 -3
View File
@@ -326,9 +326,8 @@
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
/* This board provides a DMA pool and APIs. */
#define BOARD_DMA_ALLOC_POOL_SIZE (5120 + 512 + 1008) // 5120 fat + 512 + 1008 spi
#define BOARD_HAS_ON_RESET 1