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Merge pull request #26 from ethz-asl/feature/firmware_update

Browse Source 
Feature/firmware update
This commit is contained in:
Florian Achermann
2021-08-23 16:11:41 +02:00
committed by GitHub
parent 01307a43fe 9424d17164
commit a0efc3eb00
8 changed files with 54 additions and 30 deletions
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ROMFS/px4fmu_common/init.d/rc.sensors
+17 -15
View File
@@ -21,6 +21,23 @@ fi
# Begin Optional drivers #
###############################################################################
# ADIS16448 spi external IMU
if param compare -s SENS_EN_ADIS164X 1
then
if param compare -s SENS_OR_ADIS164X 0
then
adis16448 -S start
fi
if param compare -s SENS_OR_ADIS164X 4
then
adis16448 -S start -R 4
fi
# add a sleep to make sure the mag is the priority one
usleep 1000000
fi
if param compare -s SENS_EN_BATT 1
then
batt_smbus start -X
@@ -108,19 +125,6 @@ then
vl53l1x start -X
fi
# ADIS16448 spi external IMU
if param compare -s SENS_EN_ADIS164X 1
then
if param compare -s SENS_OR_ADIS164X 0
then
adis16448 -S start
fi
if param compare -s SENS_OR_ADIS164X 4
then
adis16448 -S start -R 4
fi
fi
# Hall effect sensors si7210
# Potentially remove the -k option if possible and improve the startup if possible
if param greater CAL_AV_AOA_ID -1
@@ -213,5 +217,3 @@ fi
###############################################################################
# End Optional drivers #
###############################################################################
sensors start
ROMFS/px4fmu_common/init.d/rcS
+3 -1
View File
@@ -332,6 +332,8 @@ else
#
# board sensors: rc.sensors
#
. ${R}etc/init.d/rc.sensors
set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
if [ -f $BOARD_RC_SENSORS ]
then
@@ -340,7 +342,7 @@ else
fi
unset BOARD_RC_SENSORS
. ${R}etc/init.d/rc.sensors
sensors start
if param compare -s BAT1_SOURCE 2
then
boards/px4/fmu-v2/src/spi.cpp
+1 -1
View File
@@ -159,8 +159,8 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
}),
initSPIBusExternal(SPI::Bus::SPI4, {
initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin14}),
initSPIConfigExternal(SPI::CS{GPIO::PortE, GPIO::Pin4}),
initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin14}),
}),
}),
boards/px4/fmu-v3/src/spi.cpp
+1 -1
View File
@@ -159,8 +159,8 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
}),
initSPIBusExternal(SPI::Bus::SPI4, {
initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin14}),
initSPIConfigExternal(SPI::CS{GPIO::PortE, GPIO::Pin4}),
initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin14}),
}),
}),
src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp
+29 -10
View File
@@ -105,6 +105,7 @@ ADIS16448::ADIS16448(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
_px4_gyro(get_device_id(), rotation),
_px4_mag(get_device_id(), rotation)
{
_debug_enabled = true;
}
ADIS16448::~ADIS16448()
@@ -160,12 +161,12 @@ int ADIS16448::probe()
}
for (int attempt = 0; attempt < 3; attempt++) {
const uint16_t PROD_ID = RegisterRead(Register::PROD_ID);
const uint16_t PROD_ID = RegisterReadVerified(Register::PROD_ID);
if (PROD_ID == Product_identification) {
const uint16_t SERIAL_NUM = RegisterRead(Register::SERIAL_NUM);
const uint16_t LOT_ID1 = RegisterRead(Register::LOT_ID1);
const uint16_t LOT_ID2 = RegisterRead(Register::LOT_ID2);
const uint16_t SERIAL_NUM = RegisterReadVerified(Register::SERIAL_NUM);
const uint16_t LOT_ID1 = RegisterReadVerified(Register::LOT_ID1);
const uint16_t LOT_ID2 = RegisterReadVerified(Register::LOT_ID2);
PX4_INFO("Serial Number: 0x%02x, Lot ID1: 0x%02x ID2: 0x%02x", SERIAL_NUM, LOT_ID1, LOT_ID2);
