sensors/vehicle_imu: use accel & gyro FIFO if available

.ci/Jenkinsfile-hardware

@@ -903,12 +903,11 @@ void printTopics() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_imu_fifo" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'

msg/CMakeLists.txt

@@ -144,7 +144,6 @@ set(msg_files
 	rtl_time_estimate.msg
 	satellite_info.msg
 	sensor_accel.msg
-	sensor_accel_fifo.msg
 	sensor_baro.msg
 	sensor_combined.msg
 	sensor_correction.msg
@@ -152,8 +151,8 @@ set(msg_files
 	sensor_gps.msg
 	sensor_gyro.msg
 	sensor_gyro_fft.msg
-	sensor_gyro_fifo.msg
 	sensor_hygrometer.msg
+	sensor_imu_fifo.msg
 	sensor_mag.msg
 	sensor_optical_flow.msg
 	sensor_preflight_mag.msg

msg/sensor_accel.msg

@@ -7,12 +7,10 @@ float32 x                 # acceleration in the FRD board frame X-axis in m/s^2
 float32 y                 # acceleration in the FRD board frame Y-axis in m/s^2
 float32 z                 # acceleration in the FRD board frame Z-axis in m/s^2
 
+float32 range # TODO
+
 float32 temperature       # temperature in degrees Celsius
 
 uint32 error_count
 
-uint8[3] clip_counter     # clip count per axis in the sample period
-
-uint8 samples             # number of raw samples that went into this message
-
 uint8 ORB_QUEUE_LENGTH = 8

msg/sensor_accel_fifo.msg

@@ -1,13 +0,0 @@
-uint64 timestamp          # time since system start (microseconds)
-uint64 timestamp_sample
-
-uint32 device_id          # unique device ID for the sensor that does not change between power cycles
-
-float32 dt                # delta time between samples (microseconds)
-float32 scale
-
-uint8 samples             # number of valid samples
-
-int16[32] x               # acceleration in the FRD board frame X-axis in m/s^2
-int16[32] y               # acceleration in the FRD board frame Y-axis in m/s^2
-int16[32] z               # acceleration in the FRD board frame Z-axis in m/s^2

msg/sensor_gyro.msg

@@ -7,12 +7,10 @@ float32 x                 # angular velocity in the FRD board frame X-axis in ra
 float32 y                 # angular velocity in the FRD board frame Y-axis in rad/s
 float32 z                 # angular velocity in the FRD board frame Z-axis in rad/s
 
+float32 range             # dynamic range in rad/s
+
 float32 temperature       # temperature in degrees Celsius
 
 uint32 error_count
 
-uint8[3] clip_counter     # clip count per axis in the sample period
-
-uint8 samples             # number of raw samples that went into this message
-
 uint8 ORB_QUEUE_LENGTH = 8

msg/sensor_gyro_fifo.msg

@@ -1,15 +0,0 @@
-uint64 timestamp          # time since system start (microseconds)
-uint64 timestamp_sample
-
-uint32 device_id          # unique device ID for the sensor that does not change between power cycles
-
-float32 dt                # delta time between samples (microseconds)
-float32 scale
-
-uint8 samples             # number of valid samples
-
-int16[32] x               # angular velocity in the FRD board frame X-axis in rad/s
-int16[32] y               # angular velocity in the FRD board frame Y-axis in rad/s
-int16[32] z               # angular velocity in the FRD board frame Z-axis in rad/s
-
-uint8 ORB_QUEUE_LENGTH = 4

msg/sensor_imu_fifo.msg

@@ -0,0 +1,26 @@
+uint64 timestamp          # time since system start (microseconds)
+uint64 timestamp_sample
+
+uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+
+float32 dt           # delta time between samples (microseconds)
+uint8 samples        # number of valid samples
+
+float32 accel_scale
+float32 gyro_scale
+
+uint8 FIFO_SIZE = 24
+
+int16[24] accel_x         # gyro in the FRD board frame X-axis
+int16[24] accel_y         # gyro in the FRD board frame Y-axis
+int16[24] accel_z         # gyro in the FRD board frame Z-axis
+
+int16[24] gyro_x          # gyro in the FRD board frame X-axis
+int16[24] gyro_y          # gyro in the FRD board frame Y-axis
+int16[24] gyro_z          # gyro in the FRD board frame Z-axis
+
+float32 temperature       # temperature in degrees Celsius
+
+uint32 error_count
+
+uint8 ORB_QUEUE_LENGTH = 8

posix-configs/SITL/init/test/test_imu_filtering

@@ -49,7 +49,7 @@ logger off
 
 sensors status
 listener sensor_gyro
-listener sensor_gyro_fifo
+listener sensor_imu_fifo
 listener sensor_gyro_fft
 perf
 

src/drivers/imu/adis16477/ADIS16477.cpp

@@ -56,8 +56,7 @@ using namespace time_literals;
 ADIS16477::ADIS16477(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation),
+	_rotation(config.rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
 	_drdy_gpio(config.drdy_gpio)
@@ -67,8 +66,8 @@ ADIS16477::ADIS16477(const I2CSPIDriverConfig &config) :
 	px4_arch_configgpio(GPIO_SPI1_RESET_ADIS16477);
 #endif // GPIO_SPI1_RESET_ADIS16477
 
-	_px4_accel.set_scale(1.25f * CONSTANTS_ONE_G / 1000.0f); // accel 1.25 mg/LSB
-	_px4_gyro.set_scale(math::radians(0.025f)); // gyro 0.025 °/sec/LSB
+	_accel_scale = 1.25f * CONSTANTS_ONE_G / 1000.0f; // accel 1.25 mg/LSB
+	_gyro_scale = math::radians(0.025f); // gyro 0.025 °/sec/LSB
 }
 
 ADIS16477::~ADIS16477()
@@ -366,11 +365,31 @@ ADIS16477::measure()
 
 	// temperature 1 LSB = 0.1°C
 	const float temperature = adis_report.temp * 0.1f;
-	_px4_accel.set_temperature(temperature);
-	_px4_gyro.set_temperature(temperature);
 
-	_px4_accel.update(timestamp_sample, adis_report.accel_x, adis_report.accel_y, adis_report.accel_z);
-	_px4_gyro.update(timestamp_sample, adis_report.gyro_x, adis_report.gyro_y, adis_report.gyro_z);
+
+	// sensor_accel
+	sensor_accel_s sensor_accel{};
+	sensor_accel.timestamp_sample = timestamp_sample;
+	sensor_accel.device_id = get_device_id();
+	sensor_accel.x = adis_report.accel_x;
+	sensor_accel.y = adis_report.accel_y;
+	sensor_accel.z = adis_report.accel_z;
+	sensor_accel.range = 16.f * CONSTANTS_ONE_G;
+	sensor_accel.temperature = temperature;
+	sensor_accel.timestamp = hrt_absolute_time();
+	_sensor_accel_pub.publish(sensor_accel);
+
+	// sensor_gyro
+	sensor_gyro_s sensor_gyro{};
+	sensor_gyro.timestamp_sample = timestamp_sample;
+	sensor_gyro.device_id = get_device_id();
+	sensor_gyro.x = adis_report.gyro_x;
+	sensor_gyro.y = adis_report.gyro_y;
+	sensor_gyro.z = adis_report.gyro_z;
+	sensor_gyro.range = math::radians(2000.f);
+	sensor_gyro.temperature = temperature;
+	sensor_gyro.timestamp = hrt_absolute_time();
+	_sensor_gyro_pub.publish(sensor_gyro);
 
 	perf_end(_sample_perf);
 

src/drivers/imu/adis16477/ADIS16477.hpp

@@ -41,8 +41,6 @@
 #include <drivers/device/spi.h>
 #include <geo/geo.h>
 #include <lib/conversion/rotation.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/i2c_spi_buses.h>
@@ -66,9 +64,6 @@ protected:
 
 private:
 
-	PX4Accelerometer	_px4_accel;
-	PX4Gyroscope		_px4_gyro;
-
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_bad_transfers;
 

src/drivers/imu/adis16477/CMakeLists.txt

@@ -40,6 +40,4 @@ px4_add_module(
 		adis16477_main.cpp
 	DEPENDS
 		px4_work_queue
-		drivers_accelerometer
-		drivers_gyroscope
 	)

src/drivers/imu/adis16497/ADIS16497.cpp

@@ -73,8 +73,7 @@ using namespace time_literals;
 ADIS16497::ADIS16497(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation),
+	_rotation(config.rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
 	_drdy_gpio(config.drdy_gpio)
@@ -308,23 +307,23 @@ ADIS16497::self_test()
 bool
 ADIS16497::set_measurement_range(uint16_t model)
 {
-	_px4_accel.set_scale(1.25f * CONSTANTS_ONE_G / 1000.0f); // 1.25 mg/LSB
-	_px4_accel.set_range(40.0f * CONSTANTS_ONE_G); // 40g
+	_accel_scale = 1.25f * CONSTANTS_ONE_G / 1000.0f; // 1.25 mg/LSB
+	_accel_range = 40.0f * CONSTANTS_ONE_G; // 40g
 
 	switch (model) {
 	case RANG_MDL_1BMLZ:
-		_px4_gyro.set_scale(math::radians(0.00625f)); // 0.00625 °/sec/LSB
-		_px4_gyro.set_range(math::radians(125.0f)); // 125 °/s
+		_gyro_scale = math::radians(0.00625f); // 0.00625 °/sec/LSB
+		_gyro_range = math::radians(125.0f); // 125 °/s
 		break;
 
 	case RANG_MDL_2BMLZ:
-		_px4_gyro.set_scale(math::radians(0.025f)); // 0.025 °/sec/LSB
-		_px4_gyro.set_range(math::radians(450.0f)); // 450 °/s
+		_gyro_scale = math::radians(0.025f); // 0.025 °/sec/LSB
+		_gyro_range = math::radians(450.0f); // 450 °/s
 		break;
 
 	case RANG_MDL_3BMLZ:
-		_px4_gyro.set_scale(math::radians(0.1f)); // 0.1 °/sec/LSB
-		_px4_gyro.set_range(math::radians(2000.0f)); // 2000 °/s
+		_gyro_scale = math::radians(0.1f); // 0.1 °/sec/LSB
+		_gyro_range = math::radians(2000.0f); // 2000 °/s
 		break;
 
 	default:
@@ -470,26 +469,44 @@ ADIS16497::measure()
 	}
 
 	const uint64_t error_count = perf_event_count(_bad_transfers);
-	_px4_accel.set_error_count(error_count);
-	_px4_gyro.set_error_count(error_count);
-
 	const float temperature = (int16_t(adis_report.TEMP_OUT) * 0.0125f) + 25.0f; // 1 LSB = 0.0125°C, 0x0000 at 25°C
-	_px4_accel.set_temperature(temperature);
-	_px4_gyro.set_temperature(temperature);
+
 
 	// TODO check data counter here to see if we're missing samples/getting repeated samples
 	{
 		float xraw_f = (int32_t(adis_report.X_ACCEL_OUT) << 16 | adis_report.X_ACCEL_LOW) / 65536.0f;
 		float yraw_f = (int32_t(adis_report.Y_ACCEL_OUT) << 16 | adis_report.Y_ACCEL_LOW) / 65536.0f;
 		float zraw_f = (int32_t(adis_report.Z_ACCEL_OUT) << 16 | adis_report.Z_ACCEL_LOW) / 65536.0f;
-		_px4_accel.update(timestamp_sample, xraw_f, yraw_f, zraw_f);
+
+		sensor_accel_s sensor_accel{};
+		sensor_accel.timestamp_sample = timestamp_sample;
+		sensor_accel.device_id = get_device_id();
+		sensor_accel.x = xraw_f;
+		sensor_accel.y = yraw_f;
+		sensor_accel.z = zraw_f;
+		sensor_accel.range = 16.f * CONSTANTS_ONE_G;
+		sensor_accel.temperature = temperature;
+		sensor_accel.error_count = error_count;
+		sensor_accel.timestamp = hrt_absolute_time();
+		_sensor_accel_pub.publish(sensor_accel);
 	}
 
 	{
 		float xraw_f = (int32_t(adis_report.X_GYRO_OUT) << 16 | adis_report.X_GYRO_LOW) / 65536.0f;
 		float yraw_f = (int32_t(adis_report.Y_GYRO_OUT) << 16 | adis_report.Y_GYRO_LOW) / 65536.0f;
 		float zraw_f = (int32_t(adis_report.Z_GYRO_OUT) << 16 | adis_report.Z_GYRO_LOW) / 65536.0f;
-		_px4_gyro.update(timestamp_sample, xraw_f, yraw_f, zraw_f);
+
+		sensor_gyro_s sensor_gyro{};
+		sensor_gyro.timestamp_sample = timestamp_sample;
+		sensor_gyro.device_id = get_device_id();
+		sensor_gyro.x = xraw_f;
+		sensor_gyro.y = yraw_f;
+		sensor_gyro.z = zraw_f;
+		sensor_gyro.range = math::radians(2000.f);
+		sensor_gyro.temperature = temperature;
+		sensor_gyro.error_count = error_count;
+		sensor_gyro.timestamp = hrt_absolute_time();
+		_sensor_gyro_pub.publish(sensor_gyro);
 	}
 
 	perf_end(_sample_perf);

src/drivers/imu/adis16497/ADIS16497.hpp

@@ -41,8 +41,6 @@
 #include <drivers/device/spi.h>
 #include <geo/geo.h>
 #include <lib/conversion/rotation.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/i2c_spi_buses.h>
@@ -102,9 +100,6 @@ protected:
 
 private:
 
-	PX4Accelerometer	_px4_accel;
-	PX4Gyroscope		_px4_gyro;
-
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_bad_transfers;
 

src/drivers/imu/adis16497/CMakeLists.txt

@@ -40,6 +40,5 @@ px4_add_module(
 		ADIS16497.hpp
 		adis16497_main.cpp
 	DEPENDS
-		drivers_accelerometer
-		drivers_gyroscope
+		px4_work_queue
 	)

src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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
@@ -99,9 +99,8 @@ ADIS16448::ADIS16448(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
 	_drdy_gpio(config.drdy_gpio), // TODO: DRDY disabled
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation),
-	_px4_mag(get_device_id(), config.rotation)
+	_px4_mag(get_device_id(), config.rotation),
+	_rotation(config.rotation)
 {
 	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
@@ -392,15 +391,10 @@ void ADIS16448::RunImpl()
 				if (publish_data) {
 
 					const uint32_t error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf);
-					_px4_accel.set_error_count(error_count);
-					_px4_gyro.set_error_count(error_count);
 
 					// temperature 0.07386°C/LSB, 31°C = 0x000
 					const float temperature = (convert12BitToINT16(buffer.TEMP_OUT) * 0.07386f) + 31.f;
 
-					_px4_accel.set_temperature(temperature);
-					_px4_gyro.set_temperature(temperature);
-
 					bool imu_updated = false;
 
 					// sensor's frame is +x forward, +y left, +z up
@@ -430,8 +424,29 @@ void ADIS16448::RunImpl()
 					}
 
 					if (imu_updated) {
-						_px4_accel.update(timestamp_sample, accel_x, accel_y, accel_z);
-						_px4_gyro.update(timestamp_sample, gyro_x, gyro_y, gyro_z);
+						sensor_accel_s sensor_accel{};
+						sensor_accel.timestamp_sample = timestamp_sample;
+						sensor_accel.device_id = get_device_id();
+						sensor_accel.x = accel_x;
+						sensor_accel.y = accel_y;
+						sensor_accel.z = accel_z;
+						sensor_accel.range = 16.f * CONSTANTS_ONE_G;
+						sensor_accel.temperature = temperature;
+						sensor_accel.error_count = error_count;
+						sensor_accel.timestamp = hrt_absolute_time();
+						_sensor_accel_pub.publish(sensor_accel);
+
+						sensor_gyro_s sensor_gyro{};
+						sensor_gyro.timestamp_sample = timestamp_sample;
+						sensor_gyro.device_id = get_device_id();
+						sensor_gyro.x = gyro_x;
+						sensor_gyro.y = gyro_y;
+						sensor_gyro.z = gyro_z;
+						sensor_gyro.range = math::radians(2000.f);
+						sensor_gyro.temperature = temperature;
+						sensor_gyro.error_count = error_count;
+						sensor_gyro.timestamp = hrt_absolute_time();
+						_sensor_gyro_pub.publish(sensor_gyro);
 					}
 
 					// DIAG_STAT bit 7: New data, xMAGN_OUT/BARO_OUT
@@ -534,12 +549,12 @@ bool ADIS16448::Configure()
 		}
 	}
 
-	_px4_accel.set_scale(0.833f * 1e-3f * CONSTANTS_ONE_G); // 0.833 mg/LSB
-	_px4_gyro.set_scale(math::radians(0.04f));              // 0.04 °/sec/LSB
+	_accel_scale = 0.833f * 1e-3f * CONSTANTS_ONE_G; // 0.833 mg/LSB
+	_gyro_scale = math::radians(0.04f);              // 0.04 °/sec/LSB
 	_px4_mag.set_scale(142.9f * 1e-6f);                     // μgauss/LSB
 
-	_px4_accel.set_range(18.f * CONSTANTS_ONE_G);
-	_px4_gyro.set_range(math::radians(1000.f));
+	_accel_range = 18.f * CONSTANTS_ONE_G;
+	_gyro_range = math::radians(1000.f);
 
 	return success;
 }

src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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
@@ -44,16 +44,17 @@
 
 #include <drivers/drv_hrt.h>
 #include <lib/drivers/device/spi.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
-#include <uORB/PublicationMulti.hpp>
-#include <uORB/topics/sensor_baro.h>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_accel.h>
+#include <uORB/topics/sensor_baro.h>
+#include <uORB/topics/sensor_gyro.h>
+
 using namespace Analog_Devices_ADIS16448;
 
 class ADIS16448 : public device::SPI, public I2CSPIDriver<ADIS16448>
@@ -98,11 +99,17 @@ private:
 
 	const spi_drdy_gpio_t _drdy_gpio;
 
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
 	PX4Magnetometer _px4_mag;
 
+	uORB::PublicationMulti<sensor_accel_s> _sensor_accel_pub{ORB_ID(sensor_accel)};
 	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	uORB::PublicationMulti<sensor_gyro_s> _sensor_gyro_pub{ORB_ID(sensor_gyro)};
+
+	const enum Rotation _rotation;
+	float _accel_scale{0.f};
+	float _accel_range{0.f};
+	float _gyro_scale{0.f};
+	float _gyro_range{0.f};
 
 	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};

src/drivers/imu/analog_devices/adis16448/CMakeLists.txt

@@ -43,8 +43,6 @@ px4_add_module(
 		adis16448_main.cpp
 		Analog_Devices_ADIS16448_registers.hpp
 	DEPENDS
-		drivers_accelerometer
-		drivers_gyroscope
 		drivers_magnetometer
 		px4_work_queue
 	)

src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp

@@ -44,8 +44,7 @@ ADIS16470::ADIS16470(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
 	_drdy_gpio(config.drdy_gpio),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
 	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
@@ -296,8 +295,6 @@ void ADIS16470::RunImpl()
 
 				// temperature 1 LSB = 0.1°C
 				const float temperature = buffer.TEMP_OUT * 0.1f;
-				_px4_accel.set_temperature(temperature);
-				_px4_gyro.set_temperature(temperature);
 
 
 				int16_t accel_x = buffer.X_ACCL_OUT;
@@ -306,10 +303,17 @@ void ADIS16470::RunImpl()
 
 				// sensor's frame is +x forward, +y left, +z up
 				//  flip y & z to publish right handed with z down (x forward, y right, z down)
-				accel_y = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
-				accel_z = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
-
-				_px4_accel.update(timestamp_sample, accel_x, accel_y, accel_z);
+				sensor_accel_s sensor_accel{};
+				sensor_accel.timestamp_sample = timestamp_sample;
+				sensor_accel.device_id = get_device_id();
+				sensor_accel.x = accel_x;
+				sensor_accel.y = math::negate(accel_y);
+				sensor_accel.z = math::negate(accel_z);
+				sensor_accel.range = 16.f * CONSTANTS_ONE_G;
+				sensor_accel.temperature = temperature;
+				sensor_accel.error_count = error_count;
+				sensor_accel.timestamp = hrt_absolute_time();
+				_sensor_accel_pub.publish(sensor_accel);
 
 
 				int16_t gyro_x = buffer.X_GYRO_OUT;
@@ -317,9 +321,17 @@ void ADIS16470::RunImpl()
 				int16_t gyro_z = buffer.Z_GYRO_OUT;
 				// sensor's frame is +x forward, +y left, +z up
 				//  flip y & z to publish right handed with z down (x forward, y right, z down)
-				gyro_y = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-				gyro_z = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
-				_px4_gyro.update(timestamp_sample, gyro_x, gyro_y, gyro_z);
+				sensor_gyro_s sensor_gyro{};
+				sensor_gyro.timestamp_sample = timestamp_sample;
+				sensor_gyro.device_id = get_device_id();
+				sensor_gyro.x = gyro_x;
+				sensor_gyro.y = math::negate(gyro_y);
+				sensor_gyro.z = math::negate(gyro_z);
+				sensor_gyro.range = math::radians(2000.f);
+				sensor_gyro.temperature = temperature;
+				sensor_gyro.error_count = error_count;
+				sensor_gyro.timestamp = hrt_absolute_time();
+				_sensor_gyro_pub.publish(sensor_gyro);
 
 				success = true;
 
@@ -376,12 +388,12 @@ bool ADIS16470::Configure()
 	}
 
 	// accel: ±40 g, 800 LSB/g (16-bit format)
-	_px4_accel.set_range(40.f * CONSTANTS_ONE_G);
-	_px4_accel.set_scale(CONSTANTS_ONE_G / 800.f); // scaling 800 LSB/g -> m/s^2 per LSB
+	//_accel_range = 40.f * CONSTANTS_ONE_G;
+	_accel_scale = CONSTANTS_ONE_G / 800.f; // scaling 800 LSB/g -> m/s^2 per LSB
 
 	// gyro: ±2000 °/sec, 10 LSB/°/sec (16-bit format)
-	_px4_gyro.set_range(math::radians(2000.f));
-	_px4_gyro.set_scale(math::radians(1.f / 10.f)); // scaling 10 LSB/°/sec -> rad/s per LSB
+	//_gyro_range = math::radians(2000.f);
+	_gyro_scale = math::radians(1.f / 10.f); // scaling 10 LSB/°/sec -> rad/s per LSB
 
 	return success;
 }

src/drivers/imu/analog_devices/adis16470/ADIS16470.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 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
@@ -43,14 +43,15 @@
 #include "Analog_Devices_ADIS16470_registers.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_imu_fifo.h>
+
 using namespace Analog_Devices_ADIS16470;
 
 class ADIS16470 : public device::SPI, public I2CSPIDriver<ADIS16470>
@@ -94,8 +95,11 @@ private:
 
 	const spi_drdy_gpio_t _drdy_gpio;
 
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
+	uORB::PublicationMulti<sensor_imu_fifo_s> _sensor_imu_fifo_pub{ORB_ID(sensor_imu_fifo)};
+
+	const enum Rotation _rotation;
+	float _accel_scale{0.f};
+	float _gyro_scale{0.f};
 
 	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};

src/drivers/imu/analog_devices/adis16470/CMakeLists.txt

@@ -35,13 +35,12 @@ px4_add_module(
 	MODULE drivers__imu__analog_devices__adis16470
 	MAIN adis16470
 	COMPILE_FLAGS
+		-Wno-error
 	SRCS
 		ADIS16470.cpp
 		ADIS16470.hpp
 		adis16470_main.cpp
 		Analog_Devices_ADIS16470_registers.hpp
 	DEPENDS
-		drivers_accelerometer
-		drivers_gyroscope
 		px4_work_queue
 	)

src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -42,13 +42,13 @@ namespace Bosch::BMI055::Accelerometer
 
 BMI055_Accelerometer::BMI055_Accelerometer(const I2CSPIDriverConfig &config) :
 	BMI055(config),
-	_px4_accel(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
 	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_accel.get_max_rate_hz());
+	ConfigureSampleRate(RATE);
 }
 
 BMI055_Accelerometer::~BMI055_Accelerometer()
@@ -121,8 +121,8 @@ void BMI055_Accelerometer::RunImpl()
 				ScheduleDelayed(100_ms);
 
 			} else {
-				PX4_DEBUG("Reset not complete, check again in 10 ms");
-				ScheduleDelayed(10_ms);
+				PX4_DEBUG("Reset not complete, check again in 100 ms");
+				ScheduleDelayed(100_ms);
 			}
 		}
 
@@ -162,62 +162,78 @@ void BMI055_Accelerometer::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
-			hrt_abstime timestamp_sample = 0;
+			hrt_abstime timestamp_sample = now;
+			uint8_t samples = 0;
 
 			if (_data_ready_interrupt_enabled) {
 				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
 				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
 
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+				if ((drdy_timestamp_sample != 0) && (now < drdy_timestamp_sample + _fifo_empty_interval_us)) {
 					timestamp_sample = drdy_timestamp_sample;
+					samples = _fifo_samples;
 
 				} else {
 					perf_count(_drdy_missed_perf);
 				}
 
 				// push backup schedule back
-				ScheduleDelayed(_fifo_empty_interval_us * 2);
+				ScheduleDelayed(_fifo_empty_interval_us * 3);
 			}
 
-			// always check current FIFO status/count
-			bool success = false;
-			const uint8_t FIFO_STATUS = RegisterRead(Register::FIFO_STATUS);
+			if (samples == 0) {
+				// always check current FIFO status/count
+				const uint8_t FIFO_STATUS = RegisterRead(Register::FIFO_STATUS);
 
-			if (FIFO_STATUS & FIFO_STATUS_BIT::fifo_overrun) {
-				FIFOReset();
-				perf_count(_fifo_overflow_perf);
-
-			} else {
-				const uint8_t fifo_frame_counter = FIFO_STATUS & FIFO_STATUS_BIT::fifo_frame_counter;
-
-				if (fifo_frame_counter > FIFO_MAX_SAMPLES) {
-					// not technically an overflow, but more samples than we expected or can publish
+				if (FIFO_STATUS & FIFO_STATUS_BIT::fifo_overrun) {
 					FIFOReset();
 					perf_count(_fifo_overflow_perf);
 
-				} else if (fifo_frame_counter == 0) {
-					perf_count(_fifo_empty_perf);
+				} else {
+					const uint8_t fifo_frame_counter = FIFO_STATUS & FIFO_STATUS_BIT::fifo_frame_counter;
 
-				} else if (fifo_frame_counter >= 1) {
+					if (fifo_frame_counter > FIFO_MAX_SAMPLES) {
+						FIFOReset();
+						perf_count(_fifo_overflow_perf);
 
-					uint8_t samples = fifo_frame_counter;
+					} else if (fifo_frame_counter == 0) {
+						perf_count(_fifo_empty_perf);
 
-					// tolerate minor jitter, leave sample to next iteration if behind by only 1
-					if (samples == _fifo_samples + 1) {
-						// sample timestamp set from data ready already corresponds to _fifo_samples
-						if (timestamp_sample == 0) {
-							timestamp_sample = now - static_cast<int>(FIFO_SAMPLE_DT);
+					} else if (fifo_frame_counter >= 1) {
+
+						samples = fifo_frame_counter;
+
+						if (samples > _fifo_samples) {
+							// grab desired number of samples, but reschedule next cycle sooner
+							const int extra_samples = samples - _fifo_samples;
+							samples = _fifo_samples;
+
+							if (_fifo_samples > extra_samples) {
+								// reschedule to run when a total of _fifo_gyro_samples should be available in the FIFO
+								const uint32_t reschedule_delay_us = (_fifo_samples - extra_samples) * static_cast<int>(FIFO_SAMPLE_DT);
+								ScheduleOnInterval(_fifo_empty_interval_us, reschedule_delay_us);
+
+							} else {
+								// otherwise reschedule to run immediately
+								ScheduleOnInterval(_fifo_empty_interval_us);
+							}
+
+						} else if (samples < _fifo_samples) {
+							// reschedule next cycle to catch the desired number of samples
+							ScheduleOnInterval(_fifo_empty_interval_us, (_fifo_samples - samples) * static_cast<int>(FIFO_SAMPLE_DT));
 						}
-
-						samples--;
 					}
+				}
+			}
 
-					if (FIFORead((timestamp_sample == 0) ? now : timestamp_sample, samples)) {
-						success = true;
+			bool success = false;
 
-						if (_failure_count > 0) {
-							_failure_count--;
-						}
+			if (samples == _fifo_samples) {
+				if (FIFORead(timestamp_sample, samples)) {
+					success = true;
+
+					if (_failure_count > 0) {
+						_failure_count--;
 					}
 				}
 			}
@@ -227,13 +243,14 @@ void BMI055_Accelerometer::RunImpl()
 
 				// full reset if things are failing consistently
 				if (_failure_count > 10) {
+					PX4_DEBUG("Full reset because things are failing consistently");
 					Reset();
 					return;
 				}
 			}
 
+			// check configuration registers periodically or immediately following any failure
 			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
-				// check configuration registers periodically or immediately following any failure
 				if (RegisterCheck(_register_cfg[_checked_register])) {
 					_last_config_check_timestamp = now;
 					_checked_register = (_checked_register + 1) % size_register_cfg;
@@ -241,6 +258,7 @@ void BMI055_Accelerometer::RunImpl()
 				} else {
 					// register check failed, force reset
 					perf_count(_bad_register_perf);
+					PX4_DEBUG("Force reset because register 0x%02hhX check failed ", (uint8_t)_register_cfg[_checked_register].reg);
 					Reset();
 				}
 
@@ -263,23 +281,23 @@ void BMI055_Accelerometer::ConfigureAccel()
 
 	switch (PMU_RANGE) {
 	case range_2g_set:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 1024.f); // 1024 LSB/g, 0.98mg/LSB
-		_px4_accel.set_range(2.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G / 1024.f; // 1024 LSB/g, 0.98mg/LSB
+		_accel_range = 2.f * CONSTANTS_ONE_G;
 		break;
 
 	case range_4g_set:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 512.f); // 512 LSB/g, 1.95mg/LSB
-		_px4_accel.set_range(4.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G / 512.f; // 512 LSB/g, 1.95mg/LSB
+		_accel_range = 4.f * CONSTANTS_ONE_G;
 		break;
 
 	case range_8g_set:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 256.f); // 256 LSB/g, 3.91mg/LSB
-		_px4_accel.set_range(8.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G / 256.f; // 256 LSB/g, 3.91mg/LSB
+		_accel_range = 8.f * CONSTANTS_ONE_G;
 		break;
 
 	case range_16g_set:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 128.f); // 128 LSB/g, 7.81mg/LSB
-		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G / 128.f; // 128 LSB/g, 7.81mg/LSB
+		_accel_range = 16.f * CONSTANTS_ONE_G;
 		break;
 	}
 }
@@ -349,7 +367,7 @@ bool BMI055_Accelerometer::DataReadyInterruptConfigure()
 	}
 
 	// Setup data ready on falling edge
-	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0);
 }
 
 bool BMI055_Accelerometer::DataReadyInterruptDisable()
@@ -358,7 +376,7 @@ bool BMI055_Accelerometer::DataReadyInterruptDisable()
 		return false;
 	}
 
-	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0);
 }
 
 bool BMI055_Accelerometer::RegisterCheck(const register_config_t &reg_cfg)
@@ -407,40 +425,66 @@ void BMI055_Accelerometer::RegisterSetAndClearBits(Register reg, uint8_t setbits
 
 bool BMI055_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
-	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
+	// Transfer data
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_DATA) | DIR_READ};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	} buffer{};
+
+	// cmd + (samples * FIFO::DATA)
+	const size_t transfer_size = 1 + math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
 
 	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return false;
 	}
 
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = samples;
-	accel.dt = FIFO_SAMPLE_DT;
+	if (samples > 0) {
 
-	for (int i = 0; i < samples; i++) {
-		const FIFO::DATA &fifo_sample = buffer.f[i];
+		sensor_accel_s sensor_accel{};
+		sensor_accel.timestamp_sample = timestamp_sample;
+		sensor_accel.device_id = get_device_id();
 
-		// acc_x_msb<11:4> + acc_x_lsb<3:0>
-		const int16_t accel_x = combine(fifo_sample.ACCD_X_MSB, fifo_sample.ACCD_X_LSB) >> 4;
-		const int16_t accel_y = combine(fifo_sample.ACCD_Y_MSB, fifo_sample.ACCD_Y_LSB) >> 4;
-		const int16_t accel_z = combine(fifo_sample.ACCD_Z_MSB, fifo_sample.ACCD_Z_LSB) >> 4;
+		float accel_sum[3] {};
 
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		accel.x[i] = accel_x;
-		accel.y[i] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
-		accel.z[i] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
+		for (int i = 0; i < samples; i++) {
+			const FIFO::DATA &fifo_sample = buffer.f[i];
+
+			// acc_x_msb<11:4> + acc_x_lsb<3:0>
+			int16_t accel_x = combine(fifo_sample.ACCD_X_MSB, fifo_sample.ACCD_X_LSB) >> 4;
+			int16_t accel_y = combine(fifo_sample.ACCD_Y_MSB, fifo_sample.ACCD_Y_LSB) >> 4;
+			int16_t accel_z = combine(fifo_sample.ACCD_Z_MSB, fifo_sample.ACCD_Z_LSB) >> 4;
+
+			// sensor's frame is +x forward, +y left, +z up
+			//  flip y & z to publish right handed with z down (x forward, y right, z down)
+			// accel_x = accel_x;
+			accel_y = math::negate(accel_y);
+			accel_z = math::negate(accel_z);
+
+			accel_sum[0] += accel_x;
+			accel_sum[1] += accel_y;
+			accel_sum[2] += accel_z;
+		}
+
+
+		sensor_accel.x = (accel_sum[0] / samples) * _accel_scale;
+		sensor_accel.y = (accel_sum[1] / samples) * _accel_scale;
+		sensor_accel.z = (accel_sum[2] / samples) * _accel_scale;
+
+		rotate_3f(_rotation, sensor_accel.x, sensor_accel.y, sensor_accel.z);
+
+		sensor_accel.range = _accel_range;
+		sensor_accel.temperature = _temperature;
+		sensor_accel.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+					   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_accel.timestamp = hrt_absolute_time();
+		_sensor_accel_pub.publish(sensor_accel);
+
+		return true;
 	}
 
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	_px4_accel.updateFIFO(accel);
-
-	return true;
+	return false;
 }
 
 void BMI055_Accelerometer::FIFOReset()
@@ -472,7 +516,7 @@ void BMI055_Accelerometer::UpdateTemperature()
 	float temperature = static_cast<int8_t>(RegisterRead(Register::ACCD_TEMP)) * 0.5f + 23.f;
 
 	if (PX4_ISFINITE(temperature)) {
-		_px4_accel.set_temperature(temperature);
+		_temperature = temperature;
 
 	} else {
 		perf_count(_bad_transfer_perf);

src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -35,10 +35,11 @@
 
 #include "BMI055.hpp"
 
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
-
 #include "Bosch_BMI055_Accelerometer_Registers.hpp"
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_accel.h>
+
 namespace Bosch::BMI055::Accelerometer
 {
 
@@ -58,15 +59,7 @@ private:
 	static constexpr uint32_t RATE{2000}; // 2000 Hz
 	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
 
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
-
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_DATA) | DIR_READ};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (1 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static constexpr int32_t FIFO_MAX_SAMPLES{FIFO::SIZE / sizeof(FIFO::DATA)};
 
 	struct register_config_t {
 		Register reg;
@@ -97,7 +90,13 @@ private:
 
 	void UpdateTemperature();
 
-	PX4Accelerometer _px4_accel;
+	uORB::PublicationMulti<sensor_accel_s> _sensor_accel_pub{ORB_ID(sensor_accel)};
+
+	const enum Rotation _rotation;
+	float _accel_scale{0.f};
+	float _accel_range{0.f};
+
+	float _temperature{NAN};
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad transfer")};

src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,8 +33,6 @@
 
 #include "BMI055_Gyroscope.hpp"
 
-#include <px4_platform/board_dma_alloc.h>
-
 using namespace time_literals;
 
 namespace Bosch::BMI055::Gyroscope
@@ -42,13 +40,13 @@ namespace Bosch::BMI055::Gyroscope
 
 BMI055_Gyroscope::BMI055_Gyroscope(const I2CSPIDriverConfig &config) :
 	BMI055(config),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
 	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_gyro: DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+	ConfigureSampleRate(RATE);
 }
 
 BMI055_Gyroscope::~BMI055_Gyroscope()
@@ -121,8 +119,8 @@ void BMI055_Gyroscope::RunImpl()
 				ScheduleDelayed(100_ms);
 
 			} else {
-				PX4_DEBUG("Reset not complete, check again in 10 ms");
-				ScheduleDelayed(10_ms);
+				PX4_DEBUG("Reset not complete, check again in 100 ms");
+				ScheduleDelayed(100_ms);
 			}
 		}
 
@@ -162,62 +160,78 @@ void BMI055_Gyroscope::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
-			hrt_abstime timestamp_sample = 0;
+			hrt_abstime timestamp_sample = now;
+			uint8_t samples = 0;
 
 			if (_data_ready_interrupt_enabled) {
 				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
 				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
 
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+				if ((drdy_timestamp_sample != 0) && (now < drdy_timestamp_sample + _fifo_empty_interval_us)) {
 					timestamp_sample = drdy_timestamp_sample;
+					samples = _fifo_samples;
 
 				} else {
 					perf_count(_drdy_missed_perf);
 				}
 
 				// push backup schedule back
-				ScheduleDelayed(_fifo_empty_interval_us * 2);
+				ScheduleDelayed(_fifo_empty_interval_us * 3);
 			}
 
-			// always check current FIFO status/count
-			bool success = false;
-			const uint8_t FIFO_STATUS = RegisterRead(Register::FIFO_STATUS);
+			if (samples == 0) {
+				// always check current FIFO status/count
+				const uint8_t FIFO_STATUS = RegisterRead(Register::FIFO_STATUS);
 
-			if (FIFO_STATUS & FIFO_STATUS_BIT::fifo_overrun) {
-				FIFOReset();
-				perf_count(_fifo_overflow_perf);
-
-			} else {
-				const uint8_t fifo_frame_counter = FIFO_STATUS & FIFO_STATUS_BIT::fifo_frame_counter;
-
-				if (fifo_frame_counter > FIFO_MAX_SAMPLES) {
-					// not technically an overflow, but more samples than we expected or can publish
+				if (FIFO_STATUS & FIFO_STATUS_BIT::fifo_overrun) {
 					FIFOReset();
 					perf_count(_fifo_overflow_perf);
 
-				} else if (fifo_frame_counter == 0) {
-					perf_count(_fifo_empty_perf);
+				} else {
+					const uint8_t fifo_frame_counter = FIFO_STATUS & FIFO_STATUS_BIT::fifo_frame_counter;
 
-				} else if (fifo_frame_counter >= 1) {
+					if (fifo_frame_counter > FIFO_MAX_SAMPLES) {
+						FIFOReset();
+						perf_count(_fifo_overflow_perf);
 
-					uint8_t samples = fifo_frame_counter;
+					} else if (fifo_frame_counter == 0) {
+						perf_count(_fifo_empty_perf);
 
-					// tolerate minor jitter, leave sample to next iteration if behind by only 1
-					if (samples == _fifo_samples + 1) {
-						// sample timestamp set from data ready already corresponds to _fifo_samples
-						if (timestamp_sample == 0) {
-							timestamp_sample = now - static_cast<int>(FIFO_SAMPLE_DT);
+					} else if (fifo_frame_counter >= 1) {
+
+						samples = fifo_frame_counter;
+
+						if (samples > _fifo_samples) {
+							// grab desired number of samples, but reschedule next cycle sooner
+							const int extra_samples = samples - _fifo_samples;
+							samples = _fifo_samples;
+
+							if (_fifo_samples > extra_samples) {
+								// reschedule to run when a total of _fifo_gyro_samples should be available in the FIFO
+								const uint32_t reschedule_delay_us = (_fifo_samples - extra_samples) * static_cast<int>(FIFO_SAMPLE_DT);
+								ScheduleOnInterval(_fifo_empty_interval_us, reschedule_delay_us);
+
+							} else {
+								// otherwise reschedule to run immediately
+								ScheduleOnInterval(_fifo_empty_interval_us);
+							}
+
+						} else if (samples < _fifo_samples) {
+							// reschedule next cycle to catch the desired number of samples
+							ScheduleOnInterval(_fifo_empty_interval_us, (_fifo_samples - samples) * static_cast<int>(FIFO_SAMPLE_DT));
 						}
-
-						samples--;
 					}
+				}
+			}
 
-					if (FIFORead((timestamp_sample == 0) ? now : timestamp_sample, samples)) {
-						success = true;
+			bool success = false;
 
-						if (_failure_count > 0) {
-							_failure_count--;
-						}
+			if (samples == _fifo_samples) {
+				if (FIFORead(timestamp_sample, samples)) {
+					success = true;
+
+					if (_failure_count > 0) {
+						_failure_count--;
 					}
 				}
 			}
@@ -227,13 +241,14 @@ void BMI055_Gyroscope::RunImpl()
 
 				// full reset if things are failing consistently
 				if (_failure_count > 10) {
+					PX4_DEBUG("Full reset because things are failing consistently");
 					Reset();
 					return;
 				}
 			}
 
+			// check configuration registers periodically or immediately following any failure
 			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
-				// check configuration registers periodically or immediately following any failure
 				if (RegisterCheck(_register_cfg[_checked_register])) {
 					_last_config_check_timestamp = now;
 					_checked_register = (_checked_register + 1) % size_register_cfg;
@@ -241,6 +256,7 @@ void BMI055_Gyroscope::RunImpl()
 				} else {
 					// register check failed, force reset
 					perf_count(_bad_register_perf);
+					PX4_DEBUG("Force reset because register 0x%02hhX check failed ", (uint8_t)_register_cfg[_checked_register].reg);
 					Reset();
 				}
 			}
@@ -256,28 +272,28 @@ void BMI055_Gyroscope::ConfigureGyro()
 
 	switch (RANGE) {
 	case gyro_range_2000_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 16.384f));
-		_px4_gyro.set_range(math::radians(2000.f));
+		_gyro_scale = math::radians(1.f / 16.384f);
+		_gyro_range = math::radians(2000.f);
 		break;
 
 	case gyro_range_1000_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 32.768f));
-		_px4_gyro.set_range(math::radians(1000.f));
+		_gyro_scale = math::radians(1.f / 32.768f);
+		_gyro_range = math::radians(1000.f);
 		break;
 
 	case gyro_range_500_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 65.536f));
-		_px4_gyro.set_range(math::radians(500.f));
+		_gyro_scale = math::radians(1.f / 65.536f);
+		_gyro_range = math::radians(500.f);
 		break;
 
 	case gyro_range_250_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 131.072f));
-		_px4_gyro.set_range(math::radians(250.f));
+		_gyro_scale = math::radians(1.f / 131.072f);
+		_gyro_range = math::radians(250.f);
 		break;
 
 	case gyro_range_125_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 262.144f));
-		_px4_gyro.set_range(math::radians(125.f));
+		_gyro_scale = math::radians(1.f / 262.144f);
+		_gyro_range = math::radians(125.f);
 		break;
 	}
 }
@@ -347,7 +363,7 @@ bool BMI055_Gyroscope::DataReadyInterruptConfigure()
 	}
 
 	// Setup data ready on falling edge
-	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, true, false, &DataReadyInterruptCallback, this) == 0);
 }
 
 bool BMI055_Gyroscope::DataReadyInterruptDisable()
@@ -356,7 +372,7 @@ bool BMI055_Gyroscope::DataReadyInterruptDisable()
 		return false;
 	}
 
-	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0);
 }
 
 bool BMI055_Gyroscope::RegisterCheck(const register_config_t &reg_cfg)
@@ -405,37 +421,57 @@ void BMI055_Gyroscope::RegisterSetAndClearBits(Register reg, uint8_t setbits, ui
 
 bool BMI055_Gyroscope::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
-	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
+	// Transfer data
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_DATA) | DIR_READ};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	} buffer{};
+
+	// cmd + samples * FIFO::DATA
+	const size_t transfer_size = 1 + math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
 
 	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return false;
 	}
 
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = samples;
-	gyro.dt = FIFO_SAMPLE_DT;
+	sensor_gyro_s sensor_gyro{};
+	sensor_gyro.timestamp_sample = timestamp_sample;
+	sensor_gyro.device_id = get_device_id();
+
+	float gyro_sum[3] {};
 
 	for (int i = 0; i < samples; i++) {
 		const FIFO::DATA &fifo_sample = buffer.f[i];
 
-		const int16_t gyro_x = combine(fifo_sample.RATE_X_MSB, fifo_sample.RATE_X_LSB);
-		const int16_t gyro_y = combine(fifo_sample.RATE_Y_MSB, fifo_sample.RATE_Y_LSB);
-		const int16_t gyro_z = combine(fifo_sample.RATE_Z_MSB, fifo_sample.RATE_Z_LSB);
+		int16_t gyro_x = combine(fifo_sample.RATE_X_MSB, fifo_sample.RATE_X_LSB);
+		int16_t gyro_y = combine(fifo_sample.RATE_Y_MSB, fifo_sample.RATE_Y_LSB);
+		int16_t gyro_z = combine(fifo_sample.RATE_Z_MSB, fifo_sample.RATE_Z_LSB);
 
 		// sensor's frame is +x forward, +y left, +z up
 		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro_x;
-		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
+		//gyro.x[i] = gyro_x;
+		gyro_y = math::negate(gyro_y);
+		gyro_z = math::negate(gyro_z);
+
+		gyro_sum[0] += gyro_x;
+		gyro_sum[1] += gyro_y;
+		gyro_sum[2] += gyro_z;
 	}
 
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+	sensor_gyro.x = gyro_sum[0] * _gyro_scale / samples;
+	sensor_gyro.y = gyro_sum[1] * _gyro_scale / samples;
+	sensor_gyro.z = gyro_sum[2] * _gyro_scale / samples;
 
-	_px4_gyro.updateFIFO(gyro);
+	rotate_3f(_rotation, sensor_gyro.x, sensor_gyro.y, sensor_gyro.z);
+
+	sensor_gyro.range = _gyro_range;
+	sensor_gyro.temperature = NAN;
+	sensor_gyro.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+	sensor_gyro.timestamp = hrt_absolute_time();
+	_sensor_gyro_pub.publish(sensor_gyro);
 
 	return true;
 }

src/drivers/imu/bosch/bmi055/BMI055_Gyroscope.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -35,10 +35,11 @@
 
 #include "BMI055.hpp"
 
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
-
 #include "Bosch_BMI055_Gyroscope_Registers.hpp"
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_gyro.h>
+
 namespace Bosch::BMI055::Gyroscope
 {
 
@@ -58,15 +59,7 @@ private:
 	static constexpr uint32_t RATE{2000}; // 2000 Hz
 	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
 
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
-
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_DATA) | DIR_READ};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (1 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static constexpr int32_t FIFO_MAX_SAMPLES{FIFO::SIZE / sizeof(FIFO::DATA)};
 
 	struct register_config_t {
 		Register reg;
@@ -95,7 +88,11 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	PX4Gyroscope _px4_gyro;
+	uORB::PublicationMulti<sensor_gyro_s> _sensor_gyro_pub{ORB_ID(sensor_gyro)};
+
+	const enum Rotation _rotation;
+	float _gyro_scale{0.f};
+	float _gyro_range{0.f};
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad transfer")};

src/drivers/imu/bosch/bmi055/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_module(
 	MODULE drivers__imu__bosch__bmi055
 	MAIN bmi055
 	COMPILE_FLAGS
+		-O0
 	SRCS
 		Bosch_BMI055_Accelerometer_Registers.hpp
 		Bosch_BMI055_Gyroscope_Registers.hpp
@@ -48,7 +49,5 @@ px4_add_module(
 
 		bmi055_main.cpp
 	DEPENDS
-		drivers_accelerometer
-		drivers_gyroscope
 		px4_work_queue
 	)

src/drivers/imu/bosch/bmi085/BMI085_Accelerometer.cpp

@@ -42,13 +42,13 @@ namespace Bosch::BMI085::Accelerometer
 
 BMI085_Accelerometer::BMI085_Accelerometer(const I2CSPIDriverConfig &config) :
 	BMI085(config),
-	_px4_accel(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
 	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_accel.get_max_rate_hz());
+	ConfigureSampleRate(RATE);
 }
 
 BMI085_Accelerometer::~BMI085_Accelerometer()
@@ -280,23 +280,23 @@ void BMI085_Accelerometer::ConfigureAccel()
 
 	switch (ACC_RANGE) {
 	case acc_range_2g:
-		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1)) / 32768.f);
-		_px4_accel.set_range(2.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1)) / 32768.f;
+		_accel_range = 2.f * CONSTANTS_ONE_G;
 		break;
 
 	case acc_range_4g:
-		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1)) / 32768.f);
-		_px4_accel.set_range(4.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1)) / 32768.f;
+		_accel_range = 4.f * CONSTANTS_ONE_G;
 		break;
 
 	case acc_range_8g:
-		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1)) / 32768.f);
-		_px4_accel.set_range(8.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1)) / 32768.f;
+		_accel_range = 8.f * CONSTANTS_ONE_G;
 		break;
 
 	case acc_range_16g:
-		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1)) / 32768.f);
-		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1)) / 32768.f;
+		_accel_range = 16.f * CONSTANTS_ONE_G;
 		break;
 	}
 }
@@ -452,7 +452,7 @@ uint16_t BMI085_Accelerometer::FIFOReadCount()
 	const uint8_t FIFO_LENGTH_0 = fifo_len_buf[2];        // fifo_byte_counter[7:0]
 	const uint8_t FIFO_LENGTH_1 = fifo_len_buf[3] & 0x3F; // fifo_byte_counter[13:8]
 
-	return combine(FIFO_LENGTH_1, FIFO_LENGTH_0);
+	return (FIFO_LENGTH_1 << 8) + FIFO_LENGTH_0;
 }
 
 bool BMI085_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
@@ -465,7 +465,7 @@ bool BMI085_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
 		return false;
 	}
 
-	const size_t fifo_byte_counter = combine(buffer.FIFO_LENGTH_1 & 0x3F, buffer.FIFO_LENGTH_0);
+	const size_t fifo_byte_counter = ((buffer.FIFO_LENGTH_1 & 0x3F) << 8) + buffer.FIFO_LENGTH_0;
 
 	// An empty FIFO corresponds to 0x8000
 	if (fifo_byte_counter == 0x8000) {
@@ -477,15 +477,17 @@ bool BMI085_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
 		return false;
 	}
 
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT;
+	sensor_accel_s sensor_accel{};
+	sensor_accel.timestamp_sample = timestamp_sample;
+	sensor_accel.device_id = get_device_id();
 
 	// first find all sensor data frames in the buffer
 	uint8_t *data_buffer = (uint8_t *)&buffer.f[0];
 	unsigned fifo_buffer_index = 0; // start of buffer
 
+	float accel_sum[3] {};
+	int accel_samples = 0;
+
 	while (fifo_buffer_index < math::min(fifo_byte_counter, transfer_size - 4)) {
 		// look for header signature (first 6 bits) followed by two bits indicating the status of INT1 and INT2
 		switch (data_buffer[fifo_buffer_index] & 0xFC) {
@@ -494,16 +496,23 @@ bool BMI085_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
 				// Frame length: 7 bytes (1 byte header + 6 bytes payload)
 
