mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-28 10:20:05 +08:00
Compare commits
2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
6fd19df64e | ||
|
Daniel Agar
|
481addbcac |
@@ -684,7 +684,7 @@ void checkStatus() {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
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// status commands
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
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@@ -715,7 +715,7 @@ void checkStatus() {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
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@@ -767,13 +767,13 @@ void runTests() {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
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@@ -16,7 +16,7 @@ jobs:
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matrix:
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config:
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- {model: "iris", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska
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# - {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia
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- {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia
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- {model: "tailsitter" , latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo" } # Florida
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- {model: "standard_vtol", latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
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@@ -40,8 +40,8 @@ menu "Toolchain"
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help
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forces nolockstep behaviour, despite REPLAY env variable
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config BOARD_LINUX_TARGET
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bool "Linux OS Target"
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config BOARD_LINUX
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bool "Linux OS"
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depends on PLATFORM_POSIX
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help
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Board Platform is running the Linux operating system
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|
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@@ -74,7 +74,7 @@ if [ -f $PARAM_FILE ]; then
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then
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echo "ERROR [init] param import failed"
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bsondump $PARAM_FILE
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param dump $PARAM_FILE
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# try to make a backup copy
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cp $PARAM_FILE param_import_fail.bson
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@@ -85,7 +85,7 @@ if [ -f $PARAM_FILE ]; then
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echo "[init] importing from parameter backup"
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# dump current backup file contents for comparison
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bsondump $PARAM_BACKUP_FILE
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param dump $PARAM_BACKUP_FILE
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param import $PARAM_BACKUP_FILE
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@@ -142,9 +142,7 @@ then
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param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
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param set CAL_MAG0_ID 197388
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param set CAL_MAG0_PRIO 50
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param set CAL_MAG1_ID 197644
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param set CAL_MAG1_PRIO 50
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param set SENS_BOARD_X_OFF 0.000001
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param set SENS_DPRES_OFF 0.001
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@@ -227,7 +225,7 @@ then
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elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
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then
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echo "Error: no autostart file found ($autostart_file)"
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#exit 1
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exit 1
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fi
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#user defined params for instances can be in PATH
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@@ -130,7 +130,7 @@ else
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echo "ERROR [init] param import failed"
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set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
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bsondump $PARAM_FILE
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param dump $PARAM_FILE
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if [ -d "/fs/microsd" ]
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then
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@@ -143,7 +143,7 @@ else
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echo "[init] importing from parameter backup"
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# dump current backup file contents for comparison
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bsondump $PARAM_BACKUP_FILE
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param dump $PARAM_BACKUP_FILE
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param import $PARAM_BACKUP_FILE
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|
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|
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@@ -43,13 +43,13 @@ do
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
|
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params'
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'
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${DIR}/reboot.py --device ${SERIAL_DEVICE}
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params' || true
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/microsd/parameters_backup.bson' || true
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
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${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
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@@ -28,7 +28,7 @@ args = parser.parse_args()
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verbose = args.verbose
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build_configs = []
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excluded_boards = ['modalai_voxl2', 'px4_ros2'] # TODO: fix and enable
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excluded_boards = ['modalai_voxl2'] # TODO: fix and enable
|
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excluded_manufacturers = ['atlflight']
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excluded_platforms = ['qurt']
|
||||
excluded_labels = [
|
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|
||||
@@ -122,13 +122,21 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
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for field in spec.parsed_fields():
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field_name_and_type.update({field.name: field.type})
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# assert if the timestamp field exists
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try:
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assert 'timestamp' in field_name_and_type
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except AssertionError:
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print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
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spec.short_name + " msg definition!")
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exit(1)
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# assert if the timestamp field is of type uint64
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# try:
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# assert field_name_and_type.get('timestamp') == 'uint64'
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# except AssertionError:
|
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# print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
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# " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
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# exit(1)
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try:
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assert field_name_and_type.get('timestamp') == 'uint64'
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except AssertionError:
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print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
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||||
" msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
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exit(1)
|
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topics = get_topics(filename)
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@@ -136,9 +136,9 @@ serial_ports = {
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"default_baudrate": 1, # set default to an unusable value to detect that this serial port has not been configured
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},
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# EXT2
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"EXT2": {
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"label": "EXT2",
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# Pixhawk Payload Bus
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"PPB": {
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"label": "Pixhawk Payload Bus",
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"index": 401,
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"default_baudrate": 57600,
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},
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||||
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||||
Submodule Tools/simulation/gazebo/sitl_gazebo updated: 049b667d5e...0c8b6fd26f
@@ -79,9 +79,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
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CONFIG_MODULES_UUV_POS_CONTROL=y
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CONFIG_MODULES_GIMBAL=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
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CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -70,7 +70,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
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||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
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CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
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CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
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CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
|
||||
@@ -159,7 +159,6 @@ CONFIG_NET_BROADCAST=y
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CONFIG_NET_ETH_PKTSIZE=1518
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CONFIG_NET_ICMP=y
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CONFIG_NET_ICMP_SOCKET=y
|
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CONFIG_NET_NACTIVESOCKETS=16
|
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CONFIG_NET_SOLINGER=y
|
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CONFIG_NET_TCP=y
|
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CONFIG_NET_TCPBACKLOG=y
|
||||
|
||||
@@ -76,9 +76,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
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CONFIG_MODULES_UUV_POS_CONTROL=y
|
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CONFIG_MODULES_GIMBAL=y
|
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CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
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CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -138,7 +138,6 @@ CONFIG_NET_ARP_SEND=y
|
||||
CONFIG_NET_BROADCAST=y
|
||||
CONFIG_NET_ICMP=y
|
||||
CONFIG_NET_ICMP_SOCKET=y
|
||||
CONFIG_NET_NACTIVESOCKETS=16
|
||||
CONFIG_NET_SOLINGER=y
|
||||
CONFIG_NET_TCP=y
|
||||
CONFIG_NET_TCPBACKLOG=y
|
||||
|
||||
@@ -35,8 +35,8 @@ add_compile_options(-Wno-cast-align)
|
||||
|
||||
