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Qurt platform custom icm42688p IMU driver (#20753)

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- first version of IMU driver for the VOXL 2 platform (Qurt)
 - this is a customized version of the Invensense ICM42688P driver, it is currently in the VOXL 2 board directory
This commit is contained in:
Eric Katzfey
2022-12-12 22:02:23 -05:00
committed by GitHub
parent 33e39d68f7
commit e17ddcc0e5
24 changed files with 2040 additions and 23 deletions
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platforms/common/include/px4_platform_common/tasks.h
+1 -1
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@@ -59,7 +59,7 @@ typedef int px4_task_t;
#define px4_task_exit(x) _exit(x)
#elif defined(__PX4_POSIX) || defined(__PX4_QURT)
#elif defined(__PX4_POSIX)
#include <pthread.h>
#include <sched.h>
platforms/common/include/px4_platform_common/time.h
+1 -1
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@@ -5,7 +5,7 @@
#include <time.h>
#include <pthread.h>
#if defined(__PX4_POSIX) || defined(__PX4_QURT)
#if defined(__PX4_POSIX)
__BEGIN_DECLS
__EXPORT int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
__END_DECLS
platforms/common/spi.cpp
+1 -1
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@@ -71,7 +71,7 @@ const px4_spi_bus_t *px4_spi_buses{nullptr};
int px4_find_spi_bus(uint32_t devid)
{
for (int i = 0; px4_spi_buses != nullptr && i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
for (int i = 0; (px4_spi_bus_t *) px4_spi_buses != nullptr && i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
const px4_spi_bus_t &bus_data = px4_spi_buses[i];
if (bus_data.bus == -1) {
platforms/common/work_queue/hrt_queue.c
-5
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@@ -126,15 +126,10 @@ int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t del
dq_addlast(&work->dq, &wqueue->q);
if (px4_getpid() != wqueue->pid) { /* only need to wake up if called from a different thread */
#ifdef __PX4_QURT
px4_task_kill(wqueue->pid, SIGALRM); /* Wake up the worker thread */
#else
//wqueue->pid == own task? -> don't signal
px4_task_kill(wqueue->pid, SIGCONT); /* Wake up the worker thread */
#endif
}
hrt_work_unlock();
return PX4_OK;
}
platforms/common/work_queue/hrt_thread.c
+10 -4
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@@ -138,6 +138,16 @@ static void hrt_work_process()
/* Default to sleeping for 1 sec */
next = 1000000;
#ifdef __PX4_QURT
// In Posix certain signals wake up a sleeping thread but it isn't the case
// with the Qurt POSIX implementation. So rather than assume we can come out
// of the sleep early by a signal we just wake up more often. The best way to
// fix this would be to move to a px4_sem_timedwait. But the current implementation
// of that function on Qurt uses this hrt_thread! So, it would all have to be
// re-written to use Qurt semaphores which do have timed waits.