 				FIFO::DATA *fifo_sample = (FIFO::DATA *)&data_buffer[fifo_buffer_index];
-				const int16_t accel_x = combine(fifo_sample->ACC_X_MSB, fifo_sample->ACC_X_LSB);
-				const int16_t accel_y = combine(fifo_sample->ACC_Y_MSB, fifo_sample->ACC_Y_LSB);
-				const int16_t accel_z = combine(fifo_sample->ACC_Z_MSB, fifo_sample->ACC_Z_LSB);
+				int16_t accel_x = combine(fifo_sample->ACC_X_MSB, fifo_sample->ACC_X_LSB);
+				int16_t accel_y = combine(fifo_sample->ACC_Y_MSB, fifo_sample->ACC_Y_LSB);
+				int16_t accel_z = combine(fifo_sample->ACC_Z_MSB, fifo_sample->ACC_Z_LSB);
 
 				// sensor's frame is +x forward, +y left, +z up
 				//  flip y & z to publish right handed with z down (x forward, y right, z down)
-				accel.x[accel.samples] = accel_x;
-				accel.y[accel.samples] = math::negate(accel_y);
-				accel.z[accel.samples] = math::negate(accel_z);
-				accel.samples++;
+				// accel_x = accel_x;
+				accel_y = math::negate(accel_y);
+				accel_z = math::negate(accel_z);
+
+				rotate_3i(_rotation, accel_x, accel_y, accel_z);
+
+				accel_sum[0] += accel_x;
+				accel_sum[1] += accel_y;
+				accel_sum[2] += accel_z;
+
+				accel_samples++;
 
 				fifo_buffer_index += 7; // move forward to next record
 			}
@@ -543,11 +552,19 @@ bool BMI085_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
 		}
 	}
 
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+	if (accel_samples > 0) {
+		sensor_accel.x = (accel_sum[0] / accel_samples) * _accel_scale;
+		sensor_accel.y = (accel_sum[1] / accel_samples) * _accel_scale;
+		sensor_accel.z = (accel_sum[2] / accel_samples) * _accel_scale;
+
+		sensor_accel.range = _accel_range;
+		sensor_accel.temperature = _temperature;
+		sensor_accel.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+					   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_accel.timestamp = hrt_absolute_time();
+		_sensor_accel_pub.publish(sensor_accel);
 
-	if (accel.samples > 0) {
-		_px4_accel.updateFIFO(accel);
 		return true;
 	}
 
@@ -594,7 +611,7 @@ void BMI085_Accelerometer::UpdateTemperature()
 	float temperature = (Temp_int11 * 0.125f) + 23.f; // Temp_int11 * 0.125°C/LSB + 23°C
 
 	if (PX4_ISFINITE(temperature)) {
-		_px4_accel.set_temperature(temperature);
+		_temperature = temperature;
 
 	} else {
 		perf_count(_bad_transfer_perf);

src/drivers/imu/bosch/bmi085/BMI085_Accelerometer.hpp

@@ -35,10 +35,11 @@
 
 #include "BMI085.hpp"
 
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
-
 #include "Bosch_BMI085_Accelerometer_Registers.hpp"
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_accel.h>
+
 namespace Bosch::BMI085::Accelerometer
 {
 
@@ -58,7 +59,7 @@ private:
 	static constexpr uint32_t RATE{1600}; // 1600 Hz
 	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
 
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{FIFO::SIZE / sizeof(FIFO::DATA)};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -101,7 +102,13 @@ private:
 
 	void UpdateTemperature();
 
-	PX4Accelerometer _px4_accel;
+	uORB::PublicationMulti<sensor_accel_s> _sensor_accel_pub{ORB_ID(sensor_accel)};
+
+	const enum Rotation _rotation;
+	float _accel_scale{0.f};
+	float _accel_range{0.f};
+
+	float _temperature{NAN};
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad transfer")};

src/drivers/imu/bosch/bmi085/BMI085_Gyroscope.cpp

@@ -33,8 +33,6 @@
 
 #include "BMI085_Gyroscope.hpp"
 
-#include <px4_platform/board_dma_alloc.h>
-
 using namespace time_literals;
 
 namespace Bosch::BMI085::Gyroscope
@@ -42,13 +40,13 @@ namespace Bosch::BMI085::Gyroscope
 
 BMI085_Gyroscope::BMI085_Gyroscope(const I2CSPIDriverConfig &config) :
 	BMI085(config),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
 	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_gyro: DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+	ConfigureSampleRate(RATE);
 }
 
 BMI085_Gyroscope::~BMI085_Gyroscope()
@@ -257,28 +255,28 @@ void BMI085_Gyroscope::ConfigureGyro()
 
 	switch (GYRO_RANGE) {
 	case gyro_range_2000_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 16.384f));
-		_px4_gyro.set_range(math::radians(2000.f));
+		_gyro_scale = math::radians(1.f / 16.384f);
+		_gyro_range = math::radians(2000.f);
 		break;
 
 	case gyro_range_1000_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 32.768f));
-		_px4_gyro.set_range(math::radians(1000.f));
+		_gyro_scale = math::radians(1.f / 32.768f);
+		_gyro_range = math::radians(1000.f);
 		break;
 
 	case gyro_range_500_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 65.536f));
-		_px4_gyro.set_range(math::radians(500.f));
+		_gyro_scale = math::radians(1.f / 65.536f);
+		_gyro_range = math::radians(500.f);
 		break;
 
 	case gyro_range_250_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 131.072f));
-		_px4_gyro.set_range(math::radians(250.f));
+		_gyro_scale = math::radians(1.f / 131.072f);
+		_gyro_range = math::radians(250.f);
 		break;
 
 	case gyro_range_125_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 262.144f));
-		_px4_gyro.set_range(math::radians(125.f));
+		_gyro_scale = math::radians(1.f / 262.144f);
+		_gyro_range = math::radians(125.f);
 		break;
 	}
 }
@@ -414,29 +412,43 @@ bool BMI085_Gyroscope::FIFORead(const hrt_abstime &timestamp_sample, uint8_t sam
 		return false;
 	}
 
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = samples;
-	gyro.dt = FIFO_SAMPLE_DT;
+	sensor_gyro_s sensor_gyro{};
+	sensor_gyro.timestamp_sample = timestamp_sample;
+	sensor_gyro.device_id = get_device_id();
+
+	float gyro_sum[3] {};
 
 	for (int i = 0; i < samples; i++) {
 		const FIFO::DATA &fifo_sample = buffer.f[i];
 
-		const int16_t gyro_x = combine(fifo_sample.RATE_X_MSB, fifo_sample.RATE_X_LSB);
-		const int16_t gyro_y = combine(fifo_sample.RATE_Y_MSB, fifo_sample.RATE_Y_LSB);
-		const int16_t gyro_z = combine(fifo_sample.RATE_Z_MSB, fifo_sample.RATE_Z_LSB);
+		int16_t gyro_x = combine(fifo_sample.RATE_X_MSB, fifo_sample.RATE_X_LSB);
+		int16_t gyro_y = combine(fifo_sample.RATE_Y_MSB, fifo_sample.RATE_Y_LSB);
+		int16_t gyro_z = combine(fifo_sample.RATE_Z_MSB, fifo_sample.RATE_Z_LSB);
 
 		// sensor's frame is +x forward, +y left, +z up
 		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro_x;
-		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
+		//gyro.x[i] = gyro_x;
+		gyro_y = math::negate(gyro_y);
+		gyro_z = math::negate(gyro_z);
+
+		rotate_3i(_rotation, gyro_x, gyro_y, gyro_z);
+
+		gyro_sum[0] += gyro_x * _gyro_scale;
+		gyro_sum[1] += gyro_y * _gyro_scale;
+		gyro_sum[2] += gyro_z * _gyro_scale;
 	}
 
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+	sensor_gyro.x = gyro_sum[0] / samples;
+	sensor_gyro.y = gyro_sum[1] / samples;
+	sensor_gyro.z = gyro_sum[2] / samples;
 
-	_px4_gyro.updateFIFO(gyro);
+	sensor_gyro.range = _gyro_range;
+	sensor_gyro.temperature = NAN;
+	sensor_gyro.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+	sensor_gyro.timestamp = hrt_absolute_time();
+	_sensor_gyro_pub.publish(sensor_gyro);
 
 	return true;
 }

src/drivers/imu/bosch/bmi085/BMI085_Gyroscope.hpp

@@ -35,10 +35,11 @@
 
 #include "BMI085.hpp"
 
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
-
 #include "Bosch_BMI085_Gyroscope_Registers.hpp"
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_gyro.h>
+
 namespace Bosch::BMI085::Gyroscope
 {
 
@@ -58,7 +59,7 @@ private:
 	static constexpr uint32_t RATE{2000}; // 2000 Hz
 	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
 
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{FIFO::SIZE / sizeof(FIFO::DATA)};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -95,7 +96,11 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	PX4Gyroscope _px4_gyro;
+	uORB::PublicationMulti<sensor_gyro_s> _sensor_gyro_pub{ORB_ID(sensor_gyro)};
+
+	const enum Rotation _rotation;
+	float _gyro_scale{0.f};
+	float _gyro_range{0.f};
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad transfer")};

src/drivers/imu/bosch/bmi085/CMakeLists.txt

@@ -48,7 +48,5 @@ px4_add_module(
 
 		bmi085_main.cpp
 	DEPENDS
-		drivers_accelerometer
-		drivers_gyroscope
 		px4_work_queue
 	)

src/drivers/imu/bosch/bmi088/BMI088.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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

src/drivers/imu/bosch/bmi088/BMI088.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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

src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -42,13 +42,13 @@ namespace Bosch::BMI088::Accelerometer
 
 BMI088_Accelerometer::BMI088_Accelerometer(const I2CSPIDriverConfig &config) :
 	BMI088(config),
-	_px4_accel(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
 	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_accel.get_max_rate_hz());
+	ConfigureSampleRate(RATE);
 }
 
 BMI088_Accelerometer::~BMI088_Accelerometer()
@@ -286,23 +286,23 @@ void BMI088_Accelerometer::ConfigureAccel()
 
 	switch (ACC_RANGE) {
 	case acc_range_3g:
-		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
-		_px4_accel.set_range(3.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f;
+		_accel_range = 3.f * CONSTANTS_ONE_G;
 		break;
 
 	case acc_range_6g:
-		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
-		_px4_accel.set_range(6.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f;
+		_accel_range = 6.f * CONSTANTS_ONE_G;
 		break;
 
 	case acc_range_12g:
-		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
-		_px4_accel.set_range(12.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f;
+		_accel_range = 12.f * CONSTANTS_ONE_G;
 		break;
 
 	case acc_range_24g:
-		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
-		_px4_accel.set_range(24.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f;
+		_accel_range = 24.f * CONSTANTS_ONE_G;
 		break;
 	}
 }
@@ -458,7 +458,7 @@ uint16_t BMI088_Accelerometer::FIFOReadCount()
 	const uint8_t FIFO_LENGTH_0 = fifo_len_buf[2];        // fifo_byte_counter[7:0]
 	const uint8_t FIFO_LENGTH_1 = fifo_len_buf[3] & 0x3F; // fifo_byte_counter[13:8]
 
-	return combine(FIFO_LENGTH_1, FIFO_LENGTH_0);
+	return (FIFO_LENGTH_1 << 8) + FIFO_LENGTH_0;
 }
 
 bool BMI088_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
@@ -471,7 +471,7 @@ bool BMI088_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
 		return false;
 	}
 
-	const size_t fifo_byte_counter = combine(buffer.FIFO_LENGTH_1 & 0x3F, buffer.FIFO_LENGTH_0);
+	const size_t fifo_byte_counter = ((buffer.FIFO_LENGTH_1 & 0x3F) << 8) + buffer.FIFO_LENGTH_0;
 
 	// An empty FIFO corresponds to 0x8000
 	if (fifo_byte_counter == 0x8000) {
@@ -483,15 +483,17 @@ bool BMI088_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
 		return false;
 	}
 
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT;
+	sensor_accel_s sensor_accel{};
+	sensor_accel.timestamp_sample = timestamp_sample;
+	sensor_accel.device_id = get_device_id();
 
 	// first find all sensor data frames in the buffer
 	uint8_t *data_buffer = (uint8_t *)&buffer.f[0];
 	unsigned fifo_buffer_index = 0; // start of buffer
 
+	float accel_sum[3] {};
+	int accel_samples = 0;
+
 	while (fifo_buffer_index < math::min(fifo_byte_counter, transfer_size - 4)) {
 		// look for header signature (first 6 bits) followed by two bits indicating the status of INT1 and INT2
 		switch (data_buffer[fifo_buffer_index] & 0xFC) {
@@ -500,16 +502,23 @@ bool BMI088_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
 				// Frame length: 7 bytes (1 byte header + 6 bytes payload)
 
 				FIFO::DATA *fifo_sample = (FIFO::DATA *)&data_buffer[fifo_buffer_index];
-				const int16_t accel_x = combine(fifo_sample->ACC_X_MSB, fifo_sample->ACC_X_LSB);
-				const int16_t accel_y = combine(fifo_sample->ACC_Y_MSB, fifo_sample->ACC_Y_LSB);
-				const int16_t accel_z = combine(fifo_sample->ACC_Z_MSB, fifo_sample->ACC_Z_LSB);
+				int16_t accel_x = combine(fifo_sample->ACC_X_MSB, fifo_sample->ACC_X_LSB);
+				int16_t accel_y = combine(fifo_sample->ACC_Y_MSB, fifo_sample->ACC_Y_LSB);
+				int16_t accel_z = combine(fifo_sample->ACC_Z_MSB, fifo_sample->ACC_Z_LSB);
 
 				// sensor's frame is +x forward, +y left, +z up
 				//  flip y & z to publish right handed with z down (x forward, y right, z down)
-				accel.x[accel.samples] = accel_x;
-				accel.y[accel.samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
-				accel.z[accel.samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
-				accel.samples++;
+				// accel_x = accel_x;
+				accel_y = math::negate(accel_y);
+				accel_z = math::negate(accel_z);
+
+				rotate_3i(_rotation, accel_x, accel_y, accel_z);
+
+				accel_sum[0] += accel_x;
+				accel_sum[1] += accel_y;
+				accel_sum[2] += accel_z;
+
+				accel_samples++;
 
 				fifo_buffer_index += 7; // move forward to next record
 			}
@@ -549,11 +558,19 @@ bool BMI088_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
 		}
 	}
 
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+	if (accel_samples > 0) {
+		sensor_accel.x = (accel_sum[0] / accel_samples) * _accel_scale;
+		sensor_accel.y = (accel_sum[1] / accel_samples) * _accel_scale;
+		sensor_accel.z = (accel_sum[2] / accel_samples) * _accel_scale;
+
+		sensor_accel.range = _accel_range;
+		sensor_accel.temperature = _temperature;
+		sensor_accel.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+					   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_accel.timestamp = hrt_absolute_time();
+		_sensor_accel_pub.publish(sensor_accel);
 
-	if (accel.samples > 0) {
-		_px4_accel.updateFIFO(accel);
 		return true;
 	}
 
@@ -600,7 +617,7 @@ void BMI088_Accelerometer::UpdateTemperature()
 	float temperature = (Temp_int11 * 0.125f) + 23.f; // Temp_int11 * 0.125°C/LSB + 23°C
 
 	if (PX4_ISFINITE(temperature)) {
-		_px4_accel.set_temperature(temperature);
+		_temperature = temperature;
 
 	} else {
 		perf_count(_bad_transfer_perf);

src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -35,10 +35,11 @@
 
 #include "BMI088.hpp"
 
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
-
 #include "Bosch_BMI088_Accelerometer_Registers.hpp"
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_accel.h>
+
 namespace Bosch::BMI088::Accelerometer
 {
 
@@ -58,7 +59,7 @@ private:
 	static constexpr uint32_t RATE{1600}; // 1600 Hz
 	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
 
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{FIFO::SIZE / sizeof(FIFO::DATA)};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -101,7 +102,13 @@ private:
 
 	void UpdateTemperature();
 
-	PX4Accelerometer _px4_accel;
+	uORB::PublicationMulti<sensor_accel_s> _sensor_accel_pub{ORB_ID(sensor_accel)};
+
+	const enum Rotation _rotation;
+	float _accel_scale{0.f};
+	float _accel_range{0.f};
+
+	float _temperature{NAN};
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad transfer")};

src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,8 +33,6 @@
 
 #include "BMI088_Gyroscope.hpp"
 
-#include <px4_platform/board_dma_alloc.h>
-
 using namespace time_literals;
 
 namespace Bosch::BMI088::Gyroscope
@@ -42,13 +40,13 @@ namespace Bosch::BMI088::Gyroscope
 
 BMI088_Gyroscope::BMI088_Gyroscope(const I2CSPIDriverConfig &config) :
 	BMI088(config),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
 	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_gyro: DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+	ConfigureSampleRate(RATE);
 }
 
 BMI088_Gyroscope::~BMI088_Gyroscope()
@@ -257,28 +255,28 @@ void BMI088_Gyroscope::ConfigureGyro()
 
 	switch (GYRO_RANGE) {
 	case gyro_range_2000_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 16.384f));
-		_px4_gyro.set_range(math::radians(2000.f));
+		_gyro_scale = math::radians(1.f / 16.384f);
+		_gyro_range = math::radians(2000.f);
 		break;
 
 	case gyro_range_1000_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 32.768f));
-		_px4_gyro.set_range(math::radians(1000.f));
+		_gyro_scale = math::radians(1.f / 32.768f);
+		_gyro_range = math::radians(1000.f);
 		break;
 
 	case gyro_range_500_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 65.536f));
-		_px4_gyro.set_range(math::radians(500.f));
+		_gyro_scale = math::radians(1.f / 65.536f);
+		_gyro_range = math::radians(500.f);
 		break;
 
 	case gyro_range_250_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 131.072f));
-		_px4_gyro.set_range(math::radians(250.f));
+		_gyro_scale = math::radians(1.f / 131.072f);
+		_gyro_range = math::radians(250.f);
 		break;
 
 	case gyro_range_125_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 262.144f));
-		_px4_gyro.set_range(math::radians(125.f));
+		_gyro_scale = math::radians(1.f / 262.144f);
+		_gyro_range = math::radians(125.f);
 		break;
 	}
 }
@@ -414,29 +412,43 @@ bool BMI088_Gyroscope::FIFORead(const hrt_abstime &timestamp_sample, uint8_t sam
 		return false;
 	}
 
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = samples;
-	gyro.dt = FIFO_SAMPLE_DT;
+	sensor_gyro_s sensor_gyro{};
+	sensor_gyro.timestamp_sample = timestamp_sample;
+	sensor_gyro.device_id = get_device_id();
+
+	float gyro_sum[3] {};
 
 	for (int i = 0; i < samples; i++) {
 		const FIFO::DATA &fifo_sample = buffer.f[i];
 
-		const int16_t gyro_x = combine(fifo_sample.RATE_X_MSB, fifo_sample.RATE_X_LSB);
-		const int16_t gyro_y = combine(fifo_sample.RATE_Y_MSB, fifo_sample.RATE_Y_LSB);
-		const int16_t gyro_z = combine(fifo_sample.RATE_Z_MSB, fifo_sample.RATE_Z_LSB);
+		int16_t gyro_x = combine(fifo_sample.RATE_X_MSB, fifo_sample.RATE_X_LSB);
+		int16_t gyro_y = combine(fifo_sample.RATE_Y_MSB, fifo_sample.RATE_Y_LSB);
+		int16_t gyro_z = combine(fifo_sample.RATE_Z_MSB, fifo_sample.RATE_Z_LSB);
 
 		// sensor's frame is +x forward, +y left, +z up
 		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro_x;
-		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
+		//gyro.x[i] = gyro_x;
+		gyro_y = math::negate(gyro_y);
+		gyro_z = math::negate(gyro_z);
+
+		rotate_3i(_rotation, gyro_x, gyro_y, gyro_z);
+
+		gyro_sum[0] += gyro_x * _gyro_scale;
+		gyro_sum[1] += gyro_y * _gyro_scale;
+		gyro_sum[2] += gyro_z * _gyro_scale;
 	}
 
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+	sensor_gyro.x = gyro_sum[0] / samples;
+	sensor_gyro.y = gyro_sum[1] / samples;
+	sensor_gyro.z = gyro_sum[2] / samples;
 
-	_px4_gyro.updateFIFO(gyro);
+	sensor_gyro.range = _gyro_range;
+	sensor_gyro.temperature = NAN;
+	sensor_gyro.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+	sensor_gyro.timestamp = hrt_absolute_time();
+	_sensor_gyro_pub.publish(sensor_gyro);
 
 	return true;
 }

src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -35,10 +35,11 @@
 
 #include "BMI088.hpp"
 
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
-
 #include "Bosch_BMI088_Gyroscope_Registers.hpp"
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_gyro.h>
+
 namespace Bosch::BMI088::Gyroscope
 {
 
@@ -58,7 +59,7 @@ private:
 	static constexpr uint32_t RATE{2000}; // 2000 Hz
 	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
 
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{FIFO::SIZE / sizeof(FIFO::DATA)};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -95,7 +96,11 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	PX4Gyroscope _px4_gyro;
+	uORB::PublicationMulti<sensor_gyro_s> _sensor_gyro_pub{ORB_ID(sensor_gyro)};
+
+	const enum Rotation _rotation;
+	float _gyro_scale{0.f};
+	float _gyro_range{0.f};
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad transfer")};

src/drivers/imu/bosch/bmi088/Bosch_BMI088_Accelerometer_Registers.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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

src/drivers/imu/bosch/bmi088/Bosch_BMI088_Gyroscope_Registers.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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

src/drivers/imu/bosch/bmi088/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2019-2020 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2019-2022 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
@@ -48,7 +48,5 @@ px4_add_module(
 
 		bmi088_main.cpp
 	DEPENDS
-		drivers_accelerometer
-		drivers_gyroscope
 		px4_work_queue
 	)

src/drivers/imu/bosch/bmi088_i2c/BMI088.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -76,10 +76,7 @@ int BMI088::init()
 		return ret;
 	}
 
-	int res = Reset() ? 0 : -1;
-	_state = STATE::SELFTEST;
-
-	return res;
+	return Reset() ? 0 : -1;
 }
 
 bool BMI088::Reset()

src/drivers/imu/bosch/bmi088_i2c/BMI088.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -65,23 +65,16 @@ protected:
 	hrt_abstime _last_config_check_timestamp{0};
 	hrt_abstime _temperature_update_timestamp{0};
 	int _failure_count{0};
-	int _overflow_data_size_count{0};
-	int _overflow_fifo_max_samples_count{0};
-	int _fifo_read_error_count{0};
-	int _empty_count{0};
-	int _total_failure_count{0};
-
 
 	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
 	bool _data_ready_interrupt_enabled{false};
 
 	enum class STATE : uint8_t {
-		SELFTEST,
 		RESET,
 		WAIT_FOR_RESET,
 		CONFIGURE,
 		FIFO_READ,
-	} _state{STATE::SELFTEST};
+	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{2500}; // 2500 us / 400 Hz transfer interval
 

src/drivers/imu/bosch/bmi088_i2c/BMI088_Accelerometer.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -39,15 +39,16 @@ using namespace time_literals;
 
 namespace Bosch::BMI088::Accelerometer
 {
+
 BMI088_Accelerometer::BMI088_Accelerometer(const I2CSPIDriverConfig &config) :
 	BMI088(config),
-	_px4_accel(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
 	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed");
 	}
 
-	ConfigureSampleRate(1600);
+	ConfigureSampleRate(RATE);
 }
 
 BMI088_Accelerometer::~BMI088_Accelerometer()
@@ -80,32 +81,21 @@ void BMI088_Accelerometer::print_status()
 	perf_print_counter(_drdy_missed_perf);
 }
 
-uint8_t BMI088_Accelerometer::RegisterRead(Register reg)
-{
-	uint8_t add = static_cast<uint8_t>(reg);
-	uint8_t cmd[2] = {add, 0};
-	transfer(&cmd[0], 1, &cmd[1], 1);
-	return cmd[1];
-}
-
-uint8_t BMI088_Accelerometer::RegisterWrite(Register reg, uint8_t value)
-{
-	uint8_t add = static_cast<uint8_t>(reg);
-	uint8_t cmd[2] = { add, value};
-	return transfer(cmd, sizeof(cmd), nullptr, 0);
-}
-
 int BMI088_Accelerometer::probe()
 {
 	const uint8_t ACC_CHIP_ID = RegisterRead(Register::ACC_CHIP_ID);
 
-	if (ACC_CHIP_ID != ID) {
+	if (ACC_CHIP_ID == ID_088) {
+		DEVICE_DEBUG("BMI088 Accel");
+
+	} else if (ACC_CHIP_ID == ID_090L) {
+		DEVICE_DEBUG("BMI090L Accel");
+
+	} else {
 		DEVICE_DEBUG("unexpected ACC_CHIP_ID 0x%02x", ACC_CHIP_ID);
 		return PX4_ERROR;
 	}
 
-	PX4_WARN("Probe success, ACC_CHIP_ID: 0x%02x", ACC_CHIP_ID);
-
 	return PX4_OK;
 }
 
@@ -114,27 +104,17 @@ void BMI088_Accelerometer::RunImpl()
 	const hrt_abstime now = hrt_absolute_time();
 
 	switch (_state) {
-	case STATE::SELFTEST:
-		//PX4_WARN("Selftest state");
-		//SelfTest();
-		_state = STATE::RESET;
-		ScheduleDelayed(10_ms);
-		break;
-
 	case STATE::RESET:
 		// ACC_SOFTRESET: Writing a value of 0xB6 to this register resets the sensor
 		RegisterWrite(Register::ACC_SOFTRESET, 0xB6);
 		_reset_timestamp = now;
 		_failure_count = 0;
 		_state = STATE::WAIT_FOR_RESET;
-
-
 		ScheduleDelayed(1_ms); // Following a delay of 1 ms, all configuration settings are overwritten with their reset value.
-
 		break;
 
 	case STATE::WAIT_FOR_RESET:
-		if (RegisterRead(Register::ACC_CHIP_ID) == ID) {
+		if ((RegisterRead(Register::ACC_CHIP_ID) == ID_088) || (RegisterRead(Register::ACC_CHIP_ID) == ID_090L)) {
 			// ACC_PWR_CONF: Power on sensor
 			RegisterWrite(Register::ACC_PWR_CONF, 0);
 
@@ -191,36 +171,125 @@ void BMI088_Accelerometer::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
-			SimpleFIFORead(now);
+			hrt_abstime timestamp_sample = now;
+			uint8_t samples = 0;
+
+			if (_data_ready_interrupt_enabled) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+					samples = _fifo_samples;
+
+				} else {
+					perf_count(_drdy_missed_perf);
+				}
+
+				// push backup schedule back
+				ScheduleDelayed(_fifo_empty_interval_us * 2);
+			}
+
+			if (samples == 0) {
+				// check current FIFO count
+				const uint16_t fifo_byte_counter = FIFOReadCount();
+
+				if (fifo_byte_counter >= FIFO::SIZE) {
+					FIFOReset();
+					perf_count(_fifo_overflow_perf);
+
+				} else if ((fifo_byte_counter == 0) || (fifo_byte_counter == 0x8000)) {
+					// An empty FIFO corresponds to 0x8000
+					perf_count(_fifo_empty_perf);
+
+				} else {
+					samples = fifo_byte_counter / sizeof(FIFO::DATA);
+
+					// tolerate minor jitter, leave sample to next iteration if behind by only 1
+					if (samples == _fifo_samples + 1) {
+						timestamp_sample -= static_cast<int>(FIFO_SAMPLE_DT);
+						samples--;
+					}
+
+					if (samples > FIFO_MAX_SAMPLES) {
+						// not technically an overflow, but more samples than we expected or can publish
+						FIFOReset();
+						perf_count(_fifo_overflow_perf);
+						samples = 0;
+					}
+				}
+			}
+
+			bool success = false;
+
+			if (samples >= 1) {
+				if (FIFORead(timestamp_sample, samples)) {
+					success = true;
+
+					if (_failure_count > 0) {
+						_failure_count--;
+					}
+				}
+			}
+
+			if (!success) {
+				_failure_count++;
+
+				// full reset if things are failing consistently
+				if (_failure_count > 10) {
+					Reset();
+					return;
+				}
+			}
+
+			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
+				// check configuration registers periodically or immediately following any failure
+				if (RegisterCheck(_register_cfg[_checked_register])) {
+					_last_config_check_timestamp = now;
+					_checked_register = (_checked_register + 1) % size_register_cfg;
+
+				} else {
+					// register check failed, force reset
+					perf_count(_bad_register_perf);
+					Reset();
+				}
+
+			} else {
+				// periodically update temperature (~1 Hz)
+				if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
+					UpdateTemperature();
+					_temperature_update_timestamp = now;
+				}
+			}
 		}
+
 		break;
 	}
 }
 
 void BMI088_Accelerometer::ConfigureAccel()
 {
-	//PX4_WARN("ConfigureAccel");
 	const uint8_t ACC_RANGE = RegisterRead(Register::ACC_RANGE) & (Bit1 | Bit0);
 
 	switch (ACC_RANGE) {
 	case acc_range_3g:
-		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
-		_px4_accel.set_range(3.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f;
+		_accel_range = 3.f * CONSTANTS_ONE_G;
 		break;
 
 	case acc_range_6g:
-		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
-		_px4_accel.set_range(6.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f;
+		_accel_range = 6.f * CONSTANTS_ONE_G;
 		break;
 
 	case acc_range_12g:
-		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
-		_px4_accel.set_range(12.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f;
+		_accel_range = 12.f * CONSTANTS_ONE_G;
 		break;
 
 	case acc_range_24g:
-		_px4_accel.set_scale(CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f);
-		_px4_accel.set_range(24.f * CONSTANTS_ONE_G);
+		_accel_scale = CONSTANTS_ONE_G * (powf(2, ACC_RANGE + 1) * 1.5f) / 32768.f;
+		_accel_range = 24.f * CONSTANTS_ONE_G;
 		break;
 	}
 }
@@ -231,15 +300,11 @@ void BMI088_Accelerometer::ConfigureSampleRate(int sample_rate)
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
 
-	PX4_WARN("_fifo_empty_interval_us %d", _fifo_empty_interval_us);
 	_fifo_samples = math::min((float)_fifo_empty_interval_us / (1e6f / RATE), (float)FIFO_MAX_SAMPLES);
 
-	PX4_WARN("_fifo_samples %d", _fifo_samples);
 	// recompute FIFO empty interval (us) with actual sample limit
 	_fifo_empty_interval_us = _fifo_samples * (1e6f / RATE);
 
-	PX4_WARN("_fifo_empty_interval_us %d", _fifo_empty_interval_us);
-	//PX4_WARN("_fifo_samples %d", _fifo_samples);
 	ConfigureFIFOWatermark(_fifo_samples);
 }
 
@@ -265,7 +330,6 @@ void BMI088_Accelerometer::ConfigureFIFOWatermark(uint8_t samples)
 
 bool BMI088_Accelerometer::Configure()
 {
-
 	// first set and clear all configured register bits
 	for (const auto &reg_cfg : _register_cfg) {
 		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
@@ -293,6 +357,7 @@ int BMI088_Accelerometer::DataReadyInterruptCallback(int irq, void *context, voi
 
 void BMI088_Accelerometer::DataReady()
 {
+	_drdy_timestamp_sample.store(hrt_absolute_time());
 	ScheduleNow();
 }
 
@@ -334,6 +399,20 @@ bool BMI088_Accelerometer::RegisterCheck(const register_config_t &reg_cfg)
 	return success;
 }
 
+uint8_t BMI088_Accelerometer::RegisterRead(Register reg)
+{
+	uint8_t cmd = static_cast<uint8_t>(reg);
+	uint8_t value = 0;
+	transfer(&cmd, 1, &value, 1);
+	return value;
+}
+
+void BMI088_Accelerometer::RegisterWrite(Register reg, uint8_t value)
+{
+	uint8_t cmd[2] { (uint8_t)reg, value };
+	transfer(cmd, sizeof(cmd), nullptr, 0);
+}
+
 void BMI088_Accelerometer::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
 {
 	const uint8_t orig_val = RegisterRead(reg);
@@ -349,10 +428,9 @@ uint16_t BMI088_Accelerometer::FIFOReadCount()
 {
 	// FIFO length registers FIFO_LENGTH_1 and FIFO_LENGTH_0 contain the 14 bit FIFO byte
 	uint8_t fifo_len_buf[2] {};
-	fifo_len_buf[0] = static_cast<uint8_t>(Register::FIFO_LENGTH_0) | DIR_READ;
-	// fifo_len_buf[1] dummy byte
+	uint8_t cmd = static_cast<uint8_t>(Register::FIFO_LENGTH_0);
 
-	if (transfer(&fifo_len_buf[0], 1, &fifo_len_buf[0], 2) != PX4_OK) {
+	if (transfer(&cmd, 1, fifo_len_buf, sizeof(fifo_len_buf)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return 0;
 	}
@@ -360,21 +438,20 @@ uint16_t BMI088_Accelerometer::FIFOReadCount()
 	const uint8_t FIFO_LENGTH_0 = fifo_len_buf[0];        // fifo_byte_counter[7:0]
 	const uint8_t FIFO_LENGTH_1 = fifo_len_buf[1] & 0x3F; // fifo_byte_counter[13:8]
 
-	return combine(FIFO_LENGTH_1, FIFO_LENGTH_0);
+	return (FIFO_LENGTH_1 << 8) + FIFO_LENGTH_0;
 }
 
 bool BMI088_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
 	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, FIFO::SIZE);
+	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 2, FIFO::SIZE);
 
-	if (transfer((uint8_t *)&buffer, 1, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
+	if (transfer(&buffer.cmd, 1, (uint8_t *)&buffer.FIFO_LENGTH_0, transfer_size) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return false;
 	}
 
-	//PX4_WARN("Accel transfer success");
-	const size_t fifo_byte_counter = combine(buffer.FIFO_LENGTH_1 & 0x3F, buffer.FIFO_LENGTH_0);
+	const size_t fifo_byte_counter = ((buffer.FIFO_LENGTH_1 & 0x3F) << 8) + buffer.FIFO_LENGTH_0;
 
 	// An empty FIFO corresponds to 0x8000
 	if (fifo_byte_counter == 0x8000) {
@@ -386,15 +463,17 @@ bool BMI088_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
 		return false;
 	}
 
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT;
+	sensor_accel_s sensor_accel{};
+	sensor_accel.timestamp_sample = timestamp_sample;
+	sensor_accel.device_id = get_device_id();
 
 	// first find all sensor data frames in the buffer
 	uint8_t *data_buffer = (uint8_t *)&buffer.f[0];
 	unsigned fifo_buffer_index = 0; // start of buffer
 
+	float accel_sum[3] {};
+	int accel_samples = 0;
+
 	while (fifo_buffer_index < math::min(fifo_byte_counter, transfer_size - 4)) {
 		// look for header signature (first 6 bits) followed by two bits indicating the status of INT1 and INT2
 		switch (data_buffer[fifo_buffer_index] & 0xFC) {
@@ -403,16 +482,23 @@ bool BMI088_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
 				// Frame length: 7 bytes (1 byte header + 6 bytes payload)
 
 				FIFO::DATA *fifo_sample = (FIFO::DATA *)&data_buffer[fifo_buffer_index];
-				const int16_t accel_x = combine(fifo_sample->ACC_X_MSB, fifo_sample->ACC_X_LSB);
-				const int16_t accel_y = combine(fifo_sample->ACC_Y_MSB, fifo_sample->ACC_Y_LSB);
-				const int16_t accel_z = combine(fifo_sample->ACC_Z_MSB, fifo_sample->ACC_Z_LSB);
+				int16_t accel_x = combine(fifo_sample->ACC_X_MSB, fifo_sample->ACC_X_LSB);
+				int16_t accel_y = combine(fifo_sample->ACC_Y_MSB, fifo_sample->ACC_Y_LSB);
+				int16_t accel_z = combine(fifo_sample->ACC_Z_MSB, fifo_sample->ACC_Z_LSB);
 
 				// sensor's frame is +x forward, +y left, +z up
 				//  flip y & z to publish right handed with z down (x forward, y right, z down)
-				accel.x[accel.samples] = accel_x;
-				accel.y[accel.samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
-				accel.z[accel.samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
-				accel.samples++;
+				// accel_x = accel_x;
+				accel_y = math::negate(accel_y);
+				accel_z = math::negate(accel_z);
+
+				rotate_3i(_rotation, accel_x, accel_y, accel_z);
+
+				accel_sum[0] += accel_x;
+				accel_sum[1] += accel_y;
+				accel_sum[2] += accel_z;
+
+				accel_samples++;
 
 				fifo_buffer_index += 7; // move forward to next record
 			}
@@ -452,130 +538,25 @@ bool BMI088_Accelerometer::FIFORead(const hrt_abstime &timestamp_sample, uint8_t
 		}
 	}
 
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+	if (accel_samples > 0) {
+		sensor_accel.x = (accel_sum[0] / accel_samples) * _accel_scale;
+		sensor_accel.y = (accel_sum[1] / accel_samples) * _accel_scale;
+		sensor_accel.z = (accel_sum[2] / accel_samples) * _accel_scale;
+
+		sensor_accel.range = _accel_range;
+		sensor_accel.temperature = _temperature;
+		sensor_accel.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+					   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_accel.timestamp = hrt_absolute_time();
+		_sensor_accel_pub.publish(sensor_accel);
 
-	if (accel.samples > 0) {
-		_px4_accel.updateFIFO(accel);
 		return true;
 	}
 
 	return false;
 }
 
-bool BMI088_Accelerometer::SimpleFIFORead(const hrt_abstime &timestamp_sample)
-{
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT;
-
-	int fifo_fill_level = 0;
-
-	uint8_t data_o[2] = { 0, 0 };
-	uint8_t data_i[1] = {static_cast<uint8_t>(Register::FIFO_LENGTH_0)};
-	data_i[0] = static_cast<uint8_t>(Register::FIFO_LENGTH_0);
-
-	transfer(&data_i[0], 1, &data_o[0], 2);
-	fifo_fill_level = data_o[0] + (data_o[1] << 8);
-
-	if (fifo_fill_level & 0x8000) {
-		return false;
-	}
-
-	int n_frames_to_read = 6;
-
-	// don't read more than 6 frames at a time
-	if (fifo_fill_level > n_frames_to_read * 7) {
-		fifo_fill_level = n_frames_to_read * 7;
-	}
-
-	if (fifo_fill_level == 0) {
-		return false;
-	}
-
-	uint8_t data[fifo_fill_level];
-
-	data[0] = static_cast<uint8_t>(Register::FIFO_DATA);
-
-	if (transfer(&data[0], 1, &data[0], fifo_fill_level) != PX4_OK) {
-		return false;
-	}
-
-	const uint8_t *p = &data[0];
-
-	while (fifo_fill_level >= 7) {
-		uint8_t frame_len = 2;
-
-		switch (p[0] & 0xFC) {
-		case 0x84: {
-				// accel frame
-				frame_len = 7;
-				const uint8_t *d = p + 1;
-				int16_t xyz[3] {
-					int16_t(uint16_t(d[0] | (d[1] << 8))),
-					int16_t(uint16_t(d[2] | (d[3] << 8))),
-					int16_t(uint16_t(d[4] | (d[5] << 8)))
-				};
-
-
-				const int16_t tX[3] = {1, 0, 0};
-				const int16_t tY[3] = {0, -1, 0};
-				const int16_t tZ[3] = {0, 0, -1};
-
-				float x = 0;
-				float y = 0;
-				float z = 0;
-
-				x = xyz[0] * tX[0] + xyz[1] * tX[1] + xyz[2] * tX[2];
-				y = xyz[0] * tY[0] + xyz[1] * tY[1] + xyz[2] * tY[2];
-				z = xyz[0] * tZ[0] + xyz[1] * tZ[1] + xyz[2] * tZ[2];
-
-				accel.x[accel.samples] = x;
-				accel.y[accel.samples] = y;
-				accel.z[accel.samples] = z;
-				accel.samples++;
-
-				break;
-			}
-
-		case 0x40:
-			// skip frame
-			frame_len = 2;
-			break;
-
-		case 0x44:
-			// sensortime frame
-			frame_len = 4;
-			break;
-
-		case 0x48:
-			// fifo config frame
-			frame_len = 2;
-			break;
-
-		case 0x50:
-			// sample drop frame
-			frame_len = 2;
-			break;
-		}
-
-		p += frame_len;
-		fifo_fill_level -= frame_len;
-	}
-
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	if (accel.samples > 0) {
-		//PX4_WARN("accel.samples: %d", accel.samples);
-		_px4_accel.updateFIFO(accel);
-		return true;
-	}
-
-	return true;
-}
-
 void BMI088_Accelerometer::FIFOReset()
 {
 	perf_count(_fifo_reset_perf);
@@ -590,17 +571,17 @@ void BMI088_Accelerometer::FIFOReset()
 void BMI088_Accelerometer::UpdateTemperature()
 {
 	// stored in an 11-bit value in 2’s complement format
-	uint8_t temperature_buf[4] {};
-	temperature_buf[0] = static_cast<uint8_t>(Register::TEMP_MSB) | ACC_I2C_ADDR_PRIMARY;
+	uint8_t temperature_buf[2] {};
+	uint8_t cmd = static_cast<uint8_t>(Register::TEMP_MSB);
 	// temperature_buf[1] dummy byte
 
-	if (transfer(&temperature_buf[0], 1, &temperature_buf[0], sizeof(temperature_buf)) != PX4_OK) {
+	if (transfer(&cmd, 1, &temperature_buf[0], sizeof(temperature_buf)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return;
 	}
 
-	const uint8_t TEMP_MSB = temperature_buf[2];
-	const uint8_t TEMP_LSB = temperature_buf[3];
+	const uint8_t TEMP_MSB = temperature_buf[0];
+	const uint8_t TEMP_LSB = temperature_buf[1];
 
 	// Datasheet 5.3.7: Register 0x22 – 0x23: Temperature sensor data
 	uint16_t Temp_uint11 = (TEMP_MSB * 8) + (TEMP_LSB / 32);
@@ -616,308 +597,11 @@ void BMI088_Accelerometer::UpdateTemperature()
 	float temperature = (Temp_int11 * 0.125f) + 23.f; // Temp_int11 * 0.125°C/LSB + 23°C
 
 	if (PX4_ISFINITE(temperature)) {
-		_px4_accel.set_temperature(temperature);
+		_temperature = temperature;
 
 	} else {
 		perf_count(_bad_transfer_perf);
 	}
 }
 
-bool BMI088_Accelerometer::SelfTest()
-{
-	PX4_WARN("Running self-test with datasheet recomended steps(page 17)");
-	// Reset
-	PX4_WARN("Reseting the sensor");
-
-	if (RegisterWrite(Register::ACC_SOFTRESET, 0xB6) == PX4_OK) {
-		PX4_WARN("Reset success");
-	}
-
-	usleep(100000);
-	PX4_WARN("Accel on");
-
-	if (RegisterWrite(Register::ACC_PWR_CTRL, 0x04) == PX4_OK) {
-		PX4_WARN("Accel on success");
-	}
-
-	usleep(100000);
-	PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
-	Configure();
-	usleep(1000000);
-	PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
-	const uint8_t ACC_CHIP_ID = RegisterRead(Register::ACC_CHIP_ID);
-	PX4_WARN("ACC_CHIP_ID: 0x%02x", ACC_CHIP_ID);
-	usleep(30000);
-	PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
-
-	if (RegisterWrite(Register::ACC_PWR_CONF, 0) == PX4_OK) {
-		PX4_WARN("Start sensor success");
-		PX4_WARN("ACC_PWR_CONF(0): 0x%02x", RegisterRead(Register::ACC_PWR_CONF));
-	}
-
-	usleep(2000000);
-	PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
-
-	if (RegisterWrite(Register::ACC_RANGE, 0x03) == PX4_OK) {
-		PX4_WARN("Range set success");
-		PX4_WARN("ACC_RANGE(0x03): 0x%02x", RegisterRead(Register::ACC_RANGE));
-	}
-
-	usleep(100000);
-	PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
-
-	if (RegisterWrite(Register::ACC_CONF, 0xA7) == PX4_OK) {
-		PX4_WARN("Conf set success");
-		PX4_WARN("ACC_CONF(0xA7): 0x%02x", RegisterRead(Register::ACC_CONF));
-	}
-
-	usleep(100000);
-	PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
-
-	// Positive sel-test polarity
-	if (RegisterWrite(Register::ACC_SELF_TEST, 0x0D) == PX4_OK) {
-		PX4_WARN("Self-test positive mode set success");
-		PX4_WARN("ACC_SELF_TEST(0x0D): 0x%02x", RegisterRead(Register::ACC_SELF_TEST));
-	}
-
-	usleep(100000);
-	PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
-
-	float *accel_mss = ReadAccelDataFIFO();
-	PX4_WARN("Positive value");
-	PX4_WARN("X %f", (double)accel_mss[0]);
-	PX4_WARN("Y %f", (double)accel_mss[1]);
-	PX4_WARN("Z %f", (double)accel_mss[2]);
-
-	// Negative sel-test polarity
-	if (RegisterWrite(Register::ACC_SELF_TEST, 0x09) == PX4_OK) {
-		PX4_WARN("Self-test negative mode set success");
-		PX4_WARN("ACC_SELF_TEST(0x09): 0x%02x", RegisterRead(Register::ACC_SELF_TEST));
-	}
-
-	usleep(600000);
-	PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
-	float *accel_mss2 = ReadAccelDataFIFO();
-	PX4_WARN("Negative value");
-	PX4_WARN("X %f", (double)accel_mss2[0]);
-	PX4_WARN("Y %f", (double)accel_mss2[1]);
-	PX4_WARN("Z %f", (double)accel_mss2[2]);
-
-	// Calculate difference between positive and negative sef-test response
-	float diff_x = accel_mss[0] - accel_mss2[0];
-	float diff_y = accel_mss[1] - accel_mss2[1];
-	float diff_z = accel_mss[2] - accel_mss2[2];
-
-	PX4_WARN("Diff value");
-	PX4_WARN("diff_x %f", (double)diff_x);
-	PX4_WARN("diff_y %f", (double)diff_y);
-	PX4_WARN("diff_z %f", (double)diff_z);
-
-
-	if (diff_x >= 1000) {
-		PX4_WARN("X Axis self-test success");
-	}
-
-	if (diff_y >= 1000) {
-		PX4_WARN("Y Axis self-test success");
-	}
-
-	if (diff_z >= 500) {
-		PX4_WARN("Z Axis self-test success");
-	}
-
-
-	// Disable self-test
-	RegisterWrite(Register::ACC_SELF_TEST, 0x00);
-	usleep(60000);
-
-	PX4_WARN("Sensor ErrReg: 0x%02x", CheckSensorErrReg());
-	// Reset
-	//PX4_WARN("Reseting the sensor again");
-	//RegisterWrite(Register::ACC_SOFTRESET, 0xB6);
-	//usleep(100000);
-	return true;
-}
-
-float *BMI088_Accelerometer::ReadAccelData()
-{
-	uint8_t cmd[1] = {0x12};
-
-	uint8_t buf[6] = {0, 0, 0, 0, 0, 0};
-	uint8_t *buffer = buf;
-
-	int16_t accel[3];
-
-	if (transfer(&cmd[0], 1, buffer, sizeof(buf)) == PX4_OK) {
-		PX4_WARN("ReadAccelData transfer success");
-	}
-
-	for (uint8_t i = 0; i < sizeof(buf); i++) {
-		PX4_WARN("buf[%d]: %f", i, (double)buf[i]);
-	}
-
-	accel[0] = (buf[1] << 8) | buf[0];
-	accel[1] = (buf[3] << 8) | buf[2];
-	accel[2] = (buf[5] << 8) | buf[4];
-
-	float *accel_mss = new float[3];
-
-	accel_mss[0] = (float) accel[0] / 32768.0f * 1000.0f * powf(2.0f, 24.0f + 1.0f) * 1.50f;
-	accel_mss[1] = (float) accel[1] / 32768.0f * 1000.0f * powf(2.0f, 24.0f + 1.0f) * 1.50f;
-	accel_mss[2] = (float) accel[2] / 32768.0f * 1000.0f * powf(2.0f, 24.0f + 1.0f) * 1.50f;
-
-	return accel_mss;
-}
-
-float *BMI088_Accelerometer::ReadAccelDataFIFO()
-{
-	float *accel_mg = new float[3];
-	struct FIFO::bmi08x_sensor_data bmi08x_accel;
-	uint8_t buffer[50] = {0};
-
-	PX4_WARN("FIFO mode is stop-at-full");
-	/* Desired FIFO mode is stop-at-full: set bit #0 to 1 in 0x48. Bit #1 must always be one! */
-	buffer[0] = 0x00 | 0x02;
-	RegisterWrite(Register::FIFO_CONFIG_0, buffer[0]);
-	PX4_WARN("FIFO_CONFIG_0(0x%02x): 0x%02x", buffer[0], RegisterRead(Register::FIFO_CONFIG_0));
-
-	PX4_WARN("Downsampling factor 2**4 = 16");
-	/* Downsampling factor 2**4 = 16: write 4 into bit #4-6 of reg. 0x45. Bit #7 must always be one! */
-	buffer[0] = 0x10 | 0x80;
-	RegisterWrite(Register::FIFO_DOWN_SAMPLING, buffer[0]);
-	PX4_WARN("FIFO_DOWN_SAMPLING(0x%02x): 0x%02x", buffer[0], RegisterRead(Register::FIFO_DOWN_SAMPLING));
-
-	/* Set water mark to 42 bytes (aka 6 frames, each 7 bytes: 1 byte header + 6 bytes accel data) */
-	// uint16_t wml = 42;
-	// buffer[0] = (uint8_t) wml & 0xff;
-	// buffer[1] = (uint8_t) (wml >> 8) & 0xff;
-	// uint8_t add = static_cast<uint8_t>(Register::FIFO_WTM_0);
-	// uint8_t cmd[3] = { add, buffer[0], buffer[1]};
-	// transfer(cmd, sizeof(cmd), nullptr, 0);
-	// PX4_WARN("FIFO_WTM_0(0x%02x): 0x%02x",cmd[0], RegisterRead(Register::FIFO_WTM_0));
-
-	/* Enable the actual FIFO functionality: write 0x50 to 0x49. Bit #4 must always be one! */
-	buffer[0] = 0x10 | 0x40;
-	RegisterWrite(Register::FIFO_CONFIG_1, buffer[0]);
-	PX4_WARN("FIFO_CONFIG_1(0x%02x): 0x%02x", buffer[0], RegisterRead(Register::FIFO_CONFIG_1));
-	usleep(1000000);
-
-	int fifo_fill_level = 0;
-
-	uint8_t data_o[2] = { 0, 0 };
-	uint8_t data_i[1] = {static_cast<uint8_t>(Register::FIFO_LENGTH_0)};
-	data_i[0] = static_cast<uint8_t>(Register::FIFO_LENGTH_0);
-
-	transfer(&data_i[0], 1, &data_o[0], 2);
-	fifo_fill_level = data_o[0] + 256 * data_o[1];
-	PX4_WARN("fifo_fill_level %d", fifo_fill_level);
-
-	// while(fifo_fill_level < wml)
-	// {
-	// 	transfer(&data_i[0], 1, &data_o[0], 2);
-	// 	fifo_fill_level = data_o[0] + 256 * data_o[1];
-	// 	PX4_WARN("fifo_fill_level %d", fifo_fill_level);
-	// }
-
-	uint8_t custom_size = 42;
-	uint8_t buffer_data[custom_size] = {0};
-	buffer[0] = static_cast<uint8_t>(Register::FIFO_DATA);
-	bmi08x_accel.x = 10;
-	PX4_WARN("bmi08x_accel %d", bmi08x_accel.x);
-	transfer(&buffer[0], 1, &buffer_data[0], custom_size);
-
-	/* This is a super-simple FIFO parsing loop, hoping it will only find valid accel data packets */
-	for (int i = 1; i < custom_size;) {
-		/* Header of acceleration sensor data frame: 100001xxb, where x is INT1/INT2 tag, ignored here */
-		if (buffer_data[i] == (0x84 & 0x8c)) {
-			UnpackSensorData(&bmi08x_accel, &buffer_data[i + 1]);
-			PX4_WARN("Frame: %03d ax:%f ay:%f az:%f", i / 6, (double)bmi08x_accel.x, (double)bmi08x_accel.y,
-				 (double)bmi08x_accel.z);
-			accel_mg[0] = bmi08x_accel.x;
-			accel_mg[1] = bmi08x_accel.y;
-			accel_mg[2] = bmi08x_accel.z;
-			float *data_in_mg = SensorDataTomg(accel_mg);
-			PX4_WARN("Frame mg: %03d ax:%f ay:%f az:%f", i / 6, (double)data_in_mg[0], (double)data_in_mg[1],
-				 (double)data_in_mg[2]);
-			i += 7;
-
-		} else {
-			i++;
-		}
-	}
-
-	return accel_mg;
-}
-
-uint8_t  BMI088_Accelerometer::CheckSensorErrReg()
-{
-	return RegisterRead(Register::ACC_ERR_REG);
-}
-
-void BMI088_Accelerometer::UnpackSensorData(struct FIFO::bmi08x_sensor_data *sens_data, uint8_t *buffer)
-{
-	uint16_t data_lsb;
-	uint16_t data_msb;
-	uint16_t start_idx = 0;
-	/* Gyro raw x data */
-	data_lsb = buffer[start_idx++];
-	data_msb = buffer[start_idx++];
-	sens_data->x = (int16_t)((data_msb << 8) | data_lsb);
-	/* Gyro raw y data */
-	data_lsb = buffer[start_idx++];
-	data_msb = buffer[start_idx++];
-	sens_data->y = (int16_t)((data_msb << 8) | data_lsb);
-	/* Gyro raw z data */
-	data_lsb = buffer[start_idx++];
-	data_msb = buffer[start_idx++];
-	sens_data->z = (int16_t)((data_msb << 8) | data_lsb);
-}
-
-float *BMI088_Accelerometer::SensorDataTomg(float *data)
-{
-	data[0] = (float) data[0] / 32768.0f * 1000.0f * powf(2.0f, 24.0f + 1.0f) * 1.50f;
-	data[1] = (float) data[1] / 32768.0f * 1000.0f * powf(2.0f, 24.0f + 1.0f) * 1.50f;
-	data[2] = (float) data[2] / 32768.0f * 1000.0f * powf(2.0f, 24.0f + 1.0f) * 1.50f;
-	return data;
-}
-
-bool BMI088_Accelerometer::NormalRead(const hrt_abstime &timestamp_sample)
-{
-	const int16_t tX[3] = {1, 0, 0};
-	const int16_t tY[3] = {0, -1, 0};
-	const int16_t tZ[3] = {0, 0, -1};
-
-	float x = 0;
-	float y = 0;
-	float z = 0;
-	uint8_t buffer[6] = {0};
-	uint8_t cmd[1] = {static_cast<uint8_t>(Register::ACC_READ)};
-
-	transfer(&cmd[0], 1, &buffer[0], 6);
-
-	uint8_t RATE_X_LSB = buffer[0];
-	uint8_t RATE_X_MSB = buffer[1];
-
-	uint8_t RATE_Y_LSB = buffer[2];
-	uint8_t RATE_Y_MSB = buffer[3];
-
-	uint8_t RATE_Z_LSB = buffer[4];
-	uint8_t RATE_Z_MSB = buffer[5];
-
-	const int16_t accel_x = combine(RATE_X_MSB, RATE_X_LSB);
-	const int16_t accel_y = combine(RATE_Y_MSB, RATE_Y_LSB);
-	const int16_t accel_z = combine(RATE_Z_MSB, RATE_Z_LSB);
-
-	// sensor's frame is +x forward, +y left, +z up
-	//  flip y & z to publish right handed with z down (x forward, y right, z down)
-	x = accel_x * tX[0] + accel_y * tX[1] + accel_z * tX[2];
-	y = accel_x * tY[0] + accel_y * tY[1] + accel_z * tY[2];
-	z = accel_x * tZ[0] + accel_y * tZ[1] + accel_z * tZ[2];
-
-	//PX4_WARN("x: %f | y: %f | z: %f", (double)x, (double)y ,(double)z);
-	_px4_accel.update(timestamp_sample, x, y, z);
-
-	return true;
-}
-
 } // namespace Bosch::BMI088::Accelerometer

src/drivers/imu/bosch/bmi088_i2c/BMI088_Accelerometer.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -35,10 +35,11 @@
 