include(ExternalProject)
|
||||
ExternalProject_Add(librobotcontrol
|
||||
GIT_REPOSITORY https://github.com/beagleboard/librobotcontrol.git
|
||||
GIT_TAG 290e14f
|
||||
GIT_REPOSITORY https://github.com/dagar/librobotcontrol.git
|
||||
GIT_TAG 1abcb0a # latest as of 2019-12-29
|
||||
CMAKE_CACHE_ARGS -DCMAKE_TOOLCHAIN_FILE:STRING=${CMAKE_TOOLCHAIN_FILE}
|
||||
INSTALL_COMMAND ""
|
||||
TEST_COMMAND ""
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
CONFIG_PLATFORM_POSIX=y
|
||||
CONFIG_BOARD_LINUX_TARGET=y
|
||||
CONFIG_BOARD_LINUX=y
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-a8"
|
||||
CONFIG_BOARD_TESTING=y
|
||||
@@ -63,7 +63,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DYN=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
|
||||
@@ -81,9 +81,8 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -27,12 +27,14 @@ CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_OSD=y
|
||||
CONFIG_DRIVERS_PCA9685=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_RPM=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
@@ -44,7 +46,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_ESC_BATTERY=y
|
||||
@@ -53,7 +54,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
@@ -69,6 +69,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -79,10 +80,10 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
|
||||
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
@@ -105,3 +106,4 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
CONFIG_EXAMPLES_FAKE_GPS=y
|
||||
#CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
|
||||
|
||||
@@ -75,7 +75,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -1,8 +1,12 @@
|
||||
CONFIG_DRIVERS_ADC_ADS1115=n
|
||||
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_RPM=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=n
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
|
||||
CONFIG_BOARD_TESTING=y
|
||||
|
||||
@@ -80,9 +80,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
CONFIG_PLATFORM_POSIX=y
|
||||
CONFIG_BOARD_LINUX_TARGET=y
|
||||
CONFIG_BOARD_LINUX=y
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-a53"
|
||||
CONFIG_BOARD_TESTING=y
|
||||
@@ -66,7 +66,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DYN=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
|
||||
@@ -28,8 +28,10 @@ CONFIG_DRIVERS_PCA9685=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_RPM=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
@@ -38,7 +40,6 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_ESC_BATTERY=y
|
||||
@@ -47,7 +48,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
@@ -62,6 +62,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -72,10 +73,10 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
|
||||
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -71,7 +71,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -85,9 +85,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -82,7 +82,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -76,7 +76,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -34,8 +34,4 @@
|
||||
add_library(drivers_board
|
||||
board_config.h
|
||||
init.c
|
||||
spi.cpp
|
||||
)
|
||||
|
||||
# Add custom drivers for SLPI
|
||||
add_subdirectory(${PX4_BOARD_DIR}/src/drivers/icm42688p)
|
||||
|
||||
@@ -46,14 +46,5 @@
|
||||
*/
|
||||
#define PX4_NUMBER_I2C_BUSES 3
|
||||
|
||||
/*
|
||||
* SPI buses
|
||||
*/
|
||||
#define CONFIG_SPI 1
|
||||
#define BOARD_SPI_BUS_MAX_BUS_ITEMS 1
|
||||
|
||||
/*
|
||||
* Include these last to make use of the definitions above
|
||||
*/
|
||||
#include <system_config.h>
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
||||
@@ -1,985 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 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
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "ICM42688P.hpp"
|
||||
|
||||
bool hitl_mode = false;
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
|
||||
{
|
||||
return (msb << 8u) | lsb;
|
||||
}
|
||||
|
||||
ICM42688P::ICM42688P(const I2CSPIDriverConfig &config) :
|
||||
// SPI(DRV_IMU_DEVTYPE_ICM42688P, MODULE_NAME, bus, device, spi_mode, bus_frequency),
|
||||
// I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
|
||||
// _drdy_gpio(drdy_gpio)
|
||||
SPI(config),
|
||||
I2CSPIDriver(config),
|
||||
_drdy_gpio(config.drdy_gpio),
|
||||
_px4_accel(get_device_id(), config.rotation),
|
||||
_px4_gyro(get_device_id(), config.rotation)
|
||||
{
|
||||
if (config.drdy_gpio != 0) {
|
||||
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
|
||||
}
|
||||
|
||||
if (!hitl_mode) {
|
||||
// _px4_accel = std::make_shared<PX4Accelerometer>(get_device_id(), rotation);
|
||||
// _px4_gyro = std::make_shared<PX4Gyroscope>(get_device_id(), rotation);
|
||||
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
|
||||
// _imu_server_pub.advertise();
|
||||
|
||||
} else {
|
||||
ConfigureSampleRate(0);
|
||||
}
|
||||
}
|
||||
|
||||
ICM42688P::~ICM42688P()
|
||||
{
|
||||
perf_free(_bad_register_perf);
|
||||
perf_free(_bad_transfer_perf);
|
||||
perf_free(_fifo_empty_perf);
|
||||
perf_free(_fifo_overflow_perf);
|
||||
perf_free(_fifo_reset_perf);
|
||||
perf_free(_drdy_missed_perf);
|
||||
|
||||
// if (!hitl_mode){
|
||||
// _imu_server_pub.unadvertise();
|
||||
// }
|
||||
}
|
||||
|
||||
int ICM42688P::init()
|
||||
{
|
||||
int ret = SPI::init();
|
||||
|
||||
if (ret != PX4_OK) {
|
||||
DEVICE_DEBUG("SPI::init failed (%i)", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
return Reset() ? 0 : -1;
|
||||
}
|
||||
|
||||
bool ICM42688P::Reset()
|
||||
{
|
||||
_state = STATE::RESET;
|
||||
DataReadyInterruptDisable();
|
||||
ScheduleClear();
|
||||
ScheduleNow();
|
||||
return true;
|
||||
}
|
||||
|
||||
void ICM42688P::exit_and_cleanup()
|
||||
{
|
||||
DataReadyInterruptDisable();
|
||||
I2CSPIDriverBase::exit_and_cleanup();
|
||||
}
|
||||
|
||||
void ICM42688P::print_status()
|
||||
{
|
||||
I2CSPIDriverBase::print_status();
|
||||
|
||||
PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us);
|
||||
|
||||
perf_print_counter(_bad_register_perf);
|
||||
perf_print_counter(_bad_transfer_perf);
|
||||
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 ICM42688P::probe()
|
||||
{
|
||||
for (int i = 0; i < 3; i++) {
|
||||
uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
|
||||
|
||||
if (whoami == WHOAMI) {
|
||||
PX4_INFO("ICM42688P::probe successful!");
|
||||
return PX4_OK;
|
||||
|
||||
} else {
|
||||
DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami);
|
||||
|
||||
uint8_t reg_bank_sel = RegisterRead(Register::BANK_0::REG_BANK_SEL);
|
||||
int bank = reg_bank_sel >> 4;
|
||||
|
||||
if (bank >= 1 && bank <= 3) {
|
||||
DEVICE_DEBUG("incorrect register bank for WHO_AM_I REG_BANK_SEL:0x%02x, bank:%d", reg_bank_sel, bank);
|
||||
// force bank selection and retry
|
||||
SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0, true);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
void ICM42688P::RunImpl()
|
||||
{
|
||||
PX4_INFO(">>> ICM42688P this: %p", this);
|
||||
|
||||
const hrt_abstime now = hrt_absolute_time();
|
||||
|
||||
switch (_state) {
|
||||
case STATE::RESET:
|
||||
// DEVICE_CONFIG: Software reset configuration
|
||||
RegisterWrite(Register::BANK_0::DEVICE_CONFIG, DEVICE_CONFIG_BIT::SOFT_RESET_CONFIG);
|
||||
_reset_timestamp = now;
|
||||
_failure_count = 0;
|
||||
_state = STATE::WAIT_FOR_RESET;
|
||||
ScheduleDelayed(2_ms); // to be safe wait 2 ms for soft reset to be effective
|
||||
break;
|
||||
|
||||
case STATE::WAIT_FOR_RESET:
|
||||
if ((RegisterRead(Register::BANK_0::WHO_AM_I) == WHOAMI)
|
||||
&& (RegisterRead(Register::BANK_0::DEVICE_CONFIG) == 0x00)
|
||||
&& (RegisterRead(Register::BANK_0::INT_STATUS) & INT_STATUS_BIT::RESET_DONE_INT)) {
|
||||
|
||||
_state = STATE::CONFIGURE;
|
||||
ScheduleDelayed(10_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data
|
||||
|
||||
} else {
|
||||
// RESET not complete
|
||||
if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
|
||||
PX4_DEBUG("Reset failed, retrying");
|
||||
_state = STATE::RESET;
|
||||
ScheduleDelayed(100_ms);
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("Reset not complete, check again in 10 ms");
|
||||
ScheduleDelayed(10_ms);
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case STATE::CONFIGURE:
|
||||
|
||||
if (Configure()) {
|
||||
|
||||
// Wakeup accel and gyro after configuring registers
|
||||
ScheduleDelayed(1_ms); // add a delay here to be safe
|
||||
RegisterWrite(Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE);
|
||||
ScheduleDelayed(30_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data
|
||||
|
||||
// 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 {
|
||||
PX4_ERR("ICM42688P::RunImpl interrupt configuration failed");
|
||||
|
||||
_data_ready_interrupt_enabled = false;
|
||||
ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
|
||||
}
|
||||
|
||||
FIFOReset();
|
||||
|
||||
} else {
|
||||
|
||||
PX4_ERR("ICM42688P::RunImpl configuration failed");
|
||||
|
||||
// CONFIGURE not complete
|
||||
if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
|
||||
PX4_DEBUG("Configure failed, resetting");
|
||||
_state = STATE::RESET;
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("Configure failed, retrying");
|
||||
}
|
||||
|
||||
ScheduleDelayed(100_ms);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case STATE::FIFO_READ: {
|
||||
#ifndef __PX4_QURT
|
||||
uint32_t samples = 0;
|
||||
|
||||
if (_data_ready_interrupt_enabled) {
|
||||
// scheduled from interrupt if _drdy_fifo_read_samples was set as expected
|
||||
if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) {
|
||||
perf_count(_drdy_missed_perf);
|
||||
|
||||
} else {
|
||||
samples = _fifo_gyro_samples;
|
||||
}
|
||||
|
||||
// push backup schedule back
|
||||
ScheduleDelayed(_fifo_empty_interval_us * 2);
|
||||
}
|
||||
|
||||
if (samples == 0) {
|
||||
// check current FIFO count
|
||||
const uint16_t fifo_count = FIFOReadCount();
|
||||
|
||||
if (fifo_count >= FIFO::SIZE) {
|
||||
FIFOReset();
|
||||
perf_count(_fifo_overflow_perf);
|
||||
|
||||
} else if (fifo_count == 0) {
|
||||
perf_count(_fifo_empty_perf);
|
||||
|
||||
} else {
|
||||
// FIFO count (size in bytes)
|
||||
samples = (fifo_count / sizeof(FIFO::DATA));
|
||||
|
||||
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(now, 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;
|
||||
}
|
||||
}
|
||||
|
||||
// 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])
|
||||
) {
|
||||
_last_config_check_timestamp = now;
|
||||
_checked_register_bank0 = (_checked_register_bank0 + 1) % size_register_bank0_cfg;
|
||||
_checked_register_bank1 = (_checked_register_bank1 + 1) % size_register_bank1_cfg;
|
||||
_checked_register_bank2 = (_checked_register_bank2 + 1) % size_register_bank2_cfg;
|
||||
|
||||
} else {
|
||||
// register check failed, force reset
|
||||
perf_count(_bad_register_perf);
|
||||
Reset();
|
||||
}
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void ICM42688P::ConfigureSampleRate(int sample_rate)
|
||||
{
|
||||
if (sample_rate == 0) {
|
||||
sample_rate = 800; // default to 800 Hz
|
||||
}
|
||||
|
||||
// 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));
|
||||
|
||||
// recompute FIFO empty interval (us) with actual gyro sample limit
|
||||
_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
|
||||
|
||||
ConfigureFIFOWatermark(_fifo_gyro_samples);
|
||||
}
|
||||
|
||||
void ICM42688P::ConfigureFIFOWatermark(uint8_t samples)
|
||||
{
|
||||
// FIFO watermark threshold in number of bytes
|
||||
const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::DATA);
|
||||
|
||||
for (auto &r : _register_bank0_cfg) {
|
||||
if (r.reg == Register::BANK_0::FIFO_CONFIG2) {
|
||||
// FIFO_WM[7:0] FIFO_CONFIG2
|
||||
r.set_bits = fifo_watermark_threshold & 0xFF;
|
||||
|
||||
} else if (r.reg == Register::BANK_0::FIFO_CONFIG3) {
|
||||
// FIFO_WM[11:8] FIFO_CONFIG3
|
||||
r.set_bits = (fifo_watermark_threshold >> 8) & 0x0F;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ICM42688P::SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force)
|
||||
{
|
||||
if (bank != _last_register_bank || force) {
|
||||
// select BANK_0
|
||||
uint8_t cmd_bank_sel[2] {};
|
||||
cmd_bank_sel[0] = static_cast<uint8_t>(Register::BANK_0::REG_BANK_SEL);
|
||||
cmd_bank_sel[1] = bank;
|
||||
transfer(cmd_bank_sel, cmd_bank_sel, sizeof(cmd_bank_sel));
|
||||
|
||||
_last_register_bank = bank;
|
||||
}
|
||||
}
|
||||
|
||||
bool ICM42688P::Configure()
|
||||
{
|
||||
// first set and clear all configured register bits
|
||||
for (const auto ®_cfg : _register_bank0_cfg) {
|
||||
RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
|
||||
}
|
||||
|
||||
for (const auto ®_cfg : _register_bank1_cfg) {
|
||||
RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
|
||||
}
|
||||
|
||||
for (const auto ®_cfg : _register_bank2_cfg) {
|
||||
RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
|
||||
}
|
||||
|
||||
// now check that all are configured
|
||||
bool success = true;
|
||||
|
||||
for (const auto ®_cfg : _register_bank0_cfg) {
|
||||
if (!RegisterCheck(reg_cfg)) {
|
||||
success = false;
|
||||
}
|
||||
}
|
||||
|
||||
for (const auto ®_cfg : _register_bank1_cfg) {
|
||||
if (!RegisterCheck(reg_cfg)) {
|
||||
success = false;
|
||||
}
|
||||
}
|
||||
|
||||
for (const auto ®_cfg : _register_bank2_cfg) {
|
||||
if (!RegisterCheck(reg_cfg)) {
|
||||
success = false;
|
||||
}
|
||||
}
|
||||
|
||||
// // 20-bits data format used
|
||||
// // the only FSR settings that are operational are ±2000dps for gyroscope and ±16g for accelerometer
|
||||
if (!hitl_mode) {
|
||||
_px4_accel.set_range(16.f * CONSTANTS_ONE_G);
|
||||
_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
|
||||
_px4_gyro.set_range(math::radians(2000.f));
|
||||
_px4_gyro.set_scale(math::radians(1.f / 131.f));
|
||||
}
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
static bool interrupt_debug = true;
|
||||
static uint32_t interrupt_debug_count = 0;
|
||||
static const uint32_t interrupt_debug_trigger = 800;
|
||||
static hrt_abstime last_interrupt_time = 0;
|
||||
static hrt_abstime avg_interrupt_delta = 0;
|
||||
static hrt_abstime max_interrupt_delta = 0;
|
||||
static hrt_abstime min_interrupt_delta = 60 * 1000 * 1000;
|
||||
static hrt_abstime cumulative_interrupt_delta = 0;
|
||||
|
||||
int ICM42688P::DataReadyInterruptCallback(int irq, void *context, void *arg)
|
||||
{
|
||||
hrt_abstime current_interrupt_time = hrt_absolute_time();
|
||||
|
||||
if (interrupt_debug) {
|
||||
if (last_interrupt_time) {
|
||||
hrt_abstime interrupt_delta_time = current_interrupt_time - last_interrupt_time;
|
||||
|
||||
if (interrupt_delta_time > max_interrupt_delta) { max_interrupt_delta = interrupt_delta_time; }
|
||||
|
||||
if (interrupt_delta_time < min_interrupt_delta) { min_interrupt_delta = interrupt_delta_time; }
|
||||
|
||||
cumulative_interrupt_delta += interrupt_delta_time;
|
||||
}
|
||||
|
||||
last_interrupt_time = current_interrupt_time;
|
||||
|
||||
interrupt_debug_count++;
|
||||
|
||||
if (interrupt_debug_count == interrupt_debug_trigger) {
|
||||
avg_interrupt_delta = cumulative_interrupt_delta / interrupt_debug_trigger;
|
||||
PX4_INFO(">>> Max: %llu, Min: %llu, Avg: %llu", max_interrupt_delta,
|
||||
min_interrupt_delta, avg_interrupt_delta);
|
||||
interrupt_debug_count = 0;
|
||||
cumulative_interrupt_delta = 0;
|
||||
}
|
||||
}
|
||||
|
||||
static_cast<ICM42688P *>(arg)->DataReady();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void ICM42688P::DataReady()
|
||||
{
|
||||
#ifndef __PX4_QURT
|
||||
uint32_t expected = 0;
|
||||
|
||||
if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) {
|
||||
ScheduleNow();
|
||||
}
|
||||
|
||||
#else
|
||||
uint16_t fifo_byte_count = FIFOReadCount();
|
||||
|
||||
FIFORead(hrt_absolute_time(), fifo_byte_count / sizeof(FIFO::DATA));
|
||||
#endif
|
||||
}
|
||||
|
||||
bool ICM42688P::DataReadyInterruptConfigure()
|
||||
{
|
||||
if (_drdy_gpio == 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Setup data ready on falling edge
|
||||
return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
|
||||
}
|
||||
|
||||
bool ICM42688P::DataReadyInterruptDisable()
|
||||
{
|
||||
if (_drdy_gpio == 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool ICM42688P::RegisterCheck(const T ®_cfg)
|
||||
{
|
||||
bool success = true;
|
||||
|
||||
const uint8_t reg_value = RegisterRead(reg_cfg.reg);
|
||||
|
||||
if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
|
||||
PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
|
||||
success = false;
|
||||
}
|
||||
|
||||
if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
|
||||
PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
|
||||
success = false;
|
||||
}
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
uint8_t ICM42688P::RegisterRead(T reg)
|
||||
{
|
||||
uint8_t cmd[2] {};
|
||||
cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;
|
||||
SelectRegisterBank(reg);
|
||||
transfer(cmd, cmd, sizeof(cmd));
|
||||
return cmd[1];
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void ICM42688P::RegisterWrite(T reg, uint8_t value)
|
||||
{
|
||||
uint8_t cmd[2] { (uint8_t)reg, value };
|
||||
SelectRegisterBank(reg);
|
||||
transfer(cmd, cmd, sizeof(cmd));
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void ICM42688P::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits)
|
||||
{
|
||||
const uint8_t orig_val = RegisterRead(reg);
|
||||
|
||||
uint8_t val = (orig_val & ~clearbits) | setbits;
|
||||
|
||||
if (orig_val != val) {
|
||||
RegisterWrite(reg, val);
|
||||
}
|
||||
}
|
||||
|
||||
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);
|
||||
|
||||
if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) {
|
||||
perf_count(_bad_transfer_perf);
|
||||
return 0;
|
||||
}
|
||||
|
||||
return combine(fifo_count_buf[1], fifo_count_buf[2]);
|
||||
}
|
||||
|
||||
// static uint32_t debug_decimator = 0;
|
||||
// static hrt_abstime last_sample_time = 0;
|
||||
// static bool imu_debug = true;
|
||||
|
||||
bool ICM42688P::FIFORead(const hrt_abstime ×tamp_sample, uint16_t samples)
|
||||
{
|
||||
FIFOTransferBuffer buffer{};
|
||||
const size_t max_transfer_size = 10 * sizeof(FIFO::DATA) + 4;
|
||||
const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, max_transfer_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 uint16_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
|
||||
uint16_t valid_samples = 0;
|
||||
|
||||
// for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
|
||||
for (int i = 0; i < math::min(samples, (uint16_t) 10); 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 (imu_debug) {
|
||||
// debug_decimator++;
|
||||
// if (debug_decimator == 801) {
|
||||
// debug_decimator = 0;
|
||||
// PX4_INFO("Initial: %u Next: %u Valid: %u Delta: %llu", samples, fifo_count_samples, valid_samples, timestamp_sample - last_sample_time);
|
||||
// }
|
||||
// last_sample_time = timestamp_sample;
|
||||
// }
|
||||
|
||||
if (valid_samples > 0) {
|
||||
if (ProcessTemperature(buffer.f, valid_samples)) {
|
||||
ProcessGyro(timestamp_sample, buffer.f, valid_samples);
|
||||
ProcessAccel(timestamp_sample, buffer.f, valid_samples);
|
||||
// Pass only most recent valid sample to IMU server
|
||||
// ProcessIMU(timestamp_sample, buffer.f[valid_samples - 1]);
|
||||
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_fifo_read_samples.store(0);
|
||||
}
|
||||
|
||||
static constexpr int32_t reassemble_20bit(const uint32_t a, const uint32_t b, const uint32_t c)
|
||||
{
|
||||
// 0xXXXAABBC
|
||||
uint32_t high = ((a << 12) & 0x000FF000);
|
||||
uint32_t low = ((b << 4) & 0x00000FF0);
|
||||
uint32_t lowest = (c & 0x0000000F);
|
||||
|
||||
uint32_t x = high | low | lowest;
|
||||
|
||||
if (a & Bit7) {
|
||||
// sign extend
|
||||
x |= 0xFFF00000u;
|
||||
}
|
||||
|
||||
return static_cast<int32_t>(x);
|
||||
}
|
||||
|
||||
void ICM42688P::ProcessIMU(const hrt_abstime ×tamp_sample, const FIFO::DATA &fifo)
|
||||
{
|
||||
// float accel_x = 0.0, accel_y = 0.0, accel_z = 0.0;
|
||||
// float gyro_x = 0.0, gyro_y = 0.0, gyro_z = 0.0;
|
||||
//
|
||||
// // 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 temp_accel_x = reassemble_20bit(fifo.ACCEL_DATA_X1, fifo.ACCEL_DATA_X0,
|
||||
// fifo.Ext_Accel_X_Gyro_X & 0xF0 >> 4);
|
||||
// int32_t temp_accel_y = reassemble_20bit(fifo.ACCEL_DATA_Y1, fifo.ACCEL_DATA_Y0,
|
||||
// fifo.Ext_Accel_Y_Gyro_Y & 0xF0 >> 4);
|
||||
// int32_t temp_accel_z = reassemble_20bit(fifo.ACCEL_DATA_Z1, fifo.ACCEL_DATA_Z0,
|
||||
// fifo.Ext_Accel_Z_Gyro_Z & 0xF0 >> 4);
|
||||
//
|
||||
// // Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte)
|
||||
// int32_t temp_gyro_x = reassemble_20bit(fifo.GYRO_DATA_X1, fifo.GYRO_DATA_X0,
|
||||
// fifo.Ext_Accel_X_Gyro_X & 0x0F);
|
||||
// int32_t temp_gyro_y = reassemble_20bit(fifo.GYRO_DATA_Y1, fifo.GYRO_DATA_Y0,
|
||||
// fifo.Ext_Accel_Y_Gyro_Y & 0x0F);
|
||||
// int32_t temp_gyro_z = reassemble_20bit(fifo.GYRO_DATA_Z1, fifo.GYRO_DATA_Z0,
|
||||
// fifo.Ext_Accel_Z_Gyro_Z & 0x0F);
|
||||
|
||||
// // accel samples invalid if -524288
|
||||
// if (temp_accel_x != -524288 && temp_accel_y != -524288 && temp_accel_z != -524288) {
|
||||
// // shift accel by 2 (2 least significant bits are always 0)
|
||||
// accel_x = (float) temp_accel_x / 4.f;
|
||||
// accel_y = (float) temp_accel_y / 4.f;
|
||||
// accel_z = (float) temp_accel_z / 4.f;
|
||||
//
|
||||
// // shift gyro by 1 (least significant bit is always 0)
|
||||
// gyro_x = (float) temp_gyro_x / 2.f;
|
||||
// gyro_y = (float) temp_gyro_y / 2.f;
|
||||
// gyro_z = (float) temp_gyro_z / 2.f;
|
||||
//
|
||||
// // correct frame for publication
|
||||
// // 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;
|
||||
// accel_z = -accel_z;
|
||||
// gyro_y = -gyro_y;
|
||||
// gyro_z = -gyro_z;
|
||||
//
|
||||
// // Scale everything appropriately
|
||||
// float accel_scale_factor = (CONSTANTS_ONE_G / 8192.f);
|
||||
// accel_x *= accel_scale_factor;
|
||||
// accel_y *= accel_scale_factor;
|
||||
// accel_z *= accel_scale_factor;
|
||||
//
|
||||
// float gyro_scale_factor = math::radians(1.f / 131.f);
|
||||
// gyro_x *= gyro_scale_factor;
|
||||
// gyro_y *= gyro_scale_factor;
|
||||
// gyro_z *= gyro_scale_factor;
|
||||
//
|
||||
// // Store the data in our array
|
||||
// _imu_server_data.accel_x[_imu_server_index] = accel_x;
|
||||
// _imu_server_data.accel_y[_imu_server_index] = accel_y;
|
||||
// _imu_server_data.accel_z[_imu_server_index] = accel_z;
|
||||
// _imu_server_data.gyro_x[_imu_server_index] = gyro_x;
|
||||
// _imu_server_data.gyro_y[_imu_server_index] = gyro_y;
|
||||
// _imu_server_data.gyro_z[_imu_server_index] = gyro_z;
|
||||
// _imu_server_data.ts[_imu_server_index] = timestamp_sample;
|
||||
// _imu_server_index++;
|
||||
//
|
||||
// // If array is full, publish the data
|
||||
// if (_imu_server_index == 10) {
|
||||
// _imu_server_index = 0;
|
||||
// _imu_server_data.timestamp = hrt_absolute_time();
|
||||
// _imu_server_data.temperature = 0; // Not used right now
|
||||
// _imu_server_pub.publish(_imu_server_data);
|
||||
// }
|
||||
// }
|
||||
}
|
||||
|
||||
void ICM42688P::ProcessAccel(const hrt_abstime ×tamp_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;
|
||||
|
||||
// 18-bits of accelerometer data
|
||||
bool scale_20bit = false;
|
||||
|
||||
// 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);
|
||||
|
||||
// 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 (accel_x >= max_accel || accel_x <= min_accel) {
|
||||
scale_20bit = true;
|
||||
}
|
||||
|
||||
if (accel_y >= max_accel || accel_y <= min_accel) {
|
||||
scale_20bit = true;
|
||||
}
|
||||
|
||||
if (accel_z >= max_accel || accel_z <= min_accel) {
|
||||
scale_20bit = true;
|
||||
}
|
||||
|
||||
// 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
|
||||
if (!hitl_mode) {
|
||||
_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
|
||||
}
|
||||
|
||||
} 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);
|
||||
|
||||
accel.x[i] = accel_x;
|
||||
accel.y[i] = accel_y;
|
||||
accel.z[i] = accel_z;
|
||||
}
|
||||
|
||||
if (!hitl_mode) {
|
||||
_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
|
||||
}
|
||||
}
|
||||
|
||||
// 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];
|
||||
}
|
||||
|
||||
if (!hitl_mode) {
|
||||
_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) {
|
||||
if (!hitl_mode) {
|
||||
_px4_accel.updateFIFO(accel);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ICM42688P::ProcessGyro(const hrt_abstime ×tamp_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;
|
||||
|
||||
// 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
|
||||
if (!hitl_mode) {
|
||||
_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);
|
||||
}
|
||||
|
||||
if (!hitl_mode) {
|
||||
_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];
|
||||
}
|
||||
|
||||
if (!hitl_mode) {
|
||||
_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) {
|
||||
if (!hitl_mode) {
|
||||
_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;
|
||||
}
|
||||
}
|
||||
|
||||
// use average temperature reading
|
||||
const float TEMP_degC = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET;
|
||||
|
||||
if (PX4_ISFINITE(TEMP_degC)) {
|
||||
if (!hitl_mode) {
|
||||
_px4_accel.set_temperature(TEMP_degC);
|
||||
_px4_gyro.set_temperature(TEMP_degC);
|
||||
return true;
|
||||
}
|
||||
|
||||
} else {
|
||||
perf_count(_bad_transfer_perf);
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
@@ -1,233 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 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
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file ICM42688P.hpp
|
||||
*
|
||||
* Driver for the Invensense ICM42688P connected via SPI.
