Commit Graph

521 Commits

Author SHA1 Message Date
Gustavo Jose de Sousa 0963159bb8 AP_InertialSensor: Flymaple: apply correction on each new sample
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.

Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
2015-09-07 11:14:41 +10:00
Gustavo Jose de Sousa 2ea8f1de3f AP_InertialSensor: L3G4200D: apply correction on each new sample
These changes are for enabling unified accelerometer vibration and clipping
calculation. For that, we need the values "rotated and corrected" before they
are filtered and the calculation must be called as soon as a new sample arrives
as it takes the sample rate into account.

Thus, move code that applies "corrections" to be executed as soon as accel data
arrive and call _publish_accel() passing rotate_and_correct parameter as false.
Also, do the same for gyro so we can keep it consistent.
2015-09-07 11:14:41 +10:00
Lucas De Marchi a66a201bf5 AP_Compass: HMC5843: Add support for MPU6000 auxiliary bus
Allow HMC5843 to be on MPU6000's auxiliary bus.
2015-08-28 12:39:09 +10:00
Lucas De Marchi c66800dfec AP_InertialSensor: add singleton interface
In order to allow other libraries to use the InertialSensor we need a
way to let them to get the only instance of InertialSensor. The
conventional way to do a singleton would be to let the constructor
private and force it to be instantiated from the get_instance() method.

Here however we just call panic() on the constructor if there's already
an instance alive. This allows us to let the vehicles as is. Later we
can change it so they call the get_instance() method instead.
2015-08-28 12:39:08 +10:00
Lucas De Marchi 565c18603d AP_InertialSensor: MPU6000: export auxiliary bus 2015-08-28 12:39:08 +10:00
Lucas De Marchi caae933c28 AP_InertialSensor: Add support for auxiliary buses
Add an AuxiliaryBus class that can be derived for specific
implementations in inertial sensor backends. It's an abstract
implementation so other libraries can use the auxiliary bus exported. In
order for this to succeed the backend implementation must split the
initialization of the sensor from the actual sample collecting, like is
done in MPU6000.

When AP_InertialSensor::get_auxiliary_bus() is called it will execute
following steps:
	a) Force the backends to be detected if it's the first time it's
	   being called
	b) Find the backend identified by the id
	c) call get_auxiliary_bus() on the backend so other libraries can
	   that AuxiliaryBus to initialize a slave device

Slave devices can be used by calling AuxiliaryBus::request_next_slave()
and are owned by the caller until AuxiliaryBus::register_periodic_read()
is called. From that time on the AuxiliaryBus object takes its ownership.
This way it's possible to do the necessary cleanup later without
introducing refcounts, that we don't have support to.