@@ -197,7 +198,7 @@ void ADIS16448::RunImpl()
case STATE::WAIT_FOR_RESET:
if (_self_test_passed) {
if ((RegisterRead(Register::PROD_ID) == Product_identification)) {
if ((RegisterReadVerified(Register::PROD_ID) == Product_identification)) {
// if reset succeeded then configure
_state = STATE::CONFIGURE;
ScheduleNow();
@@ -224,7 +225,7 @@ void ADIS16448::RunImpl()
break;
case STATE::SELF_TEST_CHECK: {
const uint16_t MSC_CTRL = RegisterRead(Register::MSC_CTRL);
const uint16_t MSC_CTRL = RegisterReadVerified(Register::MSC_CTRL);
if (MSC_CTRL & MSC_CTRL_BIT::Internal_self_test) {
// self test not finished, check again
@@ -244,7 +245,7 @@ void ADIS16448::RunImpl()
bool test_passed = true;
const uint16_t DIAG_STAT = RegisterRead(Register::DIAG_STAT);
const uint16_t DIAG_STAT = RegisterReadVerified(Register::DIAG_STAT);
if (DIAG_STAT & DIAG_STAT_BIT::Self_test_diagnostic_error_flag) {
PX4_ERR("self test failed");
@@ -477,7 +478,7 @@ void ADIS16448::RunImpl()
bool ADIS16448::Configure()
{
const uint16_t LOT_ID1 = RegisterRead(Register::LOT_ID1);
const uint16_t LOT_ID1 = RegisterReadVerified(Register::LOT_ID1);
// Only enable CRC-16 for verified lots (HACK to support older ADIS16448AMLZ with no explicit detection)
if (LOT_ID1 == 0x1824) {
@@ -603,7 +604,7 @@ bool ADIS16448::RegisterCheck(const register_config_t &reg_cfg)
{
bool success = true;
const uint16_t reg_value = RegisterRead(reg_cfg.reg);
const uint16_t reg_value = RegisterReadVerified(reg_cfg.reg);
if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
@@ -628,10 +629,27 @@ uint16_t ADIS16448::RegisterRead(Register reg)
transferhword(cmd, nullptr, 1);
px4_udelay(SPI_STALL_PERIOD);
transferhword(nullptr, cmd, 1);
px4_udelay(SPI_STALL_PERIOD);
return cmd[0];
}
uint16_t ADIS16448::RegisterReadVerified(Register reg)
{
// 3 attempts
for (int i = 0; i < 3; i++) {
uint16_t read1 = RegisterRead(reg);
uint16_t read2 = RegisterRead(reg);
if (read1 == read2) {
return read1;
}
}
// failed
return 0;
}
void ADIS16448::RegisterWrite(Register reg, uint16_t value)
{
set_frequency(SPI_SPEED);
@@ -643,11 +661,12 @@ void ADIS16448::RegisterWrite(Register reg, uint16_t value)
transferhword(cmd, nullptr, 1);
px4_udelay(SPI_STALL_PERIOD);
transferhword(cmd + 1, nullptr, 1);
px4_udelay(SPI_STALL_PERIOD);
}
void ADIS16448::RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits)
{
const uint16_t orig_val = RegisterRead(reg);
const uint16_t orig_val = RegisterReadVerified(reg);
uint16_t val = (orig_val & ~clearbits) | setbits;
src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp
+1
View File
@@ -94,6 +94,7 @@ private:
bool RegisterCheck(const register_config_t &reg_cfg);
uint16_t RegisterRead(Register reg);
uint16_t RegisterReadVerified(Register reg);
void RegisterWrite(Register reg, uint16_t value);
void RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits);
src/drivers/imu/analog_devices/adis16448/Analog_Devices_ADIS16448_registers.hpp
+1 -1
View File
@@ -65,7 +65,7 @@ namespace Analog_Devices_ADIS16448
static constexpr uint32_t SPI_SPEED = 2 * 1000 * 1000; // 2 MHz SPI serial interface
static constexpr uint32_t SPI_SPEED_BURST = 1 * 1000 * 1000; // 1 MHz SPI serial interface for burst read
static constexpr uint32_t SPI_STALL_PERIOD = 10; // 9 us Stall period between data
static constexpr uint32_t SPI_STALL_PERIOD = 11; // 9 us Stall period between data
static constexpr uint16_t DIR_WRITE = 0x80;
src/drivers/imu/analog_devices/adis16448/CMakeLists.txt
+1 -1
View File
@@ -36,7 +36,7 @@ px4_add_module(
MAIN adis16448
COMPILE_FLAGS
${MAX_CUSTOM_OPT_LEVEL}
#-DDEBUG_BUILD
-DDEBUG_BUILD
SRCS
ADIS16448.cpp
ADIS16448.hpp