 #include "BMI088.hpp"
 
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
-
 #include "Bosch_BMI088_Accelerometer_Registers.hpp"
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_accel.h>
+
 namespace Bosch::BMI088::Accelerometer
 {
 
@@ -55,11 +56,10 @@ private:
 	void exit_and_cleanup() override;
 
 	// Sensor Configuration
-	// static constexpr uint32_t RATE{1600}; // 1600 Hz
 	static constexpr uint32_t RATE{1600}; // 1600 Hz
 	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
 
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{FIFO::SIZE / sizeof(FIFO::DATA)};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -69,10 +69,6 @@ private:
 		uint8_t FIFO_LENGTH_1{0};
 		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
 	};
-	// Transfer data without length
-	struct FIFOTransferBufferWithoutLength {
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
 	// ensure no struct padding
 	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
 
@@ -97,7 +93,7 @@ private:
 	bool RegisterCheck(const register_config_t &reg_cfg);
 
 	uint8_t RegisterRead(Register reg);
-	uint8_t RegisterWrite(Register reg, uint8_t value);
+	void RegisterWrite(Register reg, uint8_t value);
 	void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
 
 	uint16_t FIFOReadCount();
@@ -105,16 +101,14 @@ private:
 	void FIFOReset();
 
 	void UpdateTemperature();
-	void UnpackSensorData(struct FIFO::bmi08x_sensor_data *sens_data, uint8_t *buffer);
-	bool SelfTest();
-	float *ReadAccelData();
-	float *ReadAccelDataFIFO();
-	float *SensorDataTomg(float *data);
-	uint8_t CheckSensorErrReg();
-	bool SimpleFIFORead(const hrt_abstime &timestamp_sample);
-	bool NormalRead(const hrt_abstime &timestamp_sample);
 
-	PX4Accelerometer _px4_accel;
+	uORB::PublicationMulti<sensor_accel_s> _sensor_accel_pub{ORB_ID(sensor_accel)};
+
+	const enum Rotation _rotation;
+	float _accel_scale{0.f};
+	float _accel_range{0.f};
+
+	float _temperature{NAN};
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad transfer")};
@@ -129,7 +123,7 @@ private:
 	static constexpr uint8_t size_register_cfg{10};
 	register_config_t _register_cfg[size_register_cfg] {
 		// Register                        | Set bits, Clear bits
-		{ Register::ACC_PWR_CONF,          0, ACC_PWR_CONF_BIT::acc_pwr_save }, //
+		{ Register::ACC_PWR_CONF,          0, ACC_PWR_CONF_BIT::acc_pwr_save },
 		{ Register::ACC_PWR_CTRL,          ACC_PWR_CTRL_BIT::acc_enable, 0 },
 		{ Register::ACC_CONF,              ACC_CONF_BIT::acc_bwp_Normal | ACC_CONF_BIT::acc_odr_1600, Bit1 | Bit0 },
 		{ Register::ACC_RANGE,             ACC_RANGE_BIT::acc_range_24g, 0 },

src/drivers/imu/bosch/bmi088_i2c/BMI088_Gyroscope.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,8 +33,6 @@
 
 #include "BMI088_Gyroscope.hpp"
 
-#include <px4_platform/board_dma_alloc.h>
-
 using namespace time_literals;
 
 namespace Bosch::BMI088::Gyroscope
@@ -42,13 +40,13 @@ namespace Bosch::BMI088::Gyroscope
 
 BMI088_Gyroscope::BMI088_Gyroscope(const I2CSPIDriverConfig &config) :
 	BMI088(config),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
 	if (config.drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_gyro: DRDY missed");
 	}
 
-	ConfigureSampleRate(2000);
+	ConfigureSampleRate(RATE);
 }
 
 BMI088_Gyroscope::~BMI088_Gyroscope()
@@ -98,13 +96,6 @@ void BMI088_Gyroscope::RunImpl()
 	const hrt_abstime now = hrt_absolute_time();
 
 	switch (_state) {
-
-	case STATE::SELFTEST:
-		//SelfTest();
-		_state = STATE::RESET;
-		ScheduleDelayed(1_ms);
-		break;
-
 	case STATE::RESET:
 		// GYRO_SOFTRESET: Writing a value of 0xB6 to this register resets the sensor.
 		// Following a delay of 30 ms, all configuration settings are overwritten with their reset value.
@@ -170,8 +161,90 @@ void BMI088_Gyroscope::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
-			SimpleFIFORead(now);
+			hrt_abstime timestamp_sample = 0;
+
+			if (_data_ready_interrupt_enabled) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
+
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+
+				} else {
+					perf_count(_drdy_missed_perf);
+				}
+
+				// push backup schedule back
+				ScheduleDelayed(_fifo_empty_interval_us * 2);
+			}
+
+			// always check current FIFO status/count
+			bool success = false;
+			const uint8_t FIFO_STATUS = RegisterRead(Register::FIFO_STATUS);
+
+			if (FIFO_STATUS & FIFO_STATUS_BIT::Fifo_overrun) {
+				FIFOReset();
+				perf_count(_fifo_overflow_perf);
+
+			} else {
+				const uint8_t fifo_frame_counter = FIFO_STATUS & FIFO_STATUS_BIT::Fifo_frame_counter;
+
+				if (fifo_frame_counter > FIFO_MAX_SAMPLES) {
+					// not technically an overflow, but more samples than we expected or can publish
+					FIFOReset();
+					perf_count(_fifo_overflow_perf);
+
+				} else if (fifo_frame_counter == 0) {
+					perf_count(_fifo_empty_perf);
+
+				} else if (fifo_frame_counter >= 1) {
+
+					uint8_t samples = fifo_frame_counter;
+
+					// tolerate minor jitter, leave sample to next iteration if behind by only 1
+					if (samples == _fifo_samples + 1) {
+						// sample timestamp set from data ready already corresponds to _fifo_samples
+						if (timestamp_sample == 0) {
+							timestamp_sample = now - static_cast<int>(FIFO_SAMPLE_DT);
+						}
+
+						samples--;
+					}
+
+					if (FIFORead((timestamp_sample == 0) ? now : timestamp_sample, samples)) {
+						success = true;
+
+						if (_failure_count > 0) {
+							_failure_count--;
+						}
+					}
+				}
+			}
+
+			if (!success) {
+				_failure_count++;
+
+				// full reset if things are failing consistently
+				if (_failure_count > 10) {
+					Reset();
+					return;
+				}
+			}
+
+			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
+				// check configuration registers periodically or immediately following any failure
+				if (RegisterCheck(_register_cfg[_checked_register])) {
+					_last_config_check_timestamp = now;
+					_checked_register = (_checked_register + 1) % size_register_cfg;
+
+				} else {
+					// register check failed, force reset
+					perf_count(_bad_register_perf);
+					Reset();
+				}
+			}
 		}
+
 		break;
 	}
 }
@@ -182,28 +255,28 @@ void BMI088_Gyroscope::ConfigureGyro()
 
 	switch (GYRO_RANGE) {
 	case gyro_range_2000_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 16.384f));
-		_px4_gyro.set_range(math::radians(2000.f));
+		_gyro_scale = math::radians(1.f / 16.384f);
+		_gyro_range = math::radians(2000.f);
 		break;
 
 	case gyro_range_1000_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 32.768f));
-		_px4_gyro.set_range(math::radians(1000.f));
+		_gyro_scale = math::radians(1.f / 32.768f);
+		_gyro_range = math::radians(1000.f);
 		break;
 
 	case gyro_range_500_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 65.536f));
-		_px4_gyro.set_range(math::radians(500.f));
+		_gyro_scale = math::radians(1.f / 65.536f);
+		_gyro_range = math::radians(500.f);
 		break;
 
 	case gyro_range_250_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 131.072f));
-		_px4_gyro.set_range(math::radians(250.f));
+		_gyro_scale = math::radians(1.f / 131.072f);
+		_gyro_range = math::radians(250.f);
 		break;
 
 	case gyro_range_125_dps:
-		_px4_gyro.set_scale(math::radians(1.f / 262.144f));
-		_px4_gyro.set_range(math::radians(125.f));
+		_gyro_scale = math::radians(1.f / 262.144f);
+		_gyro_range = math::radians(125.f);
 		break;
 	}
 }
@@ -306,16 +379,15 @@ bool BMI088_Gyroscope::RegisterCheck(const register_config_t &reg_cfg)
 
 uint8_t BMI088_Gyroscope::RegisterRead(Register reg)
 {
-	uint8_t add = static_cast<uint8_t>(reg);
-	uint8_t cmd[2] = {add, 0};
-	transfer(&cmd[0], 1, &cmd[1], 1);
-	return cmd[1];
+	uint8_t cmd = static_cast<uint8_t>(reg);
+	uint8_t value = 0;
+	transfer(&cmd, 1, &value, 1);
+	return value;
 }
 
 void BMI088_Gyroscope::RegisterWrite(Register reg, uint8_t value)
 {
-	uint8_t add = static_cast<uint8_t>(reg);
-	uint8_t cmd[2] = {add, value};
+	uint8_t cmd[2] { (uint8_t)reg, value };
 	transfer(cmd, sizeof(cmd), nullptr, 0);
 }
 
@@ -333,37 +405,50 @@ void BMI088_Gyroscope::RegisterSetAndClearBits(Register reg, uint8_t setbits, ui
 bool BMI088_Gyroscope::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
 	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
+	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
 
-	//PX4_WARN("Estimated transfer size: %d", transfer_size);
-	if (transfer((uint8_t *)&buffer, 1, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
+	if (transfer((uint8_t *)&buffer.cmd, 1, (uint8_t *)&buffer.f, transfer_size) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return false;
 	}
 
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = samples;
-	gyro.dt = FIFO_SAMPLE_DT;
+	sensor_gyro_s sensor_gyro{};
+	sensor_gyro.timestamp_sample = timestamp_sample;
+	sensor_gyro.device_id = get_device_id();
+
+	float gyro_sum[3] {};
 
 	for (int i = 0; i < samples; i++) {
 		const FIFO::DATA &fifo_sample = buffer.f[i];
 
-		const int16_t gyro_x = combine(fifo_sample.RATE_X_MSB, fifo_sample.RATE_X_LSB);
-		const int16_t gyro_y = combine(fifo_sample.RATE_Y_MSB, fifo_sample.RATE_Y_LSB);
-		const int16_t gyro_z = combine(fifo_sample.RATE_Z_MSB, fifo_sample.RATE_Z_LSB);
+		int16_t gyro_x = combine(fifo_sample.RATE_X_MSB, fifo_sample.RATE_X_LSB);
+		int16_t gyro_y = combine(fifo_sample.RATE_Y_MSB, fifo_sample.RATE_Y_LSB);
+		int16_t gyro_z = combine(fifo_sample.RATE_Z_MSB, fifo_sample.RATE_Z_LSB);
 
 		// sensor's frame is +x forward, +y left, +z up
 		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro_x;
-		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
+		//gyro.x[i] = gyro_x;
+		gyro_y = math::negate(gyro_y);
+		gyro_z = math::negate(gyro_z);
+
+		rotate_3i(_rotation, gyro_x, gyro_y, gyro_z);
+
+		gyro_sum[0] += gyro_x * _gyro_scale;
+		gyro_sum[1] += gyro_y * _gyro_scale;
+		gyro_sum[2] += gyro_z * _gyro_scale;
 	}
 
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+	sensor_gyro.x = gyro_sum[0] / samples;
+	sensor_gyro.y = gyro_sum[1] / samples;
+	sensor_gyro.z = gyro_sum[2] / samples;
 
-	_px4_gyro.updateFIFO(gyro);
+	sensor_gyro.range = _gyro_range;
+	sensor_gyro.temperature = NAN;
+	sensor_gyro.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+	sensor_gyro.timestamp = hrt_absolute_time();
+	_sensor_gyro_pub.publish(sensor_gyro);
 
 	return true;
 }
@@ -390,125 +475,4 @@ void BMI088_Gyroscope::FIFOReset()
 	}
 }
 
-bool BMI088_Gyroscope::SelfTest()
-{
-	//Datasheet page 17 self test
-
-	//Set bit0 to enable built in self test
-	RegisterWrite(Register::SELF_TEST, 0x01);
-	usleep(10000);
-	uint8_t res = 0;
-	uint8_t test_res = false;
-
-	while (true) {
-		res = RegisterRead(Register::SELF_TEST);
-
-		if ((res & 0x02) == 0x02) {
-			if ((res & 0x04) == 0x00) {
-				PX4_WARN("Gyro Self-test success");
-				test_res = true;
-
-			} else {
-				PX4_WARN("Gyro Self-test error");
-			}
-
-			break;
-		}
-	}
-
-	RegisterWrite(Register::SELF_TEST, 0x00);
-	return test_res;
-}
-
-bool BMI088_Gyroscope::NormalRead(const hrt_abstime &timestamp_sample)
-{
-	float x = 0;
-	float y = 0;
-	float z = 0;
-	uint8_t buffer[6] = {0};
-	uint8_t cmd[1] = {static_cast<uint8_t>(Register::READ_GYRO)};
-
-	transfer(&cmd[0], 1, &buffer[0], 6);
-
-	uint8_t RATE_X_LSB = buffer[0];
-	uint8_t RATE_X_MSB = buffer[1];
-	uint8_t RATE_Y_LSB = buffer[2];
-	uint8_t RATE_Y_MSB = buffer[3];
-	uint8_t RATE_Z_LSB = buffer[4];
-	uint8_t RATE_Z_MSB = buffer[5];
-
-	const int16_t gyro_x = combine(RATE_X_MSB, RATE_X_LSB);
-	const int16_t gyro_y = combine(RATE_Y_MSB, RATE_Y_LSB);
-	const int16_t gyro_z = combine(RATE_Z_MSB, RATE_Z_LSB);
-
-	// sensor's frame is +x forward, +y left, +z up
-	//  flip y & z to publish right handed with z down (x forward, y right, z down)
-	x = gyro_x;
-	y = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-	z = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
-
-	_px4_gyro.update(timestamp_sample, x, y, z);
-
-	return true;
-}
-
-bool BMI088_Gyroscope::SimpleFIFORead(const hrt_abstime &timestamp_sample)
-{
-	uint8_t n_frames;
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = 0;
-	gyro.dt = FIFO_SAMPLE_DT;
-
-	uint8_t data_i[1] = {static_cast<uint8_t>(Register::FIFO_STATUS)};
-
-	transfer(&data_i[0], 1, &n_frames, 1);
-
-	n_frames &= 0x7F;
-
-	int n_frames_to_read = 6;
-
-	// don't read more than 8 frames at a time
-	if (n_frames > n_frames_to_read) {
-		n_frames = n_frames_to_read;
-	}
-
-	if (n_frames == 0) {
-		return false;
-	}
-
-	uint8_t data[6 * n_frames];
-	data[0] = static_cast<uint8_t>(Register::FIFO_DATA);
-
-	if (transfer(&data[0], 1, &data[0], 6 * n_frames) != PX4_OK) {
-		//PX4_WARN("transfer(&data[0], 1, &data[0], fifo_fill_level) != PX4_OK");
-		return false;
-	}
-
-	for (uint8_t i = 0; i < n_frames; i++) {
-		const uint8_t *d = &data[i * 6];
-		int16_t xyz[3] {
-			int16_t(uint16_t(d[0] | d[1] << 8)),
-			int16_t(uint16_t(d[2] | d[3] << 8)),
-			int16_t(uint16_t(d[4] | d[5] << 8))
-		};
-
-		gyro.x[i] = xyz[0];
-		gyro.y[i] = (xyz[1] == INT16_MIN) ? INT16_MAX : -xyz[1];
-		gyro.z[i] = (xyz[2] == INT16_MIN) ? INT16_MAX : -xyz[2];
-		gyro.samples++;
-	}
-
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	if (gyro.samples > 0) {
-		//PX4_WARN("accel.samples: %d", accel.samples);
-		_px4_gyro.updateFIFO(gyro);
-		return true;
-	}
-
-	return true;
-
-}
 } // namespace Bosch::BMI088::Gyroscope

src/drivers/imu/bosch/bmi088_i2c/BMI088_Gyroscope.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -35,10 +35,11 @@
 
 #include "BMI088.hpp"
 
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
-
 #include "Bosch_BMI088_Gyroscope_Registers.hpp"
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_gyro.h>
+
 namespace Bosch::BMI088::Gyroscope
 {
 
@@ -55,10 +56,10 @@ private:
 	void exit_and_cleanup() override;
 
 	// Sensor Configuration
-	static constexpr uint32_t RATE{400}; // 2000 Hz
+	static constexpr uint32_t RATE{2000}; // 2000 Hz
 	static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
 
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{FIFO::SIZE / sizeof(FIFO::DATA)};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
@@ -95,10 +96,11 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	bool SelfTest();
-	bool NormalRead(const hrt_abstime &timestamp_sample);
-	bool SimpleFIFORead(const hrt_abstime &timestamp_sample);
-	PX4Gyroscope _px4_gyro;
+	uORB::PublicationMulti<sensor_gyro_s> _sensor_gyro_pub{ORB_ID(sensor_gyro)};
+
+	const enum Rotation _rotation;
+	float _gyro_scale{0.f};
+	float _gyro_range{0.f};
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_gyro: bad transfer")};
@@ -114,13 +116,13 @@ private:
 	register_config_t _register_cfg[size_register_cfg] {
 		// Register                         | Set bits, Clear bits
 		{ Register::GYRO_RANGE,             GYRO_RANGE_BIT::gyro_range_2000_dps, 0 },
-		{ Register::GYRO_BANDWIDTH,         0, GYRO_BANDWIDTH_BIT::gyro_bw_2000_Hz},
+		{ Register::GYRO_BANDWIDTH,         0, GYRO_BANDWIDTH_BIT::gyro_bw_532_Hz },
 		{ Register::GYRO_INT_CTRL,          GYRO_INT_CTRL_BIT::fifo_en, 0 },
 		{ Register::INT3_INT4_IO_CONF,      0, INT3_INT4_IO_CONF_BIT::Int3_od | INT3_INT4_IO_CONF_BIT::Int3_lvl },
 		{ Register::INT3_INT4_IO_MAP,       INT3_INT4_IO_MAP_BIT::Int3_fifo, 0 },
 		{ Register::FIFO_WM_ENABLE,         FIFO_WM_ENABLE_BIT::fifo_wm_enable, 0 },
 		{ Register::FIFO_CONFIG_0,          0, 0 }, // fifo_water_mark_level_trigger_retain<6:0>
-		{ Register::FIFO_CONFIG_1,          FIFO_CONFIG_1_BIT::FIFO_MODE_STREAM, 0 },
+		{ Register::FIFO_CONFIG_1,          FIFO_CONFIG_1_BIT::FIFO_MODE, 0 },
 	};
 };
 

src/drivers/imu/bosch/bmi088_i2c/Bosch_BMI088_Accelerometer_Registers.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -48,15 +48,14 @@ static constexpr uint8_t Bit7 = (1 << 7);
 
 static constexpr uint32_t SPI_SPEED = 10 * 1000 * 1000; // 10MHz SPI serial interface
 
-static constexpr uint32_t I2C_400_SPEED = 400 * 1000; // 400kHz I2C interface
-static constexpr uint32_t I2C_200_SPEED = 200 * 1000; // 200kHz I2C interface
-static constexpr uint32_t I2C_100_SPEED = 100 * 1000; // 100kHz I2C interface
+static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400kHz I2C interface
 
 static constexpr uint8_t DIR_READ = 0x80;
 
-static constexpr uint8_t ID = 0x1E;
+static constexpr uint8_t ID_088 = 0x1E;
+static constexpr uint8_t ID_090L = 0x1A;
 
-static constexpr uint8_t ACC_I2C_ADDR_PRIMARY = 0x18;
+static constexpr uint8_t ACC_I2C_ADDR_PRIMARY   = 0x18;
 static constexpr uint8_t ACC_I2C_ADDR_SECONDARY = 0x19;
 
 enum class Register : uint8_t {
@@ -74,7 +73,7 @@ enum class Register : uint8_t {
 	ACC_CONF           = 0x40,
 	ACC_RANGE          = 0x41,
 
-	FIFO_DOWN_SAMPLING = 0x45,
+	FIFO_DOWNS         = 0x45,
 	FIFO_WTM_0         = 0x46,
 	FIFO_WTM_1         = 0x47,
 	FIFO_CONFIG_0      = 0x48,
@@ -87,24 +86,15 @@ enum class Register : uint8_t {
 	ACC_PWR_CONF       = 0x7C,
 	ACC_PWR_CTRL       = 0x7D,
 	ACC_SOFTRESET      = 0x7E,
-	ACC_SELF_TEST      = 0x6D,
-	ACC_I2C_ADDR_PRIMARY_REG = 0x6D,
-	ACC_I2C_ADDR_SECONDARY_REG = 0x19,
-	ACC_READ = 0x12
 };
 
 // ACC_CONF
 enum ACC_CONF_BIT : uint8_t {
 	// [7:4] acc_bwp
 	acc_bwp_Normal = Bit7 | Bit5,        // Filter setting normal
-	// [7:4] acc_bwp
-	acc_bwp_osr_4 = Bit7,        // OSR4
+
 	// [3:0] acc_odr
 	acc_odr_1600   = Bit3 | Bit2,        // ODR 1600 Hz
-	// [3:0] acc_odr
-	acc_odr_12_5   = Bit2 | Bit0,        // ODR 12.5 Hz
-	// [3:0] acc_odr
-	acc_odr_100   = Bit3,        	     // ODR 100 Hz
 };
 
 // ACC_RANGE
@@ -158,7 +148,7 @@ enum ACC_PWR_CTRL_BIT : uint8_t {
 
 namespace FIFO
 {
-
+static constexpr size_t SIZE = 1024;
 
 // 1. Acceleration sensor data frame   - Frame length: 7 bytes (1 byte header + 6 bytes payload)
 // Payload: the next bytes contain the sensor data in the same order as defined in the register map (addresses 0x12 – 0x17).
@@ -176,8 +166,6 @@ struct DATA {
 	uint8_t ACC_Z_LSB;
 	uint8_t ACC_Z_MSB;
 };
-static constexpr size_t SIZE = 1024;
-//static constexpr size_t SIZE = sizeof(DATA) * 10;
 static_assert(sizeof(DATA) == 7);
 
 enum header : uint8_t {
@@ -187,15 +175,6 @@ enum header : uint8_t {
 	FIFO_input_config_frame = 0b01001000,
 	sample_drop_frame       = 0b01010000,
 };
-struct bmi08x_sensor_data {
-	/*! X-axis sensor data */
-	int16_t x;
 
-	/*! Y-axis sensor data */
-	int16_t y;
-
-	/*! Z-axis sensor data */
-	int16_t z;
-};
 } // namespace FIFO
 } // namespace Bosch::BMI088::Accelerometer

src/drivers/imu/bosch/bmi088_i2c/Bosch_BMI088_Gyroscope_Registers.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -48,9 +48,7 @@ static constexpr uint8_t Bit7 = (1 << 7);
 
 static constexpr uint32_t SPI_SPEED = 10 * 1000 * 1000; // 10MHz SPI serial interface
 
-static constexpr uint32_t I2C_400_SPEED = 400 * 1000; // 400kHz I2C interface
-static constexpr uint32_t I2C_200_SPEED = 200 * 1000; // 200kHz I2C interface
-static constexpr uint32_t I2C_100_SPEED = 100 * 1000; // 100kHz I2C interface
+static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400kHz I2C interface
 
 static constexpr uint8_t DIR_READ = 0x80;
 
@@ -76,8 +74,6 @@ enum class Register : uint8_t {
 	FIFO_CONFIG_0     = 0x3D,
 	FIFO_CONFIG_1     = 0x3E,
 	FIFO_DATA         = 0x3F,
-	SELF_TEST         = 0x3C,
-	READ_GYRO         = 0x02,
 };
 
 // FIFO_STATUS
@@ -97,9 +93,7 @@ enum GYRO_RANGE_BIT : uint8_t {
 
 // GYRO_BANDWIDTH
 enum GYRO_BANDWIDTH_BIT : uint8_t {
-	gyro_bw_100_Hz = Bit2 | Bit1 | Bit0,
-	gyro_bw_200_Hz = Bit4,
-	gyro_bw_2000_Hz = 0x00,
+	gyro_bw_532_Hz = Bit2 | Bit1 | Bit0
 };
 
 // GYRO_INT_CTRL
@@ -131,7 +125,6 @@ enum FIFO_WM_ENABLE_BIT : uint8_t {
 // FIFO_CONFIG_1
 enum FIFO_CONFIG_1_BIT : uint8_t {
 	FIFO_MODE = Bit6,
-	FIFO_MODE_STREAM = Bit7,
 };
 
 

src/drivers/imu/bosch/bmi088_i2c/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2019-2020 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2019-2022 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
@@ -48,7 +48,5 @@ px4_add_module(
 
 		bmi088_i2c_main.cpp
 	DEPENDS
-		drivers_accelerometer
-		drivers_gyroscope
 		px4_work_queue
 	)

src/drivers/imu/bosch/bmi088_i2c/bmi088_i2c_main.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -60,19 +60,20 @@ extern "C" int bmi088_i2c_main(int argc, char *argv[])
 	uint16_t type = 0;
 	const char *name = MODULE_NAME;
 
-
 	while ((ch = cli.getOpt(argc, argv, "AGR:")) != EOF) {
 		switch (ch) {
 		case 'A':
 			type = DRV_ACC_DEVTYPE_BMI088;
 			name = MODULE_NAME "_accel";
 			cli.i2c_address = 0x18;
+			cli.default_i2c_frequency = 400 * 1000;
 			break;
 
 		case 'G':
 			type = DRV_GYR_DEVTYPE_BMI088;
 			name = MODULE_NAME "_gyro";
 			cli.i2c_address = 0x69;
+			cli.default_i2c_frequency = 400 * 1000;
 			break;
 
 		case 'R':
@@ -92,17 +93,14 @@ extern "C" int bmi088_i2c_main(int argc, char *argv[])
 
 	if (!strcmp(verb, "start")) {
 		return ThisDriver::module_start(cli, iterator);
-	}
 
-	if (!strcmp(verb, "stop")) {
+	} else if (!strcmp(verb, "stop")) {
 		return ThisDriver::module_stop(iterator);
-	}
 
-	if (!strcmp(verb, "status")) {
+	} else if (!strcmp(verb, "status")) {
 		return ThisDriver::module_status(iterator);
 	}
 
-	PX4_WARN("print_usage1");
 	ThisDriver::print_usage();
 	return -1;
 }

src/drivers/imu/fxas21002c/FXAS21002C.cpp

@@ -68,7 +68,7 @@ using namespace time_literals;
 FXAS21002C::FXAS21002C(device::Device *interface, const I2CSPIDriverConfig &config) :
 	I2CSPIDriver(config),
 	_interface(interface),
-	_px4_gyro(_interface->get_device_id(), config.rotation),
+	_rotation(config.rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_errors(perf_alloc(PC_COUNT, MODULE_NAME": err")),
 	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad register")),
@@ -186,7 +186,7 @@ int FXAS21002C::set_range(unsigned max_dps)
 
 	set_standby(_current_rate, true);
 
-	_px4_gyro.set_scale(new_range_scale_dps_digit / 180.0f * M_PI_F);
+	_gyro_scale = new_range_scale_dps_digit / 180.0f * M_PI_F);
 
 	modify_reg(FXAS21002C_CTRL_REG0, CTRL_REG0_FS_MASK, bits);
 	set_standby(_current_rate, false);
@@ -378,9 +378,6 @@ void FXAS21002C::RunImpl()
 	}
 
 	// report the error count as the number of bad register reads. This allows the higher level
-	_px4_gyro.set_error_count(perf_event_count(_bad_registers));
-	_px4_gyro.update(timestamp_sample, x_raw, y_raw, z_raw);
-
 	if (hrt_elapsed_time(&_last_temperature_update) > 100_ms) {
 		/*
 		 * The TEMP register contains an 8-bit 2's complement temperature value with a range
@@ -389,10 +386,23 @@ void FXAS21002C::RunImpl()
 		 * mode and actively measuring the angular rate.
 		 */
 		const float temperature = read_reg(FXAS21002C_TEMP) * 1.0f;
-		_px4_gyro.set_temperature(temperature);
+		_last_temperature = temperature;
 		_last_temperature_update = timestamp_sample;
 	}
 
+	// sensor_gyro
+	sensor_gyro_s sensor_gyro{};
+	sensor_gyro.timestamp_sample = time_now_us;
+	sensor_gyro.device_id = 1;
+	sensor_gyro.x = gyro(0);
+	sensor_gyro.y = gyro(1);
+	sensor_gyro.z = gyro(2);
+	sensor_gyro.range = math::radians(2000.f);
+	sensor_gyro.temperature = NAN;
+	sensor_gyro.error_count = perf_event_count(_bad_registers);
+	sensor_gyro.timestamp = hrt_absolute_time();
+	_sensor_gyro_pub.publish(sensor_gyro);
+
 	/* stop the perf counter */
 	perf_end(_sample_perf);
 }

src/drivers/imu/fxas21002c/FXAS21002C.hpp

@@ -40,7 +40,6 @@
 #pragma once
 
 #include <drivers/device/Device.hpp>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/i2c_spi_buses.h>
@@ -211,7 +210,6 @@ protected:
 
 private:
 	device::Device *_interface;
-	PX4Gyroscope _px4_gyro;
 
 	unsigned _current_rate{800};
 

src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp

@@ -56,18 +56,13 @@ const uint8_t FXOS8701CQ::_checked_registers[FXOS8701C_NUM_CHECKED_REGISTERS] =
 FXOS8701CQ::FXOS8701CQ(device::Device *interface, const I2CSPIDriverConfig &config) :
 	I2CSPIDriver(config),
 	_interface(interface),
-	_px4_accel(interface->get_device_id(), config.rotation),
 #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
-	_px4_mag(interface->get_device_id(), config.rotation),
 	_mag_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": mag read")),
 #endif
 	_accel_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": acc read")),
 	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad reg")),
 	_accel_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": acc dupe"))
 {
-#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
-	_px4_mag.set_scale(0.001f);
-#endif
 }
 
 FXOS8701CQ::~FXOS8701CQ()
@@ -195,7 +190,7 @@ FXOS8701CQ::accel_set_range(unsigned max_g)
 
 	modify_reg(FXOS8701CQ_XYZ_DATA_CFG, XYZ_DATA_CFG_FS_MASK, setbits);
 
-	_px4_accel.set_scale(accel_range_scale);
+	_accel_scale = accel_range_scale;
 
 	return OK;
 }
@@ -335,9 +330,6 @@ void FXOS8701CQ::RunImpl()
 	}
 
 	// report the error count as the sum of the number of bad register reads and bad values.
-	_px4_accel.set_error_count(perf_event_count(_bad_registers));
-	_px4_accel.update(timestamp_sample, x, y, z);
-
 	if (hrt_elapsed_time(&_last_temperature_update) > 100_ms) {
 		/*
 		 * Eight-bit 2’s complement sensor temperature value with 0.96 °C/LSB sensitivity.
@@ -349,9 +341,21 @@ void FXOS8701CQ::RunImpl()
 		_last_temperature_update = timestamp_sample;
 		float temperature = (read_reg(FXOS8701CQ_TEMP)) * 0.96f;
 
-		_px4_accel.set_temperature(temperature);
+		_last_temperature = temperature;
 	}
 
+	sensor_accel_s sensor_accel{};
+	sensor_accel.timestamp_sample = timestamp_sample;
+	sensor_accel.device_id = get_device_id();
+	sensor_accel.x = x;
+	sensor_accel.y = y;
+	sensor_accel.z = z;
+	sensor_accel.range = 16.f * CONSTANTS_ONE_G;
+	sensor_accel.temperature = _last_temperature;
+	sensor_accel.error_count = perf_event_count(_bad_registers);
+	sensor_accel.timestamp = hrt_absolute_time();
+	_sensor_accel_pub.publish(sensor_accel);
+
 
 #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
 

src/drivers/imu/fxos8701cq/FXOS8701CQ.hpp

@@ -41,7 +41,6 @@
 
 #include <drivers/device/i2c.h>
 #include <drivers/device/spi.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/i2c_spi_buses.h>
@@ -231,9 +230,6 @@ private:
 	 */
 	int			accel_set_samplerate(unsigned frequency);
 
-
-	PX4Accelerometer	_px4_accel;
-
 #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
 	PX4Magnetometer		_px4_mag;
 	hrt_abstime		_mag_last_measure{0};

src/drivers/imu/invensense/icm20602/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2019-2022 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
@@ -35,13 +35,12 @@ px4_add_module(
 	MODULE drivers__imu__invensense__icm20602
 	MAIN icm20602
 	COMPILE_FLAGS
+		${MAX_CUSTOM_OPT_LEVEL}
 	SRCS
+		icm20602_main.cpp
 		ICM20602.cpp
 		ICM20602.hpp
-		icm20602_main.cpp
 		InvenSense_ICM20602_registers.hpp
 	DEPENDS
-		drivers_accelerometer
-		drivers_gyroscope
 		px4_work_queue
 	)

src/drivers/imu/invensense/icm20602/ICM20602.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2022 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
@@ -33,6 +33,8 @@
 
 #include "ICM20602.hpp"
 
+#include <lib/parameters/param.h>
+
 using namespace time_literals;
 
 static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
@@ -44,14 +46,16 @@ ICM20602::ICM20602(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
 	_drdy_gpio(config.drdy_gpio),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
 	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+	int32_t imu_gyro_rate_max = 400;
+	param_get(param_find("IMU_GYRO_RATEMAX"), &imu_gyro_rate_max);
+
+	ConfigureSampleRate(imu_gyro_rate_max);
 }
 
 ICM20602::~ICM20602()
@@ -131,14 +135,19 @@ bool ICM20602::StoreCheckedRegisterValue(Register reg)
 
 int ICM20602::probe()
 {
-	const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
+	// 3 retries
+	for (int retry = 0; retry < 3; retry++) {
+		const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
 
-	if (whoami != WHOAMI) {
-		DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
-		return PX4_ERROR;
+		if (whoami == WHOAMI) {
+			return PX4_OK;
+
+		} else {
+			DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
+		}
 	}
 
-	return PX4_OK;
+	return PX4_ERROR;
 }
 
 void ICM20602::RunImpl()
@@ -196,8 +205,8 @@ void ICM20602::RunImpl()
 				ScheduleDelayed(100_ms);
 
 			} else {
-				PX4_DEBUG("Reset not complete, check again in 10 ms");
-				ScheduleDelayed(10_ms);
+				PX4_DEBUG("Reset not complete, check again in 100 ms");
+				ScheduleDelayed(100_ms);
 			}
 		}
 
@@ -244,7 +253,7 @@ void ICM20602::RunImpl()
 				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
 				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
 
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+				if (now < drdy_timestamp_sample + _fifo_empty_interval_us) {
 					timestamp_sample = drdy_timestamp_sample;
 					samples = _fifo_gyro_samples;
 
@@ -310,13 +319,14 @@ void ICM20602::RunImpl()
 
 				// full reset if things are failing consistently
 				if (_failure_count > 10) {
+					PX4_DEBUG("Full reset because things are failing consistently");
 					Reset();
 					return;
 				}
 			}
 
+			// check configuration registers periodically or immediately following any failure
 			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
-				// check configuration registers periodically or immediately following any failure
 				if (RegisterCheck(_register_cfg[_checked_register])) {
 					_last_config_check_timestamp = now;
 					_checked_register = (_checked_register + 1) % size_register_cfg;
@@ -324,6 +334,7 @@ void ICM20602::RunImpl()
 				} else {
 					// register check failed, force reset
 					perf_count(_bad_register_perf);
+					PX4_DEBUG("Force reset because register 0x%02hhX check failed ", (uint8_t)_register_cfg[_checked_register].reg);
 					Reset();
 				}
 			}
@@ -333,65 +344,10 @@ void ICM20602::RunImpl()
 	}
 }
 
-void ICM20602::ConfigureAccel()
-{
-	const uint8_t ACCEL_FS_SEL = RegisterRead(Register::ACCEL_CONFIG) & (Bit4 | Bit3); // [4:3] ACCEL_FS_SEL[1:0]
-
-	switch (ACCEL_FS_SEL) {
-	case ACCEL_FS_SEL_2G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 16384.f);
-		_px4_accel.set_range(2.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_4G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
-		_px4_accel.set_range(4.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_8G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f);
-		_px4_accel.set_range(8.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_16G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
-		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
-		break;
-	}
-}
-
-void ICM20602::ConfigureGyro()
-{
-	const uint8_t FS_SEL = RegisterRead(Register::GYRO_CONFIG) & (Bit4 | Bit3); // [4:3] FS_SEL[1:0]
-
-	float range_dps = 0.f;
-
-	switch (FS_SEL) {
-	case FS_SEL_250_DPS:
-		range_dps = 250.f;
-		break;
-
-	case FS_SEL_500_DPS:
-		range_dps = 500.f;
-		break;
-
-	case FS_SEL_1000_DPS:
-		range_dps = 1000.f;
-		break;
-
-	case FS_SEL_2000_DPS:
-		range_dps = 2000.f;
-		break;
-	}
-
-	_px4_gyro.set_scale(math::radians(range_dps / 32768.f));
-	_px4_gyro.set_range(math::radians(range_dps));
-}
-
 void ICM20602::ConfigureSampleRate(int sample_rate)
 {
-	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
-	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
+	// round down to nearest FIFO sample dt
+	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
 
 	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
@@ -438,9 +394,6 @@ bool ICM20602::Configure()
 		}
 	}
 
-	ConfigureAccel();
-	ConfigureGyro();
-
 	return success;
 }
 
@@ -463,7 +416,7 @@ bool ICM20602::DataReadyInterruptConfigure()
 	}
 
 	// Setup data ready on falling edge
-	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, true, false, &DataReadyInterruptCallback, this) == 0);
 }
 
 bool ICM20602::DataReadyInterruptDisable()
@@ -472,7 +425,7 @@ bool ICM20602::DataReadyInterruptDisable()
 		return false;
 	}
 
-	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0);
 }
 
 bool ICM20602::RegisterCheck(const register_config_t &reg_cfg)
@@ -521,32 +474,46 @@ void ICM20602::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t cl
 
 uint16_t ICM20602::FIFOReadCount()
 {
-	// read FIFO count
-	uint8_t fifo_count_buf[3] {};
-	fifo_count_buf[0] = static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ;
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+	} buffer{};
 
-	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+	// read FIFO count
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return 0;
 	}
 
-	return combine(fifo_count_buf[1], fifo_count_buf[2]);
+	return (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 }
 
 bool ICM20602::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
-	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 3, FIFO::SIZE);
+	// FIFO transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	} buffer{};
+
+	// cmd + FIFO_COUNTH + FIFO_COUNTL + samples (FIFO::DATA)
+	const size_t transfer_size = 3 + math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
 
 	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return false;
 	}
 
-	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
+	const uint16_t fifo_count_bytes = (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 	const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
 
-	if ((fifo_count_bytes >= FIFO::SIZE) || (fifo_count_samples > FIFO_MAX_SAMPLES)) {
+	const uint8_t valid_samples = math::min(samples, fifo_count_samples);
+
+	if ((fifo_count_bytes >= FIFO::SIZE) || (valid_samples > FIFO_MAX_SAMPLES)) {
 		perf_count(_fifo_overflow_perf);
 		FIFOReset();
 		return false;
@@ -556,17 +523,45 @@ bool ICM20602::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 		return false;
 	}
 
-	const uint8_t valid_samples = math::min(samples, fifo_count_samples);
-
 	if (valid_samples > 0) {
-		// use raw temperature to first validate FIFO transfer
-		if (ProcessTemperature(buffer.f, valid_samples)) {
-			ProcessGyro(timestamp_sample, buffer.f, valid_samples);
+		sensor_imu_fifo_s sensor_imu_fifo{};
+		sensor_imu_fifo.timestamp_sample = timestamp_sample;
+		sensor_imu_fifo.device_id = get_device_id();
+		sensor_imu_fifo.dt = FIFO_SAMPLE_DT;
+		sensor_imu_fifo.samples = valid_samples;
+		sensor_imu_fifo.accel_scale = ACCEL_SCALE;
+		sensor_imu_fifo.gyro_scale = GYRO_SCALE;
 
-			if (ProcessAccel(timestamp_sample, buffer.f, valid_samples)) {
-				return true;
-			}
+		float temperature_sum{0};
+
+		for (int i = 0; i < valid_samples; i++) {
+			// sensor's frame is +x forward, +y left, +z up
+			//  flip y & z to publish right handed with z down (x forward, y right, z down)
+			sensor_imu_fifo.accel_x[i] =              combine(buffer.f[i].ACCEL_XOUT_H, buffer.f[i].ACCEL_XOUT_L);
+			sensor_imu_fifo.accel_y[i] = math::negate(combine(buffer.f[i].ACCEL_YOUT_H, buffer.f[i].ACCEL_YOUT_L));
+			sensor_imu_fifo.accel_z[i] = math::negate(combine(buffer.f[i].ACCEL_ZOUT_H, buffer.f[i].ACCEL_ZOUT_L));
+			rotate_3i(_rotation, sensor_imu_fifo.accel_x[i], sensor_imu_fifo.accel_y[i], sensor_imu_fifo.accel_z[i]);
+
+			sensor_imu_fifo.gyro_x[i] =              combine(buffer.f[i].GYRO_XOUT_H, buffer.f[i].GYRO_XOUT_L);
+			sensor_imu_fifo.gyro_y[i] = math::negate(combine(buffer.f[i].GYRO_YOUT_H, buffer.f[i].GYRO_YOUT_L));
+			sensor_imu_fifo.gyro_z[i] = math::negate(combine(buffer.f[i].GYRO_ZOUT_H, buffer.f[i].GYRO_ZOUT_L));
+			rotate_3i(_rotation, sensor_imu_fifo.gyro_x[i], sensor_imu_fifo.gyro_y[i], sensor_imu_fifo.gyro_z[i]);
+
+			temperature_sum += combine(buffer.f[i].TEMP_OUT_H, buffer.f[i].TEMP_OUT_L);
 		}
+
+		// use average temperature reading
+		const float temperature_avg = temperature_sum / valid_samples;
+		const float temperature_C = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
+		sensor_imu_fifo.temperature = temperature_C;
+
+		sensor_imu_fifo.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf)
+					      + perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_imu_fifo.timestamp = hrt_absolute_time();
+		_sensor_imu_fifo_pub.publish(sensor_imu_fifo);
+
+		return true;
 	}
 
 	return false;
@@ -594,124 +589,29 @@ void ICM20602::FIFOReset()
 	}
 }
 
-static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
+float ICM20602::ReadTemperature()
 {
-	return (memcmp(&f0.ACCEL_XOUT_H, &f1.ACCEL_XOUT_H, 6) == 0);
-}
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::TEMP_OUT_H) | DIR_READ};
+		uint8_t TEMP_OUT_H{0};
+		uint8_t TEMP_OUT_L{0};
+	} buffer{};
 
-bool ICM20602::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
-
-	bool bad_data = false;
-
-	// accel data is doubled in FIFO, but might be shifted
-	int accel_first_sample = 1;
-
-	if (samples >= 4) {
-		if (fifo_accel_equal(fifo[0], fifo[1]) && fifo_accel_equal(fifo[2], fifo[3])) {
-			// [A0, A1, A2, A3]
-			//  A0==A1, A2==A3
-			accel_first_sample = 1;
-
-		} else if (fifo_accel_equal(fifo[1], fifo[2])) {
-			// [A0, A1, A2, A3]
-			//  A0, A1==A2, A3
-			accel_first_sample = 0;
-
-		} else {
-			// no matching accel samples is an error
-			bad_data = true;
-			perf_count(_bad_transfer_perf);
-		}
-	}
-
-	for (int i = accel_first_sample; i < samples; i = i + SAMPLES_PER_TRANSFER) {
-		int16_t accel_x = combine(fifo[i].ACCEL_XOUT_H, fifo[i].ACCEL_XOUT_L);
-		int16_t accel_y = combine(fifo[i].ACCEL_YOUT_H, fifo[i].ACCEL_YOUT_L);
-		int16_t accel_z = combine(fifo[i].ACCEL_ZOUT_H, fifo[i].ACCEL_ZOUT_L);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		accel.x[accel.samples] = accel_x;
-		accel.y[accel.samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
-		accel.z[accel.samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
-		accel.samples++;
-	}
-
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	if (accel.samples > 0) {
-		_px4_accel.updateFIFO(accel);
-	}
-
-	return !bad_data;
-}
-
-void ICM20602::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = samples;
-	gyro.dt = FIFO_SAMPLE_DT;
-
-	for (int i = 0; i < samples; i++) {
-		const int16_t gyro_x = combine(fifo[i].GYRO_XOUT_H, fifo[i].GYRO_XOUT_L);
-		const int16_t gyro_y = combine(fifo[i].GYRO_YOUT_H, fifo[i].GYRO_YOUT_L);
-		const int16_t gyro_z = combine(fifo[i].GYRO_ZOUT_H, fifo[i].GYRO_ZOUT_L);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro_x;
-		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
-	}
-
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	_px4_gyro.updateFIFO(gyro);
-}
-
-bool ICM20602::ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples)
-{
-	int16_t temperature[FIFO_MAX_SAMPLES];
-	float temperature_sum{0};
-
-	for (int i = 0; i < samples; i++) {
-		const int16_t t = combine(fifo[i].TEMP_OUT_H, fifo[i].TEMP_OUT_L);
-		temperature_sum += t;
-		temperature[i] = t;
-	}
-
-	const float temperature_avg = temperature_sum / samples;
-
-	for (int i = 0; i < samples; i++) {
-		// temperature changing wildly is an indication of a transfer error
-		if (fabsf(temperature[i] - temperature_avg) > 1000) {
-			perf_count(_bad_transfer_perf);
-			return false;
-		}
-	}
-
-	// use average temperature reading
-	const float temperature_C = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
-
-	if (PX4_ISFINITE(temperature_C)
-	    && (temperature_C >= TEMPERATURE_SENSOR_MIN)
-	    && (temperature_C <= TEMPERATURE_SENSOR_MAX)) {
-
-		_px4_accel.set_temperature(temperature_C);
-		_px4_gyro.set_temperature(temperature_C);
-		return true;
-
-	} else {
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
+		return NAN;;
 	}
 
-	return false;
+	const int16_t TEMP_OUT = combine(buffer.TEMP_OUT_H, buffer.TEMP_OUT_L);
+	const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
+
+	if (PX4_ISFINITE(TEMP_degC)
+	    && (TEMP_degC >= TEMPERATURE_SENSOR_MIN)
+	    && (TEMP_degC <= TEMPERATURE_SENSOR_MAX)) {
+
+		return TEMP_degC;
+	}
+
+	return NAN;
 }

src/drivers/imu/invensense/icm20602/ICM20602.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2022 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
@@ -43,14 +43,15 @@
 #include "InvenSense_ICM20602_registers.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_imu_fifo.h>
+
 using namespace InvenSense_ICM20602;
 
 class ICM20602 : public device::SPI, public I2CSPIDriver<ICM20602>
@@ -71,22 +72,13 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};
-	static constexpr int32_t SAMPLES_PER_TRANSFER{2};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 8000 Hz gyro
-	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), (size_t)sensor_imu_fifo_s::FIFO_SIZE)};
 
