Commit Graph

26 Commits

Author SHA1 Message Date
Lucas De Marchi 057822b51c AP_InertialSensor: AuxiliaryBus: fix return value
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
Lucas De Marchi 02a7fa5c2b AP_InertialSensor: MPU9250: use AP_HAL::Device abstraction
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
Lucas De Marchi 9c6bd38e91 AP_InertialSensor: sanitize includes
Due to the way the headers are organized changing a single change in an
inertial sensor driver would trigger a rebuild for most of the files in
the project. Time could be saved by using ccache (since most of the
things didn't change) but we can do better, i.e. re-organize the headers
so we don't have to re-build everything.

With this patch only AP_InertialSensor/AP_InertialSensor.h is exposed to
most users. There are some corner cases to integrate with some example
code, but most of the places now depend only on this header and this
header doesn't depend on the specific backends.

Now changing a single header, e.g. AP_InertialSensor_L3G4200D.h triggers
a rebuild only of these files:

	$ waf copter
	'copter' finished successfully (0.000s)
	Waf: Entering directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
	[ 80/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor.cpp
	[ 84/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
	[310/370] Linking build/minlure/ArduCopter/libArduCopter_libs.a
	[370/370] Linking build/minlure/bin/arducopter
	Waf: Leaving directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
2016-02-01 14:18:51 -02:00
Andrew Tridgell 75ea8f3dc0 AP_InertialSensor: removed "have sample" logic from drivers
the frontend has all the information it needs, so we can simplify the
drivers some more
2015-11-16 17:57:35 +11:00
Andrew Tridgell 0e4bab74ba AP_InertialSensor: simplify sensor backends
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
José Roberto de Souza 0cbe99a862 AP_InertialSensor: MPU9250 I2C: Connect the auxiliary I2C bus to the main bus
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
José Roberto de Souza 607ab5b005 AP_InertialSensor: MPU9250: Add I2C support 2015-11-11 14:29:07 +11:00
José Roberto de Souza c3dae6fcec AP_InertialSensor: MPU9250: Remove methods not used anymore
Those methods were used by AK8963 before it started to use auxiliary bus.
2015-11-11 14:29:06 +11:00
José Roberto de Souza 3e1b974fd2 AP_InertialSensor: MPU9250: Export auxiliary bus 2015-11-11 14:29:06 +11:00
José Roberto de Souza 206f0fb773 AP_InertialSensor: MPU9250: Add BusDriver abstraction
This adds a similar abstraction to the one in MPU60XX so it's possible to use
MPU9250 in other bus. The I2C implementation will come later.
2015-11-11 14:29:06 +11:00
Lucas De Marchi 5244559010 Minimize AP_Progmem.h includes
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
2015-10-30 14:35:32 +09:00
mirkix 840f583d23 AP_InertialSensor: Add MPU9250 multiple instance support 2015-09-24 13:11:38 +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
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
Gustavo Jose de Sousa c72dc9bd45 AP_InertialSensor: make single rotation on MPU9250
The previous implementation made some boards apply two rotations to suit
their default orientation. That was happening because there was an
unconditional rotation being done (commented as "rotate for bbone
default").

This commit makes that unconditional rotation as a default rotation
instead and adjusts the former additional rotations to be single
rotations.
2015-06-22 17:45:20 +10:00
Andrew Tridgell 3d7d46b9b0 AP_InertialSensor: replaced INS_MPU6K_FILTER with INS_ACCEL_FILTER and INS_GYRO_FILTER
this allows filtering to be set separately on accels and gyros where possible
2015-03-12 12:50:31 +11:00
Jonathan Challinger 502446d821 AP_InertialSensor: use LowPassFilter2pVector3f 2015-03-12 12:50:27 +11:00
Andrew Tridgell a047d1f569 AP_InertialSensor: moved default filter and sample_rate to frontend
this simplifies the backends and prevents code repitition
2014-10-24 12:10:40 +11:00
Andrew Tridgell dcef9bb3b8 AP_InertialSensor: converted the MPU9250 driver to new API 2014-10-24 12:10:37 +11:00
Andrew Tridgell dcdb53584b AP_InertialSensor: use lockless structures in MPU9250 driver
this avoids suspending timers when transferring data between main
thread and SPI read thread
2014-08-22 21:13:11 +10:00
Andrew Tridgell a14f8dbd0a AP_InertialSensor_MPU9250: use micros64() and millis64() 2014-08-20 08:02:34 +10:00
Andrew Tridgell 3c2ab31415 AP_InertialSensor: get rid of data_ready for MPU9250
when running off a 1kHz timer and reading at 1kHz it is better to
double sample than it is to skip a sample, as skipping samples will
throw the filter off, whereas a double sample will have minimal effect
2014-08-19 20:03:33 +10:00
Andrew Tridgell 9e01c657e5 AP_InertialSensor: update MPU9250 driver for 1kHz operation
use a time base sample wait, with 1kHz sampling
2014-08-19 20:03:33 +10:00
Víctor Mayoral Vilches eb95130441 AP_InertialSensor_MPU9250: remove legacy CS. 2014-07-14 09:29:18 +10:00
Víctor Mayoral Vilches fac3d1c271 AP_InertialSensor_MPU9250: SPI userspace sensor driver.
InvenSense MPU9250 sensor driver and test code (available under
libraries/examples/).
2014-07-14 09:02:47 +10:00