batt_smbus for BQ40Z80 transfers up to 34 bytes (32 byte block + 2 byte
address), but this was overflowing and failing the PEC check.
So increase the buffer size
Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>
Add new DeviceBusType_SERIAL to Device::DeviceId union
Add DRV_DIST_DEVTYPE's for all distance sensors
Change distance_sensor_s.id to distance_sensor_s.device_id
Modify all distance_sensor drivers to apply 'proper' device_id
* Added buffer length check to SMBus::block_read (triggered hardfault in batt_smbus module by writing beyond buffer end due to device returning longer byte_count than requested/expected)
Co-authored-by: Florian Olbrich <florian.olbrich@scarabot.de>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: BazookaJoe1900 <BazookaJoe1900@gmail.com>
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
- added support for BQ40Z80 based battery
- added performance counter for interface errors
- added SMART_BATTERY_INFO mavlink message
- general code cleanups and optimization
- fixed: void flooding the log in case of interface error
- fixed: using _batt_startup_capacity instead of _batt_capacity for discharged_mah
- update: read manufacture_date
- update: get _cell_count from parameter and not const 4
- update: avoid re-reading data that has already been read and stored on class already
- currently the battery type defined by BAT_SMBUS_MODEL parameter and not by auto detection
- remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters
- sensor_accel and sensor_gyro are now always raw sensor data
- calibration procedures no longer need to first clear existing values before starting
- temperature calibration (TC) remove all scale (SCL) parameters
- gyro and baro scale are completely unused
- regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale
- accel & gyro FIFOs enabled
- FIFO watermark on data ready interrupt
- sensor side filtering completely disabled
- gyro now respects `IMU_GYRO_RATEMAX` (up to 2 kHz)
- saves a few % cpu (at default rate)
- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu
- sensors: voted_sensors_update now consumes vehicle_imu
- delete sensor_accel_integrated, sensor_gyro_integrated
- merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status
- sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
- create common uORB::PublicationBase
- uORB::PublicationQueued types are now type aliases
- ORB_PRIO use enum type everywhere to avoid accidental misuse
- PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.
This is a quick follow up fix to to a bug introduced by #14752. In the case of FIFO data (new IMU drivers) the calibration offset wasn't being applied correctly to the result of integrating the FIFO samples.
This slipped through basic sanity testing (simple bench testing, the test rack, and SITL CI) due to the calibration offsets being zeroed.
- bring in PX4/ecl#795 "EKF: Improve covariance prediction stability"
- the ecl/EKF filter update period has changed from 8 ms to 10 ms
- change default integration period 4000 us -> 2500 us (aligns with new EKF filter update period)
Supposedly multiple sensor callbacks were supported; in reality, this
was not the case, as the mag SensorBridge in particular can only
calibrate one compass, leading to a race condition on which compass
appears first on the bus to get published and calibrated (with no
warning to the user that the 'wrong' compass is being used).
For sensors with existing generic driver classes (baro and mag) the
sensor bridges use these classes for the driver registration, and uORB
publication, and calibration interface (ioctl) handling.
- 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
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.
