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584 Commits

Author SHA1 Message Date
PX4 BuildBot 3d27c7313c Update submodule nuttx to latest Tue Apr 7 03:33:04 UTC 2020 
- nuttx in PX4/Firmware (3cee71918ad35d155fcdd5f32770dad98619eb84): 09f0aee352
    - nuttx current upstream: ec417d7466
    - Changes: 09f0aee352...ec417d7466

    ec417d7466 2020-04-06 Peter van der Perk - [Backport] FMUK66 SocketCAN driver & Configurable Bitrate support
a3132cf3b7 2020-03-30 Peter van der Perk - [Backport] SocketCAN support
 2020-04-07 00:16:52 -04:00
Jacob Dahl d682ddb510
UAVCAN differential pressure sensor support 
* added airspeed handling (differential pressure) to uavcan and uavcannode

Co-authored-by: Jacob Crabill <jacob@flyvoly.com>
 2020-04-07 00:15:31 -04:00
Daniel Agar da383064c6 NuttX update with STM32H7 SPI DMA support 
- holybro durdandal enable SPI DMA
 2020-04-06 22:08:45 -04:00
AlexKlimaj d8c140be04
UAVCAN Smart Battery Improvements 2020-04-06 21:09:02 -04:00
Daniel Agar ad559a66a1 examples: add simple work_item example module 2020-04-06 09:43:55 -04:00
Daniel Agar 1d164c0dbd px4_work_queue: sem_wait add loop as the wait may be interrupted by a signal 2020-04-06 10:30:35 +02:00
Beat Küng a556a44a57 i2c_spi_buses: print an error if a driver does not pass the I2C address 2020-03-30 15:55:24 -04:00
JaeyoungLim a938410c15 Add world targets and update submodules 
Add world names as make targets and include the worlds by updating the submodules
 2020-03-29 13:29:07 +01:00
Matthias Grob 6602e8d16b Support python3 only systems 
Ubuntu 20.04 and latest Cygwin come with no Python 2 and no link
from python to python3. To not mess with the system we detect
python3 for seamless support.
 2020-03-28 17:02:24 +00:00
Peter van der Perk 9490f41f85 rddrone-uavcan146 removed shared clock between hrt & rtc 
Removed non-existing SW2 button
Fixed SW3 button pinmux
Added FlexCAN pin definition
hrt use external sirc clock
rtc use 32khz lpo clock
 2020-03-28 06:31:11 -07:00
Peter van der Perk a4e6f96365
rddrone-uavcan146: HRT & RTC timer support 2020-03-25 16:37:28 -04:00
Hyon Lim 0b3624ab5f To make UVify device compatible with upload script, we changed device name to be more generalized. 2020-03-25 16:16:45 -04:00
Daniel Agar efceccd91d posix: micro_hal.h add empty px4_arch_gpiosetevent to build new Invensense drivers on linux 2020-03-25 01:05:38 -04:00
Daniel Agar 404e781cd9 px4_work_queue: increase SPI stack uniformly to silence warnings 2020-03-25 01:05:38 -04:00
JaeyoungLim e2d2ae29a9 Add sonoma raceway world 2020-03-24 19:32:12 +00:00
Beat Küng 7ea8dff8db spi: do not deselect other chip-selects 
And make sure on reset & init everything is deselected.

Reduces CPU load on a pixhawk cube by almost 1%.
 2020-03-24 09:46:20 -04:00
Beat Küng 1612f4c2ed SPI: disable SPI locking where possible 
It's not possible for buses that run both NuttX and PX4 drivers, e.g.
Pixracer.

Reduces CPU load:
- v5x: 2.5%
- v3 (pixhawk cube): 4.4%
 2020-03-24 09:46:20 -04:00
Beat Küng 6ad5357d1a SPI+I2C: remove unused defines and printf's 2020-03-24 09:46:20 -04:00
JaeyoungLim 2ef37cd065 Spawn models separately from gazebo models 
Detach model spawning process from the world description file, so that the same model can be used with different worlds
 2020-03-23 10:55:13 +01:00
Daniel Agar 8738c26426
boards: enable NuttX SPI DMA buffers 
- update to NuttX with stm32f4 and stm32f7 SPI DMA internal buffers
 - remove explicit DMA buffer allocations from new IMU drivers
 - restore original BOARD_DMA_ALLOC_POOL_SIZE
 - decrease SPI DMA thresholds based on fmu-v2/v3/v4/v5 bench testing
 2020-03-22 19:24:26 -04:00
Daniel Agar b73ec18abb
boards: add px4_fmu-v4 and px4_fmu-v5 optimized (-O3) build variants 2020-03-22 17:50:17 -04:00
SalimTerryLi dc8e775d8f
ADC: replace ioctl with uorb message (#14087) 2020-03-20 11:23:32 +01:00
Beat Küng d6bb5b3b9e i2c spi buses: enforce drivers to set default SPI/I2C bus frequency 
Not a lot of drivers use the global default, which is somewhat arbitrary.
 2020-03-17 23:31:17 -04:00
Beat Küng a6ddf0e4b9 refactor sf1xx: use driver base class 2020-03-17 23:31:17 -04:00
Beat Küng dbb53044ce refactor ms5611: use driver base class 
Also: remove device type auto-detection as it will not work with
together with the new SPI board config (which specifies a specific
device type)
 2020-03-17 23:31:17 -04:00
Beat Küng 83b6f6456b refactor I2CSPIInstance: store running instances in a global linked list 
instead of a static per-driver array.