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ};
-		uint8_t FIFO_COUNTH{0};
-		uint8_t FIFO_COUNTL{0};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (3 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static constexpr float ACCEL_SCALE{CONSTANTS_ONE_G / 2048.f}; // ACCEL_FS_SEL_16G:
+	static constexpr float GYRO_SCALE{math::radians(2000.f / 32768.f)}; // FS_SEL_2000_DPS:
 
 	struct register_config_t {
 		Register reg;
@@ -99,8 +91,6 @@ private:
 	bool Reset();
 
 	bool Configure();
-	void ConfigureAccel();
-	void ConfigureGyro();
 	void ConfigureSampleRate(int sample_rate);
 	void ConfigureFIFOWatermark(uint8_t samples);
 
@@ -120,14 +110,13 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	bool ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	bool ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples);
+	float ReadTemperature();
 
 	const spi_drdy_gpio_t _drdy_gpio;
 
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
+	uORB::PublicationMulti<sensor_imu_fifo_s> _sensor_imu_fifo_pub{ORB_ID(sensor_imu_fifo)};
+
+	const enum Rotation _rotation;
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};

src/drivers/imu/invensense/icm20608g/CMakeLists.txt

@@ -41,7 +41,5 @@ px4_add_module(
 		icm20608g_main.cpp
 		InvenSense_ICM20608G_registers.hpp
 	DEPENDS
-		drivers_accelerometer
-		drivers_gyroscope
 		px4_work_queue
 	)

src/drivers/imu/invensense/icm20608g/ICM20608G.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2022 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
@@ -33,6 +33,8 @@
 
 #include "ICM20608G.hpp"
 
+#include <lib/parameters/param.h>
+
 using namespace time_literals;
 
 static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
@@ -44,14 +46,16 @@ ICM20608G::ICM20608G(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
 	_drdy_gpio(config.drdy_gpio),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
 	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+	int32_t imu_gyro_rate_max = 400;
+	param_get(param_find("IMU_GYRO_RATEMAX"), &imu_gyro_rate_max);
+
+	ConfigureSampleRate(imu_gyro_rate_max);
 }
 
 ICM20608G::~ICM20608G()
@@ -108,7 +112,7 @@ void ICM20608G::print_status()
 bool ICM20608G::StoreCheckedRegisterValue(Register reg)
 {
 	// 3 retries
-	for (int i = 0; i < 3; i++) {
+	for (int retry = 0; retry < 3; retry++) {
 		uint8_t read1 = RegisterRead(reg);
 		uint8_t read2 = RegisterRead(reg);
 
@@ -131,14 +135,19 @@ bool ICM20608G::StoreCheckedRegisterValue(Register reg)
 
 int ICM20608G::probe()
 {
-	const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
+	// 3 retries
+	for (int retry = 0; retry < 3; retry++) {
+		const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
 
-	if (whoami != WHOAMI) {
-		DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
-		return PX4_ERROR;
+		if (whoami == WHOAMI) {
+			return PX4_OK;
+
+		} else {
+			DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
+		}
 	}
 
-	return PX4_OK;
+	return PX4_ERROR;
 }
 
 void ICM20608G::RunImpl()
@@ -187,8 +196,8 @@ void ICM20608G::RunImpl()
 				ScheduleDelayed(100_ms);
 
 			} else {
-				PX4_DEBUG("Reset not complete, check again in 10 ms");
-				ScheduleDelayed(10_ms);
+				PX4_DEBUG("Reset not complete, check again in 100 ms");
+				ScheduleDelayed(100_ms);
 			}
 		}
 
@@ -196,6 +205,8 @@ void ICM20608G::RunImpl()
 
 	case STATE::CONFIGURE:
 		if (Configure()) {
+			_temperature = ReadTemperature();
+
 			// if configure succeeded then start reading from FIFO
 			_state = STATE::FIFO_READ;
 
@@ -234,7 +245,7 @@ void ICM20608G::RunImpl()
 				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
 				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
 
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+				if (now < drdy_timestamp_sample + _fifo_empty_interval_us) {
 					timestamp_sample = drdy_timestamp_sample;
 
 				} else {
@@ -271,7 +282,7 @@ void ICM20608G::RunImpl()
 					FIFOReset();
 					perf_count(_fifo_overflow_perf);
 
-				} else if (samples >= SAMPLES_PER_TRANSFER) {
+				} else if (samples >= 1) {
 					if (FIFORead(timestamp_sample, samples)) {
 						success = true;
 
@@ -287,6 +298,7 @@ void ICM20608G::RunImpl()
 
 				// full reset if things are failing consistently
 				if (_failure_count > 10) {
+					PX4_DEBUG("Full reset because things are failing consistently");
 					Reset();
 					return;
 				}
@@ -301,13 +313,14 @@ void ICM20608G::RunImpl()
 				} else {
 					// register check failed, force reset
 					perf_count(_bad_register_perf);
+					PX4_DEBUG("Force reset because register 0x%02hhX check failed ", (uint8_t)_register_cfg[_checked_register].reg);
 					Reset();
 				}
 
 			} else {
 				// periodically update temperature (~1 Hz)
 				if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
-					UpdateTemperature();
+					_temperature = ReadTemperature();
 					_temperature_update_timestamp = now;
 				}
 			}
@@ -317,65 +330,10 @@ void ICM20608G::RunImpl()
 	}
 }
 
-void ICM20608G::ConfigureAccel()
-{
-	const uint8_t ACCEL_FS_SEL = RegisterRead(Register::ACCEL_CONFIG) & (Bit4 | Bit3); // [4:3] ACCEL_FS_SEL[1:0]
-
-	switch (ACCEL_FS_SEL) {
-	case ACCEL_FS_SEL_2G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 16384.f);
-		_px4_accel.set_range(2.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_4G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
-		_px4_accel.set_range(4.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_8G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f);
-		_px4_accel.set_range(8.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_16G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
-		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
-		break;
-	}
-}
-
-void ICM20608G::ConfigureGyro()
-{
-	const uint8_t FS_SEL = RegisterRead(Register::GYRO_CONFIG) & (Bit4 | Bit3); // [4:3] FS_SEL[1:0]
-
-	float range_dps = 0.f;
-
-	switch (FS_SEL) {
-	case FS_SEL_250_DPS:
-		range_dps = 250.f;
-		break;
-
-	case FS_SEL_500_DPS:
-		range_dps = 500.f;
-		break;
-
-	case FS_SEL_1000_DPS:
-		range_dps = 1000.f;
-		break;
-
-	case FS_SEL_2000_DPS:
-		range_dps = 2000.f;
-		break;
-	}
-
-	_px4_gyro.set_scale(math::radians(range_dps / 32768.f));
-	_px4_gyro.set_range(math::radians(range_dps));
-}
-
 void ICM20608G::ConfigureSampleRate(int sample_rate)
 {
-	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
-	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
+	// round down to nearest FIFO sample dt
+	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
 
 	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
@@ -400,9 +358,6 @@ bool ICM20608G::Configure()
 		}
 	}
 
-	ConfigureAccel();
-	ConfigureGyro();
-
 	return success;
 }
 
@@ -429,7 +384,7 @@ bool ICM20608G::DataReadyInterruptConfigure()
 	}
 
 	// Setup data ready on falling edge
-	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, true, false, &DataReadyInterruptCallback, this) == 0);
 }
 
 bool ICM20608G::DataReadyInterruptDisable()
@@ -438,7 +393,7 @@ bool ICM20608G::DataReadyInterruptDisable()
 		return false;
 	}
 
-	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0);
 }
 
 bool ICM20608G::RegisterCheck(const register_config_t &reg_cfg)
@@ -487,31 +442,75 @@ void ICM20608G::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t c
 
 uint16_t ICM20608G::FIFOReadCount()
 {
-	// read FIFO count
-	uint8_t fifo_count_buf[3] {};
-	fifo_count_buf[0] = static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ;
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+	} buffer{};
 
-	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+	// read FIFO count
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return 0;
 	}
 
-	return combine(fifo_count_buf[1], fifo_count_buf[2]);
+	return (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 }
 
 bool ICM20608G::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
-	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
+	// FIFO transfer buffer
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_R_W) | DIR_READ};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	} buffer{};
+
+	// cmd + samples (FIFO::DATA)
+	const size_t transfer_size = 1 + math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
 
 	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return false;
 	}
 
+	const uint8_t valid_samples = samples;
 
-	ProcessGyro(timestamp_sample, buffer.f, samples);
-	return ProcessAccel(timestamp_sample, buffer.f, samples);
+	if (valid_samples > 0) {
+		sensor_imu_fifo_s sensor_imu_fifo{};
+		sensor_imu_fifo.timestamp_sample = timestamp_sample;
+		sensor_imu_fifo.device_id = get_device_id();
+		sensor_imu_fifo.dt = FIFO_SAMPLE_DT;
+		sensor_imu_fifo.samples = valid_samples;
+		sensor_imu_fifo.accel_scale = ACCEL_SCALE;
+		sensor_imu_fifo.gyro_scale = GYRO_SCALE;
+
+		for (int i = 0; i < valid_samples; i++) {
+			// sensor's frame is +x forward, +y left, +z up
+			//  flip y & z to publish right handed with z down (x forward, y right, z down)
+			sensor_imu_fifo.accel_x[i] =              combine(buffer.f[i].ACCEL_XOUT_H, buffer.f[i].ACCEL_XOUT_L);
+			sensor_imu_fifo.accel_y[i] = math::negate(combine(buffer.f[i].ACCEL_YOUT_H, buffer.f[i].ACCEL_YOUT_L));
+			sensor_imu_fifo.accel_z[i] = math::negate(combine(buffer.f[i].ACCEL_ZOUT_H, buffer.f[i].ACCEL_ZOUT_L));
+			rotate_3i(_rotation, sensor_imu_fifo.accel_x[i], sensor_imu_fifo.accel_y[i], sensor_imu_fifo.accel_z[i]);
+
+			sensor_imu_fifo.gyro_x[i] =              combine(buffer.f[i].GYRO_XOUT_H, buffer.f[i].GYRO_XOUT_L);
+			sensor_imu_fifo.gyro_y[i] = math::negate(combine(buffer.f[i].GYRO_YOUT_H, buffer.f[i].GYRO_YOUT_L));
+			sensor_imu_fifo.gyro_z[i] = math::negate(combine(buffer.f[i].GYRO_ZOUT_H, buffer.f[i].GYRO_ZOUT_L));
+			rotate_3i(_rotation, sensor_imu_fifo.gyro_x[i], sensor_imu_fifo.gyro_y[i], sensor_imu_fifo.gyro_z[i]);
+		}
+
+		sensor_imu_fifo.temperature = (hrt_elapsed_time(&_temperature_update_timestamp) < 5_s) ? _temperature : NAN;
+
+		sensor_imu_fifo.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf)
+					      + perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_imu_fifo.timestamp = hrt_absolute_time();
+		_sensor_imu_fifo_pub.publish(sensor_imu_fifo);
+
+		return true;
+	}
+
+	return false;
 }
 
 void ICM20608G::FIFOReset()
@@ -537,105 +536,30 @@ void ICM20608G::FIFOReset()
 	}
 }
 
-static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
+float ICM20608G::ReadTemperature()
 {
-	return (memcmp(&f0.ACCEL_XOUT_H, &f1.ACCEL_XOUT_H, 6) == 0);
-}
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::TEMP_OUT_H) | DIR_READ};
+		uint8_t TEMP_OUT_H{0};
+		uint8_t TEMP_OUT_L{0};
+	} buffer{};
 
-bool ICM20608G::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
-
-	bool bad_data = false;
-
-	// accel data is doubled in FIFO, but might be shifted
-	int accel_first_sample = 1;
-
-	if (samples >= 4) {
-		if (fifo_accel_equal(fifo[0], fifo[1]) && fifo_accel_equal(fifo[2], fifo[3])) {
-			// [A0, A1, A2, A3]
-			//  A0==A1, A2==A3
-			accel_first_sample = 1;
-
-		} else if (fifo_accel_equal(fifo[1], fifo[2])) {
-			// [A0, A1, A2, A3]
-			//  A0, A1==A2, A3
-			accel_first_sample = 0;
-
-		} else {
-			// no matching accel samples is an error
-			bad_data = true;
-			perf_count(_bad_transfer_perf);
-		}
-	}
-
-	for (int i = accel_first_sample; i < samples; i = i + SAMPLES_PER_TRANSFER) {
-		int16_t accel_x = combine(fifo[i].ACCEL_XOUT_H, fifo[i].ACCEL_XOUT_L);
-		int16_t accel_y = combine(fifo[i].ACCEL_YOUT_H, fifo[i].ACCEL_YOUT_L);
-		int16_t accel_z = combine(fifo[i].ACCEL_ZOUT_H, fifo[i].ACCEL_ZOUT_L);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		accel.x[accel.samples] = accel_x;
-		accel.y[accel.samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
-		accel.z[accel.samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
-		accel.samples++;
-	}
-
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	if (accel.samples > 0) {
-		_px4_accel.updateFIFO(accel);
-	}
-
-	return !bad_data;
-}
-
-void ICM20608G::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = samples;
-	gyro.dt = FIFO_SAMPLE_DT;
-
-	for (int i = 0; i < samples; i++) {
-		const int16_t gyro_x = combine(fifo[i].GYRO_XOUT_H, fifo[i].GYRO_XOUT_L);
-		const int16_t gyro_y = combine(fifo[i].GYRO_YOUT_H, fifo[i].GYRO_YOUT_L);
-		const int16_t gyro_z = combine(fifo[i].GYRO_ZOUT_H, fifo[i].GYRO_ZOUT_L);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro_x;
-		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
-	}
-
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	_px4_gyro.updateFIFO(gyro);
-}
-
-void ICM20608G::UpdateTemperature()
-{
 	// read current temperature
-	uint8_t temperature_buf[3] {};
-	temperature_buf[0] = static_cast<uint8_t>(Register::TEMP_OUT_H) | DIR_READ;
-
-	if (transfer(temperature_buf, temperature_buf, sizeof(temperature_buf)) != PX4_OK) {
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
-		return;
+		return NAN;
 	}
 
-	const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
+	const int16_t TEMP_OUT = combine(buffer.TEMP_OUT_H, buffer.TEMP_OUT_L);
 	const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 
-	if (PX4_ISFINITE(TEMP_degC)) {
-		_px4_accel.set_temperature(TEMP_degC);
-		_px4_gyro.set_temperature(TEMP_degC);
+	if (PX4_ISFINITE(TEMP_degC)
+	    && (TEMP_degC >= TEMPERATURE_SENSOR_MIN)
+	    && (TEMP_degC <= TEMPERATURE_SENSOR_MAX)) {
+
+		return TEMP_degC;
 	}
+
+	return NAN;
 }

src/drivers/imu/invensense/icm20608g/ICM20608G.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2022 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
@@ -43,14 +43,15 @@
 #include "InvenSense_ICM20608G_registers.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_imu_fifo.h>
+
 using namespace InvenSense_ICM20608G;
 
 class ICM20608G : public device::SPI, public I2CSPIDriver<ICM20608G>
@@ -71,20 +72,13 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};
-	static constexpr int32_t SAMPLES_PER_TRANSFER{2};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 8000 Hz gyro
-	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), (size_t)sensor_imu_fifo_s::FIFO_SIZE)};
 
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_R_W) | DIR_READ};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (1 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static constexpr float ACCEL_SCALE{CONSTANTS_ONE_G / 2048.f}; // ACCEL_FS_SEL_16G
+	static constexpr float GYRO_SCALE{math::radians(2000.f / 32768.f)}; // FS_SEL
 
 	struct register_config_t {
 		Register reg;
@@ -97,8 +91,6 @@ private:
 	bool Reset();
 
 	bool Configure();
-	void ConfigureAccel();
-	void ConfigureGyro();
 	void ConfigureSampleRate(int sample_rate);
 
 	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
@@ -117,14 +109,15 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	bool ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void UpdateTemperature();
+	float ReadTemperature();
 
 	const spi_drdy_gpio_t _drdy_gpio;
 
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
+	uORB::PublicationMulti<sensor_imu_fifo_s> _sensor_imu_fifo_pub{ORB_ID(sensor_imu_fifo)};
+
+	const enum Rotation _rotation;
+
+	float _temperature{NAN};
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};

src/drivers/imu/invensense/icm20608g/InvenSense_ICM20608G_registers.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2022 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
@@ -42,6 +42,8 @@
 
 #include <cstdint>
 
+namespace InvenSense_ICM20608G
+{
 // TODO: move to a central header
 static constexpr uint8_t Bit0 = (1 << 0);
 static constexpr uint8_t Bit1 = (1 << 1);
@@ -52,8 +54,6 @@ static constexpr uint8_t Bit5 = (1 << 5);
 static constexpr uint8_t Bit6 = (1 << 6);
 static constexpr uint8_t Bit7 = (1 << 7);
 
-namespace InvenSense_ICM20608G
-{
 static constexpr uint32_t SPI_SPEED = 8 * 1000 * 1000; // 8MHz SPI serial interface
 static constexpr uint8_t DIR_READ = 0x80;
 
@@ -61,8 +61,11 @@ static constexpr uint8_t WHOAMI = 0xAF;
 
 static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
 static constexpr float TEMPERATURE_OFFSET = 25.f; // C
+static constexpr float TEMPERATURE_SENSOR_MIN = -40.f; // °C
+static constexpr float TEMPERATURE_SENSOR_MAX = 85.f; // °C
 
 enum class Register : uint8_t {
+
 	CONFIG            = 0x1A,
 	GYRO_CONFIG       = 0x1B,
 	ACCEL_CONFIG      = 0x1C,

src/drivers/imu/invensense/icm20649/CMakeLists.txt

@@ -34,6 +34,7 @@ px4_add_module(
 	MODULE drivers__imu__invensense__icm20649
 	MAIN icm20649
 	COMPILE_FLAGS
+		${MAX_CUSTOM_OPT_LEVEL}
 	SRCS
 		ICM20649.cpp
 		ICM20649.hpp
@@ -41,6 +42,4 @@ px4_add_module(
 		InvenSense_ICM20649_registers.hpp
 	DEPENDS
 		px4_work_queue
-		drivers_accelerometer
-		drivers_gyroscope
 	)

src/drivers/imu/invensense/icm20649/ICM20649.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,6 +33,8 @@
 
 #include "ICM20649.hpp"
 
+#include <lib/parameters/param.h>
+
 using namespace time_literals;
 
 static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
@@ -43,15 +45,12 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
 ICM20649::ICM20649(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
-	_drdy_gpio(config.drdy_gpio),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
-	if (_drdy_gpio != 0) {
-		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
-	}
+	int32_t imu_gyro_rate_max = 400;
+	param_get(param_find("IMU_GYRO_RATEMAX"), &imu_gyro_rate_max);
 
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+	ConfigureSampleRate(imu_gyro_rate_max);
 }
 
 ICM20649::~ICM20649()
@@ -61,7 +60,6 @@ ICM20649::~ICM20649()
 	perf_free(_fifo_empty_perf);
 	perf_free(_fifo_overflow_perf);
 	perf_free(_fifo_reset_perf);
-	perf_free(_drdy_missed_perf);
 }
 
 int ICM20649::init()
@@ -79,18 +77,11 @@ int ICM20649::init()
 bool ICM20649::Reset()
 {
 	_state = STATE::RESET;
-	DataReadyInterruptDisable();
 	ScheduleClear();
 	ScheduleNow();
 	return true;
 }
 
-void ICM20649::exit_and_cleanup()
-{
-	DataReadyInterruptDisable();
-	I2CSPIDriverBase::exit_and_cleanup();
-}
-
 void ICM20649::print_status()
 {
 	I2CSPIDriverBase::print_status();
@@ -102,13 +93,13 @@ void ICM20649::print_status()
 	perf_print_counter(_fifo_empty_perf);
 	perf_print_counter(_fifo_overflow_perf);
 	perf_print_counter(_fifo_reset_perf);
-	perf_print_counter(_drdy_missed_perf);
 }
 
 int ICM20649::probe()
 {
-	for (int i = 0; i < 3; i++) {
-		uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
+	// 3 retries
+	for (int retry = 0; retry < 3; retry++) {
+		const uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
 
 		if (whoami == WHOAMI) {
 			return PX4_OK;
@@ -175,19 +166,12 @@ void ICM20649::RunImpl()
 
 	case STATE::CONFIGURE:
 		if (Configure()) {
+			_temperature = ReadTemperature();
+
 			// if configure succeeded then start reading from FIFO
 			_state = STATE::FIFO_READ;
 
-			if (DataReadyInterruptConfigure()) {
-				_data_ready_interrupt_enabled = true;
-
-				// backup schedule as a watchdog timeout
-				ScheduleDelayed(100_ms);
-
-			} else {
-				_data_ready_interrupt_enabled = false;
-				ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
-			}
+			ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
 
 			FIFOReset();
 
@@ -207,23 +191,6 @@ void ICM20649::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
-			hrt_abstime timestamp_sample = now;
-
-			if (_data_ready_interrupt_enabled) {
-				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
-				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
-
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
-					timestamp_sample = drdy_timestamp_sample;
-
-				} else {
-					perf_count(_drdy_missed_perf);
-				}
-
-				// push backup schedule back
-				ScheduleDelayed(_fifo_empty_interval_us * 2);
-			}
-
 			// always check current FIFO count
 			bool success = false;
 			const uint16_t fifo_count = FIFOReadCount();
@@ -241,7 +208,7 @@ void ICM20649::RunImpl()
 
 				if (samples > _fifo_gyro_samples) {
 					// grab desired number of samples, but reschedule next cycle sooner
-					int extra_samples = samples - _fifo_gyro_samples;
+					const int extra_samples = samples - _fifo_gyro_samples;
 					samples = _fifo_gyro_samples;
 
 					if (_fifo_gyro_samples > extra_samples) {
@@ -260,7 +227,7 @@ void ICM20649::RunImpl()
 				}
 
 				if (samples == _fifo_gyro_samples) {
-					if (FIFORead(timestamp_sample, samples)) {
+					if (FIFORead(now, samples)) {
 						success = true;
 
 						if (_failure_count > 0) {
@@ -275,13 +242,14 @@ void ICM20649::RunImpl()
 
 				// full reset if things are failing consistently
 				if (_failure_count > 10) {
+					PX4_DEBUG("Full reset because things are failing consistently");
 					Reset();
 					return;
 				}
 			}
 
+			// check configuration registers periodically or immediately following any failure
 			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
-				// check configuration registers periodically or immediately following any failure
 				if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0])
 				    && RegisterCheck(_register_bank2_cfg[_checked_register_bank2])
 				   ) {
@@ -298,7 +266,7 @@ void ICM20649::RunImpl()
 			} else {
 				// periodically update temperature (~1 Hz)
 				if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
-					UpdateTemperature();
+					_temperature = ReadTemperature();
 					_temperature_update_timestamp = now;
 				}
 			}
@@ -308,65 +276,10 @@ void ICM20649::RunImpl()
 	}
 }
 
-void ICM20649::ConfigureAccel()
-{
-	const uint8_t ACCEL_FS_SEL = RegisterRead(Register::BANK_2::ACCEL_CONFIG) & (Bit2 | Bit1); // 2:1 ACCEL_FS_SEL[1:0]
-
-	switch (ACCEL_FS_SEL) {
-	case ACCEL_FS_SEL_4G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
-		_px4_accel.set_range(4.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_8G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f);
-		_px4_accel.set_range(8.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_16G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
-		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_30G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 1024.f);
-		_px4_accel.set_range(30.f * CONSTANTS_ONE_G);
-		break;
-	}
-}
-
-void ICM20649::ConfigureGyro()
-{
-	const uint8_t GYRO_FS_SEL = RegisterRead(Register::BANK_2::GYRO_CONFIG_1) & (Bit2 | Bit1); // 2:1 GYRO_FS_SEL[1:0]
-
-	float range_dps = 0.f;
-
-	switch (GYRO_FS_SEL) {
-	case GYRO_FS_SEL_500_DPS:
-		range_dps = 500.f;
-		break;
-
-	case GYRO_FS_SEL_1000_DPS:
-		range_dps = 1000.f;
-		break;
-
-	case GYRO_FS_SEL_2000_DPS:
-		range_dps = 2000.f;
-		break;
-
-	case GYRO_FS_SEL_4000_DPS:
-		range_dps = 4000.f;
-		break;
-	}
-
-	_px4_gyro.set_scale(math::radians(range_dps / 32768.f));
-	_px4_gyro.set_range(math::radians(range_dps));
-}
-
 void ICM20649::ConfigureSampleRate(int sample_rate)
 {
-	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
-	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
+	// round down to nearest FIFO sample dt
+	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
 
 	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
@@ -415,57 +328,9 @@ bool ICM20649::Configure()
 		}
 	}
 
-	ConfigureAccel();
-	ConfigureGyro();
-
 	return success;
 }
 
-int ICM20649::DataReadyInterruptCallback(int irq, void *context, void *arg)
-{
-	static_cast<ICM20649 *>(arg)->DataReady();
-	return 0;
-}
-
-void ICM20649::DataReady()
-{
-	// at least the required number of samples in the FIFO
-	if (++_drdy_count >= _fifo_gyro_samples) {
-		_drdy_timestamp_sample.store(hrt_absolute_time());
-		_drdy_count -= _fifo_gyro_samples;
-		ScheduleNow();
-	}
-}
-
-bool ICM20649::DataReadyInterruptConfigure()
-{
-	// TODO: enable data ready interrupt
-	return false;
-#if 0
-
-	if (_drdy_gpio == 0) {
-		return false;
-	}
-
-	// Setup data ready on falling edge
-	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
-#endif
-}
-
-bool ICM20649::DataReadyInterruptDisable()
-{
-	// TODO: enable data ready interrupt
-	return false;
-#if 0
-
-	if (_drdy_gpio == 0) {
-		return false;
-	}
-
-	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
-#endif
-}
-
 template <typename T>
 bool ICM20649::RegisterCheck(const T &reg_cfg)
 {
@@ -520,54 +385,89 @@ uint16_t ICM20649::FIFOReadCount()
 {
 	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
 
-	// read FIFO count
-	uint8_t fifo_count_buf[3] {};
-	fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+	} buffer{};
 
-	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+	// read FIFO count
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return 0;
 	}
 
-	return combine(fifo_count_buf[1], fifo_count_buf[2]);
+	return (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 }
 
 bool ICM20649::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
 	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
 
-	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 3, FIFO::SIZE);
+	// FIFO transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	} buffer{};
+
+	// cmd + FIFO_COUNTH + FIFO_COUNTL + samples (FIFO::DATA)
+	const size_t transfer_size = 3 + math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
 
 	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return false;
 	}
 
+	const uint16_t fifo_count_bytes = (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
+	const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
 
-	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
+	const uint8_t valid_samples = math::min(samples, fifo_count_samples);
 
-	if (fifo_count_bytes >= FIFO::SIZE) {
+	if ((fifo_count_bytes >= FIFO::SIZE) || (valid_samples > FIFO_MAX_SAMPLES)) {
 		perf_count(_fifo_overflow_perf);
 		FIFOReset();
 		return false;
-	}
 
-	const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
-
-	if (fifo_count_samples == 0) {
+	} else if (fifo_count_samples == 0) {
 		perf_count(_fifo_empty_perf);
 		return false;
 	}
 
-	const uint16_t valid_samples = math::min(samples, fifo_count_samples);
-
 	if (valid_samples > 0) {
-		ProcessGyro(timestamp_sample, buffer.f, valid_samples);
+		sensor_imu_fifo_s sensor_imu_fifo{};
+		sensor_imu_fifo.timestamp_sample = timestamp_sample;
+		sensor_imu_fifo.device_id = get_device_id();
+		sensor_imu_fifo.dt = FIFO_SAMPLE_DT;
+		sensor_imu_fifo.samples = valid_samples;
+		sensor_imu_fifo.accel_scale = ACCEL_SCALE;
+		sensor_imu_fifo.gyro_scale = GYRO_SCALE;
 
-		if (ProcessAccel(timestamp_sample, buffer.f, valid_samples)) {
-			return true;
+		for (int i = 0; i < valid_samples; i++) {
+			// sensor's frame is +x forward, +y left, +z up
+			//  flip y & z to publish right handed with z down (x forward, y right, z down)
+			sensor_imu_fifo.accel_x[i] =              combine(buffer.f[i].ACCEL_XOUT_H, buffer.f[i].ACCEL_XOUT_L);
+			sensor_imu_fifo.accel_y[i] = math::negate(combine(buffer.f[i].ACCEL_YOUT_H, buffer.f[i].ACCEL_YOUT_L));
+			sensor_imu_fifo.accel_z[i] = math::negate(combine(buffer.f[i].ACCEL_ZOUT_H, buffer.f[i].ACCEL_ZOUT_L));
+			rotate_3i(_rotation, sensor_imu_fifo.accel_x[i], sensor_imu_fifo.accel_y[i], sensor_imu_fifo.accel_z[i]);
+
+			sensor_imu_fifo.gyro_x[i] =              combine(buffer.f[i].GYRO_XOUT_H, buffer.f[i].GYRO_XOUT_L);
+			sensor_imu_fifo.gyro_y[i] = math::negate(combine(buffer.f[i].GYRO_YOUT_H, buffer.f[i].GYRO_YOUT_L));
+			sensor_imu_fifo.gyro_z[i] = math::negate(combine(buffer.f[i].GYRO_ZOUT_H, buffer.f[i].GYRO_ZOUT_L));
+			rotate_3i(_rotation, sensor_imu_fifo.gyro_x[i], sensor_imu_fifo.gyro_y[i], sensor_imu_fifo.gyro_z[i]);
 		}
+
+		sensor_imu_fifo.temperature = (hrt_elapsed_time(&_temperature_update_timestamp) < 5_s) ? _temperature : NAN;
+
+		sensor_imu_fifo.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf)
+					      + perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_imu_fifo.timestamp = hrt_absolute_time();
+		_sensor_imu_fifo_pub.publish(sensor_imu_fifo);
+
+		return true;
 	}
 
 	return false;
@@ -580,112 +480,34 @@ void ICM20649::FIFOReset()
 	// FIFO_RST: reset FIFO
 	RegisterSetBits(Register::BANK_0::FIFO_RST, FIFO_RST_BIT::FIFO_RESET);
 	RegisterClearBits(Register::BANK_0::FIFO_RST, FIFO_RST_BIT::FIFO_RESET);
-
-	// reset while FIFO is disabled
-	_drdy_count = 0;
-	_drdy_timestamp_sample.store(0);
 }
 
-static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
+float ICM20649::ReadTemperature()
 {
-	return (memcmp(&f0.ACCEL_XOUT_H, &f1.ACCEL_XOUT_H, 6) == 0);
-}
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::TEMP_OUT_H) | DIR_READ};
+		uint8_t TEMP_OUT_H{0};
+		uint8_t TEMP_OUT_L{0};
+	} buffer{};
 
-bool ICM20649::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
-
-	bool bad_data = false;
-
-	// accel data is doubled in FIFO, but might be shifted
-	int accel_first_sample = 1;
-
-	if (samples >= 4) {
-		if (fifo_accel_equal(fifo[0], fifo[1]) && fifo_accel_equal(fifo[2], fifo[3])) {
-			// [A0, A1, A2, A3]
-			//  A0==A1, A2==A3
-			accel_first_sample = 1;
-
-		} else if (fifo_accel_equal(fifo[1], fifo[2])) {
-			// [A0, A1, A2, A3]
-			//  A0, A1==A2, A3
-			accel_first_sample = 0;
-
-		} else {
-			// no matching accel samples is an error
-			bad_data = true;
-			perf_count(_bad_transfer_perf);
-		}
-	}
-
-	for (int i = accel_first_sample; i < samples; i = i + SAMPLES_PER_TRANSFER) {
-		int16_t accel_x = combine(fifo[i].ACCEL_XOUT_H, fifo[i].ACCEL_XOUT_L);
-		int16_t accel_y = combine(fifo[i].ACCEL_YOUT_H, fifo[i].ACCEL_YOUT_L);
-		int16_t accel_z = combine(fifo[i].ACCEL_ZOUT_H, fifo[i].ACCEL_ZOUT_L);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		accel.x[accel.samples] = accel_x;
-		accel.y[accel.samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
-		accel.z[accel.samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
-		accel.samples++;
-	}
-
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	if (accel.samples > 0) {
-		_px4_accel.updateFIFO(accel);
-	}
-
-	return !bad_data;
-}
-
-void ICM20649::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = samples;
-	gyro.dt = FIFO_SAMPLE_DT;
-
-	for (int i = 0; i < samples; i++) {
-		const int16_t gyro_x = combine(fifo[i].GYRO_XOUT_H, fifo[i].GYRO_XOUT_L);
-		const int16_t gyro_y = combine(fifo[i].GYRO_YOUT_H, fifo[i].GYRO_YOUT_L);
-		const int16_t gyro_z = combine(fifo[i].GYRO_ZOUT_H, fifo[i].GYRO_ZOUT_L);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro_x;
-		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
-	}
-
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	_px4_gyro.updateFIFO(gyro);
-}
-
-void ICM20649::UpdateTemperature()
-{
 	// read current temperature
-	uint8_t temperature_buf[3] {};
-	temperature_buf[0] = static_cast<uint8_t>(Register::BANK_0::TEMP_OUT_H) | DIR_READ;
 	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
 
-	if (transfer(temperature_buf, temperature_buf, sizeof(temperature_buf)) != PX4_OK) {
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
-		return;
+		return NAN;
 	}
 
-	const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
+	const int16_t TEMP_OUT = combine(buffer.TEMP_OUT_H, buffer.TEMP_OUT_L);
 	const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 
-	if (PX4_ISFINITE(TEMP_degC)) {
-		_px4_accel.set_temperature(TEMP_degC);
-		_px4_gyro.set_temperature(TEMP_degC);
+	if (PX4_ISFINITE(TEMP_degC)
+	    && (TEMP_degC >= TEMPERATURE_SENSOR_MIN)
+	    && (TEMP_degC <= TEMPERATURE_SENSOR_MAX)) {
+
+		return TEMP_degC;
 	}
+
+	return NAN;
 }

src/drivers/imu/invensense/icm20649/ICM20649.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -43,14 +43,15 @@
 #include "InvenSense_ICM20649_registers.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_imu_fifo.h>
+
 using namespace InvenSense_ICM20649;
 
 class ICM20649 : public device::SPI, public I2CSPIDriver<ICM20649>
@@ -67,26 +68,15 @@ public:
 	void print_status() override;
 
 private:
-	void exit_and_cleanup() override;
-
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 9000.f};
-	static constexpr int32_t SAMPLES_PER_TRANSFER{2};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 9000 Hz gyro
-	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4500 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), (size_t)sensor_imu_fifo_s::FIFO_SIZE)};
 
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ};
-		uint8_t FIFO_COUNTH{0};
-		uint8_t FIFO_COUNTL{0};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (3 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static constexpr float ACCEL_SCALE{CONSTANTS_ONE_G / 1024.f}; // ACCEL_FS_SEL_30G:
+	static constexpr float GYRO_SCALE{math::radians(4000.f / 32768.f)}; // GYRO_FS_SEL_4000_DPS:
 
 	struct register_bank0_config_t {
 		Register::BANK_0 reg;
@@ -105,19 +95,12 @@ private:
 	bool Reset();
 
 	bool Configure();
-	void ConfigureAccel();
-	void ConfigureGyro();
 	void ConfigureSampleRate(int sample_rate);
 
 	void SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force = false);
 	void SelectRegisterBank(Register::BANK_0 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); }
 	void SelectRegisterBank(Register::BANK_2 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_2); }
 
-	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
-	void DataReady();
-	bool DataReadyInterruptConfigure();
-	bool DataReadyInterruptDisable();
-
 	template <typename T> bool RegisterCheck(const T &reg_cfg);
 	template <typename T> uint8_t RegisterRead(T reg);
 	template <typename T> void RegisterWrite(T reg, uint8_t value);
@@ -129,21 +112,19 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	bool ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void UpdateTemperature();
+	float ReadTemperature();
 
-	const spi_drdy_gpio_t _drdy_gpio;
+	uORB::PublicationMulti<sensor_imu_fifo_s> _sensor_imu_fifo_pub{ORB_ID(sensor_imu_fifo)};
 
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
+	const enum Rotation _rotation;
+
+	float _temperature{NAN};
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
 	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
 	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
 	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
-	perf_counter_t _drdy_missed_perf{nullptr};
 
 	hrt_abstime _reset_timestamp{0};
 	hrt_abstime _last_config_check_timestamp{0};
@@ -152,10 +133,6 @@ private:
 
 	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
 
-	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
-	int32_t _drdy_count{0};
-	bool _data_ready_interrupt_enabled{false};
-
 	enum class STATE : uint8_t {
 		RESET,
 		WAIT_FOR_RESET,

src/drivers/imu/invensense/icm20649/InvenSense_ICM20649_registers.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -61,6 +61,8 @@ static constexpr uint8_t WHOAMI = 0xE1;
 
 static constexpr float TEMPERATURE_SENSITIVITY = 333.87f; // LSB/C
 static constexpr float TEMPERATURE_OFFSET = 21.f; // C
+static constexpr float TEMPERATURE_SENSOR_MIN = -40.f; // °C
+static constexpr float TEMPERATURE_SENSOR_MAX = 85.f; // °C
 
 namespace Register
 {

src/drivers/imu/invensense/icm20689/CMakeLists.txt

@@ -41,7 +41,5 @@ px4_add_module(
 		icm20689_main.cpp
 		InvenSense_ICM20689_registers.hpp
 	DEPENDS
-		drivers_accelerometer
-		drivers_gyroscope
 		px4_work_queue
 	)

src/drivers/imu/invensense/icm20689/ICM20689.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,6 +33,8 @@
 
 #include "ICM20689.hpp"
 
+#include <lib/parameters/param.h>
+
 using namespace time_literals;
 
 static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
@@ -44,14 +46,16 @@ ICM20689::ICM20689(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
 	_drdy_gpio(config.drdy_gpio),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
 	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+	int32_t imu_gyro_rate_max = 400;
+	param_get(param_find("IMU_GYRO_RATEMAX"), &imu_gyro_rate_max);
+
+	ConfigureSampleRate(imu_gyro_rate_max);
 }
 
 ICM20689::~ICM20689()
@@ -108,7 +112,7 @@ void ICM20689::print_status()
 bool ICM20689::StoreCheckedRegisterValue(Register reg)
 {
 	// 3 retries
-	for (int i = 0; i < 3; i++) {
+	for (int retry = 0; retry < 3; retry++) {
 		uint8_t read1 = RegisterRead(reg);
 		uint8_t read2 = RegisterRead(reg);
 
@@ -131,14 +135,19 @@ bool ICM20689::StoreCheckedRegisterValue(Register reg)
 
 int ICM20689::probe()
 {
-	const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
+	// 3 retries
+	for (int retry = 0; retry < 3; retry++) {
+		const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
 
-	if (whoami != WHOAMI) {
-		DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
-		return PX4_ERROR;
+		if (whoami == WHOAMI) {
+			return PX4_OK;
+
+		} else {
+			DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
+		}
 	}
 
-	return PX4_OK;
+	return PX4_ERROR;
 }
 
 void ICM20689::RunImpl()
@@ -187,8 +196,8 @@ void ICM20689::RunImpl()
 				ScheduleDelayed(100_ms);
 
 			} else {
-				PX4_DEBUG("Reset not complete, check again in 10 ms");
-				ScheduleDelayed(10_ms);
+				PX4_DEBUG("Reset not complete, check again in 100 ms");
+				ScheduleDelayed(100_ms);
 			}
 		}
 
@@ -196,6 +205,8 @@ void ICM20689::RunImpl()
 
 	case STATE::CONFIGURE:
 		if (Configure()) {
+			_temperature = ReadTemperature();
+
 			// if configure succeeded then start reading from FIFO
 			_state = STATE::FIFO_READ;
 
@@ -234,7 +245,7 @@ void ICM20689::RunImpl()
 				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
 				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
 
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+				if (now < drdy_timestamp_sample + _fifo_empty_interval_us) {
 					timestamp_sample = drdy_timestamp_sample;
 
 				} else {
@@ -271,7 +282,7 @@ void ICM20689::RunImpl()
 					FIFOReset();
 					perf_count(_fifo_overflow_perf);
 
-				} else if (samples >= SAMPLES_PER_TRANSFER) {
+				} else if (samples >= 1) {
 					if (FIFORead(timestamp_sample, samples)) {
 						success = true;
 
@@ -287,6 +298,7 @@ void ICM20689::RunImpl()
 
 				// full reset if things are failing consistently
 				if (_failure_count > 10) {
+					PX4_DEBUG("Full reset because things are failing consistently");
 					Reset();
 					return;
 				}
@@ -301,13 +313,14 @@ void ICM20689::RunImpl()
 				} else {
 					// register check failed, force reset
 					perf_count(_bad_register_perf);
+					PX4_DEBUG("Force reset because register 0x%02hhX check failed ", (uint8_t)_register_cfg[_checked_register].reg);
 					Reset();
 				}
 
 			} else {
 				// periodically update temperature (~1 Hz)
 				if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
-					UpdateTemperature();
+					_temperature = ReadTemperature();
 					_temperature_update_timestamp = now;
 				}
 			}
@@ -317,65 +330,10 @@ void ICM20689::RunImpl()
 	}
 }
 
-void ICM20689::ConfigureAccel()
-{
-	const uint8_t ACCEL_FS_SEL = RegisterRead(Register::ACCEL_CONFIG) & (Bit4 | Bit3); // [4:3] ACCEL_FS_SEL[1:0]
-
-	switch (ACCEL_FS_SEL) {
-	case ACCEL_FS_SEL_2G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 16384.f);
-		_px4_accel.set_range(2.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_4G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
-		_px4_accel.set_range(4.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_8G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f);
-		_px4_accel.set_range(8.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_16G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
-		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
-		break;
-	}
-}
-
-void ICM20689::ConfigureGyro()
-{
-	const uint8_t FS_SEL = RegisterRead(Register::GYRO_CONFIG) & (Bit4 | Bit3); // [4:3] FS_SEL[1:0]
-
-	float range_dps = 0.f;
-
-	switch (FS_SEL) {
-	case FS_SEL_250_DPS:
-		range_dps = 250.f;
-		break;
-
-	case FS_SEL_500_DPS:
-		range_dps = 500.f;
-		break;
-
-	case FS_SEL_1000_DPS:
-		range_dps = 1000.f;
-		break;
-
-	case FS_SEL_2000_DPS:
-		range_dps = 2000.f;
-		break;
-	}
-
-	_px4_gyro.set_scale(math::radians(range_dps / 32768.f));
-	_px4_gyro.set_range(math::radians(range_dps));
-}
-
 void ICM20689::ConfigureSampleRate(int sample_rate)
 {
-	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
-	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
+	// round down to nearest FIFO sample dt
+	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
 
 	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
@@ -400,9 +358,6 @@ bool ICM20689::Configure()
 		}
 	}
 
-	ConfigureAccel();
-	ConfigureGyro();
-
 	return success;
 }
 
@@ -429,7 +384,7 @@ bool ICM20689::DataReadyInterruptConfigure()
 	}
 
 	// Setup data ready on falling edge
-	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, true, false, &DataReadyInterruptCallback, this) == 0);
 }
 
 bool ICM20689::DataReadyInterruptDisable()
@@ -438,7 +393,7 @@ bool ICM20689::DataReadyInterruptDisable()
 		return false;
 	}
 
-	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0);
 }
 
 bool ICM20689::RegisterCheck(const register_config_t &reg_cfg)
@@ -487,31 +442,75 @@ void ICM20689::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t cl
 
 uint16_t ICM20689::FIFOReadCount()
 {
-	// read FIFO count
-	uint8_t fifo_count_buf[3] {};
-	fifo_count_buf[0] = static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ;
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+	} buffer{};
 
-	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+	// read FIFO count
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return 0;
 	}
 
-	return combine(fifo_count_buf[1], fifo_count_buf[2]);
+	return (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 }
 
 bool ICM20689::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
-	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
+	// FIFO transfer buffer
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_R_W) | DIR_READ};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	} buffer{};
+
+	// cmd + samples (FIFO::DATA)
+	const size_t transfer_size = 1 + math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
 
 	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return false;
 	}
 
+	const uint8_t valid_samples = samples;
 
-	ProcessGyro(timestamp_sample, buffer.f, samples);
-	return ProcessAccel(timestamp_sample, buffer.f, samples);
+	if (valid_samples > 0) {
+		sensor_imu_fifo_s sensor_imu_fifo{};
+		sensor_imu_fifo.timestamp_sample = timestamp_sample;
+		sensor_imu_fifo.device_id = get_device_id();
+		sensor_imu_fifo.dt = FIFO_SAMPLE_DT;
+		sensor_imu_fifo.samples = valid_samples;
+		sensor_imu_fifo.accel_scale = ACCEL_SCALE;
+		sensor_imu_fifo.gyro_scale = GYRO_SCALE;
+
+		for (int i = 0; i < valid_samples; i++) {
+			// sensor's frame is +x forward, +y left, +z up
+			//  flip y & z to publish right handed with z down (x forward, y right, z down)
+			sensor_imu_fifo.accel_x[i] =              combine(buffer.f[i].ACCEL_XOUT_H, buffer.f[i].ACCEL_XOUT_L);
+			sensor_imu_fifo.accel_y[i] = math::negate(combine(buffer.f[i].ACCEL_YOUT_H, buffer.f[i].ACCEL_YOUT_L));
+			sensor_imu_fifo.accel_z[i] = math::negate(combine(buffer.f[i].ACCEL_ZOUT_H, buffer.f[i].ACCEL_ZOUT_L));
+			rotate_3i(_rotation, sensor_imu_fifo.accel_x[i], sensor_imu_fifo.accel_y[i], sensor_imu_fifo.accel_z[i]);
+
+			sensor_imu_fifo.gyro_x[i] =              combine(buffer.f[i].GYRO_XOUT_H, buffer.f[i].GYRO_XOUT_L);
+			sensor_imu_fifo.gyro_y[i] = math::negate(combine(buffer.f[i].GYRO_YOUT_H, buffer.f[i].GYRO_YOUT_L));
+			sensor_imu_fifo.gyro_z[i] = math::negate(combine(buffer.f[i].GYRO_ZOUT_H, buffer.f[i].GYRO_ZOUT_L));
+			rotate_3i(_rotation, sensor_imu_fifo.gyro_x[i], sensor_imu_fifo.gyro_y[i], sensor_imu_fifo.gyro_z[i]);
+		}
+
+		sensor_imu_fifo.temperature = (hrt_elapsed_time(&_temperature_update_timestamp) < 5_s) ? _temperature : NAN;
+
+		sensor_imu_fifo.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf)
+					      + perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_imu_fifo.timestamp = hrt_absolute_time();
+		_sensor_imu_fifo_pub.publish(sensor_imu_fifo);
+
+		return true;
+	}
+
+	return false;
 }
 
 void ICM20689::FIFOReset()
@@ -537,105 +536,30 @@ void ICM20689::FIFOReset()
 	}
 }
 
-static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
+float ICM20689::ReadTemperature()
 {
-	return (memcmp(&f0.ACCEL_XOUT_H, &f1.ACCEL_XOUT_H, 6) == 0);
-}
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::TEMP_OUT_H) | DIR_READ};
+		uint8_t TEMP_OUT_H{0};
+		uint8_t TEMP_OUT_L{0};
+	} buffer{};
 
-bool ICM20689::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
-
-	bool bad_data = false;
-
-	// accel data is doubled in FIFO, but might be shifted
-	int accel_first_sample = 1;
-
-	if (samples >= 4) {
-		if (fifo_accel_equal(fifo[0], fifo[1]) && fifo_accel_equal(fifo[2], fifo[3])) {
-			// [A0, A1, A2, A3]
-			//  A0==A1, A2==A3
-			accel_first_sample = 1;
-
-		} else if (fifo_accel_equal(fifo[1], fifo[2])) {
-			// [A0, A1, A2, A3]
-			//  A0, A1==A2, A3
-			accel_first_sample = 0;
-
-		} else {
-			// no matching accel samples is an error
-			bad_data = true;
-			perf_count(_bad_transfer_perf);
-		}
-	}
-
-	for (int i = accel_first_sample; i < samples; i = i + SAMPLES_PER_TRANSFER) {
-		int16_t accel_x = combine(fifo[i].ACCEL_XOUT_H, fifo[i].ACCEL_XOUT_L);
-		int16_t accel_y = combine(fifo[i].ACCEL_YOUT_H, fifo[i].ACCEL_YOUT_L);
-		int16_t accel_z = combine(fifo[i].ACCEL_ZOUT_H, fifo[i].ACCEL_ZOUT_L);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		accel.x[accel.samples] = accel_x;
-		accel.y[accel.samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
-		accel.z[accel.samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
-		accel.samples++;
-	}
-
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	if (accel.samples > 0) {
-		_px4_accel.updateFIFO(accel);
-	}
-
-	return !bad_data;
-}
-
-void ICM20689::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = samples;
-	gyro.dt = FIFO_SAMPLE_DT;
-
-	for (int i = 0; i < samples; i++) {
-		const int16_t gyro_x = combine(fifo[i].GYRO_XOUT_H, fifo[i].GYRO_XOUT_L);
-		const int16_t gyro_y = combine(fifo[i].GYRO_YOUT_H, fifo[i].GYRO_YOUT_L);
-		const int16_t gyro_z = combine(fifo[i].GYRO_ZOUT_H, fifo[i].GYRO_ZOUT_L);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro_x;
-		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
-	}
-
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	_px4_gyro.updateFIFO(gyro);
-}
-
-void ICM20689::UpdateTemperature()
-{
 	// read current temperature
-	uint8_t temperature_buf[3] {};
-	temperature_buf[0] = static_cast<uint8_t>(Register::TEMP_OUT_H) | DIR_READ;
-
-	if (transfer(temperature_buf, temperature_buf, sizeof(temperature_buf)) != PX4_OK) {
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
-		return;
+		return NAN;
 	}
 
-	const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
+	const int16_t TEMP_OUT = combine(buffer.TEMP_OUT_H, buffer.TEMP_OUT_L);
 	const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 
-	if (PX4_ISFINITE(TEMP_degC)) {
-		_px4_accel.set_temperature(TEMP_degC);
-		_px4_gyro.set_temperature(TEMP_degC);
+	if (PX4_ISFINITE(TEMP_degC)
+	    && (TEMP_degC >= TEMPERATURE_SENSOR_MIN)
+	    && (TEMP_degC <= TEMPERATURE_SENSOR_MAX)) {
+
+		return TEMP_degC;
 	}
+
+	return NAN;
 }

src/drivers/imu/invensense/icm20689/ICM20689.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -43,14 +43,15 @@
 #include "InvenSense_ICM20689_registers.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_imu_fifo.h>
+
 using namespace InvenSense_ICM20689;
 
 class ICM20689 : public device::SPI, public I2CSPIDriver<ICM20689>
@@ -71,20 +72,13 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};
-	static constexpr int32_t SAMPLES_PER_TRANSFER{2};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 8000 Hz gyro
-	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), (size_t)sensor_imu_fifo_s::FIFO_SIZE)};
 
