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param: automatically update calibration ID params on import

Browse Source 
This avoids the need for recalibration, and also cleans up other driver
ID's (merge separate accel/gyro).

The SPI address was previously set to a board-specific (arbitrary) value,
and is now set to 0. This will allow extending for multiple sensors of the
same type on the same bus.
This commit is contained in:
Beat Küng
2020-03-10 10:11:43 -04:00
committed by Daniel Agar
parent 1851665fab
commit b54e5a1c23
29 changed files with 275 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/imu/bmi088/BMI088_accel.cpp
+1 -1
View File
@@ -62,7 +62,7 @@ BMI088_accel::BMI088_accel(int bus, const char *path_accel, uint32_t device, enu
_duplicates(perf_alloc(PC_COUNT, "bmi088_accel_duplicates")),
_got_duplicate(false)
{
_px4_accel.set_device_type(DRV_GYR_DEVTYPE_BMI088);
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_BMI088);
}
BMI088_accel::~BMI088_accel()
src/drivers/imu/icm20948/icm20948.cpp
+2 -2
View File
@@ -100,8 +100,8 @@ ICM20948::ICM20948(device::Device *interface, device::Device *mag_interface, enu
_good_transfers(perf_alloc(PC_COUNT, MODULE_NAME": good_trans")),
_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": dupe"))
{
_px4_accel.set_device_type(DRV_DEVTYPE_ICM20948);
_px4_gyro.set_device_type(DRV_DEVTYPE_ICM20948);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20948);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20948);
}
ICM20948::~ICM20948()
src/drivers/imu/icm20948/icm20948_i2c.cpp
+1 -1
View File
@@ -72,7 +72,7 @@ ICM20948_I2C_interface(int bus, uint32_t address)
ICM20948_I2C::ICM20948_I2C(int bus, uint32_t address) :
I2C("ICM20948_I2C", nullptr, bus, address, 400000)
{
_device_id.devid_s.devtype = DRV_DEVTYPE_ICM20948;
_device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20948;
}
int
src/drivers/imu/icm20948/icm20948_spi.cpp
+1 -1
View File
@@ -92,7 +92,7 @@ ICM20948_SPI_interface(int bus, uint32_t cs)
ICM20948_SPI::ICM20948_SPI(int bus, uint32_t device) :
SPI("ICM20948", nullptr, bus, device, SPIDEV_MODE3, ICM20948_LOW_SPI_BUS_SPEED)
{
_device_id.devid_s.devtype = DRV_DEVTYPE_ICM20948;
_device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20948;
}
void
src/drivers/imu/icm20948/mag_i2c.cpp
+1 -1
View File
@@ -69,7 +69,7 @@ AK09916_I2C_interface(int bus)
AK09916_I2C::AK09916_I2C(int bus) :
I2C("AK09916_I2C", nullptr, bus, AK09916_I2C_ADDR, 400000)
{
_device_id.devid_s.devtype = DRV_DEVTYPE_ICM20948;
_device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20948;
}
int
src/drivers/imu/invensense/icm20602/ICM20602.cpp
+3 -4
View File
@@ -48,10 +48,9 @@ ICM20602::ICM20602(int bus, uint32_t device, enum Rotation rotation) :
_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
{
set_device_type(DRV_ACC_DEVTYPE_ICM20602);
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20602);
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20602);
set_device_type(DRV_IMU_DEVTYPE_ICM20602);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20602);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20602);
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
}
src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
+3 -3
View File
@@ -48,10 +48,10 @@ ICM20608G::ICM20608G(int bus, uint32_t device, enum Rotation rotation) :
_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
{
set_device_type(DRV_ACC_DEVTYPE_ICM20608);
set_device_type(DRV_IMU_DEVTYPE_ICM20608);
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20608);
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20608);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20608);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20608);
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
}
src/drivers/imu/invensense/icm20689/ICM20689.cpp
+3 -4
View File
@@ -48,10 +48,9 @@ ICM20689::ICM20689(int bus, uint32_t device, enum Rotation rotation) :
_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
{
set_device_type(DRV_ACC_DEVTYPE_ICM20689);
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20689);
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20689);
set_device_type(DRV_IMU_DEVTYPE_ICM20689);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20689);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20689);
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
}
