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Author SHA1 Message Date
Beat Küng 08bfeb3dc7 mavlink: fix potential busy loop upon USB disconnect 
When disconnecting USB poll returns successfully, but the read returns
-1 with ENOTCONN.
In addition this also ensures there's no busy loop when poll returns an
error.

MAVLink continues to work after reconnecting USB.
 2020-04-06 12:42:10 -04:00
Beat KüngandDaniel Agar dfb5b5d7d9 fix param import transition 
* fix param import transition for MC_DTERM_CUTOFF

The previous implementation did not work, as there was a check for
param_find_no_notification() returning PARAM_INVALID for IMU_DGYRO_CUTOFF,
and therefore would not call param_modify_on_import().

This moves param_modify_on_import() before the check and makes it modify
the bson node directly.

* parameters: fix param import transition when testing is enabled

BUILD_TESTING is used for unit test builds, PX4_TESTING is used to enable additional test material within PX4

Co-authored-by: Daniel Agar <daniel@agar.ca>
 2020-04-02 18:41:00 -04:00
Beat Küng 1f60a86d32 fix commander: need to copy all battery states in a cycle 
Previously if in a cycle only a disconnected battery status updated, the
battery health state would switch to unhealthy during that time.

Fixes intermittent 'Arming denied! Check battery' preflight failures on
v5x with 1 power module connected.
 2020-04-02 12:42:00 +02:00
Beat Küng a556a44a57 i2c_spi_buses: print an error if a driver does not pass the I2C address 2020-03-30 15:55:24 -04:00
Beat Küng 82c7908a2d fix ist8310: pass I2C address to I2CSPIDriver 
since it is configurable.
 2020-03-30 15:55:24 -04:00
Beat Küng cc6ae7ad41 fix omnibus/f4sd: bmp280 start 2020-03-30 15:52:41 -04:00
Beat Küng fc3b497b41 omnibus/f4sd: switch over mpu6000 driver 
I'm seeing 'mpu6000: FIFO empty: 49 events' increasing, but that is
epxected as there's no DRDY.
 2020-03-30 15:52:41 -04:00
Beat Küng e5dd2e7a19 mag_compensation.py: some minor fixes + indentation 2020-03-27 11:07:50 +01:00
Beat Küng 2b360bfd48 rcS: fixes for SYS_USE_IO=0 
rc.io is called from 2 places in rc.interface:
- if [ $OUTPUT_MODE = io -o $OUTPUT_MODE = uavcan_esc ]:
  - 'set OUTPUT_MODE io' is only set within USE_IO=yes, so removing
    the check in rc.io has no effect.
  - in case of UAVCAN, we also want the IO for RC, now covered in the next
    case.
- Further down ('Start IO for RC input if needed.').
  This is intended to start IO for RC only, when fmu is already started.
  However the previous check '$USE_IO = yes' in rc.io prevented that.

In addition we don't start rc_input in case of $USE_IO = no.

Fixes no RC on Pixhawk 2 with SYS_USE_IO=0.
 2020-03-26 10:33:27 -04:00
Beat Küng 81dc73b752 fmu-v5_optimized: disable bl_update 
to reduce FLASH usage
 2020-03-24 09:46:20 -04:00
Beat Küng 7ea8dff8db spi: do not deselect other chip-selects 
And make sure on reset & init everything is deselected.

Reduces CPU load on a pixhawk cube by almost 1%.
 2020-03-24 09:46:20 -04:00
Beat Küng 1612f4c2ed SPI: disable SPI locking where possible 
It's not possible for buses that run both NuttX and PX4 drivers, e.g.
Pixracer.