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#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/topics/sensor_accel_fifo.h>
|
||||
#include <uORB/topics/sensor_gyro_fifo.h>
|
||||
#include <memory>
|
||||
|
||||
using namespace InvenSense_ICM42688P;
|
||||
|
||||
extern bool hitl_mode;
|
||||
|
||||
class ICM42688P : public device::SPI, public I2CSPIDriver<ICM42688P>
|
||||
{
|
||||
public:
|
||||
// ICM42688P(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
|
||||
// spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
|
||||
ICM42688P(const I2CSPIDriverConfig &config);
|
||||
~ICM42688P() override;
|
||||
|
||||
// static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||
// int runtime_instance);
|
||||
static void print_usage();
|
||||
|
||||
void RunImpl();
|
||||
|
||||
int init() override;
|
||||
void print_status() override;
|
||||
|
||||
private:
|
||||
void exit_and_cleanup() override;
|
||||
|
||||
// Sensor Configuration
|
||||
static constexpr float IMU_ODR{8000.f}; // 8kHz accel & gyro ODR configured
|
||||
static constexpr float FIFO_SAMPLE_DT{1e6f / IMU_ODR};
|
||||
static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
|
||||
static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
|
||||
|
||||
// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
|
||||
// static constexpr uint32_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 uint32_t FIFO_MAX_SAMPLES{10};
|
||||
|
||||
// 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)),
|
||||
"Invalid FIFOTransferBuffer size");
|
||||
|
||||
struct register_bank0_config_t {
|
||||
Register::BANK_0 reg;
|
||||
uint8_t set_bits{0};
|
||||
uint8_t clear_bits{0};
|
||||
};
|
||||
|
||||
struct register_bank1_config_t {
|
||||
Register::BANK_1 reg;
|
||||
uint8_t set_bits{0};
|
||||
uint8_t clear_bits{0};
|
||||
};
|
||||
|
||||
struct register_bank2_config_t {
|
||||
Register::BANK_2 reg;
|
||||
uint8_t set_bits{0};
|
||||
uint8_t clear_bits{0};
|
||||
};
|
||||
|
||||
int probe() override;
|
||||
|
||||
bool Reset();
|
||||
|
||||
bool Configure();
|
||||
void ConfigureSampleRate(int sample_rate);
|
||||
void ConfigureFIFOWatermark(uint8_t samples);
|
||||
|
||||
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_1 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_1); }
|
||||
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 ®_cfg);
|
||||
template <typename T> uint8_t RegisterRead(T reg);
|
||||
template <typename T> void RegisterWrite(T reg, uint8_t value);
|
||||
template <typename T> void RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits);
|
||||
template <typename T> void RegisterSetBits(T reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); }
|
||||
template <typename T> void RegisterClearBits(T reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); }
|
||||
|
||||
uint16_t FIFOReadCount();
|
||||
bool FIFORead(const hrt_abstime ×tamp_sample, uint16_t samples);
|
||||
void FIFOReset();
|
||||
|
||||
void ProcessIMU(const hrt_abstime ×tamp_sample, const FIFO::DATA &fifo);
|
||||
void ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
|
||||
void ProcessGyro(const hrt_abstime ×tamp_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;
|
||||
|
||||
// std::shared_ptr<PX4Accelerometer> _px4_accel;
|
||||
// std::shared_ptr<PX4Gyroscope> _px4_gyro;
|
||||
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")};
|
||||
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};
|
||||
hrt_abstime _temperature_update_timestamp{0};
|
||||
int _failure_count{0};
|
||||
|
||||
enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
|
||||
|
||||
px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
|
||||
bool _data_ready_interrupt_enabled{false};
|
||||
|
||||
enum class STATE : uint8_t {
|
||||
RESET,
|
||||
WAIT_FOR_RESET,
|
||||
CONFIGURE,
|
||||
FIFO_READ,
|
||||
} _state{STATE::RESET};
|
||||
|
||||
uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
|
||||
uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
|
||||
|
||||
uint8_t _checked_register_bank0{0};
|
||||
static constexpr uint8_t size_register_bank0_cfg{12};
|
||||
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::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_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::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 },
|
||||
};
|
||||
|
||||
uint8_t _checked_register_bank1{0};
|
||||
static constexpr uint8_t size_register_bank1_cfg{4};
|
||||
register_bank1_config_t _register_bank1_cfg[size_register_bank1_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC2, 0, GYRO_CONFIG_STATIC2_BIT::GYRO_NF_DIS | GYRO_CONFIG_STATIC2_BIT::GYRO_AAF_DIS },
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC3, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_SET, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_CLEAR},
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC4, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_SET, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_CLEAR},
|
||||
{ Register::BANK_1::GYRO_CONFIG_STATIC5, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_SET | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_SET, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_CLEAR | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_CLEAR},
|
||||
};
|
||||
|
||||
uint8_t _checked_register_bank2{0};
|
||||
static constexpr uint8_t size_register_bank2_cfg{3};
|
||||
register_bank2_config_t _register_bank2_cfg[size_register_bank2_cfg] {
|
||||
// Register | Set bits, Clear bits
|
||||
{ Register::BANK_2::ACCEL_CONFIG_STATIC2, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_SET, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_CLEAR | ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DIS },
|
||||
{ Register::BANK_2::ACCEL_CONFIG_STATIC3, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_SET, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_CLEAR },
|
||||
{ Register::BANK_2::ACCEL_CONFIG_STATIC4, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_SET | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_SET, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_CLEAR | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_CLEAR },
|
||||
};
|
||||
|
||||
uint32_t _temperature_samples{0};
|
||||
|
||||
// Support for the IMU server
|
||||
// uint32_t _imu_server_index{0};
|
||||
// imu_server_s _imu_server_data;
|
||||
// uORB::Publication<imu_server_s> _imu_server_pub{ORB_ID(imu_server)};
|
||||
|
||||
};
|
||||
@@ -1,430 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 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
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file InvenSense_ICM42688P_registers.hpp
|
||||
*
|
||||
* Invensense ICM-42688-P registers.
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace InvenSense_ICM42688P
|
||||
{
|
||||
// TODO: move to a central header
|
||||
static constexpr uint8_t Bit0 = (1 << 0);
|
||||
static constexpr uint8_t Bit1 = (1 << 1);
|
||||
static constexpr uint8_t Bit2 = (1 << 2);
|
||||
static constexpr uint8_t Bit3 = (1 << 3);
|
||||
static constexpr uint8_t Bit4 = (1 << 4);
|
||||
static constexpr uint8_t Bit5 = (1 << 5);
|
||||
static constexpr uint8_t Bit6 = (1 << 6);
|
||||
static constexpr uint8_t Bit7 = (1 << 7);
|
||||
|
||||
static constexpr uint32_t SPI_SPEED = 24 * 1000 * 1000; // 24 MHz SPI
|
||||
static constexpr uint8_t DIR_READ = 0x80;
|
||||
|
||||
static constexpr uint8_t WHOAMI = 0x47;
|
||||
|
||||
static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C
|
||||
static constexpr float TEMPERATURE_OFFSET = 25.f; // C
|
||||
|
||||
namespace Register
|
||||
{
|
||||
|
||||
enum class BANK_0 : uint8_t {
|
||||
DEVICE_CONFIG = 0x11,
|
||||
|
||||
INT_CONFIG = 0x14,
|
||||
|
||||
FIFO_CONFIG = 0x16,
|
||||
|
||||
TEMP_DATA1 = 0x1D,
|
||||
TEMP_DATA0 = 0x1E,
|
||||
|
||||
INT_STATUS = 0x2D,
|
||||
FIFO_COUNTH = 0x2E,
|
||||
FIFO_COUNTL = 0x2F,
|
||||
FIFO_DATA = 0x30,
|
||||
|
||||
SIGNAL_PATH_RESET = 0x4B,
|
||||
INTF_CONFIG0 = 0x4C,
|
||||
INTF_CONFIG1 = 0x4D,
|
||||
PWR_MGMT0 = 0x4E,
|
||||
GYRO_CONFIG0 = 0x4F,
|
||||
ACCEL_CONFIG0 = 0x50,
|
||||
GYRO_CONFIG1 = 0x51,
|
||||
GYRO_ACCEL_CONFIG0 = 0x52,
|
||||
ACCEL_CONFIG1 = 0x53,
|
||||
|
||||
FIFO_CONFIG1 = 0x5F,
|
||||
FIFO_CONFIG2 = 0x60,
|
||||
FIFO_CONFIG3 = 0x61,
|
||||
|
||||
INT_CONFIG0 = 0x63,
|
||||
|
||||
INT_SOURCE0 = 0x65,
|
||||
|
||||
SELF_TEST_CONFIG = 0x70,
|
||||
|
||||
WHO_AM_I = 0x75,
|
||||
REG_BANK_SEL = 0x76,
|
||||
};
|
||||
|
||||
enum class BANK_1 : uint8_t {
|
||||
GYRO_CONFIG_STATIC2 = 0x0B,
|
||||
GYRO_CONFIG_STATIC3 = 0x0C,
|
||||
GYRO_CONFIG_STATIC4 = 0x0D,
|
||||
GYRO_CONFIG_STATIC5 = 0x0E,
|
||||
INTF_CONFIG5 = 0x7B,
|
||||
};
|
||||
enum class BANK_2 : uint8_t {
|
||||
ACCEL_CONFIG_STATIC2 = 0x03,
|
||||
ACCEL_CONFIG_STATIC3 = 0x04,
|
||||
ACCEL_CONFIG_STATIC4 = 0x05,
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
//---------------- BANK0 Register bits
|
||||
|
||||
// DEVICE_CONFIG
|
||||
enum DEVICE_CONFIG_BIT : uint8_t {
|
||||
SOFT_RESET_CONFIG = Bit0, //
|
||||
};
|
||||
|
||||
// INT_CONFIG
|
||||
enum INT_CONFIG_BIT : uint8_t {
|
||||
INT1_MODE = Bit2,
|
||||
INT1_DRIVE_CIRCUIT = Bit1,
|
||||
INT1_POLARITY = Bit0,
|
||||
};
|
||||
|
||||
// FIFO_CONFIG
|
||||
enum FIFO_CONFIG_BIT : uint8_t {
|
||||
// 7:6 FIFO_MODE
|
||||
FIFO_MODE_STOP_ON_FULL = Bit7 | Bit6, // 11: STOP-on-FULL Mode
|
||||
};
|
||||
|
||||
// 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,
|
||||
};
|
||||
|
||||
// PWR_MGMT0
|
||||
enum PWR_MGMT0_BIT : uint8_t {
|
||||
GYRO_MODE_LOW_NOISE = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode
|
||||
ACCEL_MODE_LOW_NOISE = Bit1 | Bit0, // 11: Places accelerometer in Low Noise (LN) Mode
|
||||
};
|
||||
|
||||
// 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,
|
||||
|
||||
|
||||
// 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,
|
||||
};
|
||||
|
||||
// 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,
|
||||
|
||||
|
||||
// 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,
|
||||
};
|
||||
|
||||
// GYRO_CONFIG1
|
||||
enum GYRO_CONFIG1_BIT : uint8_t {
|
||||
GYRO_UI_FILT_ORD = Bit3 | Bit2, // 00: 1st Order
|
||||
};
|
||||
|
||||
// GYRO_ACCEL_CONFIG0
|
||||
enum GYRO_ACCEL_CONFIG0_BIT : uint8_t {
|
||||
// 7:4 ACCEL_UI_FILT_BW
|
||||
ACCEL_UI_FILT_BW = Bit7 | Bit6 | Bit5 | Bit4, // 0: BW=ODR/2
|
||||
|
||||
// 3:0 GYRO_UI_FILT_BW
|
||||
GYRO_UI_FILT_BW = Bit3 | Bit2 | Bit1 | Bit0, // 0: BW=ODR/2
|
||||
};
|
||||
|
||||
// ACCEL_CONFIG1
|
||||
enum ACCEL_CONFIG1_BIT : uint8_t {
|
||||
ACCEL_UI_FILT_ORD = Bit4 | Bit3, // 00: 1st Order
|
||||
};
|
||||
|
||||
// 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,
|
||||
};
|
||||
|
||||
// INT_CONFIG0
|
||||
enum INT_CONFIG0_BIT : uint8_t {
|
||||
// 3:2 FIFO_THS_INT_CLEAR
|
||||
CLEAR_ON_FIFO_READ = Bit3,
|
||||
};
|
||||
|
||||
// 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,
|
||||
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
|
||||
enum REG_BANK_SEL_BIT : uint8_t {
|
||||
USER_BANK_0 = 0, // 0: Select USER BANK 0.