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_R_W) | DIR_READ};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (1 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static constexpr float ACCEL_SCALE{CONSTANTS_ONE_G / 2048.f}; // ACCEL_FS_SEL
+	static constexpr float GYRO_SCALE{math::radians(2000.f / 32768.f)}; // FS_SEL
 
 	struct register_config_t {
 		Register reg;
@@ -97,8 +91,6 @@ private:
 	bool Reset();
 
 	bool Configure();
-	void ConfigureAccel();
-	void ConfigureGyro();
 	void ConfigureSampleRate(int sample_rate);
 
 	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
@@ -117,14 +109,15 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	bool ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void UpdateTemperature();
+	float ReadTemperature();
 
 	const spi_drdy_gpio_t _drdy_gpio;
 
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
+	uORB::PublicationMulti<sensor_imu_fifo_s> _sensor_imu_fifo_pub{ORB_ID(sensor_imu_fifo)};
+
+	const enum Rotation _rotation;
+
+	float _temperature{NAN};
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};

src/drivers/imu/invensense/icm20689/InvenSense_ICM20689_registers.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -43,6 +43,8 @@
 #include <cstdint>
 #include <cstddef>
 
+namespace InvenSense_ICM20689
+{
 // TODO: move to a central header
 static constexpr uint8_t Bit0 = (1 << 0);
 static constexpr uint8_t Bit1 = (1 << 1);
@@ -53,8 +55,6 @@ static constexpr uint8_t Bit5 = (1 << 5);
 static constexpr uint8_t Bit6 = (1 << 6);
 static constexpr uint8_t Bit7 = (1 << 7);
 
-namespace InvenSense_ICM20689
-{
 static constexpr uint32_t SPI_SPEED = 8 * 1000 * 1000; // 8MHz SPI serial interface
 static constexpr uint8_t DIR_READ = 0x80;
 
@@ -62,8 +62,11 @@ static constexpr uint8_t WHOAMI = 0x98;
 
 static constexpr float TEMPERATURE_SENSITIVITY = 326.8f; // LSB/C
 static constexpr float TEMPERATURE_OFFSET = 25.f; // C
+static constexpr float TEMPERATURE_SENSOR_MIN = -40.f; // °C
+static constexpr float TEMPERATURE_SENSOR_MAX = 85.f; // °C
 
 enum class Register : uint8_t {
+
 	CONFIG            = 0x1A,
 	GYRO_CONFIG       = 0x1B,
 	ACCEL_CONFIG      = 0x1C,

src/drivers/imu/invensense/icm20948/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2020-2022 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
@@ -34,6 +34,7 @@ px4_add_module(
 	MODULE drivers__imu__invensense__icm20948
 	MAIN icm20948
 	COMPILE_FLAGS
+		-Wno-error
 	SRCS
 		AKM_AK09916_registers.hpp
 		ICM20948.cpp
@@ -44,8 +45,6 @@ px4_add_module(
 		InvenSense_ICM20948_registers.hpp
 	DEPENDS
 		px4_work_queue
-		drivers_accelerometer
-		drivers_gyroscope
 		drivers_magnetometer
 	)
 

src/drivers/imu/invensense/icm20948/ICM20948.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,6 +33,8 @@
 
 #include "ICM20948.hpp"
 
+#include <lib/parameters/param.h>
+
 #include "AKM_AK09916_registers.hpp"
 
 using namespace time_literals;
@@ -46,14 +48,16 @@ ICM20948::ICM20948(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
 	_drdy_gpio(config.drdy_gpio),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
 	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+	int32_t imu_gyro_rate_max = 400;
+	param_get(param_find("IMU_GYRO_RATEMAX"), &imu_gyro_rate_max);
+
+	ConfigureSampleRate(imu_gyro_rate_max);
 
 	bool enable_magnetometer = config.custom1 == 1;
 
@@ -136,8 +140,9 @@ void ICM20948::print_status()
 
 int ICM20948::probe()
 {
-	for (int i = 0; i < 3; i++) {
-		uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
+	// 3 retries
+	for (int retry = 0; retry < 3; retry++) {
+		const uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
 
 		if (whoami == WHOAMI) {
 			return PX4_OK;
@@ -249,7 +254,7 @@ void ICM20948::RunImpl()
 				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
 				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
 
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+				if (now < drdy_timestamp_sample + _fifo_empty_interval_us) {
 					timestamp_sample = drdy_timestamp_sample;
 
 				} else {
@@ -311,6 +316,7 @@ void ICM20948::RunImpl()
 
 				// full reset if things are failing consistently
 				if (_failure_count > 10) {
+					PX4_DEBUG("Full reset because things are failing consistently");
 					Reset();
 					return;
 				}
@@ -346,65 +352,10 @@ void ICM20948::RunImpl()
 	}
 }
 
-void ICM20948::ConfigureAccel()
-{
-	const uint8_t ACCEL_FS_SEL = RegisterRead(Register::BANK_2::ACCEL_CONFIG) & (Bit2 | Bit1); // 2:1 ACCEL_FS_SEL[1:0]
-
-	switch (ACCEL_FS_SEL) {
-	case ACCEL_FS_SEL_2G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 16384.f);
-		_px4_accel.set_range(2.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_4G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
-		_px4_accel.set_range(4.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_8G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f);
-		_px4_accel.set_range(8.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_16G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
-		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
-		break;
-	}
-}
-
-void ICM20948::ConfigureGyro()
-{
-	const uint8_t GYRO_FS_SEL = RegisterRead(Register::BANK_2::GYRO_CONFIG_1) & (Bit2 | Bit1); // 2:1 GYRO_FS_SEL[1:0]
-
-	float range_dps = 0.f;
-
-	switch (GYRO_FS_SEL) {
-	case GYRO_FS_SEL_250_DPS:
-		range_dps = 250.f;
-		break;
-
-	case GYRO_FS_SEL_500_DPS:
-		range_dps = 500.f;
-		break;
-
-	case GYRO_FS_SEL_1000_DPS:
-		range_dps = 1000.f;
-		break;
-
-	case GYRO_FS_SEL_2000_DPS:
-		range_dps = 2000.f;
-		break;
-	}
-
-	_px4_gyro.set_scale(math::radians(range_dps / 32768.f));
-	_px4_gyro.set_range(math::radians(range_dps));
-}
-
 void ICM20948::ConfigureSampleRate(int sample_rate)
 {
-	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
-	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
+	// round down to nearest FIFO sample dt
+	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
 
 	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
@@ -462,9 +413,6 @@ bool ICM20948::Configure()
 		}
 	}
 
-	ConfigureAccel();
-	ConfigureGyro();
-
 	return success;
 }
 
@@ -567,54 +515,89 @@ uint16_t ICM20948::FIFOReadCount()
 {
 	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
 
-	// read FIFO count
-	uint8_t fifo_count_buf[3] {};
-	fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+	} buffer{};
 
-	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+	// read FIFO count
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return 0;
 	}
 
-	return combine(fifo_count_buf[1], fifo_count_buf[2]);
+	return (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 }
 
 bool ICM20948::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
 	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
 
-	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 3, FIFO::SIZE);
+	// FIFO transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	} buffer{};
+
+	// cmd + FIFO_COUNTH + FIFO_COUNTL + samples (FIFO::DATA)
+	const size_t transfer_size = 3 + math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
 
 	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return false;
 	}
 
+	const uint16_t fifo_count_bytes = (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
+	const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
 
-	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
+	const uint8_t valid_samples = math::min(samples, fifo_count_samples);
 
-	if (fifo_count_bytes >= FIFO::SIZE) {
+	if ((fifo_count_bytes >= FIFO::SIZE) || (valid_samples > FIFO_MAX_SAMPLES)) {
 		perf_count(_fifo_overflow_perf);
 		FIFOReset();
 		return false;
-	}
 
-	const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
-
-	if (fifo_count_samples == 0) {
+	} else if (fifo_count_samples == 0) {
 		perf_count(_fifo_empty_perf);
 		return false;
 	}
 
-	const uint16_t valid_samples = math::min(samples, fifo_count_samples);
-
 	if (valid_samples > 0) {
-		ProcessGyro(timestamp_sample, buffer.f, valid_samples);
+		sensor_imu_fifo_s sensor_imu_fifo{};
+		sensor_imu_fifo.timestamp_sample = timestamp_sample;
+		sensor_imu_fifo.device_id = get_device_id();
+		sensor_imu_fifo.dt = FIFO_SAMPLE_DT;
+		sensor_imu_fifo.samples = valid_samples;
+		sensor_imu_fifo.accel_scale = ACCEL_SCALE;
+		sensor_imu_fifo.gyro_scale = GYRO_SCALE;
 
-		if (ProcessAccel(timestamp_sample, buffer.f, valid_samples)) {
-			return true;
+		for (int i = 0; i < valid_samples; i++) {
+			// sensor's frame is +x forward, +y left, +z up
+			//  flip y & z to publish right handed with z down (x forward, y right, z down)
+			sensor_imu_fifo.accel_x[i] =              combine(buffer.f[i].ACCEL_XOUT_H, buffer.f[i].ACCEL_XOUT_L);
+			sensor_imu_fifo.accel_y[i] = math::negate(combine(buffer.f[i].ACCEL_YOUT_H, buffer.f[i].ACCEL_YOUT_L));
+			sensor_imu_fifo.accel_z[i] = math::negate(combine(buffer.f[i].ACCEL_ZOUT_H, buffer.f[i].ACCEL_ZOUT_L));
+			rotate_3i(_rotation, sensor_imu_fifo.accel_x[i], sensor_imu_fifo.accel_y[i], sensor_imu_fifo.accel_z[i]);
+
+			sensor_imu_fifo.gyro_x[i] =              combine(buffer.f[i].GYRO_XOUT_H, buffer.f[i].GYRO_XOUT_L);
+			sensor_imu_fifo.gyro_y[i] = math::negate(combine(buffer.f[i].GYRO_YOUT_H, buffer.f[i].GYRO_YOUT_L));
+			sensor_imu_fifo.gyro_z[i] = math::negate(combine(buffer.f[i].GYRO_ZOUT_H, buffer.f[i].GYRO_ZOUT_L));
+			rotate_3i(_rotation, sensor_imu_fifo.gyro_x[i], sensor_imu_fifo.gyro_y[i], sensor_imu_fifo.gyro_z[i]);
 		}
+
+		sensor_imu_fifo.temperature = (hrt_elapsed_time(&_temperature_update_timestamp) < 5_s) ? _temperature : NAN;
+
+		sensor_imu_fifo.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf)
+					      + perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_imu_fifo.timestamp = hrt_absolute_time();
+		_sensor_imu_fifo_pub.publish(sensor_imu_fifo);
+
+		return true;
 	}
 
 	return false;
@@ -633,89 +616,6 @@ void ICM20948::FIFOReset()
 	_drdy_timestamp_sample.store(0);
 }
 
-static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
-{
-	return (memcmp(&f0.ACCEL_XOUT_H, &f1.ACCEL_XOUT_H, 6) == 0);
-}
-
-bool ICM20948::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
-
-	bool bad_data = false;
-
-	// accel data is doubled in FIFO, but might be shifted
-	int accel_first_sample = 1;
-
-	if (samples >= 4) {
-		if (fifo_accel_equal(fifo[0], fifo[1]) && fifo_accel_equal(fifo[2], fifo[3])) {
-			// [A0, A1, A2, A3]
-			//  A0==A1, A2==A3
-			accel_first_sample = 1;
-
-		} else if (fifo_accel_equal(fifo[1], fifo[2])) {
-			// [A0, A1, A2, A3]
-			//  A0, A1==A2, A3
-			accel_first_sample = 0;
-
-		} else {
-			// no matching accel samples is an error
-			bad_data = true;
-			perf_count(_bad_transfer_perf);
-		}
-	}
-
-	for (int i = accel_first_sample; i < samples; i = i + SAMPLES_PER_TRANSFER) {
-		int16_t accel_x = combine(fifo[i].ACCEL_XOUT_H, fifo[i].ACCEL_XOUT_L);
-		int16_t accel_y = combine(fifo[i].ACCEL_YOUT_H, fifo[i].ACCEL_YOUT_L);
-		int16_t accel_z = combine(fifo[i].ACCEL_ZOUT_H, fifo[i].ACCEL_ZOUT_L);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		accel.x[accel.samples] = accel_x;
-		accel.y[accel.samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
-		accel.z[accel.samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
-		accel.samples++;
-	}
-
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	if (accel.samples > 0) {
-		_px4_accel.updateFIFO(accel);
-	}
-
-	return !bad_data;
-}
-
-void ICM20948::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = samples;
-	gyro.dt = FIFO_SAMPLE_DT;
-
-	for (int i = 0; i < samples; i++) {
-		const int16_t gyro_x = combine(fifo[i].GYRO_XOUT_H, fifo[i].GYRO_XOUT_L);
-		const int16_t gyro_y = combine(fifo[i].GYRO_YOUT_H, fifo[i].GYRO_YOUT_L);
-		const int16_t gyro_z = combine(fifo[i].GYRO_ZOUT_H, fifo[i].GYRO_ZOUT_L);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro_x;
-		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
-	}
-
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	_px4_gyro.updateFIFO(gyro);
-}
-
 void ICM20948::UpdateTemperature()
 {
 	// read current temperature
@@ -732,8 +632,7 @@ void ICM20948::UpdateTemperature()
 	const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 
 	if (PX4_ISFINITE(TEMP_degC)) {
-		_px4_accel.set_temperature(TEMP_degC);
-		_px4_gyro.set_temperature(TEMP_degC);
+		_temperature = TEMP_degC;
 	}
 }
 

src/drivers/imu/invensense/icm20948/ICM20948.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -43,14 +43,15 @@
 #include "InvenSense_ICM20948_registers.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_imu_fifo.h>
+
 #include "ICM20948_AK09916.hpp"
 
 using namespace InvenSense_ICM20948;
@@ -73,22 +74,13 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 9000.f};
-	static constexpr int32_t SAMPLES_PER_TRANSFER{2};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 9000 Hz gyro
-	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4500 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), (size_t)sensor_imu_fifo_s::FIFO_SIZE)};
 
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ};
-		uint8_t FIFO_COUNTH{0};
-		uint8_t FIFO_COUNTL{0};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (3 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static constexpr float ACCEL_SCALE{CONSTANTS_ONE_G / 2048.f}; // ACCEL_FS_SEL_16G:
+	static constexpr float GYRO_SCALE{math::radians(2000.f / 32768.f)}; // GYRO_FS_SEL_2000_DPS:
 
 	struct register_bank0_config_t {
 		Register::BANK_0 reg;
@@ -113,8 +105,6 @@ private:
 	bool Reset();
 
 	bool Configure();
-	void ConfigureAccel();
-	void ConfigureGyro();
 	void ConfigureSampleRate(int sample_rate);
 
 	void SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force = false);
@@ -138,12 +128,16 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	bool ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
 	void UpdateTemperature();
 
 	const spi_drdy_gpio_t _drdy_gpio;
 
+	uORB::PublicationMulti<sensor_imu_fifo_s> _sensor_imu_fifo_pub{ORB_ID(sensor_imu_fifo)};
+
+	const enum Rotation _rotation;
+
+	float _temperature{NAN};
+
 	// I2C AUX interface (slave 1 - 4)
 	AKM_AK09916::ICM20948_AK09916 *_slave_ak09916_magnetometer{nullptr};
 	friend class AKM_AK09916::ICM20948_AK09916;
@@ -152,9 +146,6 @@ private:
 	void I2CSlaveExternalSensorDataEnable(uint8_t slave_i2c_addr, uint8_t reg, uint8_t size);
 	bool I2CSlaveExternalSensorDataRead(uint8_t *buffer, uint8_t length);
 
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
-
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
 	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};

src/drivers/imu/invensense/icm40609d/CMakeLists.txt

@@ -41,6 +41,4 @@ px4_add_module(
 		InvenSense_ICM40609D_registers.hpp
 	DEPENDS
 		px4_work_queue
-		drivers_accelerometer
-		drivers_gyroscope
 	)

src/drivers/imu/invensense/icm40609d/ICM40609D.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,6 +33,8 @@
 
 #include "ICM40609D.hpp"
 
+#include <lib/parameters/param.h>
+
 using namespace time_literals;
 
 static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
@@ -44,14 +46,16 @@ ICM40609D::ICM40609D(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
 	_drdy_gpio(config.drdy_gpio),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
-	if (config.drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+	int32_t imu_gyro_rate_max = 400;
+	param_get(param_find("IMU_GYRO_RATEMAX"), &imu_gyro_rate_max);
+
+	ConfigureSampleRate(imu_gyro_rate_max);
 }
 
 ICM40609D::~ICM40609D()
@@ -61,6 +65,7 @@ ICM40609D::~ICM40609D()
 	perf_free(_fifo_empty_perf);
 	perf_free(_fifo_overflow_perf);
 	perf_free(_fifo_reset_perf);
+	perf_free(_fifo_timestamp_error_perf);
 	perf_free(_drdy_missed_perf);
 }
 
@@ -102,12 +107,14 @@ void ICM40609D::print_status()
 	perf_print_counter(_fifo_empty_perf);
 	perf_print_counter(_fifo_overflow_perf);
 	perf_print_counter(_fifo_reset_perf);
+	perf_print_counter(_fifo_timestamp_error_perf);
 	perf_print_counter(_drdy_missed_perf);
 }
 
 int ICM40609D::probe()
 {
-	for (int i = 0; i < 3; i++) {
+	// 3 retries
+	for (int retry = 0; retry < 3; retry++) {
 		uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
 
 		if (whoami == WHOAMI) {
@@ -161,8 +168,8 @@ void ICM40609D::RunImpl()
 				ScheduleDelayed(100_ms);
 
 			} else {
-				PX4_DEBUG("Reset not complete, check again in 10 ms");
-				ScheduleDelayed(10_ms);
+				PX4_DEBUG("Reset not complete, check again in 100 ms");
+				ScheduleDelayed(100_ms);
 			}
 		}
 
@@ -170,21 +177,9 @@ void ICM40609D::RunImpl()
 
 	case STATE::CONFIGURE:
 		if (Configure()) {
-			// if configure succeeded then start reading from FIFO
-			_state = STATE::FIFO_READ;
-
-			if (DataReadyInterruptConfigure()) {
-				_data_ready_interrupt_enabled = true;
-
-				// backup schedule as a watchdog timeout
-				ScheduleDelayed(100_ms);
-
-			} else {
-				_data_ready_interrupt_enabled = false;
-				ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
-			}
-
-			FIFOReset();
+			// if configure succeeded then reset the FIFO
+			_state = STATE::FIFO_RESET;
+			ScheduleDelayed(1_ms);
 
 		} else {
 			// CONFIGURE not complete
@@ -201,6 +196,24 @@ void ICM40609D::RunImpl()
 
 		break;
 
+	case STATE::FIFO_RESET:
+
+		_state = STATE::FIFO_READ;
+		FIFOReset();
+
+		if (DataReadyInterruptConfigure()) {
+			_data_ready_interrupt_enabled = true;
+
+			// backup schedule as a watchdog timeout
+			ScheduleDelayed(100_ms);
+
+		} else {
+			_data_ready_interrupt_enabled = false;
+			ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
+		}
+
+		break;
+
 	case STATE::FIFO_READ: {
 			hrt_abstime timestamp_sample = now;
 			uint8_t samples = 0;
@@ -209,7 +222,7 @@ void ICM40609D::RunImpl()
 				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
 				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
 
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+				if (now < drdy_timestamp_sample + _fifo_empty_interval_us) {
 					timestamp_sample = drdy_timestamp_sample;
 					samples = _fifo_gyro_samples;
 
@@ -221,6 +234,8 @@ void ICM40609D::RunImpl()
 				ScheduleDelayed(_fifo_empty_interval_us * 2);
 			}
 
+			bool success = false;
+
 			if (samples == 0) {
 				// check current FIFO count
 				const uint16_t fifo_count = FIFOReadCount();
@@ -233,27 +248,42 @@ void ICM40609D::RunImpl()
 					perf_count(_fifo_empty_perf);
 
 				} else {
-					// FIFO count (size in bytes)
-					samples = (fifo_count / sizeof(FIFO::DATA));
+					// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
+					samples = fifo_count / sizeof(FIFO::DATA);
 
-					// tolerate minor jitter, leave sample to next iteration if behind by only 1
-					if (samples == _fifo_gyro_samples + 1) {
-						timestamp_sample -= static_cast<int>(FIFO_SAMPLE_DT);
-						samples--;
+					if (samples > _fifo_gyro_samples) {
+						// grab desired number of samples, but reschedule next cycle sooner
+						const int extra_samples = samples - _fifo_gyro_samples;
+						samples = _fifo_gyro_samples;
+
+						if (_fifo_gyro_samples > extra_samples) {
+							// reschedule to run when a total of _fifo_gyro_samples should be available in the FIFO
+							const uint32_t reschedule_delay_us = (_fifo_gyro_samples - extra_samples) * static_cast<int>(FIFO_SAMPLE_DT);
+							ScheduleOnInterval(_fifo_empty_interval_us, reschedule_delay_us);
+
+						} else {
+							// otherwise reschedule to run immediately
+							ScheduleOnInterval(_fifo_empty_interval_us);
+						}
+
+					} else if (samples < _fifo_gyro_samples) {
+						// reschedule next cycle to catch the desired number of samples
+						ScheduleOnInterval(_fifo_empty_interval_us, (_fifo_gyro_samples - samples) * static_cast<int>(FIFO_SAMPLE_DT));
 					}
 
-					if (samples > FIFO_MAX_SAMPLES) {
-						// not technically an overflow, but more samples than we expected or can publish
-						FIFOReset();
-						perf_count(_fifo_overflow_perf);
-						samples = 0;
+					if (samples == _fifo_gyro_samples) {
+						if (FIFORead(now, samples)) {
+							success = true;
+
+							if (_failure_count > 0) {
+								_failure_count--;
+							}
+						}
 					}
 				}
 			}
 
-			bool success = false;
-
-			if (samples >= 1) {
+			if (samples == _fifo_gyro_samples) {
 				if (FIFORead(timestamp_sample, samples)) {
 					success = true;
 
@@ -268,13 +298,14 @@ void ICM40609D::RunImpl()
 
 				// full reset if things are failing consistently
 				if (_failure_count > 10) {
+					PX4_DEBUG("Full reset because things are failing consistently");
 					Reset();
 					return;
 				}
 			}
 
+			// check configuration registers periodically or immediately following any failure
 			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
-				// check configuration registers periodically or immediately following any failure
 				if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0])
 				   ) {
 					_last_config_check_timestamp = now;
@@ -285,13 +316,6 @@ void ICM40609D::RunImpl()
 					perf_count(_bad_register_perf);
 					Reset();
 				}
-
-			} else {
-				// periodically update temperature (~1 Hz)
-				if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
-					UpdateTemperature();
-					_temperature_update_timestamp = now;
-				}
 			}
 		}
 
@@ -299,75 +323,16 @@ void ICM40609D::RunImpl()
 	}
 }
 
-void ICM40609D::ConfigureAccel()
-{
-	const uint8_t ACCEL_FS_SEL = RegisterRead(Register::BANK_0::ACCEL_CONFIG0) & (Bit7 | Bit6 | Bit5); // 7:5 ACCEL_FS_SEL
-
-	switch (ACCEL_FS_SEL) {
-	case ACCEL_FS_SEL_4G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
-		_px4_accel.set_range(4.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_8G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f);
-		_px4_accel.set_range(8.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_16G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
-		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_32G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 1024.f);
-		_px4_accel.set_range(32.f * CONSTANTS_ONE_G);
-		break;
-	}
-}
-
-void ICM40609D::ConfigureGyro()
-{
-	const uint8_t GYRO_FS_SEL = RegisterRead(Register::BANK_0::GYRO_CONFIG0) & (Bit7 | Bit6 | Bit5); // 7:5 GYRO_FS_SEL
-
-	float range_dps = 0.f;
-
-	switch (GYRO_FS_SEL) {
-	case GYRO_FS_SEL_125_DPS:
-		range_dps = 125.f;
-		break;
-
-	case GYRO_FS_SEL_250_DPS:
-		range_dps = 250.f;
-		break;
-
-	case GYRO_FS_SEL_500_DPS:
-		range_dps = 500.f;
-		break;
-
-	case GYRO_FS_SEL_1000_DPS:
-		range_dps = 1000.f;
-		break;
-
-	case GYRO_FS_SEL_2000_DPS:
-		range_dps = 2000.f;
-		break;
-	}
-
-	_px4_gyro.set_scale(math::radians(range_dps / 32768.f));
-	_px4_gyro.set_range(math::radians(range_dps));
-}
-
 void ICM40609D::ConfigureSampleRate(int sample_rate)
 {
 	// round down to nearest FIFO sample dt
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
 
-	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
+	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / RATE), (float)FIFO_MAX_SAMPLES));
 
 	// recompute FIFO empty interval (us) with actual gyro sample limit
-	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
+	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / RATE);
 
 	ConfigureFIFOWatermark(_fifo_gyro_samples);
 }
@@ -418,9 +383,6 @@ bool ICM40609D::Configure()
 		}
 	}
 
-	ConfigureAccel();
-	ConfigureGyro();
-
 	return success;
 }
 
@@ -443,7 +405,7 @@ bool ICM40609D::DataReadyInterruptConfigure()
 	}
 
 	// Setup data ready on falling edge
-	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, true, false, &DataReadyInterruptCallback, this) == 0);
 }
 
 bool ICM40609D::DataReadyInterruptDisable()
@@ -452,7 +414,7 @@ bool ICM40609D::DataReadyInterruptDisable()
 		return false;
 	}
 
-	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0);
 }
 
 template <typename T>
@@ -507,23 +469,36 @@ void ICM40609D::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbit
 
 uint16_t ICM40609D::FIFOReadCount()
 {
-	// read FIFO count
-	uint8_t fifo_count_buf[3] {};
-	fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
-	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+	} buffer{};
 
-	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+	// read FIFO count
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return 0;
 	}
 
-	return combine(fifo_count_buf[1], fifo_count_buf[2]);
+	return (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 }
 
 bool ICM40609D::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
-	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, FIFO::SIZE);
+	// FIFO transfer buffer
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
+		uint8_t INT_STATUS{0};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	} buffer{};
+
+	// cmd + INT_STATUS + FIFO_COUNTH + FIFO_COUNTL + samples (FIFO::DATA)
+	const size_t transfer_size = 4 + math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
+
 	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
 
 	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
@@ -537,7 +512,7 @@ bool ICM40609D::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 		return false;
 	}
 
-	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
+	const uint16_t fifo_count_bytes = (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 
 	if (fifo_count_bytes >= FIFO::SIZE) {
 		perf_count(_fifo_overflow_perf);
@@ -552,40 +527,151 @@ bool ICM40609D::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 		return false;
 	}
 
+	sensor_imu_fifo_s sensor_imu_fifo{};
+
+	sensor_imu_fifo.timestamp_sample = timestamp_sample;
+	sensor_imu_fifo.device_id = get_device_id();
+	sensor_imu_fifo.dt = FIFO_SAMPLE_DT;
+	sensor_imu_fifo.samples = 0;
+	sensor_imu_fifo.accel_scale = CONSTANTS_ONE_G / 8192.f; // highres accel data 8192 LSB/g
+	sensor_imu_fifo.gyro_scale = math::radians(1.f / 131.f); // highres gyro data 131 LSB/dps
+
 	// check FIFO header in every sample
 	uint8_t valid_samples = 0;
 
+	float temperature_sum = 0;
+
+	float timestamp_interval_sum = 0;
+	int timestamp_interval_sum_count = 0;
+
+	bool accel_scale_16bit = false; // 18-bits of accelerometer data
+	bool gyro_scale_16bit = false; // 20-bits of gyroscope data
+
 	for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
-		bool valid = true;
+		const FIFO::DATA &fifo = buffer.f[i];
 
 		// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
-		const uint8_t FIFO_HEADER = buffer.f[i].FIFO_Header;
+		const uint8_t FIFO_HEADER = fifo.FIFO_Header;
 
-		if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG) {
-			// FIFO sample empty if HEADER_MSG set
-			valid = false;
+		const bool HEADER_MSG       = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG; // FIFO is empty
+		const bool HEADER_ACCEL     = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL;
+		const bool HEADER_GYRO      = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO;
+		// 3:2 HEADER_TIMESTAMP_FSYNC
+		const bool HEADER_ODR_ACCEL = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL; // ODR for accel is different
+		const bool HEADER_ODR_GYRO  = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO;  // ODR for gyro is different
 
-		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL)) {
-			// accel bit not set
-			valid = false;
+		if (!HEADER_MSG && HEADER_ACCEL && HEADER_GYRO && HEADER_20 && !HEADER_ODR_ACCEL && !HEADER_ODR_GYRO) {
 
-		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO)) {
-			// gyro bit not set
-			valid = false;
-		}
+			// 20 bit data scaled to 16 bit
+			sensor_imu_fifo.accel_scale = CONSTANTS_ONE_G / 2048.f;
+
+			sensor_imu_fifo.accel_x[valid_samples] = combine(fifo.ACCEL_DATA_X1, fifo.ACCEL_DATA_X0);
+			sensor_imu_fifo.accel_y[valid_samples] = combine(fifo.ACCEL_DATA_Y1, fifo.ACCEL_DATA_Y0);
+			sensor_imu_fifo.accel_z[valid_samples] = combine(fifo.ACCEL_DATA_Z1, fifo.ACCEL_DATA_Z0);
+
+			sensor_imu_fifo.gyro_x[i] = combine(fifo.GYRO_DATA_X1, fifo.GYRO_DATA_X0);
+			sensor_imu_fifo.gyro_y[i] = combine(fifo.GYRO_DATA_Y1, fifo.GYRO_DATA_Y0);
+			sensor_imu_fifo.gyro_z[i] = combine(fifo.GYRO_DATA_Z1, fifo.GYRO_DATA_Z0);
+
+			// temperature
+			const int16_t TEMP_DATA = combine(fifo.TEMP_DATA1, fifo.TEMP_DATA0);
+
+			// sample invalid if -32768
+			if (TEMP_DATA != -32768) {
+				temperature_sum += TEMP_DATA;
+
+			} else {
+				break;
+			}
+
+
+			// HEADER_TIMESTAMP_FSYNC - 0b10: Packet contains ODR Timestamp
+			if (FIFO_HEADER & Bit3) {
+				const uint16_t timestamp = (fifo.TimeStamp_h << 8) + fifo.TimeStamp_l;
+
+				if (_timestamp_prev != 0) {
+					// If TMST_RES = 0 (corresponding to timestamp resolution of 1µs), timestamp interval reported in FIFO requires scaling by a factor of 32/30.
+					// Document Number: DS-000347 Revision: 1.5 Page 59 of 110
+					static constexpr float FIFO_DT_SCALE = 32.f / 30.f;
+
+					float dt = 0;
+
+					if (timestamp > _timestamp_prev) {
+						dt = static_cast<float>(timestamp - _timestamp_prev) * FIFO_DT_SCALE;
+
+					} else if (timestamp < _timestamp_prev) {
+						// uint16_t rollover
+						uint32_t timestamp_new = UINT16_MAX + timestamp;
+						dt = static_cast<float>(timestamp_new - _timestamp_prev) * FIFO_DT_SCALE;
+					}
+
+					timestamp_interval_sum += dt;
+					timestamp_interval_sum_count++;
+
+					// check dt is within +=2% of expected value
+					if ((dt < (FIFO_SAMPLE_DT * 0.98f)) || (dt > (FIFO_SAMPLE_DT * 1.02f))) {
+						perf_count(_fifo_timestamp_error_perf);
+					}
+				}
+
+				_timestamp_prev = timestamp;
+			}
 
-		if (valid) {
 			valid_samples++;
-
-		} else {
-			perf_count(_bad_transfer_perf);
-			break;
 		}
 	}
 
 	if (valid_samples > 0) {
-		ProcessGyro(timestamp_sample, buffer.f, valid_samples);
-		ProcessAccel(timestamp_sample, buffer.f, valid_samples);
+
+		sensor_imu_fifo.samples = valid_samples;
+
+		for (int i = 0; i < sensor_imu_fifo.samples; i++) {
+			// sensor's frame is +x forward, +y left, +z up
+			//  flip y & z to publish right handed with z down (x forward, y right, z down)
+
+			// sensor_imu_fifo.accel_x[i]
+			sensor_imu_fifo.accel_y[i] = math::negate(sensor_imu_fifo.accel_y[i]);
+			sensor_imu_fifo.accel_z[i] = math::negate(sensor_imu_fifo.accel_z[i]);
+			rotate_3i(_rotation, sensor_imu_fifo.accel_x[i], sensor_imu_fifo.accel_y[i], sensor_imu_fifo.accel_z[i]);
+
+			// sensor_imu_fifo.gyro_x[i]
+			sensor_imu_fifo.gyro_y[i] = math::negate(sensor_imu_fifo.gyro_y[i]);
+			sensor_imu_fifo.gyro_z[i] = math::negate(sensor_imu_fifo.gyro_z[i]);
+			rotate_3i(_rotation, sensor_imu_fifo.gyro_x[i], sensor_imu_fifo.gyro_y[i], sensor_imu_fifo.gyro_z[i]);
+		}
+
+		const float temperature_avg = temperature_sum / valid_samples;
+
+		// use average temperature reading
+		const float TEMP_degC = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
+
+		if (PX4_ISFINITE(TEMP_degC)) {
+			sensor_imu_fifo.temperature = TEMP_degC;
+
+		} else {
+			perf_count(_bad_transfer_perf);
+			return false;
+		}
+
+		if (timestamp_interval_sum > 0) {
+			const float dt_avg = (timestamp_interval_sum / timestamp_interval_sum_count);
+
+			// check dt is within +=1% of expected value
+			if ((dt_avg < (FIFO_SAMPLE_DT * 0.99f)) || (dt_avg > (FIFO_SAMPLE_DT * 1.01f))) {
+				PX4_ERR("DT error %.6f", (double)dt_avg);
+				perf_count(_fifo_timestamp_error_perf);
+
+			} else {
+				sensor_imu_fifo.dt = dt_avg;
+			}
+		}
+
+		sensor_imu_fifo.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+					      perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_imu_fifo.timestamp = hrt_absolute_time();
+		_sensor_imu_fifo_pub.publish(sensor_imu_fifo);
+
 		return true;
 	}
 
@@ -601,80 +687,6 @@ void ICM40609D::FIFOReset()
 
 	// reset while FIFO is disabled
 	_drdy_timestamp_sample.store(0);
-}
-
-void ICM40609D::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT;
-
-	for (int i = 0; i < samples; i++) {
-		int16_t accel_x = combine(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0);
-		int16_t accel_y = combine(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0);
-		int16_t accel_z = combine(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		accel.x[accel.samples] = accel_x;
-		accel.y[accel.samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
-		accel.z[accel.samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
-		accel.samples++;
-	}
-
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	if (accel.samples > 0) {
-		_px4_accel.updateFIFO(accel);
-	}
-}
-
-void ICM40609D::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = samples;
-	gyro.dt = FIFO_SAMPLE_DT;
-
-	for (int i = 0; i < samples; i++) {
-		const int16_t gyro_x = combine(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0);
-		const int16_t gyro_y = combine(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0);
-		const int16_t gyro_z = combine(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro_x;
-		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
-	}
-
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	_px4_gyro.updateFIFO(gyro);
-}
-
-void ICM40609D::UpdateTemperature()
-{
-	// read current temperature
-	uint8_t temperature_buf[3] {};
-	temperature_buf[0] = static_cast<uint8_t>(Register::BANK_0::TEMP_DATA1) | DIR_READ;
-	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
-
-	if (transfer(temperature_buf, temperature_buf, sizeof(temperature_buf)) != PX4_OK) {
-		perf_count(_bad_transfer_perf);
-		return;
-	}
-
-	const int16_t TEMP_DATA = combine(temperature_buf[1], temperature_buf[2]);
-
-	// Temperature in Degrees Centigrade
-	const float TEMP_degC = (TEMP_DATA / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
-
-	if (PX4_ISFINITE(TEMP_degC)) {
-		_px4_accel.set_temperature(TEMP_degC);
-		_px4_gyro.set_temperature(TEMP_degC);
-	}
+
+	_timestamp_prev = 0;
 }

src/drivers/imu/invensense/icm40609d/ICM40609D.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -43,14 +43,15 @@
 #include "InvenSense_ICM40609D_registers.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_imu_fifo.h>
+
 using namespace InvenSense_ICM40609D;
 
 class ICM40609D : public device::SPI, public I2CSPIDriver<ICM40609D>
@@ -71,22 +72,10 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};     // 8000 Hz accel & gyro ODR configured
-	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
-	static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
+	static constexpr float RATE{1e6f / FIFO_SAMPLE_DT};
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
-
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
-		uint8_t INT_STATUS{0};
-		uint8_t FIFO_COUNTH{0};
-		uint8_t FIFO_COUNTL{0};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), (size_t)sensor_imu_fifo_s::FIFO_SIZE)};
 
 	struct register_bank0_config_t {
 		Register::BANK_0 reg;
@@ -99,8 +88,6 @@ private:
 	bool Reset();
 
 	bool Configure();
-	void ConfigureAccel();
-	void ConfigureGyro();
 	void ConfigureSampleRate(int sample_rate);
 	void ConfigureFIFOWatermark(uint8_t samples);
 
@@ -123,20 +110,18 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	void ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void UpdateTemperature();
-
 	const spi_drdy_gpio_t _drdy_gpio;
 
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
+	uORB::PublicationMulti<sensor_imu_fifo_s> _sensor_imu_fifo_pub{ORB_ID(sensor_imu_fifo)};
+
+	const enum Rotation _rotation;
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
 	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
 	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
 	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
+	perf_counter_t _fifo_timestamp_error_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO timestamp error")};
 	perf_counter_t _drdy_missed_perf{nullptr};
 
 	hrt_abstime _reset_timestamp{0};
@@ -144,6 +129,8 @@ private:
 	hrt_abstime _temperature_update_timestamp{0};
 	int _failure_count{0};
 
+	uint16_t _timestamp_prev{0};
+
 	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
 
 	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
@@ -153,11 +140,12 @@ private:
 		RESET,
 		WAIT_FOR_RESET,
 		CONFIGURE,
+		FIFO_RESET,
 		FIFO_READ,
 	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / RATE))};
 
 	uint8_t _checked_register_bank0{0};
 	static constexpr uint8_t size_register_bank0_cfg{10};

src/drivers/imu/invensense/icm42605/CMakeLists.txt

@@ -41,6 +41,4 @@ px4_add_module(
 		InvenSense_ICM42605_registers.hpp
 	DEPENDS
 		px4_work_queue
-		drivers_accelerometer
-		drivers_gyroscope
 	)

src/drivers/imu/invensense/icm42605/ICM42605.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,6 +33,8 @@
 
 #include "ICM42605.hpp"
 
+#include <lib/parameters/param.h>
+
 using namespace time_literals;
 
 static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
@@ -44,14 +46,16 @@ ICM42605::ICM42605(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
 	_drdy_gpio(config.drdy_gpio),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
-	if (config.drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+	int32_t imu_gyro_rate_max = 400;
+	param_get(param_find("IMU_GYRO_RATEMAX"), &imu_gyro_rate_max);
+
+	ConfigureSampleRate(imu_gyro_rate_max);
 }
 
 ICM42605::~ICM42605()
@@ -61,6 +65,7 @@ ICM42605::~ICM42605()
 	perf_free(_fifo_empty_perf);
 	perf_free(_fifo_overflow_perf);
 	perf_free(_fifo_reset_perf);
+	perf_free(_fifo_timestamp_error_perf);
 	perf_free(_drdy_missed_perf);
 }
 
@@ -102,12 +107,14 @@ void ICM42605::print_status()
 	perf_print_counter(_fifo_empty_perf);
 	perf_print_counter(_fifo_overflow_perf);
 	perf_print_counter(_fifo_reset_perf);
+	perf_print_counter(_fifo_timestamp_error_perf);
 	perf_print_counter(_drdy_missed_perf);
 }
 
 int ICM42605::probe()
 {
-	for (int i = 0; i < 3; i++) {
+	// 3 retries
+	for (int retry = 0; retry < 3; retry++) {
 		uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
 
 		if (whoami == WHOAMI) {
@@ -162,8 +169,8 @@ void ICM42605::RunImpl()
 				ScheduleDelayed(100_ms);
 
 			} else {
-				PX4_DEBUG("Reset not complete, check again in 10 ms");
-				ScheduleDelayed(10_ms);
+				PX4_DEBUG("Reset not complete, check again in 100 ms");
+				ScheduleDelayed(100_ms);
 			}
 		}
 
@@ -171,21 +178,9 @@ void ICM42605::RunImpl()
 
 	case STATE::CONFIGURE:
 		if (Configure()) {
-			// if configure succeeded then start reading from FIFO
-			_state = STATE::FIFO_READ;
-
-			if (DataReadyInterruptConfigure()) {
-				_data_ready_interrupt_enabled = true;
-
-				// backup schedule as a watchdog timeout
-				ScheduleDelayed(100_ms);
-
-			} else {
-				_data_ready_interrupt_enabled = false;
-				ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
-			}
-
-			FIFOReset();
+			// if configure succeeded then reset the FIFO
+			_state = STATE::FIFO_RESET;
+			ScheduleDelayed(1_ms);
 
 		} else {
 			// CONFIGURE not complete
@@ -202,6 +197,24 @@ void ICM42605::RunImpl()
 
 		break;
 
+	case STATE::FIFO_RESET:
+
+		_state = STATE::FIFO_READ;
+		FIFOReset();
+
+		if (DataReadyInterruptConfigure()) {
+			_data_ready_interrupt_enabled = true;
+
+			// backup schedule as a watchdog timeout
+			ScheduleDelayed(100_ms);
+
+		} else {
+			_data_ready_interrupt_enabled = false;
+			ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
+		}
+
+		break;
+
 	case STATE::FIFO_READ: {
 			hrt_abstime timestamp_sample = now;
 			uint8_t samples = 0;
@@ -210,7 +223,7 @@ void ICM42605::RunImpl()
 				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
 				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
 
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+				if (now < drdy_timestamp_sample + _fifo_empty_interval_us) {
 					timestamp_sample = drdy_timestamp_sample;
 					samples = _fifo_gyro_samples;
 
@@ -222,6 +235,8 @@ void ICM42605::RunImpl()
 				ScheduleDelayed(_fifo_empty_interval_us * 2);
 			}
 
+			bool success = false;
+
 			if (samples == 0) {
 				// check current FIFO count
 				const uint16_t fifo_count = FIFOReadCount();
@@ -234,27 +249,42 @@ void ICM42605::RunImpl()
 					perf_count(_fifo_empty_perf);
 
 				} else {
-					// FIFO count (size in bytes)
-					samples = (fifo_count / sizeof(FIFO::DATA));
+					// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
+					samples = fifo_count / sizeof(FIFO::DATA);
 
-					// tolerate minor jitter, leave sample to next iteration if behind by only 1
-					if (samples == _fifo_gyro_samples + 1) {
-						timestamp_sample -= static_cast<int>(FIFO_SAMPLE_DT);
-						samples--;
+					if (samples > _fifo_gyro_samples) {
+						// grab desired number of samples, but reschedule next cycle sooner
+						const int extra_samples = samples - _fifo_gyro_samples;
+						samples = _fifo_gyro_samples;
+
+						if (_fifo_gyro_samples > extra_samples) {
+							// reschedule to run when a total of _fifo_gyro_samples should be available in the FIFO
+							const uint32_t reschedule_delay_us = (_fifo_gyro_samples - extra_samples) * static_cast<int>(FIFO_SAMPLE_DT);
+							ScheduleOnInterval(_fifo_empty_interval_us, reschedule_delay_us);
+
+						} else {
+							// otherwise reschedule to run immediately
+							ScheduleOnInterval(_fifo_empty_interval_us);
+						}
+
+					} else if (samples < _fifo_gyro_samples) {
+						// reschedule next cycle to catch the desired number of samples
+						ScheduleOnInterval(_fifo_empty_interval_us, (_fifo_gyro_samples - samples) * static_cast<int>(FIFO_SAMPLE_DT));
 					}
 
-					if (samples > FIFO_MAX_SAMPLES) {
-						// not technically an overflow, but more samples than we expected or can publish
-						FIFOReset();
-						perf_count(_fifo_overflow_perf);
-						samples = 0;
+					if (samples == _fifo_gyro_samples) {
+						if (FIFORead(now, samples)) {
+							success = true;
+
+							if (_failure_count > 0) {
+								_failure_count--;
+							}
+						}
 					}
 				}
 			}
 
-			bool success = false;
-
-			if (samples >= 1) {
+			if (samples == _fifo_gyro_samples) {
 				if (FIFORead(timestamp_sample, samples)) {
 					success = true;
 
@@ -269,13 +299,14 @@ void ICM42605::RunImpl()
 
 				// full reset if things are failing consistently
 				if (_failure_count > 10) {
+					PX4_DEBUG("Full reset because things are failing consistently");
 					Reset();
 					return;
 				}
 			}
 
+			// check configuration registers periodically or immediately following any failure
 			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
-				// check configuration registers periodically or immediately following any failure
 				if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0])
 				   ) {
 					_last_config_check_timestamp = now;
@@ -286,13 +317,6 @@ void ICM42605::RunImpl()
 					perf_count(_bad_register_perf);
 					Reset();
 				}
-
-			} else {
-				// periodically update temperature (~1 Hz)
-				if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
-					UpdateTemperature();
-					_temperature_update_timestamp = now;
-				}
 			}
 		}
 
@@ -300,75 +324,16 @@ void ICM42605::RunImpl()
 	}
 }
 
-void ICM42605::ConfigureAccel()
-{
-	const uint8_t ACCEL_FS_SEL = RegisterRead(Register::BANK_0::ACCEL_CONFIG0) & (Bit7 | Bit6 | Bit5); // 7:5 ACCEL_FS_SEL
-
-	switch (ACCEL_FS_SEL) {
-	case ACCEL_FS_SEL_2G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 16384.f);
-		_px4_accel.set_range(2.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_4G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
-		_px4_accel.set_range(4.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_8G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f);
-		_px4_accel.set_range(8.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_16G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
-		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
-		break;
-	}
-}
-
-void ICM42605::ConfigureGyro()
-{
-	const uint8_t GYRO_FS_SEL = RegisterRead(Register::BANK_0::GYRO_CONFIG0) & (Bit7 | Bit6 | Bit5); // 7:5 GYRO_FS_SEL
-
-	float range_dps = 0.f;
-
-	switch (GYRO_FS_SEL) {
-	case GYRO_FS_SEL_125_DPS:
-		range_dps = 125.f;
-		break;
-
-	case GYRO_FS_SEL_250_DPS:
-		range_dps = 250.f;
-		break;
-
-	case GYRO_FS_SEL_500_DPS:
-		range_dps = 500.f;
-		break;
-
-	case GYRO_FS_SEL_1000_DPS:
-		range_dps = 1000.f;
-		break;
-
-	case GYRO_FS_SEL_2000_DPS:
-		range_dps = 2000.f;
-		break;
-	}
-
-	_px4_gyro.set_scale(math::radians(range_dps / 32768.f));
-	_px4_gyro.set_range(math::radians(range_dps));
-}
-
 void ICM42605::ConfigureSampleRate(int sample_rate)
 {
 	// round down to nearest FIFO sample dt
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
 
-	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
+	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / RATE), (float)FIFO_MAX_SAMPLES));
 
 	// recompute FIFO empty interval (us) with actual gyro sample limit
-	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
+	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / RATE);
 
 	ConfigureFIFOWatermark(_fifo_gyro_samples);
 }
@@ -419,9 +384,6 @@ bool ICM42605::Configure()
 		}
 	}
 
-	ConfigureAccel();
-	ConfigureGyro();
-
 	return success;
 }
 
@@ -444,7 +406,7 @@ bool ICM42605::DataReadyInterruptConfigure()
 	}
 
 	// Setup data ready on falling edge
-	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, true, false, &DataReadyInterruptCallback, this) == 0);
 }
 
 bool ICM42605::DataReadyInterruptDisable()
@@ -453,7 +415,7 @@ bool ICM42605::DataReadyInterruptDisable()
 		return false;
 	}
 
-	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0);
 }
 
 template <typename T>
@@ -508,23 +470,36 @@ void ICM42605::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits
 
 uint16_t ICM42605::FIFOReadCount()
 {
-	// read FIFO count
-	uint8_t fifo_count_buf[3] {};
-	fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
-	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+	} buffer{};
 
-	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+	// read FIFO count
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return 0;
 	}
 
-	return combine(fifo_count_buf[1], fifo_count_buf[2]);
+	return (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 }
 
 bool ICM42605::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
-	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, FIFO::SIZE);
+	// FIFO transfer buffer
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
+		uint8_t INT_STATUS{0};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	} buffer{};
+
+	// cmd + INT_STATUS + FIFO_COUNTH + FIFO_COUNTL + samples (FIFO::DATA)
+	const size_t transfer_size = 4 + math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
+
 	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
 
 	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
@@ -538,7 +513,7 @@ bool ICM42605::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 		return false;
 	}
 
-	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
+	const uint16_t fifo_count_bytes = (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 
 	if (fifo_count_bytes >= FIFO::SIZE) {
 		perf_count(_fifo_overflow_perf);
@@ -553,40 +528,151 @@ bool ICM42605::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 		return false;
 	}
 
+	sensor_imu_fifo_s sensor_imu_fifo{};
+
+	sensor_imu_fifo.timestamp_sample = timestamp_sample;
+	sensor_imu_fifo.device_id = get_device_id();
+	sensor_imu_fifo.dt = FIFO_SAMPLE_DT;
+	sensor_imu_fifo.samples = 0;
+	sensor_imu_fifo.accel_scale = CONSTANTS_ONE_G / 8192.f; // highres accel data 8192 LSB/g
+	sensor_imu_fifo.gyro_scale = math::radians(1.f / 131.f); // highres gyro data 131 LSB/dps
+
 	// check FIFO header in every sample
 	uint8_t valid_samples = 0;
 
+	float temperature_sum = 0;
+
+	float timestamp_interval_sum = 0;
+	int timestamp_interval_sum_count = 0;
+
+	bool accel_scale_16bit = false; // 18-bits of accelerometer data
+	bool gyro_scale_16bit = false; // 20-bits of gyroscope data
+
 	for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
-		bool valid = true;
+		const FIFO::DATA &fifo = buffer.f[i];
 
 		// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
-		const uint8_t FIFO_HEADER = buffer.f[i].FIFO_Header;
+		const uint8_t FIFO_HEADER = fifo.FIFO_Header;
 
-		if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG) {
-			// FIFO sample empty if HEADER_MSG set
-			valid = false;
+		const bool HEADER_MSG       = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG; // FIFO is empty
+		const bool HEADER_ACCEL     = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL;
+		const bool HEADER_GYRO      = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO;
+		// 3:2 HEADER_TIMESTAMP_FSYNC
+		const bool HEADER_ODR_ACCEL = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL; // ODR for accel is different
+		const bool HEADER_ODR_GYRO  = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO;  // ODR for gyro is different
 
-		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL)) {
-			// accel bit not set
-			valid = false;
+		if (!HEADER_MSG && HEADER_ACCEL && HEADER_GYRO && HEADER_20 && !HEADER_ODR_ACCEL && !HEADER_ODR_GYRO) {
 
