This fixes spuriously occuring mag spikes in the external mag of Here2.
The reason for the spikes was that the fact that the I2C registers were
not read out correctly as suggested in the datasheet.
Before we were reading out ST1, data, and ST2 in one pass and ignoring
the data ready bit (DRDY) in ST1. This meant that we could run into race
conditions where the data was not ready when we started reading and
being updated as the registers are read.
Instead, we need to check the read the ST1 register first to check the
data ready bit and then read the data and ST2 if the data is ready. By
reading ST2 we then trigger the next measurement in the chip.
Note: the author name was removed because this file has almost no
resemblence with the code written by that author 4 years ago, has been
copied to new places, and was initially commited without author anyway.
Also, my opinion is that the version control system should take care of
attribution, and not outdated comments.
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
* WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
This should fix the case where the driver initializes even though the
device is not found. The change changes the behavior to return ERROR
if the whoami call fails several times instead of returning OK.
Also, the reset() and thus probe() calls are moved before initializing
the ringbuffer and device name.
* drivers, magnetometer: added ak09916 driver to support the mag driver emulated by the Here2 gps
* boards: set yaw 270 rotation for external ak09916 driver and only start it for the PH21
* drivers: only start ak09916 when icm20948 is not available on a ph21 setup
Julian Oes