src/drivers/imu/invensense/mpu6000/MPU6000.cpp
+3 -3
View File
@@ -54,9 +54,9 @@ MPU6000::MPU6000(int bus, uint32_t device, enum Rotation rotation) :
_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
{
set_device_type(DRV_ACC_DEVTYPE_MPU6000);
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_MPU6000);
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_MPU6000);
set_device_type(DRV_IMU_DEVTYPE_MPU6000);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_MPU6000);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_MPU6000);
_px4_accel.set_update_rate(1000000 / FIFO_INTERVAL);
_px4_gyro.set_update_rate(1000000 / FIFO_INTERVAL);
src/drivers/imu/invensense/mpu9250/MPU9250.cpp
+3 -4
View File
@@ -48,10 +48,9 @@ MPU9250::MPU9250(int bus, uint32_t device, enum Rotation rotation) :
_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
{
set_device_type(DRV_ACC_DEVTYPE_MPU9250);
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_MPU9250);
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_MPU9250);
set_device_type(DRV_IMU_DEVTYPE_MPU9250);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_MPU9250);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_MPU9250);
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
}
src/drivers/imu/mpu6000/MPU6000.cpp
+8 -8
View File
@@ -54,23 +54,23 @@ MPU6000::MPU6000(device::Device *interface, enum Rotation rotation, int device_t
switch (_device_type) {
default:
case MPU_DEVICE_TYPE_MPU6000:
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_MPU6000);
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_MPU6000);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_MPU6000);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_MPU6000);
break;
case MPU_DEVICE_TYPE_ICM20602:
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20602);
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20602);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20602);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20602);
break;
case MPU_DEVICE_TYPE_ICM20608:
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20608);
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20608);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20608);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20608);
break;
case MPU_DEVICE_TYPE_ICM20689:
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20689);
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20689);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20689);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20689);
break;
}
}
src/drivers/imu/mpu9250/mpu9250.cpp
+2 -2
View File
@@ -81,8 +81,8 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, enum
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad_reg")),
_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": dupe"))
{
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_MPU9250);
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_MPU9250);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_MPU9250);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_MPU9250);
}
MPU9250::~MPU9250()
src/drivers/imu/mpu9250/mpu9250_i2c.cpp
+1 -1
View File
@@ -70,7 +70,7 @@ MPU9250_I2C_interface(int bus, uint32_t address)
MPU9250_I2C::MPU9250_I2C(int bus, uint32_t address) :
I2C("MPU9250_I2C", nullptr, bus, address, 400000)
{
set_device_type(DRV_ACC_DEVTYPE_MPU9250);
set_device_type(DRV_IMU_DEVTYPE_MPU9250);
}
int
src/drivers/imu/mpu9250/mpu9250_spi.cpp
+1 -1
View File
@@ -88,7 +88,7 @@ MPU9250_SPI_interface(int bus, uint32_t cs)
MPU9250_SPI::MPU9250_SPI(int bus, uint32_t device) :
SPI("MPU9250", nullptr, bus, device, SPIDEV_MODE3, MPU9250_LOW_SPI_BUS_SPEED)
{
set_device_type(DRV_ACC_DEVTYPE_MPU9250);
set_device_type(DRV_IMU_DEVTYPE_MPU9250);
}
void
src/drivers/imu/st/ism330dlc/ISM330DLC.cpp
+3 -3
View File
@@ -48,9 +48,9 @@ ISM330DLC::ISM330DLC(int bus, uint32_t device, enum Rotation rotation) :
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
{
set_device_type(DRV_DEVTYPE_ST_ISM330DLC);
_px4_accel.set_device_type(DRV_DEVTYPE_ST_ISM330DLC);
_px4_gyro.set_device_type(DRV_DEVTYPE_ST_ISM330DLC);
set_device_type(DRV_IMU_DEVTYPE_ST_ISM330DLC);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ST_ISM330DLC);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ST_ISM330DLC);
_px4_accel.set_update_rate(1000000 / FIFO_INTERVAL);
_px4_gyro.set_update_rate(1000000 / FIFO_INTERVAL);