77a83c091a
AP_InertialSensor: added register checking for MPU6000/ICM20608
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
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
d2f6a514b9
AP_InertialSensor: catch FIFO alignment errors using temperature reading
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Two cases of what seems to be FIFO alignment errors have been seen on
a Pixracer-beta board with a ICM-20608. At a cost of 2 extra bytes per
transfer we can catch these by looking for sudden temperature changes
caused by bad data in the temperature registers.
2016-11-09 17:08:15 +11:00
d248b33104
AP_InertialSensor: simplify config of MPU6000
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use zero sample rate divider on both MPU6000 and ICM20608
2016-11-09 17:08:14 +11:00
84c3e29891
AP_InertialSensor: use AP_HAL rotations for MPU6000
2016-11-09 17:08:14 +11:00
2f01dfe81c
AP_InertialSensor: fixed from review by Lucas
2016-11-09 17:08:13 +11:00
81b933d9d0
AP_InertialSensor: use int32_t summation for fast sampling
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very slightly faster
2016-11-09 17:08:13 +11:00
af1c5fd6d3
AP_InertialSensor: always use FIFO on MPU6000
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and enable fast sampling on ICM20608 if on SPI
2016-11-09 17:08:12 +11:00
a9a5e50bd1
AP_InertialSensor: removed timer callback for MPU6000
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Thanks to Lucas for pointing out this is not needed
2016-11-09 17:08:11 +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
3d7d773883
AP_InertialSensor: added support for ICM20608 on Pixracer
2016-11-09 17:08:08 +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
104e29acf2
AP_InertialSensor: MPU6000: change accel scale to 16G
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Also change the ID of MPU6000 so previous calibration values are not
considered valid.
2016-11-09 17:08:06 +11:00
dc09661b9e
AP_InertialSensor: MPU6000: save driver version
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When registering accel and gyro we use the upper 16bits of the id to
store the driver version. When changing the driver behavior in
non-compatible ways, changing this version will trigger a request for
calibration.
2016-11-09 17:08:06 +11:00
0d3adef8b2
AP_InertialSensor: MPU6000: remove TODO leftover
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This will never be done as blindly changing speed is not the way to fix
communication issues.
2016-11-09 17:08:05 +11:00
469efb00f6
AP_InertialSensor: save id for gyro and accel instances
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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
2df6ed08c2
AP_InertialSensor: added optional per-instance orientation
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this is needed for multi-sensor boards to get orientation right for
each sensor
2016-11-09 17:08:00 +11:00
919aa61918
AP_InertialSensor: support AuxiliaryBus without register_periodic_callback()
2016-11-09 17:07:57 +11:00
2b66df68a1
AP_InertialSensor: use thread-per-bus for lsm303d and mpu6000
2016-11-09 17:07:56 +11:00
152edf7189
Global: remove mode line from headers
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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
714c8fd318
AP_InertialSensor_MPU6000: Add support for fsync bit for Bebop
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Already present on Disco
2016-10-03 12:20:03 -03:00
6f9530ebaa
AP_InertialSensor: added optional FSYNC external sync bit
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used to synchronise with image sensor on Disco
2016-09-05 12:55:32 +10:00
36bdd7f1f1
AP_InertialSensor: MPU6000: Add missing read() check
2016-08-03 00:18:20 -03:00
d30e55fa44
AP_InertialSensor: initial support for Disco
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setup right orientation
2016-07-20 13:38:17 +10:00
834acaffee
AP_InertialSensor: provide IMU temperature to HAL for all boards
2016-07-01 15:29:52 +10:00
1f96336f7c
Global: rename bus type enum entries
2016-06-27 17:51:41 -03:00
a6e5eb9e14
AP_InertialSensor: MPU6000: remove _bus_type field
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Use _dev->bus_type instead.
2016-06-27 17:20:51 -03:00
0718649c8b
AP_InertialSensor: MPU6000: let Device handle read flag
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There's no need to handle that in MPU6000 anymore.
2016-06-27 17:20:51 -03:00
309fe4a88c
AP_InertialSensor: MPU6000: 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
af846636e4
AP_InertialSensor: MPU60x0: use AP_HAL::Device abstraction
2016-02-16 19:49:09 -02:00
5088dca072
AP_InertialSensor: MPU60x0: coding style fixes
2016-02-01 14:18:51 -02:00
ed653f8dbb
AP_InertialSensor: MPU60x0: add comment about 8G/16G
2016-02-01 14:18:51 -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
a27d7f8a93
AP_InertialSensor_MPU6000: Fix FIFO reset
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Change the sequence. Previous sequence was sometimes causing failure
to initialize the IMU.
2015-12-16 08:16:10 +11:00
d7601095fa
AP_InertialSensor: use millis/micros/panic functions
2015-11-20 12:31:41 +09:00
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
3142f21363
AP_InertialSensor: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1
2015-11-04 12:14:12 +11:00
8e351a058d
AP_InertialSensor: MPU6000: enable data-ready pin for minlure
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Data-ready pin wasn't being used before due to a bug in the Kernel with
concurrent accesses to GPIO in Intel Baytrail platforms. That has been fixed in
Kernel version 4.2.
2015-11-04 12:12:47 +11:00
20c6ffc5e3
Replace use of UARTDriver::printf_P() with UARTDriver::printf()
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This also starts to show warnings on places that were already using
wrong printf format strings.
2015-10-30 14:35:25 +09:00
6f4904189b
Replace use of println_P() with println()
2015-10-30 14:35:22 +09:00
2c38e31c93
Remove use of PSTR
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The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
Andrew Tridgell
Lucas De Marchi
Mathieu OTHACEHE
Julien Beraud
Murilo Belluzzo
Gustavo Jose de Sousa
Aaron Wang Shi
Caio Marcelo de Oliveira Filho