Reduces CPU load:
- v5x: 2.5%
- v3 (pixhawk cube): 4.4%
 2020-03-24 09:46:20 -04:00
Beat Küng 6a41c9e417 refactor fxos8701cq: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 5fa4cd1019 refactor fxas21002c: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng b156fe5787 boards: remove deprecated SPI + I2C defines from board_config.h 
chip-selects are deselected in stm32_spiinitialize()
 2020-03-24 09:46:20 -04:00
Beat Küng f4ab1b8a78 fix px4moduledoc: typo in 'External I2C bus(es)' 2020-03-24 09:46:20 -04:00
Beat Küng 2ca49cc718 differential_pressure drivers: add module subcategory documentation 2020-03-24 09:46:20 -04:00
Beat Küng f74474dd55 fmuk66-v3: fix spi bus numbering passing to px4_spibus_initialize 
Fixes an error on bootup ([boot] FAILED to initialize SPI port 0). Other
than that, everything was working.
 2020-03-24 09:46:20 -04:00
Beat Küng 04cffce992 refactor aerofc_adc: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 842f656143 mtd.cpp: remove use of PX4_I2C_BUS_ONBOARD 2020-03-24 09:46:20 -04:00
Beat Küng ee49e500e7 refactor ist8308: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 030ba24f53 refactor pca9685: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 6588dd0861 refactor icm20948: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 924f46ee28 refactor icm20608g: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng c4a19c8852 refactor icm20689: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 1df0fe03d7 refactor mpu6000: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 571451942d refactor mpu9250: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 609eafd4cd refactor l3gd20: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 6cf4de9e02 refactor lsm303d: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 3423809cd9 refactor ism330dlc: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 2d6a9ae1fb lsm9ds1: cleanup + consistency with other drivers 2020-03-24 09:46:20 -04:00
Beat Küng 00280d55c2 refactor rm3100: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 2fa289bbad lsm9ds1_mag: cleanup + consistency with other drivers 2020-03-24 09:46:20 -04:00
Beat Küng 74db018012 refactor lsm303agr: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 4d511868e6 refactor lis3mdl: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 785f18ebf8 refactor bmi160: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 54da4997ad refactor bmi088: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng aad6fe6f03 refactor bma180: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 17761acd49 refactor adis16497: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 1f152d7d43 refactor adis16477: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng d15fa82841 refactor adis16448: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 7626be0485 refactor mpu9250: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 6ad5357d1a SPI+I2C: remove unused defines and printf's 2020-03-24 09:46:20 -04:00
Beat Küng 2f3174abb0 refactor icm20602: use driver base class 2020-03-24 09:46:20 -04:00
Beat Küng 1fe79818d9 fix IntrusiveQueue::remove: several bugs that led to improper state of the queue 
We also have to set removeNode->next to null, as it is used to test if the
item is in the queue.
 2020-03-21 12:00:09 -04:00
Beat Küng 336745f9f7 tfmini: reduce sampling rate from 10kHz to 143Hz 
10kHz sampling seems excessive, given that the sensor is expected to output
at 100Hz.