|
||||
USER_BANK_1 = Bit0, // 1: Select USER BANK 1.
|
||||
USER_BANK_2 = Bit1, // 2: Select USER BANK 2.
|
||||
USER_BANK_3 = Bit1 | Bit0, // 3: Select USER BANK 3.
|
||||
};
|
||||
|
||||
|
||||
//---------------- BANK1 Register bits
|
||||
|
||||
// GYRO_CONFIG_STATIC2
|
||||
enum GYRO_CONFIG_STATIC2_BIT : uint8_t {
|
||||
GYRO_AAF_DIS = Bit1,
|
||||
GYRO_NF_DIS = Bit0,
|
||||
};
|
||||
|
||||
// GYRO_CONFIG_STATIC3
|
||||
enum GYRO_CONFIG_STATIC3_BIT : uint8_t {
|
||||
|
||||
// 585 Hz
|
||||
GYRO_AAF_DELT_SET = Bit3 | Bit2 | Bit0, //13
|
||||
GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit1,
|
||||
|
||||
// 213 Hz
|
||||
// GYRO_AAF_DELT_SET = Bit2 | Bit0, //5
|
||||
// GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit1,
|
||||
|
||||
// 126 Hz
|
||||
//GYRO_AAF_DELT_SET = Bit1 | Bit0, //3
|
||||
//GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2,
|
||||
|
||||
// 42 Hz
|
||||
// GYRO_AAF_DELT_SET = Bit0, //1
|
||||
// GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
|
||||
|
||||
};
|
||||
|
||||
// GYRO_CONFIG_STATIC4
|
||||
enum GYRO_CONFIG_STATIC4_BIT : uint8_t {
|
||||
|
||||
// 585 Hz
|
||||
GYRO_AAF_DELTSQR_LOW_SET = Bit7 | Bit5 | Bit3 | Bit1, //170
|
||||
GYRO_AAF_DELTSQR_LOW_CLEAR = Bit6 | Bit4 | Bit2 | Bit0,
|
||||
|
||||
// 213 Hz
|
||||
// GYRO_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25
|
||||
// GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1,
|
||||
|
||||
// 126 Hz
|
||||
//GYRO_AAF_DELTSQR_LOW_SET = Bit3 | Bit0, //9
|
||||
//GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit2 | Bit1,
|
||||
|
||||
// 42 Hz
|
||||
// GYRO_AAF_DELTSQR_LOW_SET = Bit0, //1
|
||||
// GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
|
||||
};
|
||||
|
||||
// GYRO_CONFIG_STATIC5
|
||||
enum GYRO_CONFIG_STATIC5_BIT : uint8_t {
|
||||
|
||||
// 585 Hz
|
||||
GYRO_AAF_DELTSQR_HIGH_SET = 0,
|
||||
GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
|
||||
GYRO_AAF_BITSHIFT_SET = Bit7, // 8 << 4
|
||||
GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit5 | Bit4,
|
||||
|
||||
// 213 Hz
|
||||
// GYRO_AAF_DELTSQR_HIGH_SET = 0,
|
||||
// GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
|
||||
// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit5, //10
|
||||
// GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit4,
|
||||
|
||||
// 126 Hz
|
||||
// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6, //12
|
||||
// GYRO_AAF_BITSHIFT_CLEAR = Bit5 | Bit4,
|
||||
|
||||
// 42 Hz
|
||||
// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15
|
||||
// GYRO_AAF_BITSHIFT_CLEAR = 0,
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
//---------------- BANK2 Register bits
|
||||
|
||||
// ACCEL_CONFIG_STATIC2
|
||||
enum ACCEL_CONFIG_STATIC2_BIT : uint8_t {
|
||||
ACCEL_AAF_DIS = Bit0,
|
||||
ACCEL_AAF_DELT = Bit3 | Bit1,
|
||||
|
||||
// 213 Hz
|
||||
ACCEL_AAF_DELT_SET = Bit3 | Bit1, //5
|
||||
ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit2,
|
||||
|
||||
// 42 Hz
|
||||
// ACCEL_AAF_DELT_SET = Bit1, //1
|
||||
// ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit3 | Bit2,
|
||||
};
|
||||
|
||||
// ACCEL_CONFIG_STATIC3
|
||||
enum ACCEL_CONFIG_STATIC3_BIT : uint8_t {
|
||||
ACCEL_AAF_DELTSQR_LOW = Bit4 | Bit3 | Bit0,
|
||||
// 213 Hz
|
||||
ACCEL_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25
|
||||
ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1,
|
||||
|
||||
// 42 Hz
|
||||
// ACCEL_AAF_DELTSQR_LOW_SET = Bit0, //1
|
||||
// ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
|
||||
|
||||
};
|
||||
|
||||
// ACCEL_CONFIG_STATIC4
|
||||
enum ACCEL_CONFIG_STATIC4_BIT : uint8_t {
|
||||
ACCEL_AAF_BITSHIFT = Bit7 | Bit5,
|
||||
ACCEL_AAF_DELTSQR_HIGH = 0,
|
||||
// 213 Hz
|
||||
ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit5, //10
|
||||
ACCEL_AAF_BITSHIFT_CLEAR = Bit6 | Bit4,
|
||||
|
||||
// 42 Hz
|
||||
// ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15
|
||||
// ACCEL_AAF_BITSHIFT_CLEAR = 0,
|
||||
|
||||
ACCEL_AAF_DELTSQR_HIGH_SET = 0,
|
||||
ACCEL_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
|
||||
};
|
||||
|
||||
|
||||
namespace FIFO
|
||||
{
|
||||
static constexpr size_t SIZE = 2048;
|
||||
|
||||
// FIFO_DATA layout when FIFO_CONFIG1 has FIFO_GYRO_EN and FIFO_ACCEL_EN set
|
||||
|
||||
// Packet 4
|
||||
struct DATA {
|
||||
uint8_t FIFO_Header;
|
||||
uint8_t ACCEL_DATA_X1; // Accel X [19:12]
|
||||
uint8_t ACCEL_DATA_X0; // Accel X [11:4]
|
||||
uint8_t ACCEL_DATA_Y1; // Accel Y [19:12]
|
||||
uint8_t ACCEL_DATA_Y0; // Accel Y [11:4]
|
||||
uint8_t ACCEL_DATA_Z1; // Accel Z [19:12]
|
||||
uint8_t ACCEL_DATA_Z0; // Accel Z [11:4]
|
||||
uint8_t GYRO_DATA_X1; // Gyro X [19:12]
|
||||
uint8_t GYRO_DATA_X0; // Gyro X [11:4]
|
||||
uint8_t GYRO_DATA_Y1; // Gyro Y [19:12]
|
||||
uint8_t GYRO_DATA_Y0; // Gyro Y [11:4]
|
||||
uint8_t GYRO_DATA_Z1; // Gyro Z [19:12]
|
||||
uint8_t GYRO_DATA_Z0; // Gyro Z [11:4]
|
||||
uint8_t TEMP_DATA1; // Temperature[15:8]
|
||||
uint8_t TEMP_DATA0; // Temperature[7:0]
|
||||
uint8_t TimeStamp_h; // TimeStamp[15:8]
|
||||
uint8_t TimeStamp_l; // TimeStamp[7:0]
|
||||
uint8_t Ext_Accel_X_Gyro_X; // Accel X [3:0] Gyro X [3:0]
|
||||
uint8_t Ext_Accel_Y_Gyro_Y; // Accel Y [3:0] Gyro Y [3:0]
|
||||
uint8_t Ext_Accel_Z_Gyro_Z; // Accel Z [3:0] Gyro Z [3:0]
|
||||
};
|
||||
|
||||
// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
|
||||
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
|
||||
};
|
||||
|
||||
}
|
||||
} // namespace InvenSense_ICM42688P
|
||||
@@ -1,116 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2020 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
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "ICM42688P.hpp"
|
||||
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <string>
|
||||
|
||||
void ICM42688P::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("icm42688p", "driver");
|
||||
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
// I2CSPIDriverBase *ICM42688P::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
|
||||
// int runtime_instance)
|
||||
// {
|
||||
// ICM42688P *instance = new ICM42688P(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
|
||||
// cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
|
||||
//
|
||||
// if (!instance) {
|
||||
// PX4_ERR("alloc failed");
|
||||
// return nullptr;
|
||||
// }
|
||||
//
|
||||
// if (OK != instance->init()) {
|
||||
// delete instance;
|
||||
// return nullptr;
|
||||
// }
|
||||
//
|
||||
// return instance;
|
||||
// }
|
||||
|
||||
extern "C" int icm42688p_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
for (int i = 0; i <= argc - 1; i++) {
|
||||
if (std::string(argv[i]) == "-h") {
|
||||
argv[i] = 0;
|
||||
hitl_mode = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
int ch;
|
||||
using ThisDriver = ICM42688P;
|
||||
BusCLIArguments cli{false, true};
|
||||
cli.default_spi_frequency = SPI_SPEED;
|
||||
|
||||
while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
cli.rotation = (enum Rotation)atoi(cli.optArg());
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = cli.optArg();
|
||||
|
||||
if (!verb) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ICM42688P);
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
return ThisDriver::module_stop(iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "status")) {
|
||||
return ThisDriver::module_status(iterator);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
@@ -1,5 +1,5 @@
|
||||
CONFIG_PLATFORM_POSIX=y
|
||||
CONFIG_BOARD_LINUX_TARGET=y
|
||||
CONFIG_BOARD_LINUX=y
|
||||
CONFIG_BOARD_TOOLCHAIN="aarch64-linux-gnu"
|
||||
CONFIG_MODULES_MUORB_APPS=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
@@ -7,5 +7,3 @@ CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_ORB_COMMUNICATOR=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_DRIVERS_QSHELL_POSIX=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
|
||||
@@ -17,5 +17,3 @@ if [ $TESTMODE = "ON" ]; then
|
||||
fi
|
||||
|
||||
muorb start
|
||||
|
||||
qshell icm42688p start -s
|
||||
|
||||
@@ -79,7 +79,6 @@ CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -77,9 +77,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -77,9 +77,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -78,7 +78,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -21,6 +21,7 @@ CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_OSD=y
|
||||
CONFIG_DRIVERS_PCA9685=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
@@ -78,7 +79,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -78,7 +78,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -79,9 +79,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -80,9 +80,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -23,12 +23,14 @@ CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_OSD=y
|
||||
CONFIG_DRIVERS_PCA9685=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_RPM=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
@@ -76,7 +78,6 @@ CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
|
||||
@@ -24,12 +24,14 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
|
||||
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_OSD=y
|
||||
CONFIG_DRIVERS_PCA9685=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_RPM=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
@@ -78,7 +80,6 @@ CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
|
||||
@@ -31,7 +31,6 @@ CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
@@ -50,7 +49,7 @@ CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
|
||||
@@ -15,6 +15,8 @@ CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_MFT=y
|
||||
CONFIG_SYSTEMCMDS_MIXER=y
|
||||
CONFIG_SYSTEMCMDS_MOTOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_MTD=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
|
||||
@@ -2,14 +2,14 @@
|
||||
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
|
||||
CONFIG_BOARD_UAVCAN_INTERFACES=1
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_DRIVERS_GPS=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
|
||||
CONFIG_DRIVERS_OSD=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
CONFIG_DRIVERS_RPM=y
|
||||
CONFIG_EXAMPLES_FAKE_GPS=y
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
@@ -38,6 +38,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
CONFIG_MODULES_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
@@ -46,6 +47,7 @@ CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_NETMAN=y
|
||||
CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_PWM=y
|
||||
CONFIG_SYSTEMCMDS_REFLECT=y
|
||||
CONFIG_SYSTEMCMDS_SERIAL_TEST=y
|
||||
CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
|
||||
|
||||
@@ -15,11 +15,3 @@ param set-default MAV_1_REMOTE_PRT 14550
|
||||
param set-default MAV_1_UDP_PRT 14550
|
||||
|
||||
param set-default SENS_EXT_I2C_PRB 0
|
||||
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
ifup can0
|
||||
ifup can1
|
||||
ifup can2
|
||||
ifup can3
|
||||
fi
|
||||
@@ -3,16 +3,6 @@
|
||||
# see the file kconfig-language.txt in the NuttX tools repository.
|
||||
#
|
||||
|
||||
config BOARD_HAS_PROBES
|
||||
bool "Board provides GPIO or other Hardware for signaling to timing analyze."