-		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO)) {
-			// gyro bit not set
-			valid = false;
-		}
+			// 20 bit data scaled to 16 bit
+			sensor_imu_fifo.accel_scale = CONSTANTS_ONE_G / 2048.f;
+
+			sensor_imu_fifo.accel_x[valid_samples] = combine(fifo.ACCEL_DATA_X1, fifo.ACCEL_DATA_X0);
+			sensor_imu_fifo.accel_y[valid_samples] = combine(fifo.ACCEL_DATA_Y1, fifo.ACCEL_DATA_Y0);
+			sensor_imu_fifo.accel_z[valid_samples] = combine(fifo.ACCEL_DATA_Z1, fifo.ACCEL_DATA_Z0);
+
+			sensor_imu_fifo.gyro_x[i] = combine(fifo.GYRO_DATA_X1, fifo.GYRO_DATA_X0);
+			sensor_imu_fifo.gyro_y[i] = combine(fifo.GYRO_DATA_Y1, fifo.GYRO_DATA_Y0);
+			sensor_imu_fifo.gyro_z[i] = combine(fifo.GYRO_DATA_Z1, fifo.GYRO_DATA_Z0);
+
+			// temperature
+			const int16_t TEMP_DATA = combine(fifo.TEMP_DATA1, fifo.TEMP_DATA0);
+
+			// sample invalid if -32768
+			if (TEMP_DATA != -32768) {
+				temperature_sum += TEMP_DATA;
+
+			} else {
+				break;
+			}
+
+
+			// HEADER_TIMESTAMP_FSYNC - 0b10: Packet contains ODR Timestamp
+			if (FIFO_HEADER & Bit3) {
+				const uint16_t timestamp = (fifo.TimeStamp_h << 8) + fifo.TimeStamp_l;
+
+				if (_timestamp_prev != 0) {
+					// If TMST_RES = 0 (corresponding to timestamp resolution of 1µs), timestamp interval reported in FIFO requires scaling by a factor of 32/30.
+					// Document Number: DS-000347 Revision: 1.5 Page 59 of 110
+					static constexpr float FIFO_DT_SCALE = 32.f / 30.f;
+
+					float dt = 0;
+
+					if (timestamp > _timestamp_prev) {
+						dt = static_cast<float>(timestamp - _timestamp_prev) * FIFO_DT_SCALE;
+
+					} else if (timestamp < _timestamp_prev) {
+						// uint16_t rollover
+						uint32_t timestamp_new = UINT16_MAX + timestamp;
+						dt = static_cast<float>(timestamp_new - _timestamp_prev) * FIFO_DT_SCALE;
+					}
+
+					timestamp_interval_sum += dt;
+					timestamp_interval_sum_count++;
+
+					// check dt is within +=2% of expected value
+					if ((dt < (FIFO_SAMPLE_DT * 0.98f)) || (dt > (FIFO_SAMPLE_DT * 1.02f))) {
+						perf_count(_fifo_timestamp_error_perf);
+					}
+				}
+
+				_timestamp_prev = timestamp;
+			}
 
-		if (valid) {
 			valid_samples++;
-
-		} else {
-			perf_count(_bad_transfer_perf);
-			break;
 		}
 	}
 
 	if (valid_samples > 0) {
-		ProcessGyro(timestamp_sample, buffer.f, valid_samples);
-		ProcessAccel(timestamp_sample, buffer.f, valid_samples);
+
+		sensor_imu_fifo.samples = valid_samples;
+
+		for (int i = 0; i < sensor_imu_fifo.samples; i++) {
+			// sensor's frame is +x forward, +y left, +z up
+			//  flip y & z to publish right handed with z down (x forward, y right, z down)
+
+			// sensor_imu_fifo.accel_x[i]
+			sensor_imu_fifo.accel_y[i] = math::negate(sensor_imu_fifo.accel_y[i]);
+			sensor_imu_fifo.accel_z[i] = math::negate(sensor_imu_fifo.accel_z[i]);
+			rotate_3i(_rotation, sensor_imu_fifo.accel_x[i], sensor_imu_fifo.accel_y[i], sensor_imu_fifo.accel_z[i]);
+
+			// sensor_imu_fifo.gyro_x[i]
+			sensor_imu_fifo.gyro_y[i] = math::negate(sensor_imu_fifo.gyro_y[i]);
+			sensor_imu_fifo.gyro_z[i] = math::negate(sensor_imu_fifo.gyro_z[i]);
+			rotate_3i(_rotation, sensor_imu_fifo.gyro_x[i], sensor_imu_fifo.gyro_y[i], sensor_imu_fifo.gyro_z[i]);
+		}
+
+		const float temperature_avg = temperature_sum / valid_samples;
+
+		// use average temperature reading
+		const float TEMP_degC = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
+
+		if (PX4_ISFINITE(TEMP_degC)) {
+			sensor_imu_fifo.temperature = TEMP_degC;
+
+		} else {
+			perf_count(_bad_transfer_perf);
+			return false;
+		}
+
+		if (timestamp_interval_sum > 0) {
+			const float dt_avg = (timestamp_interval_sum / timestamp_interval_sum_count);
+
+			// check dt is within +=1% of expected value
+			if ((dt_avg < (FIFO_SAMPLE_DT * 0.99f)) || (dt_avg > (FIFO_SAMPLE_DT * 1.01f))) {
+				PX4_ERR("DT error %.6f", (double)dt_avg);
+				perf_count(_fifo_timestamp_error_perf);
+
+			} else {
+				sensor_imu_fifo.dt = dt_avg;
+			}
+		}
+
+		sensor_imu_fifo.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+					      perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_imu_fifo.timestamp = hrt_absolute_time();
+		_sensor_imu_fifo_pub.publish(sensor_imu_fifo);
+
 		return true;
 	}
 
@@ -602,80 +688,6 @@ void ICM42605::FIFOReset()
 
 	// reset while FIFO is disabled
 	_drdy_timestamp_sample.store(0);
-}
-
-void ICM42605::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT;
-
-	for (int i = 0; i < samples; i++) {
-		int16_t accel_x = combine(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0);
-		int16_t accel_y = combine(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0);
-		int16_t accel_z = combine(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		accel.x[accel.samples] = accel_x;
-		accel.y[accel.samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
-		accel.z[accel.samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
-		accel.samples++;
-	}
-
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	if (accel.samples > 0) {
-		_px4_accel.updateFIFO(accel);
-	}
-}
-
-void ICM42605::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = samples;
-	gyro.dt = FIFO_SAMPLE_DT;
-
-	for (int i = 0; i < samples; i++) {
-		const int16_t gyro_x = combine(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0);
-		const int16_t gyro_y = combine(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0);
-		const int16_t gyro_z = combine(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro_x;
-		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
-	}
-
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	_px4_gyro.updateFIFO(gyro);
-}
-
-void ICM42605::UpdateTemperature()
-{
-	// read current temperature
-	uint8_t temperature_buf[3] {};
-	temperature_buf[0] = static_cast<uint8_t>(Register::BANK_0::TEMP_DATA1) | DIR_READ;
-	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
-
-	if (transfer(temperature_buf, temperature_buf, sizeof(temperature_buf)) != PX4_OK) {
-		perf_count(_bad_transfer_perf);
-		return;
-	}
-
-	const int16_t TEMP_DATA = combine(temperature_buf[1], temperature_buf[2]);
-
-	// Temperature in Degrees Centigrade
-	const float TEMP_degC = (TEMP_DATA / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
-
-	if (PX4_ISFINITE(TEMP_degC)) {
-		_px4_accel.set_temperature(TEMP_degC);
-		_px4_gyro.set_temperature(TEMP_degC);
-	}
+
+	_timestamp_prev = 0;
 }

src/drivers/imu/invensense/icm42605/ICM42605.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -43,14 +43,15 @@
 #include "InvenSense_ICM42605_registers.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_imu_fifo.h>
+
 using namespace InvenSense_ICM42605;
 
 class ICM42605 : public device::SPI, public I2CSPIDriver<ICM42605>
@@ -71,22 +72,10 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};     // 8000 Hz accel & gyro ODR configured
-	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
-	static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
+	static constexpr float RATE{1e6f / FIFO_SAMPLE_DT};
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
-
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
-		uint8_t INT_STATUS{0};
-		uint8_t FIFO_COUNTH{0};
-		uint8_t FIFO_COUNTL{0};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), (size_t)sensor_imu_fifo_s::FIFO_SIZE)};
 
 	struct register_bank0_config_t {
 		Register::BANK_0 reg;
@@ -99,8 +88,6 @@ private:
 	bool Reset();
 
 	bool Configure();
-	void ConfigureAccel();
-	void ConfigureGyro();
 	void ConfigureSampleRate(int sample_rate);
 	void ConfigureFIFOWatermark(uint8_t samples);
 
@@ -123,20 +110,18 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	void ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void UpdateTemperature();
-
 	const spi_drdy_gpio_t _drdy_gpio;
 
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
+	uORB::PublicationMulti<sensor_imu_fifo_s> _sensor_imu_fifo_pub{ORB_ID(sensor_imu_fifo)};
+
+	const enum Rotation _rotation;
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
 	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
 	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
 	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
+	perf_counter_t _fifo_timestamp_error_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO timestamp error")};
 	perf_counter_t _drdy_missed_perf{nullptr};
 
 	hrt_abstime _reset_timestamp{0};
@@ -144,6 +129,8 @@ private:
 	hrt_abstime _temperature_update_timestamp{0};
 	int _failure_count{0};
 
+	uint16_t _timestamp_prev{0};
+
 	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
 
 	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
@@ -153,11 +140,12 @@ private:
 		RESET,
 		WAIT_FOR_RESET,
 		CONFIGURE,
+		FIFO_RESET,
 		FIFO_READ,
 	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / RATE))};
 
 	uint8_t _checked_register_bank0{0};
 	static constexpr uint8_t size_register_bank0_cfg{10};

src/drivers/imu/invensense/icm42605/InvenSense_ICM42605_registers.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -242,7 +242,7 @@ enum FIFO_HEADER_BIT : uint8_t {
 	HEADER_MSG             = Bit7, // 1: FIFO is empty
 	HEADER_ACCEL           = Bit6,
 	HEADER_GYRO            = Bit5,
-	HEADER_20              = Bit4,
+
 	HEADER_TIMESTAMP_FSYNC = Bit3 | Bit2,
 	HEADER_ODR_ACCEL       = Bit1,
 	HEADER_ODR_GYRO        = Bit0,

src/drivers/imu/invensense/icm42670p/CMakeLists.txt

@@ -41,6 +41,4 @@ px4_add_module(
 		InvenSense_ICM42670P_registers.hpp
 	DEPENDS
 		px4_work_queue
-		drivers_accelerometer
-		drivers_gyroscope
 	)

src/drivers/imu/invensense/icm42670p/ICM42670P.cpp

@@ -33,6 +33,8 @@
 
 #include "ICM42670P.hpp"
 
+#include <lib/parameters/param.h>
+
 using namespace time_literals;
 
 static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
@@ -44,14 +46,16 @@ ICM42670P::ICM42670P(const I2CSPIDriverConfig &config):
 	SPI(config),
 	I2CSPIDriver(config),
 	_drdy_gpio(config.drdy_gpio),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
-	if (config.drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+	int32_t imu_gyro_rate_max = 400;
+	param_get(param_find("IMU_GYRO_RATEMAX"), &imu_gyro_rate_max);
+
+	ConfigureSampleRate(imu_gyro_rate_max);
 }
 
 ICM42670P::~ICM42670P()
@@ -61,6 +65,7 @@ ICM42670P::~ICM42670P()
 	perf_free(_fifo_empty_perf);
 	perf_free(_fifo_overflow_perf);
 	perf_free(_fifo_reset_perf);
+	perf_free(_fifo_timestamp_error_perf);
 	perf_free(_drdy_missed_perf);
 }
 
@@ -102,19 +107,25 @@ void ICM42670P::print_status()
 	perf_print_counter(_fifo_empty_perf);
 	perf_print_counter(_fifo_overflow_perf);
 	perf_print_counter(_fifo_reset_perf);
+	perf_print_counter(_fifo_timestamp_error_perf);
 	perf_print_counter(_drdy_missed_perf);
 }
 
 int ICM42670P::probe()
 {
-	const uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
+	// 3 retries
+	for (int retry = 0; retry < 3; retry++) {
+		uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
 
-	if (whoami != WHOAMI) {
-		DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
-		return PX4_ERROR;
+		if (whoami == WHOAMI) {
+			return PX4_OK;
+
+		} else {
+			DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
+		}
 	}
 
-	return PX4_OK;
+	return PX4_ERROR;
 }
 
 void ICM42670P::RunImpl()
@@ -149,8 +160,8 @@ void ICM42670P::RunImpl()
 				ScheduleDelayed(100_ms);
 
 			} else {
-				PX4_DEBUG("Reset not complete, check again in 10 ms");
-				ScheduleDelayed(10_ms);
+				PX4_DEBUG("Reset not complete, check again in 100 ms");
+				ScheduleDelayed(100_ms);
 			}
 		}
 
@@ -158,21 +169,9 @@ void ICM42670P::RunImpl()
 
 	case STATE::CONFIGURE:
 		if (Configure()) {
-			// if configure succeeded then start reading from FIFO
-			_state = STATE::FIFO_READ;
-
-			if (DataReadyInterruptConfigure()) {
-				_data_ready_interrupt_enabled = true;
-
-				// backup schedule as a watchdog timeout
-				ScheduleDelayed(100_ms);
-
-			} else {
-				_data_ready_interrupt_enabled = false;
-				ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
-			}
-
-			FIFOReset();
+			// if configure succeeded then reset the FIFO
+			_state = STATE::FIFO_RESET;
+			ScheduleDelayed(1_ms);
 
 		} else {
 			// CONFIGURE not complete
@@ -189,6 +188,24 @@ void ICM42670P::RunImpl()
 
 		break;
 
+	case STATE::FIFO_RESET:
+
+		_state = STATE::FIFO_READ;
+		FIFOReset();
+
+		if (DataReadyInterruptConfigure()) {
+			_data_ready_interrupt_enabled = true;
+
+			// backup schedule as a watchdog timeout
+			ScheduleDelayed(100_ms);
+
+		} else {
+			_data_ready_interrupt_enabled = false;
+			ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
+		}
+
+		break;
+
 	case STATE::FIFO_READ: {
 			hrt_abstime timestamp_sample = now;
 			uint8_t samples = 0;
@@ -197,7 +214,7 @@ void ICM42670P::RunImpl()
 				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
 				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
 
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+				if (now < drdy_timestamp_sample + _fifo_empty_interval_us) {
 					timestamp_sample = drdy_timestamp_sample;
 					samples = _fifo_gyro_samples;
 
@@ -209,6 +226,8 @@ void ICM42670P::RunImpl()
 				ScheduleDelayed(_fifo_empty_interval_us * 2);
 			}
 
+			bool success = false;
+
 			if (samples == 0) {
 				// check current FIFO count
 				const uint16_t fifo_count = FIFOReadCount();
@@ -221,27 +240,42 @@ void ICM42670P::RunImpl()
 					perf_count(_fifo_empty_perf);
 
 				} else {
-					// FIFO count (size in bytes)
-					samples = (fifo_count / sizeof(FIFO::DATA));
+					// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
+					samples = fifo_count / sizeof(FIFO::DATA);
 
-					// tolerate minor jitter, leave sample to next iteration if behind by only 1
-					if (samples == _fifo_gyro_samples + 1) {
-						timestamp_sample -= static_cast<int>(FIFO_SAMPLE_DT);
-						samples--;
+					if (samples > _fifo_gyro_samples) {
+						// grab desired number of samples, but reschedule next cycle sooner
+						const int extra_samples = samples - _fifo_gyro_samples;
+						samples = _fifo_gyro_samples;
+
+						if (_fifo_gyro_samples > extra_samples) {
+							// reschedule to run when a total of _fifo_gyro_samples should be available in the FIFO
+							const uint32_t reschedule_delay_us = (_fifo_gyro_samples - extra_samples) * static_cast<int>(FIFO_SAMPLE_DT);
+							ScheduleOnInterval(_fifo_empty_interval_us, reschedule_delay_us);
+
+						} else {
+							// otherwise reschedule to run immediately
+							ScheduleOnInterval(_fifo_empty_interval_us);
+						}
+
+					} else if (samples < _fifo_gyro_samples) {
+						// reschedule next cycle to catch the desired number of samples
+						ScheduleOnInterval(_fifo_empty_interval_us, (_fifo_gyro_samples - samples) * static_cast<int>(FIFO_SAMPLE_DT));
 					}
 
-					if (samples > FIFO_MAX_SAMPLES) {
-						// not technically an overflow, but more samples than we expected or can publish
-						FIFOReset();
-						perf_count(_fifo_overflow_perf);
-						samples = 0;
+					if (samples == _fifo_gyro_samples) {
+						if (FIFORead(now, samples)) {
+							success = true;
+
+							if (_failure_count > 0) {
+								_failure_count--;
+							}
+						}
 					}
 				}
 			}
 
-			bool success = false;
-
-			if (samples >= 1) {
+			if (samples == _fifo_gyro_samples) {
 				if (FIFORead(timestamp_sample, samples)) {
 					success = true;
 
@@ -256,13 +290,14 @@ void ICM42670P::RunImpl()
 
 				// full reset if things are failing consistently
 				if (_failure_count > 10) {
+					PX4_DEBUG("Full reset because things are failing consistently");
 					Reset();
 					return;
 				}
 			}
 
+			// check configuration registers periodically or immediately following any failure
 			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
-				// check configuration registers periodically or immediately following any failure
 				if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0])
 				    && RegisterCheck(_register_mreg1_cfg[_checked_register_mreg1])
 				   ) {
@@ -275,13 +310,6 @@ void ICM42670P::RunImpl()
 					perf_count(_bad_register_perf);
 					Reset();
 				}
-
-			} else {
-				// periodically update temperature (~1 Hz)
-				if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
-					UpdateTemperature();
-					_temperature_update_timestamp = now;
-				}
 			}
 		}
 
@@ -295,10 +323,10 @@ void ICM42670P::ConfigureSampleRate(int sample_rate)
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
 
-	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
+	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / RATE), (float)FIFO_MAX_SAMPLES));
 
 	// recompute FIFO empty interval (us) with actual gyro sample limit
-	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
+	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / RATE);
 
 	ConfigureFIFOWatermark(_fifo_gyro_samples);
 }
@@ -346,12 +374,6 @@ bool ICM42670P::Configure()
 		}
 	}
 
-	_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
-	_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
-
-	_px4_gyro.set_scale(math::radians(2000.f / 32768.f));
-	_px4_gyro.set_range(math::radians(2000.f));
-
 	return success;
 }
 
@@ -374,7 +396,7 @@ bool ICM42670P::DataReadyInterruptConfigure()
 	}
 
 	// Setup data ready on falling edge
-	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, true, false, &DataReadyInterruptCallback, this) == 0);
 }
 
 bool ICM42670P::DataReadyInterruptDisable()
@@ -383,7 +405,7 @@ bool ICM42670P::DataReadyInterruptDisable()
 		return false;
 	}
 
-	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0);
 }
 
 template <typename T>
@@ -457,7 +479,6 @@ void ICM42670P::RegisterWrite(Register::MREG1 reg, uint8_t value)
 	px4_udelay(10);
 }
 
-
 template <typename T>
 void ICM42670P::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits)
 {
@@ -472,22 +493,35 @@ void ICM42670P::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbit
 
 uint16_t ICM42670P::FIFOReadCount()
 {
-	// read FIFO count
-	uint8_t fifo_count_buf[3] {};
-	fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+	} buffer{};
 
-	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+	// read FIFO count
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return 0;
 	}
 
-	return combine(fifo_count_buf[1], fifo_count_buf[2]);
+	return (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 }
 
 bool ICM42670P::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
-	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 6, FIFO::SIZE);
+	// FIFO transfer buffer
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
+		uint8_t INT_STATUS{0};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	} buffer{};
+
+	// cmd + INT_STATUS + FIFO_COUNTH + FIFO_COUNTL + samples (FIFO::DATA)
+	const size_t transfer_size = 4 + math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
 
 	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
@@ -500,7 +534,7 @@ bool ICM42670P::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 		return false;
 	}
 
-	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
+	const uint16_t fifo_count_bytes = (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 
 	if (fifo_count_bytes >= FIFO::SIZE) {
 		perf_count(_fifo_overflow_perf);
@@ -515,52 +549,151 @@ bool ICM42670P::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 		return false;
 	}
 
+	sensor_imu_fifo_s sensor_imu_fifo{};
+
+	sensor_imu_fifo.timestamp_sample = timestamp_sample;
+	sensor_imu_fifo.device_id = get_device_id();
+	sensor_imu_fifo.dt = FIFO_SAMPLE_DT;
+	sensor_imu_fifo.samples = 0;
+	sensor_imu_fifo.accel_scale = CONSTANTS_ONE_G / 8192.f; // highres accel data 8192 LSB/g
+	sensor_imu_fifo.gyro_scale = math::radians(1.f / 131.f); // highres gyro data 131 LSB/dps
+
 	// check FIFO header in every sample
 	uint8_t valid_samples = 0;
 
+	float temperature_sum = 0;
+
+	float timestamp_interval_sum = 0;
+	int timestamp_interval_sum_count = 0;
+
+	bool accel_scale_16bit = false; // 18-bits of accelerometer data
+	bool gyro_scale_16bit = false; // 20-bits of gyroscope data
+
 	for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
-		bool valid = true;
+		const FIFO::DATA &fifo = buffer.f[i];
 
 		// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
-		const uint8_t FIFO_HEADER = buffer.f[i].FIFO_Header;
+		const uint8_t FIFO_HEADER = fifo.FIFO_Header;
 
-		if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG) {
-			// FIFO sample empty if HEADER_MSG set
-			valid = false;
+		const bool HEADER_MSG       = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG; // FIFO is empty
+		const bool HEADER_ACCEL     = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL;
+		const bool HEADER_GYRO      = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO;
+		// 3:2 HEADER_TIMESTAMP_FSYNC
+		const bool HEADER_ODR_ACCEL = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL; // ODR for accel is different
+		const bool HEADER_ODR_GYRO  = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO;  // ODR for gyro is different
 
-		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL)) {
-			// accel bit not set
-			valid = false;
+		if (!HEADER_MSG && HEADER_ACCEL && HEADER_GYRO && !HEADER_ODR_ACCEL && !HEADER_ODR_GYRO) {
 
-		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO)) {
-			// gyro bit not set
-			valid = false;
+			// 20 bit data scaled to 16 bit
+			sensor_imu_fifo.accel_scale = CONSTANTS_ONE_G / 2048.f;
 
-		} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_20) {
-			// Packet does not contain a new and valid extended 20-bit data
-			valid = false;
+			sensor_imu_fifo.accel_x[valid_samples] = combine(fifo.ACCEL_DATA_X1, fifo.ACCEL_DATA_X0);
+			sensor_imu_fifo.accel_y[valid_samples] = combine(fifo.ACCEL_DATA_Y1, fifo.ACCEL_DATA_Y0);
+			sensor_imu_fifo.accel_z[valid_samples] = combine(fifo.ACCEL_DATA_Z1, fifo.ACCEL_DATA_Z0);
 
-		} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL) {
-			// accel ODR changed
-			valid = false;
+			sensor_imu_fifo.gyro_x[i] = combine(fifo.GYRO_DATA_X1, fifo.GYRO_DATA_X0);
+			sensor_imu_fifo.gyro_y[i] = combine(fifo.GYRO_DATA_Y1, fifo.GYRO_DATA_Y0);
+			sensor_imu_fifo.gyro_z[i] = combine(fifo.GYRO_DATA_Z1, fifo.GYRO_DATA_Z0);
 
-		} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO) {
-			// gyro ODR changed
-			valid = false;
-		}
+			// temperature
+			const int16_t TEMP_DATA = combine(fifo.TEMP_DATA1, fifo.TEMP_DATA0);
+
+			// sample invalid if -32768
+			if (TEMP_DATA != -32768) {
+				temperature_sum += TEMP_DATA;
+
+			} else {
+				break;
+			}
+
+
+			// HEADER_TIMESTAMP_FSYNC - 0b10: Packet contains ODR Timestamp
+			if (FIFO_HEADER & Bit3) {
+				const uint16_t timestamp = (fifo.TimeStamp_h << 8) + fifo.TimeStamp_l;
+
+				if (_timestamp_prev != 0) {
+					// If TMST_RES = 0 (corresponding to timestamp resolution of 1µs), timestamp interval reported in FIFO requires scaling by a factor of 32/30.
+					// Document Number: DS-000347 Revision: 1.5 Page 59 of 110
+					static constexpr float FIFO_DT_SCALE = 32.f / 30.f;
+
+					float dt = 0;
+
+					if (timestamp > _timestamp_prev) {
+						dt = static_cast<float>(timestamp - _timestamp_prev) * FIFO_DT_SCALE;
+
+					} else if (timestamp < _timestamp_prev) {
+						// uint16_t rollover
+						uint32_t timestamp_new = UINT16_MAX + timestamp;
+						dt = static_cast<float>(timestamp_new - _timestamp_prev) * FIFO_DT_SCALE;
+					}
+
+					timestamp_interval_sum += dt;
+					timestamp_interval_sum_count++;
+
+					// check dt is within +=2% of expected value
+					if ((dt < (FIFO_SAMPLE_DT * 0.98f)) || (dt > (FIFO_SAMPLE_DT * 1.02f))) {
+						perf_count(_fifo_timestamp_error_perf);
+					}
+				}
+
+				_timestamp_prev = timestamp;
+			}
 
-		if (valid) {
 			valid_samples++;
-
-		} else {
-			perf_count(_bad_transfer_perf);
-			break;
 		}
 	}
 
 	if (valid_samples > 0) {
-		ProcessGyro(timestamp_sample, buffer.f, valid_samples);
-		ProcessAccel(timestamp_sample, buffer.f, valid_samples);
+
+		sensor_imu_fifo.samples = valid_samples;
+
+		for (int i = 0; i < sensor_imu_fifo.samples; i++) {
+			// sensor's frame is +x forward, +y left, +z up
+			//  flip y & z to publish right handed with z down (x forward, y right, z down)
+
+			// sensor_imu_fifo.accel_x[i]
+			sensor_imu_fifo.accel_y[i] = math::negate(sensor_imu_fifo.accel_y[i]);
+			sensor_imu_fifo.accel_z[i] = math::negate(sensor_imu_fifo.accel_z[i]);
+			rotate_3i(_rotation, sensor_imu_fifo.accel_x[i], sensor_imu_fifo.accel_y[i], sensor_imu_fifo.accel_z[i]);
+
+			// sensor_imu_fifo.gyro_x[i]
+			sensor_imu_fifo.gyro_y[i] = math::negate(sensor_imu_fifo.gyro_y[i]);
+			sensor_imu_fifo.gyro_z[i] = math::negate(sensor_imu_fifo.gyro_z[i]);
+			rotate_3i(_rotation, sensor_imu_fifo.gyro_x[i], sensor_imu_fifo.gyro_y[i], sensor_imu_fifo.gyro_z[i]);
+		}
+
+		const float temperature_avg = temperature_sum / valid_samples;
+
+		// use average temperature reading
+		const float TEMP_degC = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
+
+		if (PX4_ISFINITE(TEMP_degC)) {
+			sensor_imu_fifo.temperature = TEMP_degC;
+
+		} else {
+			perf_count(_bad_transfer_perf);
+			return false;
+		}
+
+		if (timestamp_interval_sum > 0) {
+			const float dt_avg = (timestamp_interval_sum / timestamp_interval_sum_count);
+
+			// check dt is within +=1% of expected value
+			if ((dt_avg < (FIFO_SAMPLE_DT * 0.99f)) || (dt_avg > (FIFO_SAMPLE_DT * 1.01f))) {
+				PX4_ERR("DT error %.6f", (double)dt_avg);
+				perf_count(_fifo_timestamp_error_perf);
+
+			} else {
+				sensor_imu_fifo.dt = dt_avg;
+			}
+		}
+
+		sensor_imu_fifo.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+					      perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_imu_fifo.timestamp = hrt_absolute_time();
+		_sensor_imu_fifo_pub.publish(sensor_imu_fifo);
+
 		return true;
 	}
 
@@ -571,93 +704,11 @@ void ICM42670P::FIFOReset()
 {
 	perf_count(_fifo_reset_perf);
 
-	// FIFO flush requires the following programming sequence:
-	//  Write FIFO_FLUSH = 1
-	//  Wait for 1.5 µs
-	//  Read FIFO_FLUSH, it should now be 0
-
 	// SIGNAL_PATH_RESET: FIFO flush
 	RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);
-	px4_udelay(2); // Wait for 1.5 µs
-
-	const uint8_t SIGNAL_PATH_RESET = RegisterRead(Register::BANK_0::SIGNAL_PATH_RESET);
-
-	if ((SIGNAL_PATH_RESET & SIGNAL_PATH_RESET_BIT::FIFO_FLUSH) != 0) {
-		PX4_DEBUG("SIGNAL_PATH_RESET FIFO_FLUSH failed");
-	}
 
 	// reset while FIFO is disabled
 	_drdy_timestamp_sample.store(0);
-}
-
-void ICM42670P::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = samples;
-	accel.dt = FIFO_SAMPLE_DT;
-
-	for (int i = 0; i < samples; i++) {
-		int16_t accel_x = combine(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0);
-		int16_t accel_y = combine(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0);
-		int16_t accel_z = combine(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		accel.x[i] = accel_x;
-		accel.y[i] = math::negate(accel_y);
-		accel.z[i] = math::negate(accel_z);
-	}
-
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	_px4_accel.updateFIFO(accel);
-}
-
-void ICM42670P::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = samples;
-	gyro.dt = FIFO_SAMPLE_DT;
-
-	for (int i = 0; i < samples; i++) {
-		const int16_t gyro_x = combine(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0);
-		const int16_t gyro_y = combine(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0);
-		const int16_t gyro_z = combine(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro_x;
-		gyro.y[i] = math::negate(gyro_y);
-		gyro.z[i] = math::negate(gyro_z);
-	}
-
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	_px4_gyro.updateFIFO(gyro);
-}
-
-void ICM42670P::UpdateTemperature()
-{
-	// read current temperature
-	uint8_t temperature_buf[3] {};
-	temperature_buf[0] = static_cast<uint8_t>(Register::BANK_0::TEMP_DATA1) | DIR_READ;
-
-	if (transfer(temperature_buf, temperature_buf, sizeof(temperature_buf)) != PX4_OK) {
-		perf_count(_bad_transfer_perf);
-		return;
-	}
-
-	const int16_t TEMP_DATA = combine(temperature_buf[1], temperature_buf[2]);
-
-	// Temperature in Degrees Centigrade
-	const float TEMP_degC = (TEMP_DATA / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
-
-	if (PX4_ISFINITE(TEMP_degC)) {
-		_px4_accel.set_temperature(TEMP_degC);
-		_px4_gyro.set_temperature(TEMP_degC);
-	}
+
+	_timestamp_prev = 0;
 }

src/drivers/imu/invensense/icm42670p/ICM42670P.hpp

@@ -43,13 +43,15 @@
 #include "InvenSense_ICM42670P_registers.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
+#include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_imu_fifo.h>
+
 using namespace InvenSense_ICM42670P;
 
 class ICM42670P : public device::SPI, public I2CSPIDriver<ICM42670P>
@@ -70,24 +72,10 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 1600.f};     // 1600 Hz accel & gyro ODR configured
-	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
-	static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
+	static constexpr float RATE{1e6f / FIFO_SAMPLE_DT};
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
-
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
-		uint8_t INT_STATUS{0};
-		uint8_t INT_STATUS2{0};
-		uint8_t INT_STATUS3{0};
-		uint8_t FIFO_COUNTH{0};
-		uint8_t FIFO_COUNTL{0};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (6 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), (size_t)sensor_imu_fifo_s::FIFO_SIZE)};
 
 	struct register_bank0_config_t {
 		Register::BANK_0 reg;
@@ -129,20 +117,18 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	void ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void UpdateTemperature();
-
 	const spi_drdy_gpio_t _drdy_gpio;
 
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
+	uORB::PublicationMulti<sensor_imu_fifo_s> _sensor_imu_fifo_pub{ORB_ID(sensor_imu_fifo)};
+
+	const enum Rotation _rotation;
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
 	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
 	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
 	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
+	perf_counter_t _fifo_timestamp_error_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO timestamp error")};
 	perf_counter_t _drdy_missed_perf{nullptr};
 
 	hrt_abstime _reset_timestamp{0};
@@ -150,6 +136,8 @@ private:
 	hrt_abstime _temperature_update_timestamp{0};
 	int _failure_count{0};
 
+	uint16_t _timestamp_prev{0};
+
 	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
 	bool _data_ready_interrupt_enabled{false};
 
@@ -157,11 +145,12 @@ private:
 		RESET,
 		WAIT_FOR_RESET,
 		CONFIGURE,
+		FIFO_RESET,
 		FIFO_READ,
 	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / RATE))};
 
 	uint8_t _checked_register_bank0{0};
 	static constexpr uint8_t size_register_bank0_cfg{10};

src/drivers/imu/invensense/icm42670p/InvenSense_ICM42670P_registers.hpp

@@ -231,7 +231,7 @@ enum FIFO_HEADER_BIT : uint8_t {
 	HEADER_MSG             = Bit7, // 1: FIFO is empty
 	HEADER_ACCEL           = Bit6, // 1: Packet is sized so that accel data have location in the packet, FIFO_ACCEL_EN must be 1
 	HEADER_GYRO            = Bit5, // 1: Packet is sized so that gyro data have location in the packet, FIFO_GYRO_EN must be1
-	HEADER_20              = Bit4, // 1: Packet has a new and valid sample of extended 20-bit data for gyro and/or accel
+
 	HEADER_TIMESTAMP_FSYNC = Bit3 | Bit2,
 	HEADER_ODR_ACCEL       = Bit1, // 1: The ODR for accel is different for this accel data packet compared to the previous accel packet
 	HEADER_ODR_GYRO        = Bit0, // 1: The ODR for gyro is different for this gyro data packet compared to the previous gyro packet

src/drivers/imu/invensense/icm42688p/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2020-2022 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
@@ -42,6 +42,4 @@ px4_add_module(
 		InvenSense_ICM42688P_registers.hpp
 	DEPENDS
 		px4_work_queue
-		drivers_accelerometer
-		drivers_gyroscope
 	)

src/drivers/imu/invensense/icm42688p/ICM42688P.cpp

@@ -33,6 +33,8 @@
 
 #include "ICM42688P.hpp"
 
+#include <lib/parameters/param.h>
+
 using namespace time_literals;
 
 static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
@@ -44,14 +46,16 @@ ICM42688P::ICM42688P(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
 	_drdy_gpio(config.drdy_gpio),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
-	if (config.drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+	int32_t imu_gyro_rate_max = 400;
+	param_get(param_find("IMU_GYRO_RATEMAX"), &imu_gyro_rate_max);
+
+	ConfigureSampleRate(imu_gyro_rate_max);
 }
 
 ICM42688P::~ICM42688P()
@@ -61,6 +65,7 @@ ICM42688P::~ICM42688P()
 	perf_free(_fifo_empty_perf);
 	perf_free(_fifo_overflow_perf);
 	perf_free(_fifo_reset_perf);
+	perf_free(_fifo_timestamp_error_perf);
 	perf_free(_drdy_missed_perf);
 }
 
@@ -102,12 +107,14 @@ void ICM42688P::print_status()
 	perf_print_counter(_fifo_empty_perf);
 	perf_print_counter(_fifo_overflow_perf);
 	perf_print_counter(_fifo_reset_perf);
+	perf_print_counter(_fifo_timestamp_error_perf);
 	perf_print_counter(_drdy_missed_perf);
 }
 
 int ICM42688P::probe()
 {
-	for (int i = 0; i < 3; i++) {
+	// 3 retries
+	for (int retry = 0; retry < 3; retry++) {
 		uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
 
 		if (whoami == WHOAMI) {
@@ -162,8 +169,8 @@ void ICM42688P::RunImpl()
 				ScheduleDelayed(100_ms);
 
 			} else {
-				PX4_DEBUG("Reset not complete, check again in 10 ms");
-				ScheduleDelayed(10_ms);
+				PX4_DEBUG("Reset not complete, check again in 100 ms");
+				ScheduleDelayed(100_ms);
 			}
 		}
 
@@ -216,7 +223,7 @@ void ICM42688P::RunImpl()
 				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
 				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
 
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+				if (now < drdy_timestamp_sample + _fifo_empty_interval_us) {
 					timestamp_sample = drdy_timestamp_sample;
 					samples = _fifo_gyro_samples;
 
@@ -228,6 +235,8 @@ void ICM42688P::RunImpl()
 				ScheduleDelayed(_fifo_empty_interval_us * 2);
 			}
 
+			bool success = false;
+
 			if (samples == 0) {
 				// check current FIFO count
 				const uint16_t fifo_count = FIFOReadCount();
@@ -240,27 +249,42 @@ void ICM42688P::RunImpl()
 					perf_count(_fifo_empty_perf);
 
 				} else {
-					// FIFO count (size in bytes)
-					samples = (fifo_count / sizeof(FIFO::DATA));
+					// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
+					samples = fifo_count / sizeof(FIFO::DATA);
 
-					// tolerate minor jitter, leave sample to next iteration if behind by only 1
-					if (samples == _fifo_gyro_samples + 1) {
-						timestamp_sample -= static_cast<int>(FIFO_SAMPLE_DT);
-						samples--;
+					if (samples > _fifo_gyro_samples) {
+						// grab desired number of samples, but reschedule next cycle sooner
+						const int extra_samples = samples - _fifo_gyro_samples;
+						samples = _fifo_gyro_samples;
+
+						if (_fifo_gyro_samples > extra_samples) {
+							// reschedule to run when a total of _fifo_gyro_samples should be available in the FIFO
+							const uint32_t reschedule_delay_us = (_fifo_gyro_samples - extra_samples) * static_cast<int>(FIFO_SAMPLE_DT);
+							ScheduleOnInterval(_fifo_empty_interval_us, reschedule_delay_us);
+
+						} else {
+							// otherwise reschedule to run immediately
+							ScheduleOnInterval(_fifo_empty_interval_us);
+						}
+
+					} else if (samples < _fifo_gyro_samples) {
+						// reschedule next cycle to catch the desired number of samples
+						ScheduleOnInterval(_fifo_empty_interval_us, (_fifo_gyro_samples - samples) * static_cast<int>(FIFO_SAMPLE_DT));
 					}
 
-					if (samples > FIFO_MAX_SAMPLES) {
-						// not technically an overflow, but more samples than we expected or can publish
-						FIFOReset();
-						perf_count(_fifo_overflow_perf);
-						samples = 0;
+					if (samples == _fifo_gyro_samples) {
+						if (FIFORead(now, samples)) {
+							success = true;
+
+							if (_failure_count > 0) {
+								_failure_count--;
+							}
+						}
 					}
 				}
 			}
 
-			bool success = false;
-
-			if (samples >= 1) {
+			if (samples == _fifo_gyro_samples) {
 				if (FIFORead(timestamp_sample, samples)) {
 					success = true;
 
@@ -275,13 +299,14 @@ void ICM42688P::RunImpl()
 
 				// full reset if things are failing consistently
 				if (_failure_count > 10) {
+					PX4_DEBUG("Full reset because things are failing consistently");
 					Reset();
 					return;
 				}
 			}
 
+			// check configuration registers periodically or immediately following any failure
 			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
-				// check configuration registers periodically or immediately following any failure
 				if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0])
 				    && RegisterCheck(_register_bank1_cfg[_checked_register_bank1])
 				    && RegisterCheck(_register_bank2_cfg[_checked_register_bank2])
@@ -309,10 +334,10 @@ void ICM42688P::ConfigureSampleRate(int sample_rate)
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
 
-	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
+	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / RATE), (float)FIFO_MAX_SAMPLES));
 
 	// recompute FIFO empty interval (us) with actual gyro sample limit
-	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
+	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / RATE);
 
 	ConfigureFIFOWatermark(_fifo_gyro_samples);
 }
@@ -362,6 +387,7 @@ bool ICM42688P::Configure()
 		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
 	}
 
+
 	// now check that all are configured
 	bool success = true;
 
@@ -383,11 +409,6 @@ bool ICM42688P::Configure()
 		}
 	}
 
-	// 20-bits data format used
-	//  the only FSR settings that are operational are ±2000dps for gyroscope and ±16g for accelerometer
-	_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
-	_px4_gyro.set_range(math::radians(2000.f));
-
 	return success;
 }
 
@@ -410,7 +431,7 @@ bool ICM42688P::DataReadyInterruptConfigure()
 	}
 
 	// Setup data ready on falling edge
-	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, true, false, &DataReadyInterruptCallback, this) == 0);
 }
 
 bool ICM42688P::DataReadyInterruptDisable()
@@ -419,7 +440,7 @@ bool ICM42688P::DataReadyInterruptDisable()
 		return false;
 	}
 
-	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0);
 }
 
 template <typename T>
@@ -474,114 +495,20 @@ void ICM42688P::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbit
 
 uint16_t ICM42688P::FIFOReadCount()
 {
-	// read FIFO count
-	uint8_t fifo_count_buf[3] {};
-	fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
-	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+	} buffer{};
 
-	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+	// read FIFO count
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return 0;
 	}
 
-	return combine(fifo_count_buf[1], fifo_count_buf[2]);
-}
-
-bool ICM42688P::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
-{
-	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, FIFO::SIZE);
-	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
-
-	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
-		perf_count(_bad_transfer_perf);
-		return false;
-	}
-
-	if (buffer.INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) {
-		perf_count(_fifo_overflow_perf);
-		FIFOReset();
-		return false;
-	}
-
-	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
-
-	if (fifo_count_bytes >= FIFO::SIZE) {
-		perf_count(_fifo_overflow_perf);
-		FIFOReset();
-		return false;
-	}
-
-	const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
-
-	if (fifo_count_samples == 0) {
-		perf_count(_fifo_empty_perf);
-		return false;
-	}
-
-	// check FIFO header in every sample
-	uint8_t valid_samples = 0;
-
-	for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
-		bool valid = true;
-
-		// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
-		const uint8_t FIFO_HEADER = buffer.f[i].FIFO_Header;
-
-		if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG) {
-			// FIFO sample empty if HEADER_MSG set
-			valid = false;
-
-		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL)) {
-			// accel bit not set
-			valid = false;
-
-		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO)) {
-			// gyro bit not set
-			valid = false;
-
-		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_20)) {
-			// Packet does not contain a new and valid extended 20-bit data
-			valid = false;
-
-		} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL) {
-			// accel ODR changed
-			valid = false;
-
-		} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO) {
-			// gyro ODR changed
-			valid = false;
-		}
-
-		if (valid) {
-			valid_samples++;
-
-		} else {
-			perf_count(_bad_transfer_perf);
-			break;
-		}
-	}
-
-	if (valid_samples > 0) {
-		if (ProcessTemperature(buffer.f, valid_samples)) {
-			ProcessGyro(timestamp_sample, buffer.f, valid_samples);
-			ProcessAccel(timestamp_sample, buffer.f, valid_samples);
-			return true;
-		}
-	}
-
-	return false;
-}
-
-void ICM42688P::FIFOReset()
-{
-	perf_count(_fifo_reset_perf);
-
-	// SIGNAL_PATH_RESET: FIFO flush
-	RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);
-
-	// reset while FIFO is disabled
-	_drdy_timestamp_sample.store(0);
+	return (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 }
 
 static constexpr int32_t reassemble_20bit(const uint32_t a, const uint32_t b, const uint32_t c)
@@ -601,206 +528,288 @@ static constexpr int32_t reassemble_20bit(const uint32_t a, const uint32_t b, co
 	return static_cast<int32_t>(x);
 }
 
-void ICM42688P::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
+bool ICM42688P::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT;
+	// FIFO transfer buffer
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
+		uint8_t INT_STATUS{0};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	} buffer{};
 
-	// 18-bits of accelerometer data
-	bool scale_20bit = false;
+	// cmd + INT_STATUS + FIFO_COUNTH + FIFO_COUNTL + samples (FIFO::DATA)
+	const size_t transfer_size = 4 + math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
 
-	// first pass
-	for (int i = 0; i < samples; i++) {
-		// 20 bit hires mode
-		// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
-		// Accel data is 18 bit ()
-		int32_t accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0,
-						   fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4);
-		int32_t accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0,
-						   fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4);
-		int32_t accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0,
-						   fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4);
+	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
 
-		// sample invalid if -524288
-		if (accel_x != -524288 && accel_y != -524288 && accel_z != -524288) {
-			// check if any values are going to exceed int16 limits
-			static constexpr int16_t max_accel = INT16_MAX;
-			static constexpr int16_t min_accel = INT16_MIN;
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
+		perf_count(_bad_transfer_perf);
+		return false;
+	}
 
-			if (accel_x >= max_accel || accel_x <= min_accel) {
-				scale_20bit = true;
+	if (buffer.INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) {
+		perf_count(_fifo_overflow_perf);
+		FIFOReset();
+		return false;
+	}
+
+	const uint16_t fifo_count_bytes = (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
+
+	if (fifo_count_bytes >= FIFO::SIZE) {
+		perf_count(_fifo_overflow_perf);
+		FIFOReset();
+		return false;
+	}
+
+	const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
+
+	if (fifo_count_samples == 0) {
+		perf_count(_fifo_empty_perf);
+		return false;
+	}
+
+	sensor_imu_fifo_s sensor_imu_fifo{};
+
+	sensor_imu_fifo.timestamp_sample = timestamp_sample;
+	sensor_imu_fifo.device_id = get_device_id();
+	sensor_imu_fifo.dt = FIFO_SAMPLE_DT;
+	sensor_imu_fifo.samples = 0;
+	sensor_imu_fifo.accel_scale = CONSTANTS_ONE_G / 8192.f; // highres accel data 8192 LSB/g
+	sensor_imu_fifo.gyro_scale = math::radians(1.f / 131.f); // highres gyro data 131 LSB/dps
+
+	// check FIFO header in every sample
+	uint8_t valid_samples = 0;
+
+	float temperature_sum = 0;
+
+	float timestamp_interval_sum = 0;
+	int timestamp_interval_sum_count = 0;
+
+	bool accel_scale_16bit = false; // 18-bits of accelerometer data
+	bool gyro_scale_16bit = false; // 20-bits of gyroscope data
+
+	for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
+		const FIFO::DATA &fifo = buffer.f[i];
+
+		// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
+		const uint8_t FIFO_HEADER = fifo.FIFO_Header;
+
+		const bool HEADER_MSG       = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG; // FIFO is empty
+		const bool HEADER_ACCEL     = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL;
+		const bool HEADER_GYRO      = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO;
+		const bool HEADER_20        = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_20; // valid sample of extended 20-bit data
+		// 3:2 HEADER_TIMESTAMP_FSYNC
+		const bool HEADER_ODR_ACCEL = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL; // ODR for accel is different
+		const bool HEADER_ODR_GYRO  = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO;  // ODR for gyro is different
+
+		if (!HEADER_MSG && HEADER_ACCEL && HEADER_GYRO && HEADER_20 && !HEADER_ODR_ACCEL && !HEADER_ODR_GYRO) {
+
+			if (!accel_scale_16bit) {
+				// Accel: 20 bit hires mode, Accel data is 18 bit
+				// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
+				int32_t accel_x = reassemble_20bit(fifo.ACCEL_DATA_X1, fifo.ACCEL_DATA_X0, fifo.Ext_Accel_X_Gyro_X & 0xF0 >> 4);
+				int32_t accel_y = reassemble_20bit(fifo.ACCEL_DATA_Y1, fifo.ACCEL_DATA_Y0, fifo.Ext_Accel_Y_Gyro_Y & 0xF0 >> 4);
+				int32_t accel_z = reassemble_20bit(fifo.ACCEL_DATA_Z1, fifo.ACCEL_DATA_Z0, fifo.Ext_Accel_Z_Gyro_Z & 0xF0 >> 4);
+
+				// sample invalid if -524288
+				if (accel_x == -524288 || accel_y == -524288 || accel_z == -524288) {
+					break;
+				}
+
+				// shift by 2 (2 least significant bits are always 0)
+				accel_x = accel_x / 4;
+				accel_y = accel_y / 4;
+				accel_z = accel_z / 4;
+
+				// check if any values are going to exceed int16 limits
+				if ((accel_x >= INT16_MAX || accel_x <= INT16_MIN)
+				    || (accel_y >= INT16_MAX || accel_y <= INT16_MIN)
+				    || (accel_z >= INT16_MAX || accel_z <= INT16_MIN)) {
+
+					accel_scale_16bit = true;
+
+					// 20 bit data scaled to 16 bit
+					sensor_imu_fifo.accel_scale = CONSTANTS_ONE_G / 2048.f;
+
+					// rescale any existing data
+					for (int j = 0; j < valid_samples + 1; j++) {
+						sensor_imu_fifo.accel_x[valid_samples] = combine(buffer.f[j].ACCEL_DATA_X1, buffer.f[j].ACCEL_DATA_X0);
+						sensor_imu_fifo.accel_y[valid_samples] = combine(buffer.f[j].ACCEL_DATA_Y1, buffer.f[j].ACCEL_DATA_Y0);
+						sensor_imu_fifo.accel_z[valid_samples] = combine(buffer.f[j].ACCEL_DATA_Z1, buffer.f[j].ACCEL_DATA_Z0);
+					}
+
+				} else {
+					sensor_imu_fifo.accel_x[valid_samples] = accel_x;
+					sensor_imu_fifo.accel_y[valid_samples] = accel_y;
+					sensor_imu_fifo.accel_z[valid_samples] = accel_z;
+				}
+
+			} else {
+				sensor_imu_fifo.accel_x[valid_samples] = combine(fifo.ACCEL_DATA_X1, fifo.ACCEL_DATA_X0);
+				sensor_imu_fifo.accel_y[valid_samples] = combine(fifo.ACCEL_DATA_Y1, fifo.ACCEL_DATA_Y0);
+				sensor_imu_fifo.accel_z[valid_samples] = combine(fifo.ACCEL_DATA_Z1, fifo.ACCEL_DATA_Z0);
 			}
 
-			if (accel_y >= max_accel || accel_y <= min_accel) {
-				scale_20bit = true;
+
+			if (!gyro_scale_16bit) {
+				// Gyro: 20 bit hires mode
+				// Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte)
+				int32_t gyro_x = reassemble_20bit(fifo.GYRO_DATA_X1, fifo.GYRO_DATA_X0, fifo.Ext_Accel_X_Gyro_X & 0x0F);
+				int32_t gyro_y = reassemble_20bit(fifo.GYRO_DATA_Y1, fifo.GYRO_DATA_Y0, fifo.Ext_Accel_Y_Gyro_Y & 0x0F);
+				int32_t gyro_z = reassemble_20bit(fifo.GYRO_DATA_Z1, fifo.GYRO_DATA_Z0, fifo.Ext_Accel_Z_Gyro_Z & 0x0F);
+
+				// shift by 1 (least significant bit is always 0)
+				gyro_x = gyro_x / 2;
+				gyro_y = gyro_y / 2;
+				gyro_z = gyro_z / 2;
+
+				// check if any gyro values are going to exceed int16 limits
+				if ((gyro_x >= INT16_MAX || gyro_x <= INT16_MIN)
+				    || (gyro_y >= INT16_MAX || gyro_y <= INT16_MIN)
+				    || (gyro_z >= INT16_MAX || gyro_z <= INT16_MIN)) {
+
+
+					gyro_scale_16bit = true;
+
+					// 20 bit data scaled to 16 bit
+					sensor_imu_fifo.gyro_scale = math::radians(2000.f / 32768.f);
+
+					// rescale any existing data
+					for (int j = 0; j < valid_samples + 1; j++) {
+						sensor_imu_fifo.gyro_x[j] = combine(buffer.f[j].GYRO_DATA_X1, buffer.f[j].GYRO_DATA_X0);
+						sensor_imu_fifo.gyro_y[j] = combine(buffer.f[j].GYRO_DATA_Y1, buffer.f[j].GYRO_DATA_Y0);
+						sensor_imu_fifo.gyro_z[j] = combine(buffer.f[j].GYRO_DATA_Z1, buffer.f[j].GYRO_DATA_Z0);
+					}
+
+				} else {
+					sensor_imu_fifo.gyro_x[valid_samples] = gyro_x;
+					sensor_imu_fifo.gyro_y[valid_samples] = gyro_y;
+					sensor_imu_fifo.gyro_z[valid_samples] = gyro_z;
+				}
+
+			} else {
+				sensor_imu_fifo.gyro_x[i] = combine(fifo.GYRO_DATA_X1, fifo.GYRO_DATA_X0);
+				sensor_imu_fifo.gyro_y[i] = combine(fifo.GYRO_DATA_Y1, fifo.GYRO_DATA_Y0);
+				sensor_imu_fifo.gyro_z[i] = combine(fifo.GYRO_DATA_Z1, fifo.GYRO_DATA_Z0);
 			}
 
