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.
Chip-select and SPI initialization uses the new config, whereas the drivers
still use the existing defines.
The configuration in board_config.h can be removed after all drivers are
updated.
- refactor Run() into simple state machine
- perform reset and configuration in sensor bus thread
- when using data ready interrupt skip checking FIFO count
- fix periodic temperature sampling (rate limit to 1 Hz)
- refactor Run() into simple state machine
- perform reset and configuration in sensor bus thread
- when using data ready interrupt skip checking FIFO count
- fix periodic temperature sampling (rate limit to 1 Hz)
- refactor Run() into simple state machine
- perform reset and configuration in sensor bus thread
- when using data ready interrupt skip checking FIFO count
- fix periodic temperature sampling (rate limit to 1 Hz)
- refactor Run() into simple state machine
- perform reset and configuration in sensor bus thread
- when using data ready interrupt skip checking FIFO count
* Introduce "px4_arch_adc_reference_v"
* Revert "Introduce "px4_arch_adc_reference_v""
This reverts commit 93691fbbd55a1b8da8c190e225b318067d90399b.
* use structure to return sample count and vref at the same time
* Revert "use structure to return sample count and vref at the same time"
This reverts commit 9cfd1c173cda51495f766a3f678c2202d67725fd.
* Revert "Revert "Introduce "px4_arch_adc_reference_v"""
This reverts commit edb7f7603e4471163ffb0fc6fc62ad2e30336e91.
* fix missed reference
* remove unecessary channel specific vref
* Update src/drivers/drv_adc.h
Co-Authored-By: David Sidrane <David.Sidrane@Nscdg.com>
* Update src/drivers/drv_adc.h
Co-Authored-By: David Sidrane <David.Sidrane@Nscdg.com>
* Introduce BOARD_ADC_POS_REF_V
Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com>
Regression from https://github.com/PX4/Firmware/pull/13613.
VEHICLE_CMD_COMPONENT_ARM_DISARM from CLI would enter the
ARMING_STATE_IN_AIR_RESTORE logic. This was never intended for disarming
(and leads to state machine transition failures), and IMO it is also not
intended for commands from CLI.
- checked register mechanism and simple watchdog
- driver checks for errors gradually and can reconfigure itself
- respect IMU_GYRO_RATEMAX at the driver level
- fixed sensor INT16_MIN and INT16_MAX handling (y & z axis are flipped before publishing)
- checked register mechanism and simple watchdog
- driver checks for errors gradually and can reconfigure itself
- respect IMU_GYRO_RATEMAX at the driver level
- fixed sensor INT16_MIN and INT16_MAX handling (y & z axis are flipped before publishing)
- checked register mechanism and simple watchdog
- driver checks for errors gradually and can reconfigure itself
- respect IMU_GYRO_RATEMAX at the driver level
- fixed sensor INT16_MIN and INT16_MAX handling (y & z axis are flipped before publishing)
- checked register mechanism and simple watchdog
- driver checks for errors gradually and can reconfigure itself
- respect IMU_GYRO_RATEMAX at the driver level
- fixed sensor INT16_MIN and INT16_MAX handling (y & z axis are flipped before publishing)
- increased sensor_gyro_fifo max size (enables running the driver much slower, but still transferring all raw data)
- PX4Accelerometer/PX4Gyroscope remove unnecessary memsets
- it does nothing useful
- increases boot time by 2 seconds on pixhawk 4 due to a poll timeout:
IST8310 on I2C bus 3 at 0x0e (bus: 100 KHz, max: 400 KHz)
WARN [ist8310] ERROR: TIMEOUT 2
I've added a queue depth of 4 for sensor_accel and sensor_gyro. This is initially added because it's not always possible for the `vehicle_acceleration` to keep up with every publication of the primary accelerator as it runs in the same thread as ekf2, various controllers, etc.
Later this mechanism will be used in a few areas
- rate limit `vehicle_angular_velocity` and `vehicle_acceleration` without missing any raw data
- move IMU integration to `vehicle_imu` and out of the actual driver threads, eliminating the need for sensor_accel_integrated and sensor_gyro_integrated
- integrate raw gyro synchronized with optical flow measurements
- gyro filtering (low-pass and notch) only performed on primary gyro in `sensors/vehicle_angular_velocity` instead of every gyro in `PX4Gyroscope`
- sample rate is calculated from actual updates (the fixed value was slightly wrong in many cases, and very wrong in a few)
- In the FIFO case the array is now averaged and published in `sensor_gyro` for filtering downstream. I'll update this in the future to use the full FIFO array (if available), but right now it should be fine.
- this provides some extra space when the FIFO transfers don't align perfectly
- I've also made an effort to keep the different drivers (icm20602, icm20608g, ism330ldc) in sync so we can factor out the common portions later once we've confident in the pattern.
The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.
- DriverFramework (src/lib/DriverFramework submodule) completely removed
- added dspal submodule in qurt platform (was brought in via DriverFramework)
- all df wrapper drivers removed
- all boards using df wrapper drivers updated to use in tree equivalents
- unused empty arch/board.h on posix and qurt removed
- unused IOCTLs removed (pub block, priv, etc)
- Integrator delete methods only used from df wrapper drivers
- commander: sensor calibration use "NuttX version" everywhere for now
- sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
- load_mon and top remove from linux boards (unused)
- delete unused PX4_MAIN_FUNCTION
- delete unused getreg32 macro
- delete unused SIOCDEVPRIVATE define
- named each platform tasks consistently
- posix list_devices and list_topics removed (list_files now shows all virtual files)
David Sidrane