|
||||
default y
|
||||
---help---
|
||||
This board provides GPIO PWM-CH0-7 as PROBE_1-8 to provide timing signals from selected drivers.
|
||||
if ARCH_BOARD_MR_CANHUBK3
|
||||
|
||||
config BOARD_USE_PROBES
|
||||
bool "Enable the use the board provided PWM-CH0-7 as PROBE_1-8"
|
||||
default n
|
||||
depends on BOARD_HAS_PROBES
|
||||
|
||||
---help---
|
||||
Select to use GPIO PWM-CH0-7 to provide timing signals from selected drivers.
|
||||
endif # ARCH_BOARD_MR_CANHUBK3
|
||||
|
||||
@@ -321,41 +321,4 @@
|
||||
#define PIN_EMAC_MII_RMII_MDIO PIN_EMAC_MII_RMII_MDIO_2 /* PTD16 */
|
||||
#define PIN_EMAC_MII_RMII_TX_CLK PIN_EMAC_MII_RMII_TX_CLK_2 /* PTD6 */
|
||||
|
||||
|
||||
/* Board provides GPIO or other Hardware for signaling to timing analyzer */
|
||||
|
||||
#if defined(CONFIG_BOARD_USE_PROBES)
|
||||
# include "s32k3xx_pin.h"
|
||||
# include "hardware/s32k3xx_pinmux.h"
|
||||
# define PROBE_N(n) (1<<((n)-1))
|
||||
# define PROBE_1 (PIN_PTB12 | GPIO_OUTPUT) /* PWM-0 */
|
||||
# define PROBE_2 (PIN_PTB13 | GPIO_OUTPUT) /* PWM-1 */
|
||||
# define PROBE_3 (PIN_PTB14 | GPIO_OUTPUT) /* PWM-2 */
|
||||
# define PROBE_4 (PIN_PTB15 | GPIO_OUTPUT) /* PWM-3 */
|
||||
# define PROBE_5 (PIN_PTB16 | GPIO_OUTPUT) /* PWM-4 */
|
||||
# define PROBE_6 (PIN_PTB17 | GPIO_OUTPUT) /* PWM-5 */
|
||||
# define PROBE_7 (PIN_PTA17 | GPIO_OUTPUT) /* PWM-6 */
|
||||
# define PROBE_8 (PIN_PTE7 | GPIO_OUTPUT) /* PWM-7 */
|
||||
|
||||
# define PROBE_INIT(mask) \
|
||||
do { \
|
||||
if ((mask)& PROBE_N(1)) { s32k3xx_pinconfig(PROBE_1); } \
|
||||
if ((mask)& PROBE_N(2)) { s32k3xx_pinconfig(PROBE_2); } \
|
||||
if ((mask)& PROBE_N(3)) { s32k3xx_pinconfig(PROBE_3); } \
|
||||
if ((mask)& PROBE_N(4)) { s32k3xx_pinconfig(PROBE_4); } \
|
||||
if ((mask)& PROBE_N(5)) { s32k3xx_pinconfig(PROBE_5); } \
|
||||
if ((mask)& PROBE_N(6)) { s32k3xx_pinconfig(PROBE_6); } \
|
||||
if ((mask)& PROBE_N(7)) { s32k3xx_pinconfig(PROBE_7); } \
|
||||
if ((mask)& PROBE_N(8)) { s32k3xx_pinconfig(PROBE_8); } \
|
||||
} while(0)
|
||||
|
||||
# define PROBE(n,s) do {s32k3xx_gpiowrite(PROBE_##n,(s));}while(0)
|
||||
# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
|
||||
#else
|
||||
# define PROBE_INIT(mask)
|
||||
# define PROBE(n,s)
|
||||
# define PROBE_MARK(n)
|
||||
#endif
|
||||
|
||||
|
||||
#endif /* __BOARDS_ARM_S32K3XX_MR_CANHUBK3_INCLUDE_BOARD_H */
|
||||
|
||||
@@ -78,7 +78,6 @@ CONFIG_DEBUG_FEATURES=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
@@ -104,17 +103,16 @@ CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=900
|
||||
CONFIG_IDLETHREAD_STACKSIZE=800
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_INIT_STACKSIZE=2944
|
||||
CONFIG_IOB_NBUFFERS=24
|
||||
CONFIG_IOB_THROTTLE=0
|
||||
CONFIG_IPCFG_BINARY=y
|
||||
CONFIG_IPCFG_CHARDEV=y
|
||||
CONFIG_IPCFG_PATH="/mnt/qspi/mtd_net"
|
||||
CONFIG_IPCFG_PATH="/fs/qspi/mtd_net"
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LPI2C0_DMA=y
|
||||
CONFIG_LPI2C1_DMA=y
|
||||
@@ -147,21 +145,16 @@ CONFIG_NET_ARP_IPIN=y
|
||||
CONFIG_NET_ARP_SEND=y
|
||||
CONFIG_NET_BROADCAST=y
|
||||
CONFIG_NET_CAN=y
|
||||
CONFIG_NET_CAN_EXTID=y
|
||||
CONFIG_NET_CAN_NOTIFIER=y
|
||||
CONFIG_NET_CAN_RAW_FILTER_MAX=1
|
||||
CONFIG_NET_CAN_RAW_TX_DEADLINE=y
|
||||
CONFIG_NET_CAN_SOCK_OPTS=y
|
||||
CONFIG_NET_ETH_PKTSIZE=1518
|
||||
CONFIG_NET_ICMP=y
|
||||
CONFIG_NET_ICMP_SOCKET=y
|
||||
CONFIG_NET_NACTIVESOCKETS=16
|
||||
CONFIG_NET_SOLINGER=y
|
||||
CONFIG_NET_TCP=y
|
||||
CONFIG_NET_TCPBACKLOG=y
|
||||
CONFIG_NET_TCP_DELAYED_ACK=y
|
||||
CONFIG_NET_TCP_WRITE_BUFFERS=y
|
||||
CONFIG_NET_TIMESTAMP=y
|
||||
CONFIG_NET_UDP=y
|
||||
CONFIG_NET_UDP_CHECKSUMS=y
|
||||
CONFIG_NET_UDP_WRITE_BUFFERS=y
|
||||
@@ -184,7 +177,6 @@ CONFIG_NSH_VARS=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=272000
|
||||
CONFIG_RAM_START=0x20400000
|
||||
@@ -213,7 +205,6 @@ CONFIG_S32K3XX_LPSPI2_PINCFG=3
|
||||
CONFIG_S32K3XX_LPSPI3=y
|
||||
CONFIG_S32K3XX_LPSPI3_PINCFG=3
|
||||
CONFIG_S32K3XX_LPSPI4=y
|
||||
CONFIG_S32K3XX_LPSPI4_DMA=y
|
||||
CONFIG_S32K3XX_LPSPI4_PINCFG=3
|
||||
CONFIG_S32K3XX_LPSPI5=y
|
||||
CONFIG_S32K3XX_LPSPI5_DMA=y
|
||||
@@ -229,7 +220,6 @@ CONFIG_S32K3XX_LPUART9=y
|
||||
CONFIG_S32K3XX_LPUART_INVERT=y
|
||||
CONFIG_S32K3XX_LPUART_SINGLEWIRE=y
|
||||
CONFIG_S32K3XX_QSPI=y
|
||||
CONFIG_S32K3XX_WKPUINTS=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
|
||||
@@ -82,6 +82,10 @@ __BEGIN_DECLS
|
||||
|
||||
#define BOARD_NUMBER_I2C_BUSES 2
|
||||
|
||||
/* Count of peripheral clock user configurations */
|
||||
|
||||
#define NUM_OF_PERIPHERAL_CLOCKS_0 28
|
||||
|
||||
/* Timer I/O PWM and capture */
|
||||
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
@@ -100,7 +104,7 @@ __BEGIN_DECLS
|
||||
|
||||
/* User peripheral configuration structure 0 */
|
||||
|
||||
extern const struct peripheral_clock_config_s g_peripheral_clockconfig0[];
|
||||
extern const struct peripheral_clock_config_s g_peripheral_clockconfig0[NUM_OF_PERIPHERAL_CLOCKS_0];
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
|
||||
@@ -156,6 +156,7 @@ const struct clock_configuration_s g_initial_clkconfig = {
|
||||
},
|
||||
.pcc =
|
||||
{
|
||||
.count = NUM_OF_PERIPHERAL_CLOCKS_0, /* Number of peripheral clock configurations */
|
||||
.pclks = g_peripheral_clockconfig0, /* Peripheral clock configurations */
|
||||
},
|
||||
};
|
||||
|
||||
@@ -41,7 +41,7 @@
|
||||
* This is needed to establish the initial peripheral clocking.