-			if (accel_z >= max_accel || accel_z <= min_accel) {
-				scale_20bit = true;
+
+			// temperature
+			const int16_t TEMP_DATA = combine(fifo.TEMP_DATA1, fifo.TEMP_DATA0);
+
+			// sample invalid if -32768
+			if (TEMP_DATA != -32768) {
+				temperature_sum += TEMP_DATA;
+
+			} else {
+				break;
 			}
 
-			// shift by 2 (2 least significant bits are always 0)
-			accel.x[accel.samples] = accel_x / 4;
-			accel.y[accel.samples] = accel_y / 4;
-			accel.z[accel.samples] = accel_z / 4;
-			accel.samples++;
-		}
-	}
 
-	if (!scale_20bit) {
-		// if highres enabled accel data is always 8192 LSB/g
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
+			// HEADER_TIMESTAMP_FSYNC - 0b10: Packet contains ODR Timestamp
+			if (FIFO_HEADER & Bit3) {
+				const uint16_t timestamp = (fifo.TimeStamp_h << 8) + fifo.TimeStamp_l;
 
-	} else {
-		// 20 bit data scaled to 16 bit (2^4)
-		for (int i = 0; i < samples; i++) {
-			// 20 bit hires mode
-			// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
-			// Accel data is 18 bit ()
-			int16_t accel_x = combine(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0);
-			int16_t accel_y = combine(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0);
-			int16_t accel_z = combine(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0);
+				if (_timestamp_prev != 0) {
+					// If TMST_RES = 0 (corresponding to timestamp resolution of 1µs), timestamp interval reported in FIFO requires scaling by a factor of 32/30.
+					// Document Number: DS-000347 Revision: 1.5 Page 59 of 110
+					static constexpr float FIFO_DT_SCALE = 32.f / 30.f;
 
-			accel.x[i] = accel_x;
-			accel.y[i] = accel_y;
-			accel.z[i] = accel_z;
-		}
+					float dt = 0;
 
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
-	}
+					if (timestamp > _timestamp_prev) {
+						dt = static_cast<float>(timestamp - _timestamp_prev) * FIFO_DT_SCALE;
 
-	// correct frame for publication
-	for (int i = 0; i < accel.samples; i++) {
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		accel.x[i] = accel.x[i];
-		accel.y[i] = (accel.y[i] == INT16_MIN) ? INT16_MAX : -accel.y[i];
-		accel.z[i] = (accel.z[i] == INT16_MIN) ? INT16_MAX : -accel.z[i];
-	}
+					} else if (timestamp < _timestamp_prev) {
+						// uint16_t rollover
+						uint32_t timestamp_new = UINT16_MAX + timestamp;
+						dt = static_cast<float>(timestamp_new - _timestamp_prev) * FIFO_DT_SCALE;
+					}
 
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+					timestamp_interval_sum += dt;
+					timestamp_interval_sum_count++;
 
-	if (accel.samples > 0) {
-		_px4_accel.updateFIFO(accel);
-	}
-}
+					// check dt is within +=2% of expected value
+					if ((dt < (FIFO_SAMPLE_DT * 0.98f)) || (dt > (FIFO_SAMPLE_DT * 1.02f))) {
+						perf_count(_fifo_timestamp_error_perf);
+					}
+				}
 
-void ICM42688P::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = 0;
-	gyro.dt = FIFO_SAMPLE_DT;
+				_timestamp_prev = timestamp;
+			}
 
-	// 20-bits of gyroscope data
-	bool scale_20bit = false;
-
-	// first pass
-	for (int i = 0; i < samples; i++) {
-		// 20 bit hires mode
-		// Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte)
-		int32_t gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0, fifo[i].Ext_Accel_X_Gyro_X & 0x0F);
-		int32_t gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0, fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F);
-		int32_t gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0, fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F);
-
-		// check if any values are going to exceed int16 limits
-		static constexpr int16_t max_gyro = INT16_MAX;
-		static constexpr int16_t min_gyro = INT16_MIN;
-
-		if (gyro_x >= max_gyro || gyro_x <= min_gyro) {
-			scale_20bit = true;
-		}
-
-		if (gyro_y >= max_gyro || gyro_y <= min_gyro) {
-			scale_20bit = true;
-		}
-
-		if (gyro_z >= max_gyro || gyro_z <= min_gyro) {
-			scale_20bit = true;
-		}
-
-		gyro.x[gyro.samples] = gyro_x / 2;
-		gyro.y[gyro.samples] = gyro_y / 2;
-		gyro.z[gyro.samples] = gyro_z / 2;
-		gyro.samples++;
-	}
-
-	if (!scale_20bit) {
-		// if highres enabled gyro data is always 131 LSB/dps
-		_px4_gyro.set_scale(math::radians(1.f / 131.f));
-
-	} else {
-		// 20 bit data scaled to 16 bit (2^4)
-		for (int i = 0; i < samples; i++) {
-			gyro.x[i] = combine(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0);
-			gyro.y[i] = combine(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0);
-			gyro.z[i] = combine(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0);
-		}
-
-		_px4_gyro.set_scale(math::radians(2000.f / 32768.f));
-	}
-
-	// correct frame for publication
-	for (int i = 0; i < gyro.samples; i++) {
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro.x[i];
-		gyro.y[i] = (gyro.y[i] == INT16_MIN) ? INT16_MAX : -gyro.y[i];
-		gyro.z[i] = (gyro.z[i] == INT16_MIN) ? INT16_MAX : -gyro.z[i];
-	}
-
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	if (gyro.samples > 0) {
-		_px4_gyro.updateFIFO(gyro);
-	}
-}
-
-bool ICM42688P::ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples)
-{
-	int16_t temperature[FIFO_MAX_SAMPLES];
-	float temperature_sum{0};
-
-	int valid_samples = 0;
-
-	for (int i = 0; i < samples; i++) {
-		const int16_t t = combine(fifo[i].TEMP_DATA1, fifo[i].TEMP_DATA0);
-
-		// sample invalid if -32768
-		if (t != -32768) {
-			temperature_sum += t;
-			temperature[valid_samples] = t;
 			valid_samples++;
 		}
 	}
 
 	if (valid_samples > 0) {
-		const float temperature_avg = temperature_sum / valid_samples;
 
-		for (int i = 0; i < valid_samples; i++) {
-			// temperature changing wildly is an indication of a transfer error
-			if (fabsf(temperature[i] - temperature_avg) > 1000) {
-				perf_count(_bad_transfer_perf);
-				return false;
-			}
+		sensor_imu_fifo.samples = valid_samples;
+
+		for (int i = 0; i < sensor_imu_fifo.samples; i++) {
+			// sensor's frame is +x forward, +y left, +z up
+			//  flip y & z to publish right handed with z down (x forward, y right, z down)
+
+			// sensor_imu_fifo.accel_x[i]
+			sensor_imu_fifo.accel_y[i] = math::negate(sensor_imu_fifo.accel_y[i]);
+			sensor_imu_fifo.accel_z[i] = math::negate(sensor_imu_fifo.accel_z[i]);
+			rotate_3i(_rotation, sensor_imu_fifo.accel_x[i], sensor_imu_fifo.accel_y[i], sensor_imu_fifo.accel_z[i]);
+
+			// sensor_imu_fifo.gyro_x[i]
+			sensor_imu_fifo.gyro_y[i] = math::negate(sensor_imu_fifo.gyro_y[i]);
+			sensor_imu_fifo.gyro_z[i] = math::negate(sensor_imu_fifo.gyro_z[i]);
+			rotate_3i(_rotation, sensor_imu_fifo.gyro_x[i], sensor_imu_fifo.gyro_y[i], sensor_imu_fifo.gyro_z[i]);
 		}
 
+		const float temperature_avg = temperature_sum / valid_samples;
+
 		// use average temperature reading
 		const float TEMP_degC = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 
 		if (PX4_ISFINITE(TEMP_degC)) {
-			_px4_accel.set_temperature(TEMP_degC);
-			_px4_gyro.set_temperature(TEMP_degC);
-			return true;
+			sensor_imu_fifo.temperature = TEMP_degC;
 
 		} else {
 			perf_count(_bad_transfer_perf);
+			return false;
 		}
+
+		if (timestamp_interval_sum > 0) {
+			const float dt_avg = (timestamp_interval_sum / timestamp_interval_sum_count);
+
+			// check dt is within +=1% of expected value
+			if ((dt_avg < (FIFO_SAMPLE_DT * 0.99f)) || (dt_avg > (FIFO_SAMPLE_DT * 1.01f))) {
+				PX4_ERR("DT error %.6f", (double)dt_avg);
+				perf_count(_fifo_timestamp_error_perf);
+
+			} else {
+				sensor_imu_fifo.dt = dt_avg;
+			}
+		}
+
+		sensor_imu_fifo.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+					      perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_imu_fifo.timestamp = hrt_absolute_time();
+		_sensor_imu_fifo_pub.publish(sensor_imu_fifo);
+
+		return true;
 	}
 
 	return false;
 }
+
+void ICM42688P::FIFOReset()
+{
+	perf_count(_fifo_reset_perf);
+
+	// SIGNAL_PATH_RESET: FIFO flush
+	RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);
+
+	// reset while FIFO is disabled
+	_drdy_timestamp_sample.store(0);
+
+	_timestamp_prev = 0;
+}

src/drivers/imu/invensense/icm42688p/ICM42688P.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -43,14 +43,15 @@
 #include "InvenSense_ICM42688P_registers.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_imu_fifo.h>
+
 using namespace InvenSense_ICM42688P;
 
 class ICM42688P : public device::SPI, public I2CSPIDriver<ICM42688P>
@@ -71,22 +72,10 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};     // 8000 Hz accel & gyro ODR configured
-	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
-	static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
+	static constexpr float RATE{1e6f / FIFO_SAMPLE_DT};
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
-
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
-		uint8_t INT_STATUS{0};
-		uint8_t FIFO_COUNTH{0};
-		uint8_t FIFO_COUNTL{0};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), (size_t)sensor_imu_fifo_s::FIFO_SIZE)};
 
 	struct register_bank0_config_t {
 		Register::BANK_0 reg;
@@ -135,20 +124,18 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	void ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	bool ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples);
-
 	const spi_drdy_gpio_t _drdy_gpio;
 
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
+	uORB::PublicationMulti<sensor_imu_fifo_s> _sensor_imu_fifo_pub{ORB_ID(sensor_imu_fifo)};
+
+	const enum Rotation _rotation;
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
 	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
 	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
 	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
+	perf_counter_t _fifo_timestamp_error_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO timestamp error")};
 	perf_counter_t _drdy_missed_perf{nullptr};
 
 	hrt_abstime _reset_timestamp{0};
@@ -156,6 +143,8 @@ private:
 	hrt_abstime _temperature_update_timestamp{0};
 	int _failure_count{0};
 
+	uint16_t _timestamp_prev{0};
+
 	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
 
 	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
@@ -170,25 +159,26 @@ private:
 	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / RATE))};
 
 	uint8_t _checked_register_bank0{0};
-	static constexpr uint8_t size_register_bank0_cfg{13};
+	static constexpr uint8_t size_register_bank0_cfg{14};
 	register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] {
 		// Register                              | Set bits, Clear bits
 		{ Register::BANK_0::INT_CONFIG,           INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY },
 		{ Register::BANK_0::FIFO_CONFIG,          FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 },
 		{ Register::BANK_0::PWR_MGMT0,            PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE, 0 },
-		{ Register::BANK_0::GYRO_CONFIG0,         GYRO_CONFIG0_BIT::GYRO_FS_SEL_2000_DPS | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR },
-		{ Register::BANK_0::ACCEL_CONFIG0,        ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_16G | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR },
-		{ Register::BANK_0::GYRO_CONFIG1,         0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD },
+		{ Register::BANK_0::GYRO_CONFIG0,         GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_FS_SEL_2000_DPS_CLEAR | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR },
+		{ Register::BANK_0::ACCEL_CONFIG0,        ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_16G_CLEAR | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR },
+		{ Register::BANK_0::GYRO_CONFIG1,         0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD_1ST_CLEAR },
 		{ Register::BANK_0::GYRO_ACCEL_CONFIG0,   0, GYRO_ACCEL_CONFIG0_BIT::ACCEL_UI_FILT_BW | GYRO_ACCEL_CONFIG0_BIT::GYRO_UI_FILT_BW },
-		{ Register::BANK_0::ACCEL_CONFIG1,        0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD },
-		{ Register::BANK_0::FIFO_CONFIG1,         FIFO_CONFIG1_BIT::FIFO_WM_GT_TH | FIFO_CONFIG1_BIT::FIFO_HIRES_EN | FIFO_CONFIG1_BIT::FIFO_TEMP_EN | FIFO_CONFIG1_BIT::FIFO_GYRO_EN | FIFO_CONFIG1_BIT::FIFO_ACCEL_EN, 0 },
+		{ Register::BANK_0::ACCEL_CONFIG1,        0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD_1ST_CLEAR },
+		{ Register::BANK_0::FIFO_CONFIG1,         FIFO_CONFIG1_BIT::FIFO_RESUME_PARTIAL_RD | FIFO_CONFIG1_BIT::FIFO_HIRES_EN | FIFO_CONFIG1_BIT::FIFO_TEMP_EN | FIFO_CONFIG1_BIT::FIFO_GYRO_EN | FIFO_CONFIG1_BIT::FIFO_ACCEL_EN, 0 },
 		{ Register::BANK_0::FIFO_CONFIG2,         0, 0 }, // FIFO_WM[7:0] set at runtime
 		{ Register::BANK_0::FIFO_CONFIG3,         0, 0 }, // FIFO_WM[11:8] set at runtime
-		{ Register::BANK_0::INT_CONFIG0,          INT_CONFIG0_BIT::CLEAR_ON_FIFO_READ, 0 },
-		{ Register::BANK_0::INT_SOURCE0,          INT_SOURCE0_BIT::FIFO_THS_INT1_EN, 0 },
+		{ Register::BANK_0::INT_CONFIG0,          INT_CONFIG0_BIT::FIFO_THS_INT_CLEAR, 0 },
+		{ Register::BANK_0::INT_CONFIG1,          INT_CONFIG1_BIT::INT_TPULSE_DURATION | INT_CONFIG1_BIT::INT_TDEASSERT_DISABLE, INT_CONFIG1_BIT::INT_ASYNC_RESET },
+		{ Register::BANK_0::INT_SOURCE0,          INT_SOURCE0_BIT::FIFO_THS_INT1_EN, INT_SOURCE0_BIT::RESET_DONE_INT1_EN },
 	};
 
 	uint8_t _checked_register_bank1{0};

src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -82,8 +82,7 @@ enum class BANK_0 : uint8_t {
 	FIFO_DATA          = 0x30,
 
 	SIGNAL_PATH_RESET  = 0x4B,
-	INTF_CONFIG0       = 0x4C,
-	INTF_CONFIG1       = 0x4D,
+
 	PWR_MGMT0          = 0x4E,
 	GYRO_CONFIG0       = 0x4F,
 	ACCEL_CONFIG0      = 0x50,
@@ -96,7 +95,7 @@ enum class BANK_0 : uint8_t {
 	FIFO_CONFIG3       = 0x61,
 
 	INT_CONFIG0        = 0x63,
-
+	INT_CONFIG1        = 0x64,
 	INT_SOURCE0        = 0x65,
 
 	SELF_TEST_CONFIG   = 0x70,
@@ -121,7 +120,7 @@ enum class BANK_2 : uint8_t {
 
 // DEVICE_CONFIG
 enum DEVICE_CONFIG_BIT : uint8_t {
-	SOFT_RESET_CONFIG = Bit0, //
+	SOFT_RESET_CONFIG = Bit0,
 };
 
 // INT_CONFIG
@@ -140,15 +139,14 @@ enum FIFO_CONFIG_BIT : uint8_t {
 // INT_STATUS
 enum INT_STATUS_BIT : uint8_t {
 	RESET_DONE_INT = Bit4,
-	DATA_RDY_INT   = Bit3,
+
 	FIFO_THS_INT   = Bit2,
 	FIFO_FULL_INT  = Bit1,
 };
 
 // SIGNAL_PATH_RESET
 enum SIGNAL_PATH_RESET_BIT : uint8_t {
-	ABORT_AND_RESET = Bit3,
-	FIFO_FLUSH      = Bit1,
+	FIFO_FLUSH = Bit1,
 };
 
 // PWR_MGMT0
@@ -160,55 +158,42 @@ enum PWR_MGMT0_BIT : uint8_t {
 // GYRO_CONFIG0
 enum GYRO_CONFIG0_BIT : uint8_t {
 	// 7:5 GYRO_FS_SEL
-	GYRO_FS_SEL_2000_DPS = 0, // 0b000 = ±2000dps (default)
-	GYRO_FS_SEL_1000_DPS = Bit5,
-	GYRO_FS_SEL_500_DPS  = Bit6,
-	GYRO_FS_SEL_250_DPS  = Bit6 | Bit5,
-	GYRO_FS_SEL_125_DPS  = Bit7,
-
+	//  0b000: ±2000dps (default)
+	GYRO_FS_SEL_2000_DPS_CLEAR = Bit7 | Bit6 | Bit5,
 
 	// 3:0 GYRO_ODR
-	//  0001: 32kHz
-	GYRO_ODR_32KHZ_SET   = Bit0,
-	GYRO_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
-	//  0010: 16kHz
-	GYRO_ODR_16KHZ_SET   = Bit1,
-	GYRO_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
-	//  0011: 8kHz
-	GYRO_ODR_8KHZ_SET    = Bit1 | Bit0,
-	GYRO_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
-	//  0110: 1kHz (default)
-	GYRO_ODR_1KHZ_SET    = Bit2 | Bit1,
-	GYRO_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
+	//  0b0001: 32kHz (maximum)
+	GYRO_ODR_32KHZ_SET         = Bit0,
+	GYRO_ODR_32KHZ_CLEAR       = Bit3 | Bit2 | Bit0,
+	//  0b0011: 8kHz
+	GYRO_ODR_8KHZ_SET          = Bit1 | Bit0,
+	GYRO_ODR_8KHZ_CLEAR        = Bit3 | Bit2,
+	//  0b0110: 1kHz (default)
+	GYRO_ODR_1KHZ_SET          = Bit2 | Bit1,
+	GYRO_ODR_1KHZ_CLEAR        = Bit3 | Bit0,
 };
 
 // ACCEL_CONFIG0
 enum ACCEL_CONFIG0_BIT : uint8_t {
 	// 7:5 ACCEL_FS_SEL
-	ACCEL_FS_SEL_16G = 0, // 000: ±16g (default)
-	ACCEL_FS_SEL_8G  = Bit5,
-	ACCEL_FS_SEL_4G  = Bit6,
-	ACCEL_FS_SEL_2G  = Bit6 | Bit5,
-
+	//  0b000: ±16g (default)
+	ACCEL_FS_SEL_16G_CLEAR     = Bit7 | Bit6 | Bit5,
 
 	// 3:0 ACCEL_ODR
-	//  0001: 32kHz
-	ACCEL_ODR_32KHZ_SET   = Bit0,
-	ACCEL_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
-	//  0010: 16kHz
-	ACCEL_ODR_16KHZ_SET   = Bit1,
-	ACCEL_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
-	//  0011: 8kHz
-	ACCEL_ODR_8KHZ_SET    = Bit1 | Bit0,
-	ACCEL_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
-	//  0110: 1kHz (default)
-	ACCEL_ODR_1KHZ_SET    = Bit2 | Bit1,
-	ACCEL_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
+	//  0b0001: 32kHz (maximum)
+	ACCEL_ODR_32KHZ_SET        = Bit0,
+	ACCEL_ODR_32KHZ_CLEAR      = Bit3 | Bit2 | Bit0,
+	//  0b0011: 8kHz
+	ACCEL_ODR_8KHZ_SET         = Bit1 | Bit0,
+	ACCEL_ODR_8KHZ_CLEAR       = Bit3 | Bit2,
+	//  0b0110: 1kHz (default)
+	ACCEL_ODR_1KHZ_SET         = Bit2 | Bit1,
+	ACCEL_ODR_1KHZ_CLEAR       = Bit3 | Bit0,
 };
 
 // GYRO_CONFIG1
 enum GYRO_CONFIG1_BIT : uint8_t {
-	GYRO_UI_FILT_ORD = Bit3 | Bit2, // 00: 1st Order
+	GYRO_UI_FILT_ORD_1ST_CLEAR = Bit3 | Bit2, // 00: 1st Order UI filter
 };
 
 // GYRO_ACCEL_CONFIG0
@@ -222,14 +207,15 @@ enum GYRO_ACCEL_CONFIG0_BIT : uint8_t {
 
 // ACCEL_CONFIG1
 enum ACCEL_CONFIG1_BIT : uint8_t {
-	ACCEL_UI_FILT_ORD = Bit4 | Bit3, // 00: 1st Order
+	ACCEL_UI_FILT_ORD_1ST_CLEAR = Bit4 | Bit3, // 00: 1st Order UI filter
 };
 
 // FIFO_CONFIG1
 enum FIFO_CONFIG1_BIT : uint8_t {
 	FIFO_RESUME_PARTIAL_RD = Bit6,
-	FIFO_WM_GT_TH          = Bit5,
+
 	FIFO_HIRES_EN          = Bit4,
+
 	FIFO_TEMP_EN           = Bit2,
 	FIFO_GYRO_EN           = Bit1,
 	FIFO_ACCEL_EN          = Bit0,
@@ -238,18 +224,21 @@ enum FIFO_CONFIG1_BIT : uint8_t {
 // INT_CONFIG0
 enum INT_CONFIG0_BIT : uint8_t {
 	// 3:2 FIFO_THS_INT_CLEAR
-	CLEAR_ON_FIFO_READ = Bit3,
+	FIFO_THS_INT_CLEAR = Bit3, // 10: Clear on FIFO data 1Byte Read
+};
+
+// INT_CONFIG1
+enum INT_CONFIG1_BIT : uint8_t {
+	INT_TPULSE_DURATION   = Bit6, // 1: Interrupt pulse duration is 8 µs. Required if ODR ≥ 4kHz, optional for ODR < 4kHz.
+	INT_TDEASSERT_DISABLE = Bit5, // 1: Disables de-assert duration. Required if ODR ≥ 4kHz, optional for ODR < 4kHz.
+	INT_ASYNC_RESET       = Bit4, // User should change setting to 0 from default setting of 1, for proper INT1 and INT2 pin operation
 };
 
 // INT_SOURCE0
 enum INT_SOURCE0_BIT : uint8_t {
-	UI_FSYNC_INT1_EN   = Bit6,
-	PLL_RDY_INT1_EN    = Bit5,
-	RESET_DONE_INT1_EN = Bit4,
-	UI_DRDY_INT1_EN    = Bit3,
+	RESET_DONE_INT1_EN = Bit4, // 1: Reset done interrupt routed to INT1 (enabled by default)
+
 	FIFO_THS_INT1_EN   = Bit2, // FIFO threshold interrupt routed to INT1
-	FIFO_FULL_INT1_EN  = Bit1,
-	UI_AGC_RDY_INT1_EN = Bit0,
 };
 
 // REG_BANK_SEL
@@ -277,6 +266,7 @@ enum ACCEL_CONFIG_STATIC2_BIT : uint8_t {
 	ACCEL_AAF_DIS = Bit0,
 };
 
+
 namespace FIFO
 {
 static constexpr size_t SIZE = 2048;

src/drivers/imu/invensense/icm42688p/icm42688p_main.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -72,13 +72,11 @@ extern "C" int icm42688p_main(int argc, char *argv[])
 
 	if (!strcmp(verb, "start")) {
 		return ThisDriver::module_start(cli, iterator);
-	}
 
-	if (!strcmp(verb, "stop")) {
+	} else if (!strcmp(verb, "stop")) {
 		return ThisDriver::module_stop(iterator);
-	}
 
-	if (!strcmp(verb, "status")) {
+	} else if (!strcmp(verb, "status")) {
 		return ThisDriver::module_status(iterator);
 	}
 

src/drivers/imu/invensense/iim42652/CMakeLists.txt

@@ -42,6 +42,4 @@ px4_add_module(
 		InvenSense_IIM42652_registers.hpp
 	DEPENDS
 		px4_work_queue
-		drivers_accelerometer
-		drivers_gyroscope
 	)

src/drivers/imu/invensense/iim42652/IIM42652.cpp

@@ -33,6 +33,8 @@
 
 #include "IIM42652.hpp"
 
+#include <lib/parameters/param.h>
+
 using namespace time_literals;
 
 static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
@@ -44,14 +46,16 @@ IIM42652::IIM42652(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
 	_drdy_gpio(config.drdy_gpio),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
-	if (config.drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+	int32_t imu_gyro_rate_max = 400;
+	param_get(param_find("IMU_GYRO_RATEMAX"), &imu_gyro_rate_max);
+
+	ConfigureSampleRate(imu_gyro_rate_max);
 }
 
 IIM42652::~IIM42652()
@@ -61,6 +65,7 @@ IIM42652::~IIM42652()
 	perf_free(_fifo_empty_perf);
 	perf_free(_fifo_overflow_perf);
 	perf_free(_fifo_reset_perf);
+	perf_free(_fifo_timestamp_error_perf);
 	perf_free(_drdy_missed_perf);
 }
 
@@ -102,12 +107,14 @@ void IIM42652::print_status()
 	perf_print_counter(_fifo_empty_perf);
 	perf_print_counter(_fifo_overflow_perf);
 	perf_print_counter(_fifo_reset_perf);
+	perf_print_counter(_fifo_timestamp_error_perf);
 	perf_print_counter(_drdy_missed_perf);
 }
 
 int IIM42652::probe()
 {
-	for (int i = 0; i < 3; i++) {
+	// 3 retries
+	for (int retry = 0; retry < 3; retry++) {
 		uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
 
 		if (whoami == WHOAMI) {
@@ -162,8 +169,8 @@ void IIM42652::RunImpl()
 				ScheduleDelayed(100_ms);
 
 			} else {
-				PX4_DEBUG("Reset not complete, check again in 10 ms");
-				ScheduleDelayed(10_ms);
+				PX4_DEBUG("Reset not complete, check again in 100 ms");
+				ScheduleDelayed(100_ms);
 			}
 		}
 
@@ -171,21 +178,9 @@ void IIM42652::RunImpl()
 
 	case STATE::CONFIGURE:
 		if (Configure()) {
-			// if configure succeeded then start reading from FIFO
-			_state = STATE::FIFO_READ;
-
-			if (DataReadyInterruptConfigure()) {
-				_data_ready_interrupt_enabled = true;
-
-				// backup schedule as a watchdog timeout
-				ScheduleDelayed(100_ms);
-
-			} else {
-				_data_ready_interrupt_enabled = false;
-				ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
-			}
-
-			FIFOReset();
+			// if configure succeeded then reset the FIFO
+			_state = STATE::FIFO_RESET;
+			ScheduleDelayed(1_ms);
 
 		} else {
 			// CONFIGURE not complete
@@ -202,6 +197,24 @@ void IIM42652::RunImpl()
 
 		break;
 
+	case STATE::FIFO_RESET:
+
+		_state = STATE::FIFO_READ;
+		FIFOReset();
+
+		if (DataReadyInterruptConfigure()) {
+			_data_ready_interrupt_enabled = true;
+
+			// backup schedule as a watchdog timeout
+			ScheduleDelayed(100_ms);
+
+		} else {
+			_data_ready_interrupt_enabled = false;
+			ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
+		}
+
+		break;
+
 	case STATE::FIFO_READ: {
 			hrt_abstime timestamp_sample = now;
 			uint8_t samples = 0;
@@ -210,7 +223,7 @@ void IIM42652::RunImpl()
 				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
 				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
 
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+				if (now < drdy_timestamp_sample + _fifo_empty_interval_us) {
 					timestamp_sample = drdy_timestamp_sample;
 					samples = _fifo_gyro_samples;
 
@@ -222,6 +235,8 @@ void IIM42652::RunImpl()
 				ScheduleDelayed(_fifo_empty_interval_us * 2);
 			}
 
+			bool success = false;
+
 			if (samples == 0) {
 				// check current FIFO count
 				const uint16_t fifo_count = FIFOReadCount();
@@ -234,27 +249,42 @@ void IIM42652::RunImpl()
 					perf_count(_fifo_empty_perf);
 
 				} else {
-					// FIFO count (size in bytes)
-					samples = (fifo_count / sizeof(FIFO::DATA));
+					// FIFO count (size in bytes) should be a multiple of the FIFO::DATA structure
+					samples = fifo_count / sizeof(FIFO::DATA);
 
-					// tolerate minor jitter, leave sample to next iteration if behind by only 1
-					if (samples == _fifo_gyro_samples + 1) {
-						timestamp_sample -= static_cast<int>(FIFO_SAMPLE_DT);
-						samples--;
+					if (samples > _fifo_gyro_samples) {
+						// grab desired number of samples, but reschedule next cycle sooner
+						const int extra_samples = samples - _fifo_gyro_samples;
+						samples = _fifo_gyro_samples;
+
+						if (_fifo_gyro_samples > extra_samples) {
+							// reschedule to run when a total of _fifo_gyro_samples should be available in the FIFO
+							const uint32_t reschedule_delay_us = (_fifo_gyro_samples - extra_samples) * static_cast<int>(FIFO_SAMPLE_DT);
+							ScheduleOnInterval(_fifo_empty_interval_us, reschedule_delay_us);
+
+						} else {
+							// otherwise reschedule to run immediately
+							ScheduleOnInterval(_fifo_empty_interval_us);
+						}
+
+					} else if (samples < _fifo_gyro_samples) {
+						// reschedule next cycle to catch the desired number of samples
+						ScheduleOnInterval(_fifo_empty_interval_us, (_fifo_gyro_samples - samples) * static_cast<int>(FIFO_SAMPLE_DT));
 					}
 
-					if (samples > FIFO_MAX_SAMPLES) {
-						// not technically an overflow, but more samples than we expected or can publish
-						FIFOReset();
-						perf_count(_fifo_overflow_perf);
-						samples = 0;
+					if (samples == _fifo_gyro_samples) {
+						if (FIFORead(now, samples)) {
+							success = true;
+
+							if (_failure_count > 0) {
+								_failure_count--;
+							}
+						}
 					}
 				}
 			}
 
-			bool success = false;
-
-			if (samples >= 1) {
+			if (samples == _fifo_gyro_samples) {
 				if (FIFORead(timestamp_sample, samples)) {
 					success = true;
 
@@ -269,13 +299,14 @@ void IIM42652::RunImpl()
 
 				// full reset if things are failing consistently
 				if (_failure_count > 10) {
+					PX4_DEBUG("Full reset because things are failing consistently");
 					Reset();
 					return;
 				}
 			}
 
+			// check configuration registers periodically or immediately following any failure
 			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
-				// check configuration registers periodically or immediately following any failure
 				if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0])
 				    && RegisterCheck(_register_bank1_cfg[_checked_register_bank1])
 				    && RegisterCheck(_register_bank2_cfg[_checked_register_bank2])
@@ -303,10 +334,10 @@ void IIM42652::ConfigureSampleRate(int sample_rate)
 	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
 
-	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
+	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / RATE), (float)FIFO_MAX_SAMPLES));
 
 	// recompute FIFO empty interval (us) with actual gyro sample limit
-	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
+	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / RATE);
 
 	ConfigureFIFOWatermark(_fifo_gyro_samples);
 }
@@ -356,6 +387,7 @@ bool IIM42652::Configure()
 		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
 	}
 
+
 	// now check that all are configured
 	bool success = true;
 
@@ -377,11 +409,6 @@ bool IIM42652::Configure()
 		}
 	}
 
-	// 20-bits data format used
-	//  the only FSR settings that are operational are ±2000dps for gyroscope and ±16g for accelerometer
-	_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
-	_px4_gyro.set_range(math::radians(2000.f));
-
 	return success;
 }
 
@@ -404,7 +431,7 @@ bool IIM42652::DataReadyInterruptConfigure()
 	}
 
 	// Setup data ready on falling edge
-	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, true, false, &DataReadyInterruptCallback, this) == 0);
 }
 
 bool IIM42652::DataReadyInterruptDisable()
@@ -413,7 +440,7 @@ bool IIM42652::DataReadyInterruptDisable()
 		return false;
 	}
 
-	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0);
 }
 
 template <typename T>
@@ -468,114 +495,20 @@ void IIM42652::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits
 
 uint16_t IIM42652::FIFOReadCount()
 {
-	// read FIFO count
-	uint8_t fifo_count_buf[3] {};
-	fifo_count_buf[0] = static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ;
-	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+	} buffer{};
 
-	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+	// read FIFO count
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return 0;
 	}
 
-	return combine(fifo_count_buf[1], fifo_count_buf[2]);
-}
-
-bool IIM42652::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
-{
-	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, FIFO::SIZE);
-	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
-
-	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
-		perf_count(_bad_transfer_perf);
-		return false;
-	}
-
-	if (buffer.INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) {
-		perf_count(_fifo_overflow_perf);
-		FIFOReset();
-		return false;
-	}
-
-	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
-
-	if (fifo_count_bytes >= FIFO::SIZE) {
-		perf_count(_fifo_overflow_perf);
-		FIFOReset();
-		return false;
-	}
-
-	const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
-
-	if (fifo_count_samples == 0) {
-		perf_count(_fifo_empty_perf);
-		return false;
-	}
-
-	// check FIFO header in every sample
-	uint8_t valid_samples = 0;
-
-	for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
-		bool valid = true;
-
-		// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
-		const uint8_t FIFO_HEADER = buffer.f[i].FIFO_Header;
-
-		if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG) {
-			// FIFO sample empty if HEADER_MSG set
-			valid = false;
-
-		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL)) {
-			// accel bit not set
-			valid = false;
-
-		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO)) {
-			// gyro bit not set
-			valid = false;
-
-		} else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_20)) {
-			// Packet does not contain a new and valid extended 20-bit data
-			valid = false;
-
-		} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL) {
-			// accel ODR changed
-			valid = false;
-
-		} else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO) {
-			// gyro ODR changed
-			valid = false;
-		}
-
-		if (valid) {
-			valid_samples++;
-
-		} else {
-			perf_count(_bad_transfer_perf);
-			break;
-		}
-	}
-
-	if (valid_samples > 0) {
-		if (ProcessTemperature(buffer.f, valid_samples)) {
-			ProcessGyro(timestamp_sample, buffer.f, valid_samples);
-			ProcessAccel(timestamp_sample, buffer.f, valid_samples);
-			return true;
-		}
-	}
-
-	return false;
-}
-
-void IIM42652::FIFOReset()
-{
-	perf_count(_fifo_reset_perf);
-
-	// SIGNAL_PATH_RESET: FIFO flush
-	RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);
-
-	// reset while FIFO is disabled
-	_drdy_timestamp_sample.store(0);
+	return (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 }
 
 static constexpr int32_t reassemble_20bit(const uint32_t a, const uint32_t b, const uint32_t c)
@@ -595,206 +528,288 @@ static constexpr int32_t reassemble_20bit(const uint32_t a, const uint32_t b, co
 	return static_cast<int32_t>(x);
 }
 
-void IIM42652::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
+bool IIM42652::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT;
+	// FIFO transfer buffer
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
+		uint8_t INT_STATUS{0};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	} buffer{};
 
-	// 18-bits of accelerometer data
-	bool scale_20bit = false;
+	// cmd + INT_STATUS + FIFO_COUNTH + FIFO_COUNTL + samples (FIFO::DATA)
+	const size_t transfer_size = 4 + math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
 
-	// first pass
-	for (int i = 0; i < samples; i++) {
-		// 20 bit hires mode
-		// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
-		// Accel data is 18 bit ()
-		int32_t accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0,
-						   fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4);
-		int32_t accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0,
-						   fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4);
-		int32_t accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0,
-						   fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4);
+	SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0);
 
-		// sample invalid if -524288
-		if (accel_x != -524288 && accel_y != -524288 && accel_z != -524288) {
-			// check if any values are going to exceed int16 limits
-			static constexpr int16_t max_accel = INT16_MAX;
-			static constexpr int16_t min_accel = INT16_MIN;
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
+		perf_count(_bad_transfer_perf);
+		return false;
+	}
 
-			if (accel_x >= max_accel || accel_x <= min_accel) {
-				scale_20bit = true;
+	if (buffer.INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) {
+		perf_count(_fifo_overflow_perf);
+		FIFOReset();
+		return false;
+	}
+
+	const uint16_t fifo_count_bytes = (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
+
+	if (fifo_count_bytes >= FIFO::SIZE) {
+		perf_count(_fifo_overflow_perf);
+		FIFOReset();
+		return false;
+	}
+
+	const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
+
+	if (fifo_count_samples == 0) {
+		perf_count(_fifo_empty_perf);
+		return false;
+	}
+
+	sensor_imu_fifo_s sensor_imu_fifo{};
+
+	sensor_imu_fifo.timestamp_sample = timestamp_sample;
+	sensor_imu_fifo.device_id = get_device_id();
+	sensor_imu_fifo.dt = FIFO_SAMPLE_DT;
+	sensor_imu_fifo.samples = 0;
+	sensor_imu_fifo.accel_scale = CONSTANTS_ONE_G / 8192.f; // highres accel data 8192 LSB/g
+	sensor_imu_fifo.gyro_scale = math::radians(1.f / 131.f); // highres gyro data 131 LSB/dps
+
+	// check FIFO header in every sample
+	uint8_t valid_samples = 0;
+
+	float temperature_sum = 0;
+
+	float timestamp_interval_sum = 0;
+	int timestamp_interval_sum_count = 0;
+
+	bool accel_scale_16bit = false; // 18-bits of accelerometer data
+	bool gyro_scale_16bit = false; // 20-bits of gyroscope data
+
+	for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
+		const FIFO::DATA &fifo = buffer.f[i];
+
+		// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
+		const uint8_t FIFO_HEADER = fifo.FIFO_Header;
+
+		const bool HEADER_MSG       = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG; // FIFO is empty
+		const bool HEADER_ACCEL     = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL;
+		const bool HEADER_GYRO      = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO;
+		const bool HEADER_20        = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_20; // valid sample of extended 20-bit data
+		// 3:2 HEADER_TIMESTAMP_FSYNC
+		const bool HEADER_ODR_ACCEL = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL; // ODR for accel is different
+		const bool HEADER_ODR_GYRO  = FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO;  // ODR for gyro is different
+
+		if (!HEADER_MSG && HEADER_ACCEL && HEADER_GYRO && HEADER_20 && !HEADER_ODR_ACCEL && !HEADER_ODR_GYRO) {
+
+			if (!accel_scale_16bit) {
+				// Accel: 20 bit hires mode, Accel data is 18 bit
+				// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
+				int32_t accel_x = reassemble_20bit(fifo.ACCEL_DATA_X1, fifo.ACCEL_DATA_X0, fifo.Ext_Accel_X_Gyro_X & 0xF0 >> 4);
+				int32_t accel_y = reassemble_20bit(fifo.ACCEL_DATA_Y1, fifo.ACCEL_DATA_Y0, fifo.Ext_Accel_Y_Gyro_Y & 0xF0 >> 4);
+				int32_t accel_z = reassemble_20bit(fifo.ACCEL_DATA_Z1, fifo.ACCEL_DATA_Z0, fifo.Ext_Accel_Z_Gyro_Z & 0xF0 >> 4);
+
+				// sample invalid if -524288
+				if (accel_x == -524288 || accel_y == -524288 || accel_z == -524288) {
+					break;
+				}
+
+				// shift by 2 (2 least significant bits are always 0)
+				accel_x = accel_x / 4;
+				accel_y = accel_y / 4;
+				accel_z = accel_z / 4;
+
+				// check if any values are going to exceed int16 limits
+				if ((accel_x >= INT16_MAX || accel_x <= INT16_MIN)
+				    || (accel_y >= INT16_MAX || accel_y <= INT16_MIN)
+				    || (accel_z >= INT16_MAX || accel_z <= INT16_MIN)) {
+
+					accel_scale_16bit = true;
+
+					// 20 bit data scaled to 16 bit
+					sensor_imu_fifo.accel_scale = CONSTANTS_ONE_G / 2048.f;
+
+					// rescale any existing data
+					for (int j = 0; j < valid_samples + 1; j++) {
+						sensor_imu_fifo.accel_x[valid_samples] = combine(buffer.f[j].ACCEL_DATA_X1, buffer.f[j].ACCEL_DATA_X0);
+						sensor_imu_fifo.accel_y[valid_samples] = combine(buffer.f[j].ACCEL_DATA_Y1, buffer.f[j].ACCEL_DATA_Y0);
+						sensor_imu_fifo.accel_z[valid_samples] = combine(buffer.f[j].ACCEL_DATA_Z1, buffer.f[j].ACCEL_DATA_Z0);
+					}
+
+				} else {
+					sensor_imu_fifo.accel_x[valid_samples] = accel_x;
+					sensor_imu_fifo.accel_y[valid_samples] = accel_y;
+					sensor_imu_fifo.accel_z[valid_samples] = accel_z;
+				}
+
+			} else {
+				sensor_imu_fifo.accel_x[valid_samples] = combine(fifo.ACCEL_DATA_X1, fifo.ACCEL_DATA_X0);
+				sensor_imu_fifo.accel_y[valid_samples] = combine(fifo.ACCEL_DATA_Y1, fifo.ACCEL_DATA_Y0);
+				sensor_imu_fifo.accel_z[valid_samples] = combine(fifo.ACCEL_DATA_Z1, fifo.ACCEL_DATA_Z0);
 			}
 
-			if (accel_y >= max_accel || accel_y <= min_accel) {
-				scale_20bit = true;
+
+			if (!gyro_scale_16bit) {
+				// Gyro: 20 bit hires mode
+				// Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte)
+				int32_t gyro_x = reassemble_20bit(fifo.GYRO_DATA_X1, fifo.GYRO_DATA_X0, fifo.Ext_Accel_X_Gyro_X & 0x0F);
+				int32_t gyro_y = reassemble_20bit(fifo.GYRO_DATA_Y1, fifo.GYRO_DATA_Y0, fifo.Ext_Accel_Y_Gyro_Y & 0x0F);
+				int32_t gyro_z = reassemble_20bit(fifo.GYRO_DATA_Z1, fifo.GYRO_DATA_Z0, fifo.Ext_Accel_Z_Gyro_Z & 0x0F);
+
+				// shift by 1 (least significant bit is always 0)
+				gyro_x = gyro_x / 2;
+				gyro_y = gyro_y / 2;
+				gyro_z = gyro_z / 2;
+
+				// check if any gyro values are going to exceed int16 limits
+				if ((gyro_x >= INT16_MAX || gyro_x <= INT16_MIN)
+				    || (gyro_y >= INT16_MAX || gyro_y <= INT16_MIN)
+				    || (gyro_z >= INT16_MAX || gyro_z <= INT16_MIN)) {
+
+
+					gyro_scale_16bit = true;
+
+					// 20 bit data scaled to 16 bit
+					sensor_imu_fifo.gyro_scale = math::radians(2000.f / 32768.f);
+
+					// rescale any existing data
+					for (int j = 0; j < valid_samples + 1; j++) {
+						sensor_imu_fifo.gyro_x[j] = combine(buffer.f[j].GYRO_DATA_X1, buffer.f[j].GYRO_DATA_X0);
+						sensor_imu_fifo.gyro_y[j] = combine(buffer.f[j].GYRO_DATA_Y1, buffer.f[j].GYRO_DATA_Y0);
+						sensor_imu_fifo.gyro_z[j] = combine(buffer.f[j].GYRO_DATA_Z1, buffer.f[j].GYRO_DATA_Z0);
+					}
+
+				} else {
+					sensor_imu_fifo.gyro_x[valid_samples] = gyro_x;
+					sensor_imu_fifo.gyro_y[valid_samples] = gyro_y;
+					sensor_imu_fifo.gyro_z[valid_samples] = gyro_z;
+				}
+
+			} else {
+				sensor_imu_fifo.gyro_x[i] = combine(fifo.GYRO_DATA_X1, fifo.GYRO_DATA_X0);
+				sensor_imu_fifo.gyro_y[i] = combine(fifo.GYRO_DATA_Y1, fifo.GYRO_DATA_Y0);
+				sensor_imu_fifo.gyro_z[i] = combine(fifo.GYRO_DATA_Z1, fifo.GYRO_DATA_Z0);
 			}
 
-			if (accel_z >= max_accel || accel_z <= min_accel) {
-				scale_20bit = true;
+
+			// temperature
+			const int16_t TEMP_DATA = combine(fifo.TEMP_DATA1, fifo.TEMP_DATA0);
+
+			// sample invalid if -32768
+			if (TEMP_DATA != -32768) {
+				temperature_sum += TEMP_DATA;
+
+			} else {
+				break;
 			}
 
-			// shift by 2 (2 least significant bits are always 0)
-			accel.x[accel.samples] = accel_x / 4;
-			accel.y[accel.samples] = accel_y / 4;
-			accel.z[accel.samples] = accel_z / 4;
-			accel.samples++;
-		}
-	}
 
-	if (!scale_20bit) {
-		// if highres enabled accel data is always 8192 LSB/g
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
+			// HEADER_TIMESTAMP_FSYNC - 0b10: Packet contains ODR Timestamp
+			if (FIFO_HEADER & Bit3) {
+				const uint16_t timestamp = (fifo.TimeStamp_h << 8) + fifo.TimeStamp_l;
 
-	} else {
-		// 20 bit data scaled to 16 bit (2^4)
-		for (int i = 0; i < samples; i++) {
-			// 20 bit hires mode
-			// Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte)
-			// Accel data is 18 bit ()
-			int16_t accel_x = combine(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0);
-			int16_t accel_y = combine(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0);
-			int16_t accel_z = combine(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0);
+				if (_timestamp_prev != 0) {
+					// If TMST_RES = 0 (corresponding to timestamp resolution of 1µs), timestamp interval reported in FIFO requires scaling by a factor of 32/30.
+					// Document Number: DS-000347 Revision: 1.5 Page 59 of 110
+					static constexpr float FIFO_DT_SCALE = 32.f / 30.f;
 
-			accel.x[i] = accel_x;
-			accel.y[i] = accel_y;
-			accel.z[i] = accel_z;
-		}
+					float dt = 0;
 
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
-	}
+					if (timestamp > _timestamp_prev) {
+						dt = static_cast<float>(timestamp - _timestamp_prev) * FIFO_DT_SCALE;
 
-	// correct frame for publication
-	for (int i = 0; i < accel.samples; i++) {
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		accel.x[i] = accel.x[i];
-		accel.y[i] = (accel.y[i] == INT16_MIN) ? INT16_MAX : -accel.y[i];
-		accel.z[i] = (accel.z[i] == INT16_MIN) ? INT16_MAX : -accel.z[i];
-	}
+					} else if (timestamp < _timestamp_prev) {
+						// uint16_t rollover
+						uint32_t timestamp_new = UINT16_MAX + timestamp;
+						dt = static_cast<float>(timestamp_new - _timestamp_prev) * FIFO_DT_SCALE;
+					}
 
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
+					timestamp_interval_sum += dt;
+					timestamp_interval_sum_count++;
 
-	if (accel.samples > 0) {
-		_px4_accel.updateFIFO(accel);
-	}
-}
+					// check dt is within +=2% of expected value
+					if ((dt < (FIFO_SAMPLE_DT * 0.98f)) || (dt > (FIFO_SAMPLE_DT * 1.02f))) {
+						perf_count(_fifo_timestamp_error_perf);
+					}
+				}
 
-void IIM42652::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = 0;
-	gyro.dt = FIFO_SAMPLE_DT;
+				_timestamp_prev = timestamp;
+			}
 
-	// 20-bits of gyroscope data
-	bool scale_20bit = false;
-
-	// first pass
-	for (int i = 0; i < samples; i++) {
-		// 20 bit hires mode
-		// Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte)
-		int32_t gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0, fifo[i].Ext_Accel_X_Gyro_X & 0x0F);
-		int32_t gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0, fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F);
-		int32_t gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0, fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F);
-
-		// check if any values are going to exceed int16 limits
-		static constexpr int16_t max_gyro = INT16_MAX;
-		static constexpr int16_t min_gyro = INT16_MIN;
-
-		if (gyro_x >= max_gyro || gyro_x <= min_gyro) {
-			scale_20bit = true;
-		}
-
-		if (gyro_y >= max_gyro || gyro_y <= min_gyro) {
-			scale_20bit = true;
-		}
-
-		if (gyro_z >= max_gyro || gyro_z <= min_gyro) {
-			scale_20bit = true;
-		}
-
-		gyro.x[gyro.samples] = gyro_x / 2;
-		gyro.y[gyro.samples] = gyro_y / 2;
-		gyro.z[gyro.samples] = gyro_z / 2;
-		gyro.samples++;
-	}
-
-	if (!scale_20bit) {
-		// if highres enabled gyro data is always 131 LSB/dps
-		_px4_gyro.set_scale(math::radians(1.f / 131.f));
-
-	} else {
-		// 20 bit data scaled to 16 bit (2^4)
-		for (int i = 0; i < samples; i++) {
-			gyro.x[i] = combine(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0);
-			gyro.y[i] = combine(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0);
-			gyro.z[i] = combine(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0);
-		}
-
-		_px4_gyro.set_scale(math::radians(2000.f / 32768.f));
-	}
-
-	// correct frame for publication
-	for (int i = 0; i < gyro.samples; i++) {
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro.x[i];
-		gyro.y[i] = (gyro.y[i] == INT16_MIN) ? INT16_MAX : -gyro.y[i];
-		gyro.z[i] = (gyro.z[i] == INT16_MIN) ? INT16_MAX : -gyro.z[i];
-	}
-
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	if (gyro.samples > 0) {
-		_px4_gyro.updateFIFO(gyro);
-	}
-}
-
-bool IIM42652::ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples)
-{
-	int16_t temperature[FIFO_MAX_SAMPLES];
-	float temperature_sum{0};
-
-	int valid_samples = 0;
-
-	for (int i = 0; i < samples; i++) {
-		const int16_t t = combine(fifo[i].TEMP_DATA1, fifo[i].TEMP_DATA0);
-
-		// sample invalid if -32768
-		if (t != -32768) {
-			temperature_sum += t;
-			temperature[valid_samples] = t;
 			valid_samples++;
 		}
 	}
 
 	if (valid_samples > 0) {
-		const float temperature_avg = temperature_sum / valid_samples;
 