next = 1000;
#endif
hrt_work_lock();
work = (struct work_s *)wqueue->q.head;
@@ -287,9 +297,5 @@ void hrt_work_queue_init(void)
(char *const *)NULL);
#ifdef __PX4_QURT
signal(SIGALRM, _sighandler);
#else
signal(SIGCONT, _sighandler);
#endif
}
platforms/common/work_queue/work_queue.c
+1 -4
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@@ -41,6 +41,7 @@
#include <px4_platform_common/defines.h>
#include <px4_platform_common/workqueue.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/posix.h>
#include <signal.h>
#include <stdint.h>
@@ -125,11 +126,7 @@ int work_queue(int qid, struct work_s *work, worker_t worker, void *arg, uint32_
work->qtime = clock_systimer(); /* Time work queued */
dq_addlast((dq_entry_t *)work, &wqueue->q);
#ifdef __PX4_QURT
px4_task_kill(wqueue->pid, SIGALRM); /* Wake up the worker thread */
#else
px4_task_kill(wqueue->pid, SIGCONT); /* Wake up the worker thread */
#endif
work_unlock(qid);
return PX4_OK;
platforms/qurt/cmake/px4_impl_os.cmake
+1
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@@ -200,6 +200,7 @@ function(px4_os_prebuild_targets)
ARGN ${ARGN})
add_library(prebuild_targets INTERFACE)
target_link_libraries(prebuild_targets INTERFACE drivers_board)
add_dependencies(prebuild_targets DEPENDS uorb_headers)
endfunction()
platforms/qurt/cmake/qurt_reqs.cmake
+1
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@@ -99,6 +99,7 @@ set(ARCHCPUFLAGS
add_definitions(
-D __QURT
# -D DEBUG_BUILD # Add this to get extra debug output
-D _PROVIDE_POSIX_TIME_DECLS
-D _HAS_C9X
-D restrict=__restrict__
platforms/qurt/include/hrt_work.h
+62
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@@ -0,0 +1,62 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_platform_common/log.h>
#include <px4_platform_common/posix.h>
#include <semaphore.h>
#include <px4_platform_common/workqueue.h>
#pragma once
__BEGIN_DECLS
extern px4_sem_t _hrt_work_lock;
extern struct wqueue_s g_hrt_work;
void hrt_work_queue_init(void);
int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t usdelay);
void hrt_work_cancel(struct work_s *work);
static inline void hrt_work_lock(void);
static inline void hrt_work_lock()
{
px4_sem_wait(&_hrt_work_lock);
}
static inline void hrt_work_unlock(void);
static inline void hrt_work_unlock()
{
px4_sem_post(&_hrt_work_lock);
}
__END_DECLS
platforms/qurt/include/px4_arch/spi_hw_description.h
+60
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@@ -0,0 +1,60 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <px4_platform_common/spi.h>
static inline constexpr px4_spi_bus_device_t initSPIDevice(uint8_t devid_driver)
{
px4_spi_bus_device_t ret{};
ret.cs_gpio = 1; // set to some non-zero value to indicate this is used
ret.drdy_gpio = 1;
ret.devid = PX4_SPIDEV_ID(PX4_SPI_DEVICE_ID, 0);
ret.devtype_driver = devid_driver;
return ret;
}
static inline constexpr px4_spi_bus_t initSPIBus(int bus, const px4_spi_bus_devices_t &devices)
{
px4_spi_bus_t ret{};
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
ret.devices[i] = devices.devices[i];
}
ret.bus = bus;
ret.is_external = false; // all buses are marked internal on QuRT
ret.requires_locking = false;
return ret;
}
platforms/qurt/src/px4/CMakeLists.txt
+1
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@@ -44,3 +44,4 @@ add_library(px4_layer
)
target_link_libraries(px4_layer PRIVATE work_queue)
target_link_libraries(px4_layer PRIVATE drivers_board)
platforms/qurt/src/px4/tasks.cpp
+14 -5
View File
@@ -66,6 +66,14 @@ static task_entry_t taskmap[PX4_MAX_TASKS];
static bool task_mutex_initialized = false;
static pthread_mutex_t task_mutex;
// These are some Qurt pthread stubs needed for compilation and linking
extern "C" {
int pthread_setname_np(pthread_t __target_thread, const char *__name) { return 0; }
int pthread_attr_setschedpolicy(pthread_attr_t *attr, int policy) { return 0; }
}
static void *entry_adapter(void *ptr)
{
task_entry_t *data;
@@ -147,11 +155,12 @@ static px4_task_t px4_task_spawn_internal(const char *name, int priority, px4_ma
return -1;
}
priority = 255 - priority;
if (priority < 5) { priority = 5; }
if (priority > 250) { priority = 250; }
// Qurt threads have different priority numbers. 1 is the highest
// priority and 254 is the lowest. But we are using the pthread
// implementation on Qurt which returns 255 when you call sched_get_priority_max.
// So, the big assumption is that the Qurt pthread implementation deals with
// this properly when creating the underlying Qurt task.
// TODO: Needs to be verified!
if (strlen(name) >= PX4_TASK_MAX_NAME_LENGTH) {
pthread_mutex_unlock(&task_mutex);