|
||||
*/
|
||||
|
||||
const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
|
||||
const struct peripheral_clock_config_s g_peripheral_clockconfig0[NUM_OF_PERIPHERAL_CLOCKS_0] = {
|
||||
{
|
||||
.clkname = FLEXCAN0_CLK,
|
||||
#ifdef CONFIG_S32K3XX_FLEXCAN0
|
||||
@@ -260,10 +260,6 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
|
||||
},
|
||||
};
|
||||
|
||||
unsigned int const num_of_peripheral_clocks_0 =
|
||||
sizeof(g_peripheral_clockconfig0) /
|
||||
sizeof(g_peripheral_clockconfig0[0]);
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
@@ -71,10 +71,10 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin17})
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI4, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin16}, SPI::DRDY{PIN_WKPU20})
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin16}, SPI::DRDY{GPIO::PortA, GPIO::Pin15, 551})
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI5, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortA, GPIO::Pin14}, SPI::DRDY{PIN_WKPU4})
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortA, GPIO::Pin14}, SPI::DRDY{GPIO::PortA, GPIO::Pin13, 549})
|
||||
}),
|
||||
};
|
||||
|
||||
|
||||
@@ -26,11 +26,9 @@ CONFIG_BCH=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=3997
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_DEBUG_FEATURES=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_DISABLE_POSIX_TIMERS=y
|
||||
CONFIG_EXAMPLES_HELLO=y
|
||||
@@ -46,7 +44,7 @@ CONFIG_I2CTOOL_MAXADDR=0x7f
|
||||
CONFIG_I2CTOOL_MAXBUS=0
|
||||
CONFIG_I2CTOOL_MINADDR=0x00
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_INIT_STACKSIZE=2276
|
||||
CONFIG_INIT_STACKSIZE=2176
|
||||
CONFIG_INTELHEX_BINARY=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LPI2C0_DMA=y
|
||||
|
||||
@@ -88,6 +88,11 @@ __BEGIN_DECLS
|
||||
|
||||
/* SPI chip selects */
|
||||
|
||||
/* Count of peripheral clock user configurations */
|
||||
|
||||
#define NUM_OF_PERIPHERAL_CLOCKS_0 18
|
||||
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 5 /* FTM timer for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 0 /* Use capture/compare channel 0 */
|
||||
|
||||
@@ -197,6 +197,7 @@ const struct clock_configuration_s g_initial_clkconfig = {
|
||||
},
|
||||
.pcc =
|
||||
{
|
||||
.count = NUM_OF_PERIPHERAL_CLOCKS_0, /* Number peripheral clock configurations */
|
||||
.pclks = g_peripheral_clockconfig0, /* Peripheral clock configurations */
|
||||
},
|
||||
.pmc =
|
||||
|
||||
@@ -200,7 +200,3 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
|
||||
.clkgate = true,
|
||||
},
|
||||
};
|
||||
|
||||
unsigned int const num_of_peripheral_clocks_0 =
|
||||
sizeof(g_peripheral_clockconfig0) /
|
||||
sizeof(g_peripheral_clockconfig0[0]);
|
||||
|
||||
@@ -83,7 +83,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -25,6 +25,7 @@ CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_OSD=y
|
||||
CONFIG_DRIVERS_PCA9685=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
@@ -83,7 +84,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -25,12 +25,15 @@ CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_OSD=y
|
||||
CONFIG_DRIVERS_PCA9685=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_RPM=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
@@ -40,7 +43,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_ESC_BATTERY=y
|
||||
@@ -49,7 +51,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
@@ -65,6 +66,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -77,10 +79,10 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -11,25 +11,28 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI055=n
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_OSD=n
|
||||
CONFIG_DRIVERS_PCA9685=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=n
|
||||
CONFIG_DRIVERS_PWM_INPUT=n
|
||||
CONFIG_DRIVERS_ROBOCLAW=n
|
||||
CONFIG_DRIVERS_RPM=n
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=n
|
||||
CONFIG_MODULES_ESC_BATTERY=n
|
||||
CONFIG_MODULES_GIMBAL=n
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=n
|
||||
CONFIG_MODULES_GYRO_FFT=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=n
|
||||
CONFIG_MODULES_SIH=n
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
|
||||
CONFIG_MODULES_UUV_ATT_CONTROL=n
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=n
|
||||
CONFIG_MODULES_GIMBAL=n
|
||||
CONFIG_SYSTEMCMDS_SERIAL_TEST=n
|
||||
CONFIG_BOARD_CONSTRAINED_FLASH=y
|
||||
CONFIG_BOARD_TESTING=y
|
||||
|
||||
@@ -86,7 +86,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -3,6 +3,7 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_RPM=n
|
||||
CONFIG_EXAMPLES_FAKE_GPS=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
CONFIG_MODULES_GYRO_FFT=n
|
||||
|
||||
@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
|
||||
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_PPB="/dev/ttyS3"
|
||||
CONFIG_DRIVERS_ADC_ADS1115=y
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_BMP388=y
|
||||
@@ -85,7 +86,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -154,7 +154,6 @@ CONFIG_NET_BROADCAST=y
|
||||
CONFIG_NET_ETH_PKTSIZE=1518
|
||||
CONFIG_NET_ICMP=y
|
||||
CONFIG_NET_ICMP_SOCKET=y
|
||||
CONFIG_NET_NACTIVESOCKETS=16
|
||||
CONFIG_NET_SOLINGER=y
|
||||
CONFIG_NET_TCP=y
|
||||
CONFIG_NET_TCPBACKLOG=y
|
||||
|
||||
@@ -68,7 +68,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
|
||||
@@ -78,7 +78,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
|
||||
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_BMP388=y
|
||||
CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
|
||||
@@ -74,7 +73,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -52,37 +52,21 @@ then
|
||||
# Internal SPI bus ICM20649
|
||||
icm20649 -s -R 6 start
|
||||
else
|
||||
# Internal SPI BMI088
|
||||
if ver hwtypecmp V6X009010 V6X010010
|
||||
then
|
||||
bmi088 -A -R 2 -s start
|
||||
bmi088 -G -R 2 -s start
|
||||
else
|
||||
bmi088 -A -R 4 -s start
|
||||
bmi088 -G -R 4 -s start
|
||||
fi
|
||||
# Internal SPI BMI088
|
||||
bmi088 -A -R 4 -s start
|
||||
bmi088 -G -R 4 -s start
|
||||
fi
|
||||
|
||||
# Internal SPI bus ICM42688p
|
||||
if ver hwtypecmp V6X009010 V6X010010
|
||||
then
|
||||
icm42688p -R 4 -s start
|
||||
else
|
||||
icm42688p -R 6 -s start
|
||||
fi
|
||||
icm42688p -R 6 -s start
|
||||
|
||||
if ver hwtypecmp V6X000003 V6X001003 V6X003003 V6X000004 V6X001004 V6X004003 V6X004004 V6X005003 V6X005004
|
||||
then
|
||||
# Internal SPI bus ICM-42670-P (hard-mounted)
|
||||
icm42670p -R 10 -s start
|
||||
else
|
||||
if ver hwtypecmp V6X009010 V6X010010
|
||||
then
|
||||
icm20602 -R 8 -s start
|
||||
else
|
||||
# Internal SPI bus ICM-20649 (hard-mounted)
|
||||
icm20649 -R 14 -s start
|
||||
fi
|
||||
# Internal SPI bus ICM-20649 (hard-mounted)
|
||||
icm20649 -R 14 -s start
|
||||
fi
|
||||
|
||||
# Internal magnetometer on I2c
|
||||
@@ -90,7 +74,7 @@ if ver hwtypecmp V6X002001
|
||||
then
|
||||
rm3100 -I -b 4 start
|
||||
else
|
||||
bmm150 -I -R 6 start
|
||||
bmm150 -I start
|
||||
fi
|
||||
|
||||
# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
|
||||
@@ -104,7 +88,7 @@ else
|
||||
bmp388 -I -a 0x77 start
|
||||
fi
|
||||
|
||||
if param compare SENS_INT_BARO_EN 1
|
||||
if ver hwtypecmp V6X000000 V6X001000
|
||||
then
|
||||
bmp388 -I start
|
||||
else
|
||||
|
||||
@@ -98,17 +98,17 @@ CONFIG_STM32H7_OTGFS=y
|
||||
CONFIG_STM32H7_PROGMEM=y
|
||||
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32H7_TIM1=y
|
||||
CONFIG_STM32H7_UART5=y
|
||||
CONFIG_STM32H7_UART7=y
|
||||
CONFIG_SYSTEMTICK_HOOK=y
|
||||
CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_TTY_SIGINT=y
|
||||
CONFIG_TTY_SIGINT_CHAR=0x03
|
||||
CONFIG_TTY_SIGTSTP=y
|
||||
CONFIG_UART5_RXBUFSIZE=512
|
||||
CONFIG_UART5_RXDMA=y
|
||||
CONFIG_UART5_TXBUFSIZE=512
|
||||
CONFIG_UART5_TXDMA=y
|
||||
CONFIG_UART7_RXBUFSIZE=512
|
||||
CONFIG_UART7_RXDMA=y
|
||||
CONFIG_UART7_TXBUFSIZE=512
|
||||
CONFIG_UART7_TXDMA=y
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
|
||||
@@ -158,7 +158,6 @@ CONFIG_NET_BROADCAST=y
|
||||
CONFIG_NET_ETH_PKTSIZE=1518
|
||||
CONFIG_NET_ICMP=y
|
||||
CONFIG_NET_ICMP_SOCKET=y
|
||||
CONFIG_NET_NACTIVESOCKETS=16
|
||||
CONFIG_NET_SOLINGER=y
|
||||
CONFIG_NET_TCP=y
|
||||
CONFIG_NET_TCPBACKLOG=y
|
||||
|
||||
@@ -215,7 +215,8 @@
|
||||
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
|
||||
#define HW_INFO_INIT_PREFIX "V6X"
|
||||
|
||||
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 11 // Rev 0 and Rev 3,4 Sensor sets
|
||||
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 9 // Rev 0 and Rev 3,4 Sensor sets
|
||||
|
||||
// Base/FMUM
|
||||
#define V6X00 HW_VER_REV(0x0,0x0) // FMUV6X, Rev 0
|
||||
#define V6X01 HW_VER_REV(0x0,0x1) // FMUV6X, BMI388 I2C2 Rev 1
|
||||
@@ -233,11 +234,6 @@
|
||||
#define V6X51 HW_VER_REV(0x5,0x1) // FMUV6X, BMI388 I2C2 HB Mini Rev 1
|
||||
#define V6X53 HW_VER_REV(0x5,0x3) // FMUV6X, Sensor Set HB Mini Rev 3
|
||||
#define V6X54 HW_VER_REV(0x5,0x4) // FMUV6X, Sensor Set HB Mini Rev 4
|
||||
#define V6X90 HW_VER_REV(0x9,0x0) // Rev 0
|
||||
#define V6X0910 HW_VER_REV(0x9,0x10) // FMUV6X, rev from EEPROM Auterion Skynode ver9
|
||||
#define V6X1010 HW_VER_REV(0x10,0x10) // FMUV6X, rev from EEPROM Auterion Skynode ver10
|
||||
|
||||
|
||||
|
||||
#define UAVCAN_NUM_IFACES_RUNTIME 1
|
||||
|
||||
|
||||
@@ -155,8 +155,6 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
|
||||
{V6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
|
||||
{V6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4
|
||||
{V6X21, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
|
||||
{V6X0910, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // FMUV6X, rev from EEPROM Auterion Skynode ver9
|
||||
{V6X1010, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // FMUV6X, rev from EEPROM Auterion Skynode ver10
|
||||
};
|
||||
|
||||
/************************************************************************************
|
||||
|
||||
@@ -270,52 +270,6 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
|
||||
}),
|
||||
}),
|
||||
initSPIHWVersion(V6X0910, {
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
|
||||
}, {GPIO::PortI, GPIO::Pin11}),
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
|
||||
}, {GPIO::PortF, GPIO::Pin4}),
|
||||
initSPIBus(SPI::Bus::SPI3, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
|
||||
}, {GPIO::PortE, GPIO::Pin7}),
|
||||
// initSPIBus(SPI::Bus::SPI4, {
|
||||
// // no devices
|
||||
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
|
||||
// }, {GPIO::PortG, GPIO::Pin8}),
|
||||
initSPIBus(SPI::Bus::SPI5, {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
|
||||
}),
|
||||
initSPIBusExternal(SPI::Bus::SPI6, {
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
|
||||
}),
|
||||
}),
|
||||
initSPIHWVersion(V6X1010, {
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