Between these 2 functions the caller can configure the slave device by
doing its specific initializations by calling the passthrough_*
functions. After the initial configuration and register_periodic_read()
is called only read() can be called.
2015-08-28 12:39:08 +10:00
Lucas De Marchi 3cb6f391d4 AP_InertialSensor: MPU6000: split detection and initialization 2015-08-28 12:39:08 +10:00
Lucas De Marchi 7d9579c5d8 AP_InertialSensor: identify backend with ID
Identify backend with an id, allowing other libraries to connect to
them. This is different from the _product_id member because it
identifies the sensor, not the board the sensor is in, which is
meaningless for our use case.
2015-08-28 12:39:07 +10:00
Lucas De Marchi 22c787058e AP_InertialSensor: allow to split detection and initialization
This allows backends to have a separate detection and initialization
logic. It doesn't change any backend yet and with the current code
there's no change in behavior either. This only allows
AP_InertialSensor::_detect_backend() to be called earlier so
AP_InertialSensor object can be used by other libraries. If it's not
called, later on AP_InertialSensor::init() will detect and start all
backends.
2015-08-28 12:39:07 +10:00
Lucas De Marchi f7954ee885 AP_InertialSensor: MPU6000: allow to read generic block
We were able to read only the block of registers that are part of the
data output from accelerometer/gyroscope. In order to support reading
the external sensors we need support for reading a generic block of
registers.
2015-08-28 12:39:07 +10:00
Lucas De Marchi b5da8ad61f AP_InertialSensor: MPU6000: rename method
We're reading the sensor data available in MPU6000 so name the method
accordingly, which is also the same name used in MPU9250.
2015-08-28 12:39:07 +10:00
Lucas De Marchi d9a4d3e777 AP_InertialSensor: MPU6000: fix leaking samples 2015-08-28 12:39:07 +10:00
Lucas De Marchi f18dd17377 AP_InertialSensor: fix typos
resister->register and fix copy and paste error from MPU6000 to MPU925.
2015-08-28 12:39:07 +10:00
squilter dfc35cca8b AP_InertialSensor: update severities 2015-08-28 10:04:35 +10:00
ziltoid2 0b1a997800 AP_IntertialSensor: don't require acceleration calibration in hil mode 2015-08-23 16:48:48 +10:00
Tom Pittenger 2620a57700 AP_InertialSensor: Added is_still() check
very strict check that all axis are not vibrating much at all
new param: INS_STILL_THRESH used to be a vibration threshold for different platforms
// @Description: Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5
2015-08-23 10:34:17 +10:00
Tom Pittenger 220163e269 AP_InertialSensor: correct USE param storage index
USE, USE2, USE3 have 20, 21, 21 but should be 20, 21, 22
2015-08-21 11:35:37 +09:00
Randy Mackay e5615ec349 INS: add USE parameters 2015-08-19 16:44:15 +09:00
Randy Mackay affbd67c43 InertialSensor: add vibration monitoring of 2nd IMU 2015-08-19 16:44:12 +09:00
Lucas De Marchi 2c44f3e313 AP_HAL_InertialSensor: standardize inclusion of libaries headers
Do the missing header changes due to changing the code before the pr
getting accepted.
2015-08-18 17:12:52 +10:00
Andrew Tridgell dc455a5fd6 AP_InertialSensor: setup for MPU9250 support on PX4 2015-08-17 09:33:15 +10:00
Andrew Tridgell 980659d346 AP_InertialSensor: removed AVR1280 specific ifdef 2015-08-11 16:47:56 +10:00
Gustavo Jose de Sousa 7789aec85b AP_InertialSensor: standardize inclusion of libaries headers
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
2015-08-11 16:28:43 +10:00
Randy Mackay 69bfeaf58e INS: accel offset parameter range desc to 3.5m/s/s 2015-08-10 10:30:34 -07:00
Lucas De Marchi cf1273668e AP_InertialSensor: refactor constructors to avoid leak
We were previously leaking the AP_MPU6000_BusDriver if the
~AP_InertialSensor_MPU6000::detect*() failed. In order to avoid the
leak move the repeated code in a single private _detect() member that
receives everything as argument. Then this method takes ownership of the
objects.

By a adding a destructor to AP_InertialSensor_MPU6000 it becomes easier to
free the objects it takes ownership of.
2015-08-08 14:12:22 +10:00
Lucas De Marchi c3063f0ab2 AP_InertialSensor: MPU6000: be agnostic to I2C bus/address
This decision is better made by the caller rather than polluting the
driver with board-specific details.
2015-08-08 14:12:22 +10:00
Lucas De Marchi 4d4dac867e AP_InertialSensor: pass backend instead of pointer to function
Different detect() function might need different arguments and passing a
pointer to function here is cumbersome. For example, it forces to have a
method like "detect_i2c2" rather than allowing hal.i2c2 to be passed as
parameter.
2015-08-08 14:12:22 +10:00
Gustavo Jose de Sousa d3eebdb6aa AP_InertialSensor: L3G4200D: add probe code
This driver works properly but had the initialization logic missing. Add
the support to probe it.
2015-08-08 14:12:22 +10:00
Lucas De Marchi 55279664c2 AP_InertialSensor: remove out of place ifdef
AP_InertialSensor isn't a good place to comment about board issues.
2015-08-08 14:12:21 +10:00
Lucas De Marchi 2e76d998df AP_InertialSensor: remove unused enum bus_speed
The methods actually use the enum from AP_HAL::SPIDeviceDriver, so don't
declare a new one. The I2C implementation is empty; if we actually start
to use it we'd better move the bus abstraction to HAL.
2015-08-08 14:12:21 +10:00
Lucas De Marchi f3f54157be AP_InertialSensor: fix copying wrong number of bytes
We should copy only the bytes we read, not the maximum number.
2015-08-08 14:12:21 +10:00
Lucas De Marchi 209e1924a5 AP_InertialSensor: fix whitespace usage 2015-08-08 14:12:21 +10:00
Lucas De Marchi 3851862f60 AP_InertialSensor: remove unused drivers
Nobody is using these drivers, they need to be rewritten using the
backend logic and give the false impression they are supported.
2015-08-07 20:57:49 +10:00
Andrew Tridgell 212898d02b AP_InertialSensor: don't use INT_STATUS drdy to lower SPI bus speed
as pointed out by Lucas in PR#2604 this is probably a bad idea
2015-07-30 14:05:20 +10:00
Grant Morphett e2eda97ec6 AP_InertialSensor: fix coverity warnings - param init in construct 2015-07-30 12:37:08 +10:00
Tom Pittenger 01161135d6 AP_InitialSensor_MPU6000: compiler warning - init order 2015-07-27 10:30:17 +09:00
Lucas De Marchi eda4879f3f AP_InertialSensor: use ARRAY_SIZE macro 2015-07-21 14:25:07 +09:00
Andrew Tridgell 6df33dd3f4 AP_InertialSensor: fixed MPU6000_SPI bus initialisation
we need _spi for get_semaphore()
2015-07-10 16:46:30 +10:00
Julien BERAUD 3cf952d1f8 AP_InertialSensor: add fifo support for MPU6000
And remove the use of data rdy in this case
2015-07-10 14:24:09 +10:00
Julien BERAUD 8a76ff53bd AP_InertialSensor: add i2c bus driver for MPU6050 2015-07-10 14:24:09 +10:00
Julien BERAUD 1679728730 AP_InertialSensor: Configure SPI as a generic bus for MPU6000
Add the possibility to implement an i2c bus communication for the
MPU6050 on parrot bebop
2015-07-10 14:24:09 +10:00
Lucas De Marchi efec7723ff AP_InertialSensor: reset the MPU9250 chip on startup
Now that the initialization of MPU9250 is shared between the
AP_InertialSensor and other drivers using it as a backend, we can reset
the MPU9250 in order to put it in a known state.
2015-07-06 10:48:07 +10:00
Lucas De Marchi eb4e2ac2e5 AP_InertialSensor: factor out MPU9250 initialization
Now we have the initialization code split in 2 parts:

