f9845c93b1
AP_InertialSensor: keep transfers nicely setup for DMA on stm32
...
this avoids using stack based bounce buffers which may not support DMA
on stm32
2016-11-27 11:26:10 +11:00
771cedca3d
AP_InertialSensor: reduced number of SPI transfers
...
use cached copy of temperature in MPU6000 and MPU9250 to detect FIFO
error when possible
2016-11-26 19:02:22 +11:00
27605b0258
AP_InertialSensor: run invensese reg checking at low speed
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config register read/write should be at low bus speed.
also change to check every 20 calls to reduce checking cost
2016-11-25 20:31:40 +11:00
f3a778f980
AP_InertialSensor: fixed freeing of fifo buffer
2016-11-25 17:50:19 +11:00
6f28c61c8d
AP_InertialSensor: changed SIZE to LEN
...
thanks to Lucas for suggestion
2016-11-25 17:50:19 +11:00
cb7f46d653
AP_InertialSensor: fixed handling of user_ctrl register
...
with aux bus implementations
2016-11-25 17:50:18 +11:00
9b4c588c09
AP_InertialSensor: adapt drivers for SPI-DMA capable systems
...
no longer need accumulate() transfers with SPI enabled DMA on stm32
2016-11-25 17:49:58 +11:00
28daddaaf2
AP_InertialSensor: don't use accumulate approach on Linux or I2C
2016-11-25 17:49:57 +11:00
d9c8db7024
AP_InertialSensor: implement a new strategy for fast sampling
...
this moves to using a 1p filter on the high rate data, followed by
averaging down to 1kHz then a 2p filter to apply configured cutoff
frequency.
It also fixes the FIFO reset to not cause data corruption. We need to
disable all FIFO channels before doing the reset, and wait for the
FIFO to stop in the sensor.
Finally it moves sampling of the MPU6000 and MPU9250 into the main
thread. That significantly improves scheduling performance as we no
longer get long FIFO SPI transfers happening during other tasks. All
transfers happen at the start of the fast loop. That makes timing much
more predictable.
Thanks to Leonard and Paul for help with this design!
2016-11-25 17:49:57 +11:00
87c6d5da13
AP_InertialSensor: replace panic() with return
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When blocking forever there's no reason to call panic later since it
will never going to be reached. This reduces binary size in a few bytes
since the message isn't required anymore.
2016-11-21 18:04:10 -02:00
6129b1abb6
AP_InertialSensor: wait forever for semaphore on startup
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some boards take a silly amount of time to get semaphore on startup
2016-11-21 17:57:21 -02:00
216cf53922
AP_InertialSensor: handle FIFO overflow for MPU6k and 9250
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this prevents temporary corruption of INS data on FIFO overflow
2016-11-19 12:54:22 +11:00
6af00027ab
AP_InertialSensor: removed unused variables
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thanks to Francisco for noticing
2016-11-16 08:41:06 +11:00
624178f3be
AP_InertialSensor: added INS_FAST_SAMPLE parameter
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this allows enable/disable of fast sampling per IMU, making
experimentation easier.
It also fixes the fast sampling to always average over 8 samples, and
fixes the 9250 to use the correct accumulator when not doing fast
sampling
2016-11-15 21:16:40 +11:00
c0303ffe8a
AP_InertialSensor: temporarily disable fast sampling
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a problem has been found with the filtering with fast sampling on
ICM-20608 and MPU9250. Disable until it is solved.
2016-11-14 18:18:17 +11:00
c794ad9ee8
AP_InertialSensor: use smaller FIFO buffers
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this allows for reading multiple chunks from the fifo per callback
2016-11-13 13:16:22 +11:00
8d19808152
AP_InertialSensor: fixed missing checked register goto
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thanks to Francisco for spotting
2016-11-11 08:08:56 +11:00
95a849f472
AP_InertialSensor: added register checking for MPU9250
2016-11-11 08:08:56 +11:00
af0ec41652
AP_InertialSensor: fixed accel clip detection with fast sampling
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we need to check on every sample at the full rate
2016-11-10 13:39:17 +11:00
1ea4c6938c
AP_InertialSensor: allow auxiliary bus with fast sampling
2016-11-10 11:44:52 +11:00
8da42b7a8b
AP_InertialSensor: fixed temperature for fast sampling case
2016-11-10 11:44:52 +11:00
e27a76e460
AP_InertialSensor: fixed auxiliary bus with FIFO enabled
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make sure fifo reset doesn't check I2C master enable
2016-11-10 11:44:51 +11:00
46785e8ecf
AP_InertialSensor: improved method for FIFO integrity checking
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check temperature every 255 samples against FIFO data
2016-11-10 11:44:51 +11:00
8a3f6a8902
AP_InertialSensor: use FIFO and implement fast sampling for MPU9250
2016-11-10 11:44:51 +11:00
bd84e592f8
AP_InertialSensor: check for NULL device pointer in probe()
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handle missing devices
2016-11-09 17:08:10 +11:00
790dd4769b
AP_InertialSensor: simplify rotations for MPU9250
2016-11-09 17:08:07 +11:00
aa4025bdf9
AP_InertialSensor: make INS sensor IDs match for PX4
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in-tree driver IDs now match PX4Firmware driver IDs on Pixhawk2
2016-11-09 17:08:06 +11:00
9e7e1b2f01
AP_InertialSensor: fixed merge conflicts with patches from Lucas
2016-11-09 17:08:06 +11:00
469efb00f6
AP_InertialSensor: save id for gyro and accel instances
...