Also don't reschedule immediately in case we have not received any data.
 2020-03-21 12:00:09 -04:00
Beat Küng 40af5b0fbe logger: fix initial subscribing to topics 
write_all_add_logged_msg() requires at least some subscriptions to be added
initially, as this message is used to separate ULog header from data.
 2020-03-20 11:21:32 +01:00
Beat Küng d6bb5b3b9e i2c spi buses: enforce drivers to set default SPI/I2C bus frequency 
Not a lot of drivers use the global default, which is somewhat arbitrary.
 2020-03-17 23:31:17 -04:00
Beat Küng 8ebde51648 refactor hmc5883: use driver base class 
Removes the calibration on startup, as these values were overwritten by
the system calibration values anyway.
So the only difference is that if all calibration scales were equal to 1,
the driver startup would have failed.
 2020-03-17 23:31:17 -04:00
Beat Küng 8f3ba81c4a refactor atxxxx: use driver base class 
and increase update rate to 20Hz
 2020-03-17 23:31:17 -04:00
Beat Küng 20db735d77 refactor ak09916: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 47b329cc54 refactor bmm150: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng e4bf535595 refactor bst telemetry: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng fb6ce09dc4 refactor pcf8583: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng bb4ff04caf refactor irlock: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 1710cd9648 refactor px4flow: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng b6119c71df refactor paw3902: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 82f92b56db batt_smbus: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng ec2de33547 lights: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 692d262e0e refactor voxlpm: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 832ccd262e refactor ina226: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng d6b9cfa3e2 pga460: fix documentation 2020-03-17 23:31:17 -04:00
Beat Küng 68ef14002a differential_pressure drivers: allow multiple instances of each driver 
- the device path needs to be removed, as startup fails if it already
  exists
- sdp3x broadcasts a reset on startup, so do it only for the first I2C
  address
 2020-03-17 23:31:17 -04:00
Beat Küng 3b7b2dc871 differential_pressure sensors: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 0924ff7fcf refactor vl53lxx: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 83b367f000 refactor teraranger: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 5a26f06f8a fix sf0x: check if device port is given 
otherwise we risk dereferencing a null pointer
 2020-03-17 23:31:17 -04:00
Beat Küng bbe15aa61a refactor srf02: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng a6ddf0e4b9 refactor sf1xx: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng f743585160 refactor mb12xx: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 7e3f40d1c2 refactor mappydot: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 1b1e1ba31f refactor ll40ls: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng df99555132 refactor ll40ls: split I2C and PWM into separate drivers 
- there was almost nothing shared
- it will fit better into the updated I2C driver structure
 2020-03-17 23:31:17 -04:00
Beat Küng 081ab729aa refactor lps25h: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng dc5ffb43a3 refactor mpl3115a2: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng d81fedfcfa refactor lps22hb: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 83a3deb9da refactor dps310: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 985bb2adc9 refactor bmp388: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng aeadf54a74 refactor bmp280: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng dbb53044ce refactor ms5611: use driver base class 
Also: remove device type auto-detection as it will not work with
together with the new SPI board config (which specifies a specific
device type)
 2020-03-17 23:31:17 -04:00
Beat Küng 22a38453ab refactor bmi055: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 969a77f889 refactor mpu6000: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng be0a205438 refactor ist8310: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 3e71914fae refactor lsm9ds1+lsm9ds1_mag: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 58f386a81c refactor pmw3910: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng 2f4080f47b i2cdetect: remove use of PX4_I2C_BUS_EXPANSION 2020-03-17 23:31:17 -04:00
Beat Küng 971897b9ed mtd: switch to c++ and use px4_find_spi_bus 2020-03-17 23:31:17 -04:00
Beat Küng f555fe309c fmu-v5: change external i2c bus ordering to match with the label 2020-03-17 23:31:17 -04:00
Beat Küng 83b6f6456b refactor I2CSPIInstance: store running instances in a global linked list 
instead of a static per-driver array.

Reduces BSS RAM usage by a couple of 100 Bytes (linear increase with num
drivers).

Downsides:
- a bit more runtime overhead
- less isolation, locking required
- a bit more complex
 2020-03-17 23:31:17 -04:00
Beat Küng e7f04109d9 i2c spi init + custom methods: use WorkItemSingleShot 
Use it for custom methods as well (like reset), and run by default on the
work queue, since they typically access the bus.
 2020-03-17 23:31:17 -04:00
Beat Küng 8c41025565 px4_work_queue: add WorkItemSingleShot 
To run a specific method on a work queue and wait for it to return.
 2020-03-17 23:31:17 -04:00
Beat Küng 87cd20180c i2c spi: add unittests for BusCLIArguments 2020-03-17 23:31:17 -04:00
Beat Küng 134413233a i2c spi: extend BusCLIArguments to handle common driver arguments 2020-03-17 23:31:17 -04:00
Beat Küng d1f5b23a5a module docs: add PRINT_MODULE_USAGE_PARAMS_I2C_{SPI_DRIVER,ADDRESS} 
For SPI/I2C driver default options
 2020-03-17 23:31:17 -04:00
Beat Küng f851f65f8d i2c spi: add type to I2CSPIInstance 
Needed to distinguish runtime instance types of the same driver (e.g.
bmi055 accel vs gyro).
 2020-03-17 23:31:17 -04:00
Beat Küng 179c89b6bd board configs: extend board_dma_map.h with a table 2020-03-11 22:08:37 -04:00
Beat Küng 335623e11d SPI config: use enum to specify bus 2020-03-10 10:11:43 -04:00
Beat Küng 37846a177c omnibusf4sd: disable landing_target_estimator 
to reduce FLASH size
 2020-03-10 10:11:43 -04:00
Beat Küng e627fed117 fmu-v2: disable perf command and some airframes 
to reduce FLASH size
 2020-03-10 10:11:43 -04:00
Beat Küng a2b2605443 param: fix param_get_cplusplus type check 2020-03-10 10:11:43 -04:00