-		for (int i = 0; i < valid_samples; i++) {
-			// temperature changing wildly is an indication of a transfer error
-			if (fabsf(temperature[i] - temperature_avg) > 1000) {
-				perf_count(_bad_transfer_perf);
-				return false;
-			}
+		sensor_imu_fifo.samples = valid_samples;
+
+		for (int i = 0; i < sensor_imu_fifo.samples; i++) {
+			// sensor's frame is +x forward, +y left, +z up
+			//  flip y & z to publish right handed with z down (x forward, y right, z down)
+
+			// sensor_imu_fifo.accel_x[i]
+			sensor_imu_fifo.accel_y[i] = math::negate(sensor_imu_fifo.accel_y[i]);
+			sensor_imu_fifo.accel_z[i] = math::negate(sensor_imu_fifo.accel_z[i]);
+			rotate_3i(_rotation, sensor_imu_fifo.accel_x[i], sensor_imu_fifo.accel_y[i], sensor_imu_fifo.accel_z[i]);
+
+			// sensor_imu_fifo.gyro_x[i]
+			sensor_imu_fifo.gyro_y[i] = math::negate(sensor_imu_fifo.gyro_y[i]);
+			sensor_imu_fifo.gyro_z[i] = math::negate(sensor_imu_fifo.gyro_z[i]);
+			rotate_3i(_rotation, sensor_imu_fifo.gyro_x[i], sensor_imu_fifo.gyro_y[i], sensor_imu_fifo.gyro_z[i]);
 		}
 
+		const float temperature_avg = temperature_sum / valid_samples;
+
 		// use average temperature reading
 		const float TEMP_degC = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 
 		if (PX4_ISFINITE(TEMP_degC)) {
-			_px4_accel.set_temperature(TEMP_degC);
-			_px4_gyro.set_temperature(TEMP_degC);
-			return true;
+			sensor_imu_fifo.temperature = TEMP_degC;
 
 		} else {
 			perf_count(_bad_transfer_perf);
+			return false;
 		}
+
+		if (timestamp_interval_sum > 0) {
+			const float dt_avg = (timestamp_interval_sum / timestamp_interval_sum_count);
+
+			// check dt is within +=1% of expected value
+			if ((dt_avg < (FIFO_SAMPLE_DT * 0.99f)) || (dt_avg > (FIFO_SAMPLE_DT * 1.01f))) {
+				PX4_ERR("DT error %.6f", (double)dt_avg);
+				perf_count(_fifo_timestamp_error_perf);
+
+			} else {
+				sensor_imu_fifo.dt = dt_avg;
+			}
+		}
+
+		sensor_imu_fifo.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
+					      perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_imu_fifo.timestamp = hrt_absolute_time();
+		_sensor_imu_fifo_pub.publish(sensor_imu_fifo);
+
+		return true;
 	}
 
 	return false;
 }
+
+void IIM42652::FIFOReset()
+{
+	perf_count(_fifo_reset_perf);
+
+	// SIGNAL_PATH_RESET: FIFO flush
+	RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);
+
+	// reset while FIFO is disabled
+	_drdy_timestamp_sample.store(0);
+
+	_timestamp_prev = 0;
+}

src/drivers/imu/invensense/iim42652/IIM42652.hpp

@@ -43,14 +43,15 @@
 #include "InvenSense_IIM42652_registers.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_imu_fifo.h>
+
 using namespace InvenSense_IIM42652;
 
 class IIM42652 : public device::SPI, public I2CSPIDriver<IIM42652>
@@ -71,22 +72,10 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};     // 8000 Hz accel & gyro ODR configured
-	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
-	static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
+	static constexpr float RATE{1e6f / FIFO_SAMPLE_DT};
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
-
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
-		uint8_t INT_STATUS{0};
-		uint8_t FIFO_COUNTH{0};
-		uint8_t FIFO_COUNTL{0};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), (size_t)sensor_imu_fifo_s::FIFO_SIZE)};
 
 	struct register_bank0_config_t {
 		Register::BANK_0 reg;
@@ -135,20 +124,18 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	void ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	bool ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples);
-
 	const spi_drdy_gpio_t _drdy_gpio;
 
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
+	uORB::PublicationMulti<sensor_imu_fifo_s> _sensor_imu_fifo_pub{ORB_ID(sensor_imu_fifo)};
+
+	const enum Rotation _rotation;
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
 	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
 	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
 	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
+	perf_counter_t _fifo_timestamp_error_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO timestamp error")};
 	perf_counter_t _drdy_missed_perf{nullptr};
 
 	hrt_abstime _reset_timestamp{0};
@@ -156,6 +143,9 @@ private:
 	hrt_abstime _temperature_update_timestamp{0};
 	int _failure_count{0};
 
+
+	uint16_t _timestamp_prev{0};
+
 	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
 
 	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
@@ -165,29 +155,31 @@ private:
 		RESET,
 		WAIT_FOR_RESET,
 		CONFIGURE,
+		FIFO_RESET,
 		FIFO_READ,
 	} _state{STATE::RESET};
 
 	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
-	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / RATE))};
 
 	uint8_t _checked_register_bank0{0};
-	static constexpr uint8_t size_register_bank0_cfg{13};
+	static constexpr uint8_t size_register_bank0_cfg{14};
 	register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] {
 		// Register                              | Set bits, Clear bits
 		{ Register::BANK_0::INT_CONFIG,           INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY },
 		{ Register::BANK_0::FIFO_CONFIG,          FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 },
 		{ Register::BANK_0::PWR_MGMT0,            PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE, 0 },
-		{ Register::BANK_0::GYRO_CONFIG0,         GYRO_CONFIG0_BIT::GYRO_FS_SEL_2000_DPS | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR },
-		{ Register::BANK_0::ACCEL_CONFIG0,        ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_16G | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR },
-		{ Register::BANK_0::GYRO_CONFIG1,         0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD },
+		{ Register::BANK_0::GYRO_CONFIG0,         GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_FS_SEL_2000_DPS_CLEAR | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR },
+		{ Register::BANK_0::ACCEL_CONFIG0,        ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_16G_CLEAR | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR },
+		{ Register::BANK_0::GYRO_CONFIG1,         0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD_1ST_CLEAR },
 		{ Register::BANK_0::GYRO_ACCEL_CONFIG0,   0, GYRO_ACCEL_CONFIG0_BIT::ACCEL_UI_FILT_BW | GYRO_ACCEL_CONFIG0_BIT::GYRO_UI_FILT_BW },
-		{ Register::BANK_0::ACCEL_CONFIG1,        0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD },
-		{ Register::BANK_0::FIFO_CONFIG1,         FIFO_CONFIG1_BIT::FIFO_WM_GT_TH | FIFO_CONFIG1_BIT::FIFO_HIRES_EN | FIFO_CONFIG1_BIT::FIFO_TEMP_EN | FIFO_CONFIG1_BIT::FIFO_GYRO_EN | FIFO_CONFIG1_BIT::FIFO_ACCEL_EN, 0 },
+		{ Register::BANK_0::ACCEL_CONFIG1,        0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD_1ST_CLEAR },
+		{ Register::BANK_0::FIFO_CONFIG1,         FIFO_CONFIG1_BIT::FIFO_RESUME_PARTIAL_RD | FIFO_CONFIG1_BIT::FIFO_HIRES_EN | FIFO_CONFIG1_BIT::FIFO_TEMP_EN | FIFO_CONFIG1_BIT::FIFO_GYRO_EN | FIFO_CONFIG1_BIT::FIFO_ACCEL_EN, 0 },
 		{ Register::BANK_0::FIFO_CONFIG2,         0, 0 }, // FIFO_WM[7:0] set at runtime
 		{ Register::BANK_0::FIFO_CONFIG3,         0, 0 }, // FIFO_WM[11:8] set at runtime
-		{ Register::BANK_0::INT_CONFIG0,          INT_CONFIG0_BIT::CLEAR_ON_FIFO_READ, 0 },
-		{ Register::BANK_0::INT_SOURCE0,          INT_SOURCE0_BIT::FIFO_THS_INT1_EN, 0 },
+		{ Register::BANK_0::INT_CONFIG0,          INT_CONFIG0_BIT::FIFO_THS_INT_CLEAR, 0 },
+		{ Register::BANK_0::INT_CONFIG1,          INT_CONFIG1_BIT::INT_TPULSE_DURATION | INT_CONFIG1_BIT::INT_TDEASSERT_DISABLE, INT_CONFIG1_BIT::INT_ASYNC_RESET },
+		{ Register::BANK_0::INT_SOURCE0,          INT_SOURCE0_BIT::FIFO_THS_INT1_EN, INT_SOURCE0_BIT::RESET_DONE_INT1_EN },
 	};
 
 	uint8_t _checked_register_bank1{0};

src/drivers/imu/invensense/iim42652/InvenSense_IIM42652_registers.hpp

@@ -82,8 +82,7 @@ enum class BANK_0 : uint8_t {
 	FIFO_DATA          = 0x30,
 
 	SIGNAL_PATH_RESET  = 0x4B,
-	INTF_CONFIG0       = 0x4C,
-	INTF_CONFIG1       = 0x4D,
+
 	PWR_MGMT0          = 0x4E,
 	GYRO_CONFIG0       = 0x4F,
 	ACCEL_CONFIG0      = 0x50,
@@ -96,7 +95,7 @@ enum class BANK_0 : uint8_t {
 	FIFO_CONFIG3       = 0x61,
 
 	INT_CONFIG0        = 0x63,
-
+	INT_CONFIG1        = 0x64,
 	INT_SOURCE0        = 0x65,
 
 	SELF_TEST_CONFIG   = 0x70,
@@ -121,7 +120,7 @@ enum class BANK_2 : uint8_t {
 
 // DEVICE_CONFIG
 enum DEVICE_CONFIG_BIT : uint8_t {
-	SOFT_RESET_CONFIG = Bit0, //
+	SOFT_RESET_CONFIG = Bit0,
 };
 
 // INT_CONFIG
@@ -140,15 +139,14 @@ enum FIFO_CONFIG_BIT : uint8_t {
 // INT_STATUS
 enum INT_STATUS_BIT : uint8_t {
 	RESET_DONE_INT = Bit4,
-	DATA_RDY_INT   = Bit3,
+
 	FIFO_THS_INT   = Bit2,
 	FIFO_FULL_INT  = Bit1,
 };
 
 // SIGNAL_PATH_RESET
 enum SIGNAL_PATH_RESET_BIT : uint8_t {
-	ABORT_AND_RESET = Bit3,
-	FIFO_FLUSH      = Bit1,
+	FIFO_FLUSH = Bit1,
 };
 
 // PWR_MGMT0
@@ -160,55 +158,42 @@ enum PWR_MGMT0_BIT : uint8_t {
 // GYRO_CONFIG0
 enum GYRO_CONFIG0_BIT : uint8_t {
 	// 7:5 GYRO_FS_SEL
-	GYRO_FS_SEL_2000_DPS = 0, // 0b000 = ±2000dps (default)
-	GYRO_FS_SEL_1000_DPS = Bit5,
-	GYRO_FS_SEL_500_DPS  = Bit6,
-	GYRO_FS_SEL_250_DPS  = Bit6 | Bit5,
-	GYRO_FS_SEL_125_DPS  = Bit7,
-
+	//  0b000: ±2000dps (default)
+	GYRO_FS_SEL_2000_DPS_CLEAR = Bit7 | Bit6 | Bit5,
 
 	// 3:0 GYRO_ODR
-	//  0001: 32kHz
-	GYRO_ODR_32KHZ_SET   = Bit0,
-	GYRO_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
-	//  0010: 16kHz
-	GYRO_ODR_16KHZ_SET   = Bit1,
-	GYRO_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
-	//  0011: 8kHz
-	GYRO_ODR_8KHZ_SET    = Bit1 | Bit0,
-	GYRO_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
-	//  0110: 1kHz (default)
-	GYRO_ODR_1KHZ_SET    = Bit2 | Bit1,
-	GYRO_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
+	//  0b0001: 32kHz (maximum)
+	GYRO_ODR_32KHZ_SET         = Bit0,
+	GYRO_ODR_32KHZ_CLEAR       = Bit3 | Bit2 | Bit0,
+	//  0b0011: 8kHz
+	GYRO_ODR_8KHZ_SET          = Bit1 | Bit0,
+	GYRO_ODR_8KHZ_CLEAR        = Bit3 | Bit2,
+	//  0b0110: 1kHz (default)
+	GYRO_ODR_1KHZ_SET          = Bit2 | Bit1,
+	GYRO_ODR_1KHZ_CLEAR        = Bit3 | Bit0,
 };
 
 // ACCEL_CONFIG0
 enum ACCEL_CONFIG0_BIT : uint8_t {
 	// 7:5 ACCEL_FS_SEL
-	ACCEL_FS_SEL_16G = 0, // 000: ±16g (default)
-	ACCEL_FS_SEL_8G  = Bit5,
-	ACCEL_FS_SEL_4G  = Bit6,
-	ACCEL_FS_SEL_2G  = Bit6 | Bit5,
-
+	//  0b000: ±16g (default)
+	ACCEL_FS_SEL_16G_CLEAR     = Bit7 | Bit6 | Bit5,
 
 	// 3:0 ACCEL_ODR
-	//  0001: 32kHz
-	ACCEL_ODR_32KHZ_SET   = Bit0,
-	ACCEL_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
-	//  0010: 16kHz
-	ACCEL_ODR_16KHZ_SET   = Bit1,
-	ACCEL_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
-	//  0011: 8kHz
-	ACCEL_ODR_8KHZ_SET    = Bit1 | Bit0,
-	ACCEL_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
-	//  0110: 1kHz (default)
-	ACCEL_ODR_1KHZ_SET    = Bit2 | Bit1,
-	ACCEL_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
+	//  0b0001: 32kHz (maximum)
+	ACCEL_ODR_32KHZ_SET        = Bit0,
+	ACCEL_ODR_32KHZ_CLEAR      = Bit3 | Bit2 | Bit0,
+	//  0b0011: 8kHz
+	ACCEL_ODR_8KHZ_SET         = Bit1 | Bit0,
+	ACCEL_ODR_8KHZ_CLEAR       = Bit3 | Bit2,
+	//  0b0110: 1kHz (default)
+	ACCEL_ODR_1KHZ_SET         = Bit2 | Bit1,
+	ACCEL_ODR_1KHZ_CLEAR       = Bit3 | Bit0,
 };
 
 // GYRO_CONFIG1
 enum GYRO_CONFIG1_BIT : uint8_t {
-	GYRO_UI_FILT_ORD = Bit3 | Bit2, // 00: 1st Order
+	GYRO_UI_FILT_ORD_1ST_CLEAR = Bit3 | Bit2, // 00: 1st Order UI filter
 };
 
 // GYRO_ACCEL_CONFIG0
@@ -222,14 +207,15 @@ enum GYRO_ACCEL_CONFIG0_BIT : uint8_t {
 
 // ACCEL_CONFIG1
 enum ACCEL_CONFIG1_BIT : uint8_t {
-	ACCEL_UI_FILT_ORD = Bit4 | Bit3, // 00: 1st Order
+	ACCEL_UI_FILT_ORD_1ST_CLEAR = Bit4 | Bit3, // 00: 1st Order UI filter
 };
 
 // FIFO_CONFIG1
 enum FIFO_CONFIG1_BIT : uint8_t {
 	FIFO_RESUME_PARTIAL_RD = Bit6,
-	FIFO_WM_GT_TH          = Bit5,
+
 	FIFO_HIRES_EN          = Bit4,
+
 	FIFO_TEMP_EN           = Bit2,
 	FIFO_GYRO_EN           = Bit1,
 	FIFO_ACCEL_EN          = Bit0,
@@ -238,18 +224,21 @@ enum FIFO_CONFIG1_BIT : uint8_t {
 // INT_CONFIG0
 enum INT_CONFIG0_BIT : uint8_t {
 	// 3:2 FIFO_THS_INT_CLEAR
-	CLEAR_ON_FIFO_READ = Bit3,
+	FIFO_THS_INT_CLEAR = Bit3, // 10: Clear on FIFO data 1Byte Read
+};
+
+// INT_CONFIG1
+enum INT_CONFIG1_BIT : uint8_t {
+	INT_TPULSE_DURATION   = Bit6, // 1: Interrupt pulse duration is 8 µs. Required if ODR ≥ 4kHz, optional for ODR < 4kHz.
+	INT_TDEASSERT_DISABLE = Bit5, // 1: Disables de-assert duration. Required if ODR ≥ 4kHz, optional for ODR < 4kHz.
+	INT_ASYNC_RESET       = Bit4, // User should change setting to 0 from default setting of 1, for proper INT1 and INT2 pin operation
 };
 
 // INT_SOURCE0
 enum INT_SOURCE0_BIT : uint8_t {
-	UI_FSYNC_INT1_EN   = Bit6,
-	PLL_RDY_INT1_EN    = Bit5,
-	RESET_DONE_INT1_EN = Bit4,
-	UI_DRDY_INT1_EN    = Bit3,
+	RESET_DONE_INT1_EN = Bit4, // 1: Reset done interrupt routed to INT1 (enabled by default)
+
 	FIFO_THS_INT1_EN   = Bit2, // FIFO threshold interrupt routed to INT1
-	FIFO_FULL_INT1_EN  = Bit1,
-	UI_AGC_RDY_INT1_EN = Bit0,
 };
 
 // REG_BANK_SEL
@@ -277,6 +266,7 @@ enum ACCEL_CONFIG_STATIC2_BIT : uint8_t {
 	ACCEL_AAF_DIS = Bit0,
 };
 
+
 namespace FIFO
 {
 static constexpr size_t SIZE = 2048;

src/drivers/imu/invensense/iim42652/iim42652_main.cpp

@@ -72,13 +72,11 @@ extern "C" int iim42652_main(int argc, char *argv[])
 
 	if (!strcmp(verb, "start")) {
 		return ThisDriver::module_start(cli, iterator);
-	}
 
-	if (!strcmp(verb, "stop")) {
+	} else if (!strcmp(verb, "stop")) {
 		return ThisDriver::module_stop(iterator);
-	}
 
-	if (!strcmp(verb, "status")) {
+	} else if (!strcmp(verb, "status")) {
 		return ThisDriver::module_status(iterator);
 	}
 

src/drivers/imu/invensense/mpu6000/CMakeLists.txt

@@ -41,7 +41,5 @@ px4_add_module(
 		mpu6000_main.cpp
 		InvenSense_MPU6000_registers.hpp
 	DEPENDS
-		drivers_accelerometer
-		drivers_gyroscope
 		px4_work_queue
 	)

src/drivers/imu/invensense/mpu6000/InvenSense_MPU6000_registers.hpp

@@ -62,6 +62,8 @@ static constexpr uint8_t WHOAMI = 0x68;
 
 static constexpr float TEMPERATURE_SENSITIVITY = 340.f; // LSB/C
 static constexpr float TEMPERATURE_OFFSET = 36.53f; // C
+static constexpr float TEMPERATURE_SENSOR_MIN = -40.f; // °C
+static constexpr float TEMPERATURE_SENSOR_MAX = 85.f; // °C
 
 enum class Register : uint8_t {
 	CONFIG            = 0x1A,

src/drivers/imu/invensense/mpu6000/MPU6000.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,6 +33,8 @@
 
 #include "MPU6000.hpp"
 
+#include <lib/parameters/param.h>
+
 using namespace time_literals;
 
 static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
@@ -44,14 +46,16 @@ MPU6000::MPU6000(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
 	_drdy_gpio(config.drdy_gpio),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
-	if (config.drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+	int32_t imu_gyro_rate_max = 400;
+	param_get(param_find("IMU_GYRO_RATEMAX"), &imu_gyro_rate_max);
+
+	ConfigureSampleRate(imu_gyro_rate_max);
 }
 
 MPU6000::~MPU6000()
@@ -107,14 +111,19 @@ void MPU6000::print_status()
 
 int MPU6000::probe()
 {
-	const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
+	// 3 retries
+	for (int retry = 0; retry < 3; retry++) {
+		const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
 
-	if (whoami != WHOAMI) {
-		DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
-		return PX4_ERROR;
+		if (whoami == WHOAMI) {
+			return PX4_OK;
+
+		} else {
+			DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
+		}
 	}
 
-	return PX4_OK;
+	return PX4_ERROR;
 }
 
 void MPU6000::RunImpl()
@@ -156,8 +165,8 @@ void MPU6000::RunImpl()
 				ScheduleDelayed(100_ms);
 
 			} else {
-				PX4_DEBUG("Reset not complete, check again in 10 ms");
-				ScheduleDelayed(10_ms);
+				PX4_DEBUG("Reset not complete, check again in 100 ms");
+				ScheduleDelayed(100_ms);
 			}
 		}
 
@@ -165,6 +174,8 @@ void MPU6000::RunImpl()
 
 	case STATE::CONFIGURE:
 		if (Configure()) {
+			_temperature = ReadTemperature();
+
 			// if configure succeeded then start reading from FIFO
 			_state = STATE::FIFO_READ;
 
@@ -203,7 +214,7 @@ void MPU6000::RunImpl()
 				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
 				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
 
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+				if (now < drdy_timestamp_sample + _fifo_empty_interval_us) {
 					timestamp_sample = drdy_timestamp_sample;
 
 				} else {
@@ -278,7 +289,7 @@ void MPU6000::RunImpl()
 			} else {
 				// periodically update temperature (~1 Hz)
 				if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
-					UpdateTemperature();
+					_temperature = ReadTemperature();
 					_temperature_update_timestamp = now;
 				}
 			}
@@ -288,65 +299,10 @@ void MPU6000::RunImpl()
 	}
 }
 
-void MPU6000::ConfigureAccel()
-{
-	const uint8_t AFS_SEL = RegisterRead(Register::ACCEL_CONFIG) & (Bit4 | Bit3); // [4:3] AFS_SEL[1:0]
-
-	switch (AFS_SEL) {
-	case AFS_SEL_2G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 16384.f);
-		_px4_accel.set_range(2.f * CONSTANTS_ONE_G);
-		break;
-
-	case AFS_SEL_4G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
-		_px4_accel.set_range(4.f * CONSTANTS_ONE_G);
-		break;
-
-	case AFS_SEL_8G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f);
-		_px4_accel.set_range(8.f * CONSTANTS_ONE_G);
-		break;
-
-	case AFS_SEL_16G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
-		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
-		break;
-	}
-}
-
-void MPU6000::ConfigureGyro()
-{
-	const uint8_t GYRO_FS_SEL = RegisterRead(Register::GYRO_CONFIG) & (Bit4 | Bit3); // [4:3] FS_SEL[1:0]
-
-	float range_dps = 0.f;
-
-	switch (GYRO_FS_SEL) {
-	case FS_SEL_250_DPS:
-		range_dps = 250.f;
-		break;
-
-	case FS_SEL_500_DPS:
-		range_dps = 500.f;
-		break;
-
-	case FS_SEL_1000_DPS:
-		range_dps = 1000.f;
-		break;
-
-	case FS_SEL_2000_DPS:
-		range_dps = 2000.f;
-		break;
-	}
-
-	_px4_gyro.set_scale(math::radians(range_dps / 32768.f));
-	_px4_gyro.set_range(math::radians(range_dps));
-}
-
 void MPU6000::ConfigureSampleRate(int sample_rate)
 {
 	// round down to nearest FIFO sample dt
-	const float min_interval = FIFO_SAMPLE_DT * 4; // limit to 2 kHz (500 us interval)
+	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
 
 	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
@@ -371,9 +327,6 @@ bool MPU6000::Configure()
 		}
 	}
 
-	ConfigureAccel();
-	ConfigureGyro();
-
 	return success;
 }
 
@@ -400,7 +353,7 @@ bool MPU6000::DataReadyInterruptConfigure()
 	}
 
 	// Setup data ready on falling edge
-	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, true, false, &DataReadyInterruptCallback, this) == 0);
 }
 
 bool MPU6000::DataReadyInterruptDisable()
@@ -409,7 +362,7 @@ bool MPU6000::DataReadyInterruptDisable()
 		return false;
 	}
 
-	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0);
 }
 
 bool MPU6000::RegisterCheck(const register_config_t &reg_cfg)
@@ -462,23 +415,33 @@ void MPU6000::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t cle
 
 uint16_t MPU6000::FIFOReadCount()
 {
-	// read FIFO count
-	uint8_t fifo_count_buf[3] {};
-	fifo_count_buf[0] = static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ;
-	set_frequency(SPI_SPEED_SENSOR);
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+	} buffer{};
 
-	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+	// read FIFO count
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return 0;
 	}
 
-	return combine(fifo_count_buf[1], fifo_count_buf[2]);
+	return (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 }
 
 bool MPU6000::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
-	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
+	// FIFO transfer buffer
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_R_W) | DIR_READ};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	} buffer{};
+
+	// cmd + samples (FIFO::DATA)
+	const size_t transfer_size = 1 + math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
+
 	set_frequency(SPI_SPEED_SENSOR);
 
 	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
@@ -486,9 +449,43 @@ bool MPU6000::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 		return false;
 	}
 
+	const uint8_t valid_samples = samples;
 
-	ProcessGyro(timestamp_sample, buffer.f, samples);
-	return ProcessAccel(timestamp_sample, buffer.f, samples);
+	if (valid_samples > 0) {
+		sensor_imu_fifo_s sensor_imu_fifo{};
+		sensor_imu_fifo.timestamp_sample = timestamp_sample;
+		sensor_imu_fifo.device_id = get_device_id();
+		sensor_imu_fifo.dt = FIFO_SAMPLE_DT;
+		sensor_imu_fifo.samples = valid_samples;
+		sensor_imu_fifo.accel_scale = ACCEL_SCALE;
+		sensor_imu_fifo.gyro_scale = GYRO_SCALE;
+
+		for (int i = 0; i < valid_samples; i++) {
+			// sensor's frame is +x forward, +y left, +z up
+			//  flip y & z to publish right handed with z down (x forward, y right, z down)
+			sensor_imu_fifo.accel_x[i] =              combine(buffer.f[i].ACCEL_XOUT_H, buffer.f[i].ACCEL_XOUT_L);
+			sensor_imu_fifo.accel_y[i] = math::negate(combine(buffer.f[i].ACCEL_YOUT_H, buffer.f[i].ACCEL_YOUT_L));
+			sensor_imu_fifo.accel_z[i] = math::negate(combine(buffer.f[i].ACCEL_ZOUT_H, buffer.f[i].ACCEL_ZOUT_L));
+			rotate_3i(_rotation, sensor_imu_fifo.accel_x[i], sensor_imu_fifo.accel_y[i], sensor_imu_fifo.accel_z[i]);
+
+			sensor_imu_fifo.gyro_x[i] =              combine(buffer.f[i].GYRO_XOUT_H, buffer.f[i].GYRO_XOUT_L);
+			sensor_imu_fifo.gyro_y[i] = math::negate(combine(buffer.f[i].GYRO_YOUT_H, buffer.f[i].GYRO_YOUT_L));
+			sensor_imu_fifo.gyro_z[i] = math::negate(combine(buffer.f[i].GYRO_ZOUT_H, buffer.f[i].GYRO_ZOUT_L));
+			rotate_3i(_rotation, sensor_imu_fifo.gyro_x[i], sensor_imu_fifo.gyro_y[i], sensor_imu_fifo.gyro_z[i]);
+		}
+
+		sensor_imu_fifo.temperature = (hrt_elapsed_time(&_temperature_update_timestamp) < 5_s) ? _temperature : NAN;
+
+		sensor_imu_fifo.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf)
+					      + perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_imu_fifo.timestamp = hrt_absolute_time();
+		_sensor_imu_fifo_pub.publish(sensor_imu_fifo);
+
+		return true;
+	}
+
+	return false;
 }
 
 void MPU6000::FIFOReset()
@@ -514,105 +511,32 @@ void MPU6000::FIFOReset()
 	}
 }
 
-static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
+float MPU6000::ReadTemperature()
 {
-	return (memcmp(&f0.ACCEL_XOUT_H, &f1.ACCEL_XOUT_H, 6) == 0);
-}
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::TEMP_OUT_H) | DIR_READ};
+		uint8_t TEMP_OUT_H{0};
+		uint8_t TEMP_OUT_L{0};
+	} buffer{};
 
-bool MPU6000::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
-
-	bool bad_data = false;
-
-	// FIFO contains 8 duplicated accel samples per gyro sample
-	for (int i = 0; i < samples; i++) {
-		_fifo_accel_samples_count++;
-
-		// only process new FIFO samples (1 every 8 samples expected)
-		const bool new_sample = !fifo_accel_equal(fifo[i], _fifo_sample_last_new_accel);
-
-		// process every 8th sample
-		if (_fifo_accel_samples_count == SAMPLES_PER_TRANSFER) {
-			int16_t accel_x = combine(fifo[i].ACCEL_XOUT_H, fifo[i].ACCEL_XOUT_L);
-			int16_t accel_y = combine(fifo[i].ACCEL_YOUT_H, fifo[i].ACCEL_YOUT_L);
-			int16_t accel_z = combine(fifo[i].ACCEL_ZOUT_H, fifo[i].ACCEL_ZOUT_L);
-
-			// sensor's frame is +x forward, +y left, +z up
-			//  flip y & z to publish right handed with z down (x forward, y right, z down)
-			accel.x[accel.samples] = accel_x;
-			accel.y[accel.samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
-			accel.z[accel.samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
-			accel.samples++;
-
-		} else if (new_sample && (_fifo_accel_samples_count > 1)) {
-			// a new unique sample after fewer than 8 samples is an error
-			bad_data = true;
-			perf_count(_bad_transfer_perf);
-		}
-
-		// reset previous unique sample and counter
-		if (new_sample || (_fifo_accel_samples_count == SAMPLES_PER_TRANSFER)) {
-			_fifo_accel_samples_count = 0;
-			_fifo_sample_last_new_accel = fifo[i];
-		}
-	}
-
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	if (accel.samples > 0) {
-		_px4_accel.updateFIFO(accel);
-	}
-
-	return !bad_data;
-}
-
-void MPU6000::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = samples;
-	gyro.dt = FIFO_SAMPLE_DT;
-
-	for (int i = 0; i < samples; i++) {
-		const int16_t gyro_x = combine(fifo[i].GYRO_XOUT_H, fifo[i].GYRO_XOUT_L);
-		const int16_t gyro_y = combine(fifo[i].GYRO_YOUT_H, fifo[i].GYRO_YOUT_L);
-		const int16_t gyro_z = combine(fifo[i].GYRO_ZOUT_H, fifo[i].GYRO_ZOUT_L);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro_x;
-		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
-	}
-
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	_px4_gyro.updateFIFO(gyro);
-}
-
-void MPU6000::UpdateTemperature()
-{
 	// read current temperature
-	uint8_t temperature_buf[3] {};
-	temperature_buf[0] = static_cast<uint8_t>(Register::TEMP_OUT_H) | DIR_READ;
 	set_frequency(SPI_SPEED_SENSOR);
 
-	if (transfer(temperature_buf, temperature_buf, sizeof(temperature_buf)) != PX4_OK) {
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
-		return;
+		return NAN;;
 	}
 
-	const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
+	const int16_t TEMP_OUT = combine(buffer.TEMP_OUT_H, buffer.TEMP_OUT_L);
 	const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 
-	if (PX4_ISFINITE(TEMP_degC)) {
-		_px4_accel.set_temperature(TEMP_degC);
-		_px4_gyro.set_temperature(TEMP_degC);
+	if (PX4_ISFINITE(TEMP_degC)
+	    && (TEMP_degC >= TEMPERATURE_SENSOR_MIN)
+	    && (TEMP_degC <= TEMPERATURE_SENSOR_MAX)) {
+
+		return TEMP_degC;
 	}
+
+	return NAN;
 }

src/drivers/imu/invensense/mpu6000/MPU6000.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -43,14 +43,15 @@
 #include "InvenSense_MPU6000_registers.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_imu_fifo.h>
+
 using namespace InvenSense_MPU6000;
 
 class MPU6000 : public device::SPI, public I2CSPIDriver<MPU6000>
@@ -71,20 +72,13 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};
-	static constexpr int32_t SAMPLES_PER_TRANSFER{8};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 8000 Hz gyro
-	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 1000 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), (size_t)sensor_imu_fifo_s::FIFO_SIZE)};
 
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_R_W) | DIR_READ};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (1 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static constexpr float ACCEL_SCALE{CONSTANTS_ONE_G / 2048.f}; // AFS_SEL_16G:
+	static constexpr float GYRO_SCALE{math::radians(2000.f / 32768.f)}; // FS_SEL_2000_DPS:
 
 	struct register_config_t {
 		Register reg;
@@ -97,8 +91,6 @@ private:
 	bool Reset();
 
 	bool Configure();
-	void ConfigureAccel();
-	void ConfigureGyro();
 	void ConfigureSampleRate(int sample_rate);
 
 	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
@@ -116,14 +108,15 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	bool ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void UpdateTemperature();
+	float ReadTemperature();
 
 	const spi_drdy_gpio_t _drdy_gpio;
 
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
+	uORB::PublicationMulti<sensor_imu_fifo_s> _sensor_imu_fifo_pub{ORB_ID(sensor_imu_fifo)};
+
+	const enum Rotation _rotation;
+
+	float _temperature{NAN};
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
@@ -137,9 +130,6 @@ private:
 	hrt_abstime _temperature_update_timestamp{0};
 	int _failure_count{0};
 
-	FIFO::DATA _fifo_sample_last_new_accel{};
-	uint32_t _fifo_accel_samples_count{0};
-
 	px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
 	int32_t _drdy_count{0};
 	bool _data_ready_interrupt_enabled{false};

src/drivers/imu/invensense/mpu6500/CMakeLists.txt

@@ -40,7 +40,5 @@ px4_add_module(
 		MPU6500.hpp
 		mpu6500_main.cpp
 	DEPENDS
-		drivers_accelerometer
-		drivers_gyroscope
 		px4_work_queue
 	)

src/drivers/imu/invensense/mpu6500/InvenSense_MPU6500_registers.hpp

@@ -42,6 +42,8 @@
 
 #include <cstdint>
 
+namespace InvenSense_MPU6500
+{
 // TODO: move to a central header
 static constexpr uint8_t Bit0 = (1 << 0);
 static constexpr uint8_t Bit1 = (1 << 1);
@@ -52,8 +54,6 @@ static constexpr uint8_t Bit5 = (1 << 5);
 static constexpr uint8_t Bit6 = (1 << 6);
 static constexpr uint8_t Bit7 = (1 << 7);
 
-namespace InvenSense_MPU6500
-{
 static constexpr uint32_t SPI_SPEED = 1 * 1000 * 1000;
 static constexpr uint32_t SPI_SPEED_SENSOR = 10 * 1000 * 1000; // 20MHz for reading sensor and interrupt registers
 static constexpr uint8_t DIR_READ = 0x80;
@@ -62,6 +62,8 @@ static constexpr uint8_t WHOAMI = 0x70;
 
 static constexpr float TEMPERATURE_SENSITIVITY = 333.87f; // LSB/C
 static constexpr float TEMPERATURE_OFFSET = 21.f; // C
+static constexpr float TEMPERATURE_SENSOR_MIN = -40.f; // °C
+static constexpr float TEMPERATURE_SENSOR_MAX = 85.f; // °C
 
 enum class Register : uint8_t {
 

src/drivers/imu/invensense/mpu6500/MPU6500.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -33,6 +33,8 @@
 
 #include "MPU6500.hpp"
 
+#include <lib/parameters/param.h>
+
 using namespace time_literals;
 
 static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
@@ -44,14 +46,16 @@ MPU6500::MPU6500(const I2CSPIDriverConfig &config) :
 	SPI(config),
 	I2CSPIDriver(config),
 	_drdy_gpio(config.drdy_gpio),
-	_px4_accel(get_device_id(), config.rotation),
-	_px4_gyro(get_device_id(), config.rotation)
+	_rotation(config.rotation)
 {
-	if (config.drdy_gpio != 0) {
+	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
 
-	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
+	int32_t imu_gyro_rate_max = 400;
+	param_get(param_find("IMU_GYRO_RATEMAX"), &imu_gyro_rate_max);
+
+	ConfigureSampleRate(imu_gyro_rate_max);
 }
 
 MPU6500::~MPU6500()
@@ -131,14 +135,19 @@ bool MPU6500::StoreCheckedRegisterValue(Register reg)
 
 int MPU6500::probe()
 {
-	const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
+	// 3 retries
+	for (int retry = 0; retry < 3; retry++) {
+		const uint8_t whoami = RegisterRead(Register::WHO_AM_I);
 
-	if (whoami != WHOAMI) {
-		DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
-		return PX4_ERROR;
+		if (whoami == WHOAMI) {
+			return PX4_OK;
+
+		} else {
+			DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
+		}
 	}
 
-	return PX4_OK;
+	return PX4_ERROR;
 }
 
 void MPU6500::RunImpl()
@@ -188,8 +197,8 @@ void MPU6500::RunImpl()
 				ScheduleDelayed(100_ms);
 
 			} else {
-				PX4_DEBUG("Reset not complete, check again in 10 ms");
-				ScheduleDelayed(10_ms);
+				PX4_DEBUG("Reset not complete, check again in 100 ms");
+				ScheduleDelayed(100_ms);
 			}
 		}
 
@@ -197,6 +206,8 @@ void MPU6500::RunImpl()
 
 	case STATE::CONFIGURE:
 		if (Configure()) {
+			_temperature = ReadTemperature();
+
 			// if configure succeeded then start reading from FIFO
 			_state = STATE::FIFO_READ;
 
@@ -235,7 +246,7 @@ void MPU6500::RunImpl()
 				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
 				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
 
-				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+				if (now < drdy_timestamp_sample + _fifo_empty_interval_us) {
 					timestamp_sample = drdy_timestamp_sample;
 
 				} else {
@@ -272,7 +283,7 @@ void MPU6500::RunImpl()
 					FIFOReset();
 					perf_count(_fifo_overflow_perf);
 
-				} else if (samples >= SAMPLES_PER_TRANSFER) {
+				} else if (samples >= 1) {
 					if (FIFORead(timestamp_sample, samples)) {
 						success = true;
 
@@ -288,6 +299,7 @@ void MPU6500::RunImpl()
 
 				// full reset if things are failing consistently
 				if (_failure_count > 10) {
+					PX4_DEBUG("Full reset because things are failing consistently");
 					Reset();
 					return;
 				}
@@ -302,13 +314,14 @@ void MPU6500::RunImpl()
 				} else {
 					// register check failed, force reset
 					perf_count(_bad_register_perf);
+					PX4_DEBUG("Force reset because register 0x%02hhX check failed ", (uint8_t)_register_cfg[_checked_register].reg);
 					Reset();
 				}
 
 			} else {
 				// periodically update temperature (~1 Hz)
 				if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
-					UpdateTemperature();
+					_temperature = ReadTemperature();
 					_temperature_update_timestamp = now;
 				}
 			}
@@ -318,65 +331,10 @@ void MPU6500::RunImpl()
 	}
 }
 
-void MPU6500::ConfigureAccel()
-{
-	const uint8_t ACCEL_FS_SEL = RegisterRead(Register::ACCEL_CONFIG) & (Bit4 | Bit3); // [4:3] ACCEL_FS_SEL[1:0]
-
-	switch (ACCEL_FS_SEL) {
-	case ACCEL_FS_SEL_2G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 16384.f);
-		_px4_accel.set_range(2.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_4G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
-		_px4_accel.set_range(4.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_8G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f);
-		_px4_accel.set_range(8.f * CONSTANTS_ONE_G);
-		break;
-
-	case ACCEL_FS_SEL_16G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
-		_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
-		break;
-	}
-}
-
-void MPU6500::ConfigureGyro()
-{
-	const uint8_t GYRO_FS_SEL = RegisterRead(Register::GYRO_CONFIG) & (Bit4 | Bit3); // [4:3] GYRO_FS_SEL[1:0]
-
-	float range_dps = 0.f;
-
-	switch (GYRO_FS_SEL) {
-	case GYRO_FS_SEL_250_DPS:
-		range_dps = 250.f;
-		break;
-
-	case GYRO_FS_SEL_500_DPS:
-		range_dps = 500.f;
-		break;
-
-	case GYRO_FS_SEL_1000_DPS:
-		range_dps = 1000.f;
-		break;
-
-	case GYRO_FS_SEL_2000_DPS:
-		range_dps = 2000.f;
-		break;
-	}
-
-	_px4_gyro.set_scale(math::radians(range_dps / 32768.f));
-	_px4_gyro.set_range(math::radians(range_dps));
-}
-
 void MPU6500::ConfigureSampleRate(int sample_rate)
 {
-	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
-	const float min_interval = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
+	// round down to nearest FIFO sample dt
+	const float min_interval = FIFO_SAMPLE_DT;
 	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
 
 	_fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES));
@@ -401,9 +359,6 @@ bool MPU6500::Configure()
 		}
 	}
 
-	ConfigureAccel();
-	ConfigureGyro();
-
 	return success;
 }
 
@@ -430,7 +385,7 @@ bool MPU6500::DataReadyInterruptConfigure()
 	}
 
 	// Setup data ready on falling edge
-	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, true, false, &DataReadyInterruptCallback, this) == 0);
 }
 
 bool MPU6500::DataReadyInterruptDisable()
@@ -439,7 +394,7 @@ bool MPU6500::DataReadyInterruptDisable()
 		return false;
 	}
 
-	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
+	return (px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0);
 }
 
 bool MPU6500::RegisterCheck(const register_config_t &reg_cfg)
@@ -490,23 +445,33 @@ void MPU6500::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t cle
 
 uint16_t MPU6500::FIFOReadCount()
 {
-	// read FIFO count
-	uint8_t fifo_count_buf[3] {};
-	fifo_count_buf[0] = static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ;
-	set_frequency(SPI_SPEED_SENSOR);
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+	} buffer{};
 
-	if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
+	// read FIFO count
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
 		return 0;
 	}
 
-	return combine(fifo_count_buf[1], fifo_count_buf[2]);
+	return (buffer.FIFO_COUNTH << 8) + buffer.FIFO_COUNTL;
 }
 
 bool MPU6500::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 {
-	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
+	// FIFO transfer buffer
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_R_W) | DIR_READ};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	} buffer{};
+
+	// cmd + samples (FIFO::DATA)
+	const size_t transfer_size = 1 + math::min(samples * sizeof(FIFO::DATA), FIFO::SIZE);
+
 	set_frequency(SPI_SPEED_SENSOR);
 
 	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
@@ -514,9 +479,43 @@ bool MPU6500::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 		return false;
 	}
 
+	const uint8_t valid_samples = samples;
 
-	ProcessGyro(timestamp_sample, buffer.f, samples);
-	return ProcessAccel(timestamp_sample, buffer.f, samples);
+	if (valid_samples > 0) {
+		sensor_imu_fifo_s sensor_imu_fifo{};
+		sensor_imu_fifo.timestamp_sample = timestamp_sample;
+		sensor_imu_fifo.device_id = get_device_id();
+		sensor_imu_fifo.dt = FIFO_SAMPLE_DT;
+		sensor_imu_fifo.samples = valid_samples;
+		sensor_imu_fifo.accel_scale = ACCEL_SCALE;
+		sensor_imu_fifo.gyro_scale = GYRO_SCALE;
+
+		for (int i = 0; i < valid_samples; i++) {
+			// sensor's frame is +x forward, +y left, +z up
+			//  flip y & z to publish right handed with z down (x forward, y right, z down)
+			sensor_imu_fifo.accel_x[i] =              combine(buffer.f[i].ACCEL_XOUT_H, buffer.f[i].ACCEL_XOUT_L);
+			sensor_imu_fifo.accel_y[i] = math::negate(combine(buffer.f[i].ACCEL_YOUT_H, buffer.f[i].ACCEL_YOUT_L));
+			sensor_imu_fifo.accel_z[i] = math::negate(combine(buffer.f[i].ACCEL_ZOUT_H, buffer.f[i].ACCEL_ZOUT_L));
+			rotate_3i(_rotation, sensor_imu_fifo.accel_x[i], sensor_imu_fifo.accel_y[i], sensor_imu_fifo.accel_z[i]);
+
+			sensor_imu_fifo.gyro_x[i] =              combine(buffer.f[i].GYRO_XOUT_H, buffer.f[i].GYRO_XOUT_L);
+			sensor_imu_fifo.gyro_y[i] = math::negate(combine(buffer.f[i].GYRO_YOUT_H, buffer.f[i].GYRO_YOUT_L));
+			sensor_imu_fifo.gyro_z[i] = math::negate(combine(buffer.f[i].GYRO_ZOUT_H, buffer.f[i].GYRO_ZOUT_L));
+			rotate_3i(_rotation, sensor_imu_fifo.gyro_x[i], sensor_imu_fifo.gyro_y[i], sensor_imu_fifo.gyro_z[i]);
+		}
+
+		sensor_imu_fifo.temperature = (hrt_elapsed_time(&_temperature_update_timestamp) < 5_s) ? _temperature : NAN;
+
+		sensor_imu_fifo.error_count = perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf)
+					      + perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf);
+
+		sensor_imu_fifo.timestamp = hrt_absolute_time();
+		_sensor_imu_fifo_pub.publish(sensor_imu_fifo);
+
+		return true;
+	}
+
+	return false;
 }
 
 void MPU6500::FIFOReset()
@@ -542,106 +541,32 @@ void MPU6500::FIFOReset()
 	}
 }
 
-static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
+float MPU6500::ReadTemperature()
 {
-	return (memcmp(&f0.ACCEL_XOUT_H, &f1.ACCEL_XOUT_H, 6) == 0);
-}
+	// transfer buffer
+	struct TransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::TEMP_OUT_H) | DIR_READ};
+		uint8_t TEMP_OUT_H{0};
+		uint8_t TEMP_OUT_L{0};
+	} buffer{};
 
-bool MPU6500::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_accel_fifo_s accel{};
-	accel.timestamp_sample = timestamp_sample;
-	accel.samples = 0;
-	accel.dt = FIFO_SAMPLE_DT * SAMPLES_PER_TRANSFER;
-
-	bool bad_data = false;
-
-	// accel data is doubled in FIFO, but might be shifted
-	int accel_first_sample = 1;
-
-	if (samples >= 4) {
-		if (fifo_accel_equal(fifo[0], fifo[1]) && fifo_accel_equal(fifo[2], fifo[3])) {
-			// [A0, A1, A2, A3]
-			//  A0==A1, A2==A3
-			accel_first_sample = 1;
-
-		} else if (fifo_accel_equal(fifo[1], fifo[2])) {
-			// [A0, A1, A2, A3]
-			//  A0, A1==A2, A3
-			accel_first_sample = 0;
-
-		} else {
-			// no matching accel samples is an error
-			bad_data = true;
-			perf_count(_bad_transfer_perf);
-		}
-	}
-
-	for (int i = accel_first_sample; i < samples; i = i + SAMPLES_PER_TRANSFER) {
-		int16_t accel_x = combine(fifo[i].ACCEL_XOUT_H, fifo[i].ACCEL_XOUT_L);
-		int16_t accel_y = combine(fifo[i].ACCEL_YOUT_H, fifo[i].ACCEL_YOUT_L);
-		int16_t accel_z = combine(fifo[i].ACCEL_ZOUT_H, fifo[i].ACCEL_ZOUT_L);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		accel.x[accel.samples] = accel_x;
-		accel.y[accel.samples] = (accel_y == INT16_MIN) ? INT16_MAX : -accel_y;
-		accel.z[accel.samples] = (accel_z == INT16_MIN) ? INT16_MAX : -accel_z;
-		accel.samples++;
-	}
-
-	_px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				   perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	if (accel.samples > 0) {
-		_px4_accel.updateFIFO(accel);
-	}
-
-	return !bad_data;
-}
-
-void MPU6500::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples)
-{
-	sensor_gyro_fifo_s gyro{};
-	gyro.timestamp_sample = timestamp_sample;
-	gyro.samples = samples;
-	gyro.dt = FIFO_SAMPLE_DT;
-
-	for (int i = 0; i < samples; i++) {
-		const int16_t gyro_x = combine(fifo[i].GYRO_XOUT_H, fifo[i].GYRO_XOUT_L);
-		const int16_t gyro_y = combine(fifo[i].GYRO_YOUT_H, fifo[i].GYRO_YOUT_L);
-		const int16_t gyro_z = combine(fifo[i].GYRO_ZOUT_H, fifo[i].GYRO_ZOUT_L);
-
-		// sensor's frame is +x forward, +y left, +z up
-		//  flip y & z to publish right handed with z down (x forward, y right, z down)
-		gyro.x[i] = gyro_x;
-		gyro.y[i] = (gyro_y == INT16_MIN) ? INT16_MAX : -gyro_y;
-		gyro.z[i] = (gyro_z == INT16_MIN) ? INT16_MAX : -gyro_z;
-	}
-
-	_px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) +
-				  perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf));
-
-	_px4_gyro.updateFIFO(gyro);
-}
-
-void MPU6500::UpdateTemperature()
-{
 	// read current temperature
-	uint8_t temperature_buf[3] {};
-	temperature_buf[0] = static_cast<uint8_t>(Register::TEMP_OUT_H) | DIR_READ;
 	set_frequency(SPI_SPEED_SENSOR);
 
-	if (transfer(temperature_buf, temperature_buf, sizeof(temperature_buf)) != PX4_OK) {
+	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, sizeof(buffer)) != PX4_OK) {
 		perf_count(_bad_transfer_perf);
-		return;
+		return NAN;
 	}
 
-	const int16_t TEMP_OUT = combine(temperature_buf[1], temperature_buf[2]);
+	const int16_t TEMP_OUT = combine(buffer.TEMP_OUT_H, buffer.TEMP_OUT_L);
 	const float TEMP_degC = (TEMP_OUT / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
 
-	if (PX4_ISFINITE(TEMP_degC)) {
-		_px4_accel.set_temperature(TEMP_degC);
-		_px4_gyro.set_temperature(TEMP_degC);
+	if (PX4_ISFINITE(TEMP_degC)
+	    && (TEMP_degC >= TEMPERATURE_SENSOR_MIN)
+	    && (TEMP_degC <= TEMPERATURE_SENSOR_MAX)) {
+
+		return TEMP_degC;
 	}
+
+	return NAN;
 }

src/drivers/imu/invensense/mpu6500/MPU6500.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 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
@@ -43,14 +43,15 @@
 #include "InvenSense_MPU6500_registers.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/device/spi.h>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_imu_fifo.h>
+
 using namespace InvenSense_MPU6500;
 
 class MPU6500 : public device::SPI, public I2CSPIDriver<MPU6500>
@@ -71,20 +72,13 @@ private:
 
 	// Sensor Configuration
 	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};
-	static constexpr int32_t SAMPLES_PER_TRANSFER{2};                    // ensure at least 1 new accel sample per transfer
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 8000 Hz gyro
-	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
 
 	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
-	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr int32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), (size_t)sensor_imu_fifo_s::FIFO_SIZE)};
 
-	// Transfer data
-	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_R_W) | DIR_READ};
-		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
-	};
-	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (1 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static constexpr float ACCEL_SCALE{CONSTANTS_ONE_G / 2048.f}; // ACCEL_FS_SEL_16G
+	static constexpr float GYRO_SCALE{math::radians(2000.f / 32768.f)}; // GYRO_FS_SEL_2000_DPS
 
 	struct register_config_t {
 		Register reg;
@@ -97,8 +91,6 @@ private:
 	bool Reset();
 
 	bool Configure();
-	void ConfigureAccel();
-	void ConfigureGyro();
 	void ConfigureSampleRate(int sample_rate);
 
 	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
@@ -117,14 +109,15 @@ private:
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples);
 	void FIFOReset();
 
-	bool ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
-	void UpdateTemperature();
+	float ReadTemperature();
 
 	const spi_drdy_gpio_t _drdy_gpio;
 
-	PX4Accelerometer _px4_accel;
-	PX4Gyroscope _px4_gyro;
+	uORB::PublicationMulti<sensor_imu_fifo_s> _sensor_imu_fifo_pub{ORB_ID(sensor_imu_fifo)};
+
+	const enum Rotation _rotation;
+
+	float _temperature{NAN};
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};