|
||||
}, {GPIO::PortI, GPIO::Pin11}),
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
|
||||
}, {GPIO::PortF, GPIO::Pin4}),
|
||||
initSPIBus(SPI::Bus::SPI3, {
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
|
||||
}, {GPIO::PortE, GPIO::Pin7}),
|
||||
// initSPIBus(SPI::Bus::SPI4, {
|
||||
// // no devices
|
||||
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
|
||||
// }, {GPIO::PortG, GPIO::Pin8}),
|
||||
initSPIBus(SPI::Bus::SPI5, {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
|
||||
}),
|
||||
initSPIBusExternal(SPI::Bus::SPI6, {
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
|
||||
}),
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
CONFIG_PLATFORM_POSIX=y
|
||||
CONFIG_BOARD_LINUX_TARGET=y
|
||||
CONFIG_BOARD_LINUX=y
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-a53"
|
||||
CONFIG_BOARD_TESTING=y
|
||||
@@ -62,7 +62,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DYN=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
|
||||
@@ -49,7 +49,6 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DYN=y
|
||||
CONFIG_SYSTEMCMDS_FAILURE=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
CONFIG_PLATFORM_POSIX=y
|
||||
CONFIG_BOARD_LINUX_TARGET=y
|
||||
CONFIG_BOARD_LINUX=y
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-a53"
|
||||
CONFIG_BOARD_TESTING=y
|
||||
@@ -59,7 +59,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DYN=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
|
||||
@@ -6,7 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
|
||||
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
|
||||
CONFIG_BOARD_SERIAL_PPB="/dev/ttyS3"
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_COMMON_BAROMETERS=y
|
||||
CONFIG_DRIVERS_BATT_SMBUS=y
|
||||
@@ -83,7 +83,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -78,7 +78,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -78,7 +78,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -33,12 +33,10 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
@@ -54,6 +52,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
@@ -63,9 +62,9 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
|
||||
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
+3
-3
@@ -301,8 +301,8 @@ if(EXISTS ${BOARD_DEFCONFIG})
|
||||
if(SERIAL_WIFI)
|
||||
list(APPEND board_serial_ports WIFI:${SERIAL_WIFI})
|
||||
endif()
|
||||
if(SERIAL_EXT2)
|
||||
list(APPEND board_serial_ports EXT2:${SERIAL_EXT2})
|
||||
if(SERIAL_PPB)
|
||||
list(APPEND board_serial_ports PPB:${SERIAL_PPB})
|
||||
endif()
|
||||
|
||||
|
||||
@@ -362,7 +362,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
|
||||
add_definitions( ${COMPILE_DEFINITIONS})
|
||||
endif()
|
||||
|
||||
if(LINUX_TARGET)
|
||||
if(LINUX)
|
||||
add_definitions( "-D__PX4_LINUX" )
|
||||
endif()
|
||||
|
||||
|
||||
@@ -219,14 +219,6 @@ set(msg_files
|
||||
WheelEncoders.msg
|
||||
Wind.msg
|
||||
YawEstimatorStatus.msg
|
||||
|
||||
Parameter.msg
|
||||
|
||||
SrvParameterGetRequest.msg
|
||||
SrvParameterGetResponse.msg
|
||||
|
||||
SrvParameterSetRequest.msg
|
||||
SrvParameterSetResponse.msg
|
||||
)
|
||||
list(SORT msg_files)
|
||||
|
||||
|
||||
@@ -1,12 +0,0 @@
|
||||
char[17] name # parameter name
|
||||
int16 index # -1 if the param_id field should be used as identifier
|
||||
int16 index_used # -1 if the param_id field should be used as identifier
|
||||
|
||||
uint8 TYPE_INVALID = 0
|
||||
uint8 TYPE_BOOL = 1
|
||||
uint8 TYPE_INT32 = 2
|
||||
uint8 TYPE_FLOAT32 = 3
|
||||
uint8 type # parameter type
|
||||
|
||||
int32 int32_value # current value if param_type is int-like
|
||||
float32 float32_value # current value if param_type is float-like
|
||||
@@ -15,13 +15,16 @@ int16 param_index # -1 if the param_id field should be used as identifier
|
||||
|
||||
uint8 TYPE_INVALID = 0
|
||||
uint8 TYPE_BOOL = 1
|
||||
uint8 TYPE_INT32 = 2
|
||||
uint8 TYPE_FLOAT32 = 3
|
||||
uint8 TYPE_UINT8 = 2
|
||||
uint8 TYPE_INT32 = 3
|
||||
uint8 TYPE_INT64 = 4
|
||||
uint8 TYPE_FLOAT32 = 5
|
||||
uint8 TYPE_FLOAT64 = 6
|
||||
uint8 type # parameter type
|
||||
|
||||
int32 int32_value # current value if param_type is int-like
|
||||
float32 float32_value # current value if param_type is float-like
|
||||
int64 int64_value # current value if param_type is int-like
|
||||
float64 float64_value # current value if param_type is float-like
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 8
|
||||
uint8 ORB_QUEUE_LENGTH = 4
|
||||
|
||||
# TOPICS parameter_request uavcan_parameter_request
|
||||
|
||||
@@ -4,6 +4,11 @@ uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint32 instance # Instance count - constantly incrementing
|
||||
|
||||
uint16 count
|
||||
uint32 get_count
|
||||
uint32 set_count
|
||||
uint32 find_count
|
||||
uint32 export_count
|
||||
|
||||
Parameter changed_param
|
||||
uint16 active
|
||||
uint16 changed
|
||||
uint16 custom_default
|
||||
|
||||
@@ -11,12 +11,7 @@ uint16 param_count # number of parameters exposed by the node
|
||||
|
||||
uint8 type # parameter type
|
||||
|
||||
int32 int32_value # current value if param_type is int-like
|
||||
float32 float32_value # current value if param_type is float-like
|
||||
|
||||
|
||||
uint64 timestamp_requested
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 8
|
||||
int64 int64_value # current value if param_type is int-like
|
||||
float64 float64_value # current value if param_type is float-like
|
||||
|
||||
# TOPICS parameter_value uavcan_parameter_value
|
||||
|
||||
@@ -1,6 +0,0 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
char[17] name # parameter name
|
||||
int16 index # -1 if the param_id field should be used as identifier
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 16
|
||||
@@ -1,11 +0,0 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_requested
|
||||
|
||||
Parameter parameter
|
||||
|
||||
uint8 RESULT_GET_SUCCESS = 0
|
||||
uint8 RESULT_GET_FAILED = 1
|
||||
uint8 RESULT_ERROR_INVALID_PARAMETER = 2
|
||||
uint8 result
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 16
|
||||
@@ -1,5 +0,0 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
Parameter parameter
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 8
|
||||
@@ -1,11 +0,0 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_requested
|
||||
|
||||
Parameter parameter
|
||||
|
||||
uint8 RESULT_SET_SUCCESS = 0
|
||||
uint8 RESULT_SET_FAILED = 1
|
||||
uint8 RESULT_ERROR_INVALID_PARAMETER = 2
|
||||
uint8 result
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 8
|
||||
@@ -118,6 +118,7 @@ public:
|
||||
|
||||
Param()
|
||||
{
|
||||
param_set_used(handle());
|
||||
update();
|
||||
}
|
||||
|
||||
@@ -145,6 +146,12 @@ public:
|
||||
|
||||
void set(float val) { _val = val; }
|
||||
|
||||
void reset()
|
||||
{
|
||||
param_reset_no_notification(handle());
|
||||
update();
|
||||
}
|
||||
|
||||
bool update() { return param_get(handle(), &_val) == 0; }
|
||||
|
||||
param_t handle() const { return param_handle(p); }
|
||||
@@ -163,6 +170,7 @@ public:
|
||||
Param(float &external_val)
|
||||
: _val(external_val)
|
||||
{
|
||||
param_set_used(handle());
|
||||
update();
|
||||
}
|
||||
|
||||
@@ -190,6 +198,12 @@ public:
|
||||
|
||||
void set(float val) { _val = val; }
|
||||
|
||||
void reset()
|
||||
{
|
||||
param_reset_no_notification(handle());
|
||||
update();
|
||||
}
|
||||
|
||||
bool update() { return param_get(handle(), &_val) == 0; }
|
||||
|
||||
param_t handle() const { return param_handle(p); }
|
||||
@@ -206,6 +220,7 @@ public:
|
||||
|
||||
Param()
|
||||
{
|
||||
param_set_used(handle());
|
||||
update();
|
||||
}
|
||||
|
||||
@@ -233,6 +248,12 @@ public:
|
||||
|
||||
void set(int32_t val) { _val = val; }
|
||||
|
||||
void reset()
|
||||
{
|
||||
param_reset_no_notification(handle());
|
||||
update();
|
||||
}
|
||||
|
||||
bool update() { return param_get(handle(), &_val) == 0; }
|
||||
|
||||
param_t handle() const { return param_handle(p); }
|
||||
@@ -251,6 +272,7 @@ public:
|
||||
Param(int32_t &external_val)
|
||||
: _val(external_val)
|
||||
{
|
||||
param_set_used(handle());
|
||||
update();
|
||||
}
|
||||
|
||||
@@ -278,6 +300,12 @@ public:
|
||||
|
||||
void set(int32_t val) { _val = val; }
|
||||
|
||||
void reset()
|
||||
{
|
||||
param_reset_no_notification(handle());
|
||||
update();
|
||||
}
|
||||
|
||||
bool update() { return param_get(handle(), &_val) == 0; }
|
||||
|
||||
param_t handle() const { return param_handle(p); }
|
||||
@@ -294,6 +322,7 @@ public:
|
||||
|
||||
Param()
|
||||
{
|
||||
param_set_used(handle());
|
||||
update();
|
||||
}
|
||||
|
||||
@@ -329,6 +358,12 @@ public:
|
||||
|
||||
void set(bool val) { _val = val; }
|
||||
|
||||
void reset()
|
||||
{
|
||||
param_reset_no_notification(handle());
|
||||
update();
|
||||
}
|
||||
|
||||
bool update()
|
||||
{
|
||||
int32_t value_int;
|
||||
|
||||
@@ -104,13 +104,6 @@ typedef struct {
|
||||
// Qurt has no fsync implementation so need to declare one here
|
||||
// and then define a fake one in the Qurt platform code.
|
||||
void fsync(int fd);
|
||||
// Qurt doesn't have a way to set the scheduler policy. It is always, essentially,
|
||||
// SCHED_FIFO. So have to add a fake function for the code that tries to set it.
|
||||
#include <pthread.h>
|
||||
__EXPORT int pthread_attr_setschedpolicy(pthread_attr_t *attr, int policy);
|
||||
// Qurt POSIX implementation doesn't define the SIGCONT signal so we just map it
|
||||
// to a reasonable alternative
|
||||
#define SIGCONT SIGALRM
|
||||
#endif
|
||||
|
||||
__EXPORT int px4_open(const char *path, int flags, ...);
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019-2022 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2019-2021 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
|
||||
@@ -76,8 +76,6 @@ static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -18};
|
||||
|
||||
static constexpr wq_config_t uavcan{"wq:uavcan", 3624, -19};
|
||||
|
||||
static constexpr wq_config_t parameter_server{"wq:parameter_server", 4096, -20};
|
||||
|
||||
static constexpr wq_config_t ttyS0{"wq:ttyS0", 1632, -21};
|
||||
static constexpr wq_config_t ttyS1{"wq:ttyS1", 1632, -22};
|
||||
static constexpr wq_config_t ttyS2{"wq:ttyS2", 1632, -23};
|
||||
|
||||
@@ -59,7 +59,7 @@ typedef int px4_task_t;
|
||||
|
||||
#define px4_task_exit(x) _exit(x)
|
||||
|
||||
#elif defined(__PX4_POSIX)
|
||||
#elif defined(__PX4_POSIX) || defined(__PX4_QURT)
|
||||
|
||||
#include <pthread.h>
|
||||
#include <sched.h>
|
||||
|
||||
@@ -5,7 +5,7 @@
|
||||
#include <time.h>
|
||||
#include <pthread.h>
|
||||
|
||||
#if defined(__PX4_POSIX)
|
||||
#if defined(__PX4_POSIX) || defined(__PX4_QURT)
|
||||
__BEGIN_DECLS
|
||||
__EXPORT int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
|
||||
__END_DECLS
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user