1) Making sure the MPU9250 chip is alive and working: this is now in a
static function that may be called by other drivers that use MPU9250 as
backend.

2) The configuration of gyro and accel. Once the first part is completed
successfully the AP_InertialSensor_MPU9250 finishes the configuration of
the sensors it uses.

The only change in behavior here is that before we would try 25 time (5x
inside _hardware_init time 5x inside _init_sensor() that calls the first
function) to "boot the chip" and now we are doing "only" 5.
2015-07-06 10:48:07 +10:00
Lucas De Marchi 953bfbd3fe AP_InertialSensor: provide static methods for spi transactions
Add static methods to do the SPI transactions and provide the wrapper
methods when we have an instance of the object. This is useful so these
methods can be called from other contexts when the AP_InertialSensor
hasn't been initialized yet.
2015-07-06 10:48:07 +10:00
mirkix f82344358f AP_InertialSensor: Change BBBMINI standard orientation 2015-07-06 10:12:39 +10:00
Staroselskii Georgii d40b45c9ae AP_InertialSensor: disable reset on MPU9250
The Compass library is initialized before the InertialSensor. AK8963 with
MPU9250 as backend already takes care of resetting MPU9250. The problem with
also resetting it in the MPU9250 initialization code is that if the reset
happens during an internal I2C transaction, the AK8963 may hang. So here we
remove the reset inside MPU9250. There still a possibility that the first
MPU9250 initialization is not successful and it resets the chip, but it's not
happening in tests.
2015-07-01 20:44:09 +03:00
Andrew Tridgell ac3200fd32 AP_InertialSensor: make max_abs_offsets a single float, not a vector 2015-06-30 10:51:43 +10:00
Gustavo Jose de Sousa 0fcd98c804 AP_InertialSensor: disable debug on LSM9DS0 2015-06-30 10:28:05 +10:00
Gustavo Jose de Sousa c168e19e73 AP_InertialSensor: fix coding style with uncrustify on LSM9DS0
This commit makes backend source code for LSM9DS0 comply with the configuration
files "uncrustify_cpp.cfg" and "uncrustify_headers.cfg".
2015-06-30 10:28:02 +10:00
Gustavo Jose de Sousa 2f2a627002 AP_InertialSensor: use runtime GPIO drdy pins numbers instead C constant macros
As we intend to eventually get board related parameters from a configuration
file, this commit makes the GPIO numbers for data-ready pins be instance
variables instead of from C constant macros.

Another advantage of using instance variables in this context is the
possibility of using more than one LSM9DS0.
2015-06-30 10:27:59 +10:00