This allows each sensor to be uniquely identified in the system by using
either the index inside the backend or for those that use the Device
interface, to use the bus type, location, and device id.
We leave 16-bit for each sensor to be able to change its own
identification in future, which allows them to be changed in an
incompatible manner forcing a re-calibration.
2016-11-09 17:08:05 +11:00
ace61087a1
AP_InertialSensor: remove product_id
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We only leave the parameter there for backward-compatibility. However
product id on the inertial sensor is not much useful since it's only
kept for the first instance.
A better implementation per-gyro and per-accel is needed in order to
avoid problems with sensors taking the offsets configured for another
sensor.
2016-11-09 17:08:05 +11:00
64a5d3938c
AP_InertialSensor: implement device IDs for MPU6000 and MPU9250 AuxilaryBus
2016-11-09 17:08:04 +11:00
a5c5e033d2
AP_InertialSensor: fixed threading and locking in remaining backends
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use a backend semaphore for shared data and use thread per bus where
available
2016-11-09 17:08:01 +11:00
0e19b8c9a0
AP_HAL_Linux: Set initial rotation on Dark to None
2016-10-24 10:00:24 -02:00
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
a4d0ad8571
AP_InertialSensor: Fix name of sensor
2016-08-23 11:25:59 +09:00
1f96336f7c
Global: rename bus type enum entries
2016-06-27 17:51:41 -03:00
de94392759
AP_InertialSensor: MPU9250: remove _bus_type field
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Use _dev->bus_type instead.
2016-06-27 17:20:51 -03:00
83feb2e2ae
AP_InertialSensor: MPU9250: let Device handle read flag
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There's no need to handle that in MPU9250 anymore.
2016-06-27 17:20:51 -03:00
1e99a7125c
AP_InertialSensor: MPU9250: remove _register_write_check()
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That function isn't used in the code base and there should be a better way to
debug writes on registers.
2016-06-27 17:20:51 -03:00
057822b51c
AP_InertialSensor: AuxiliaryBus: fix return value
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We should return the number of bytes written/read, not 0 on success.
This number may be useful in some cases so return it.
While at it fix a simple wrong space in the header.
2016-03-17 02:55:39 -03:00
da550e5e98
AP_Inertial_Sensor: do not rotate MPU9250 on Navio2
2016-02-27 03:06:50 -03:00
02a7fa5c2b
AP_InertialSensor: MPU9250: use AP_HAL::Device abstraction
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This makes MPU9250 be almost the same as MPU6000 driver. Work has been
done here to make than similar so it's easier to spot the differences.
2016-02-16 19:49:09 -02:00
e493bfcae4
AP_InertialSensor: add PXFmini support
2016-01-05 15:35:56 -02:00
3a31970056
AP_InertialSensor: add support to BH hat
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- MPU6050 I2C for BH v0.1
- MPU9250 SPI for BH v0.2
2015-12-21 15:54:30 +11:00
75ea8f3dc0
AP_InertialSensor: removed "have sample" logic from drivers
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the frontend has all the information it needs, so we can simplify the
drivers some more
2015-11-16 17:57:35 +11:00
0e4bab74ba
AP_InertialSensor: simplify sensor backends
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use common code for filtering and update, allowing each sensor driver
to be simpler and more consistent
2015-11-16 17:57:35 +11:00
0cbe99a862
AP_InertialSensor: MPU9250 I2C: Connect the auxiliary I2C bus to the main bus
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Using MPU9250 over I2C we can connect the auxiliary bus where there is
a AK8963 and connect this bus to the main one, this way we don't need
any AuxiliaryBus infrastructure as we need with SPI and we can talk
with AK8963 as we would talk with a standalone AK8963.
2015-11-11 14:29:07 +11:00
607ab5b005
AP_InertialSensor: MPU9250: Add I2C support
2015-11-11 14:29:07 +11:00
c3dae6fcec
AP_InertialSensor: MPU9250: Remove methods not used anymore
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Those methods were used by AK8963 before it started to use auxiliary bus.
2015-11-11 14:29:06 +11:00
3e1b974fd2
AP_InertialSensor: MPU9250: Export auxiliary bus
2015-11-11 14:29:06 +11:00
Andrew Tridgell
hiro2233
Lucas De Marchi
Martin Evans
Mathieu OTHACEHE
mirkix
Gustavo Jose de Sousa
Staroselskii Georgii
Víctor Mayoral Vilches
Aaron Wang Shi
José Roberto de Souza