Reduces BSS RAM usage by a couple of 100 Bytes (linear increase with num
drivers).

Downsides:
- a bit more runtime overhead
- less isolation, locking required
- a bit more complex
 2020-03-17 23:31:17 -04:00
Beat Küng e7f04109d9 i2c spi init + custom methods: use WorkItemSingleShot 
Use it for custom methods as well (like reset), and run by default on the
work queue, since they typically access the bus.
 2020-03-17 23:31:17 -04:00
Beat Küng 8c41025565 px4_work_queue: add WorkItemSingleShot 
To run a specific method on a work queue and wait for it to return.
 2020-03-17 23:31:17 -04:00
Beat Küng 134413233a i2c spi: extend BusCLIArguments to handle common driver arguments 2020-03-17 23:31:17 -04:00
Beat Küng d1f5b23a5a module docs: add PRINT_MODULE_USAGE_PARAMS_I2C_{SPI_DRIVER,ADDRESS} 
For SPI/I2C driver default options
 2020-03-17 23:31:17 -04:00
Beat Küng f851f65f8d i2c spi: add type to I2CSPIInstance 
Needed to distinguish runtime instance types of the same driver (e.g.
bmi055 accel vs gyro).
 2020-03-17 23:31:17 -04:00
SalimTerryLi b70289c536 move __PX4_LINUX out of px4_impl_os.cmake 2020-03-17 13:20:32 -04:00
PX4 BuildBot 20a8a0231b Update submodule nuttx to latest Sun Mar 15 12:39:29 UTC 2020 
- nuttx in PX4/Firmware (048c47d7e2cc686fdd4037cb33bb86ca0ac62c17): db7fb6b6c0
    - nuttx current upstream: befe53e7f1
    - Changes: db7fb6b6c0...befe53e7f1

    befe53e7f1 2020-03-12 Jari van Ewijk - [BACKPORT] NXP RDDRONE-UAVCAN boards (S32K1XX) - Clean up clock config (#557)
09a23ebf7f 2020-03-12 Jari van Ewijk - [BACKPORT] NXP S32K1XX EVB boards - clock config cleanup (#556)
6c95d5fc33 2020-03-12 Jari van Ewijk - [BACKPORT] NXP S32K1XX peripheral clock fixes (#555)
 2020-03-15 13:42:45 -04:00
Lorenz Meier 8a6d444467 Enable Gazebo mock optical flow 2020-03-14 17:50:40 +01:00
Lorenz Meier 76b3c18625 Add dedicated survey camera plane model 
This is to allow us to test triggering properly in SITL
 2020-03-14 17:50:40 +01:00
Matthias Grob 2dccc0dcfc posix.h: remove duplicate stdint.h include 2020-03-12 17:49:37 +00:00
Daniel Agar f9794e99f8
move hover_thrust_estimator to new module (mc_hover_thrust_estimator) 
* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.

* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2020-03-11 21:20:54 -04:00
David Sidrane 82ab1413fc px4_fmu-v5:Add Manifest Entries for UAVCAN interfaces 2020-03-11 20:36:58 -04:00
Daniel Agar 9cd8bb4f88
sensors: move to WQ 
Running the sensors module out of the same WQ thread as the estimator, position, and attitude controllers is a bit safer and prevents potential priority and starvation issues. There is a very small increase in latency (~50 us) between sensors and ekf2 execution (on average). This also saves a little bit of memory (~ 3 kB) and cpu (~1-1.5% depending on the board).
 2020-03-11 11:34:04 -04:00
PX4 BuildBot 249ad0ced1 Update submodule nuttx to latest Wed Mar 11 12:38:18 UTC 2020 
- nuttx in PX4/Firmware (ac11b36e74e27ef7054d6386f0fce62108b5f614): bf646dcf46
    - nuttx current upstream: db7fb6b6c0
    - Changes: bf646dcf46...db7fb6b6c0

    db7fb6b6c0 2020-03-05 Jari van Ewijk - [BACKPORT] S32K1xx boards - Remove unused files (should have been renamed)
 2020-03-11 09:45:00 -04:00
Daniel Agar 9585055e9e
uORB: add bitset for faster orb_exists check and remove uORB::Subscription lazy subscribe hack/optimization 
- add PX4 bitset and atomic_bitset with testing
 - add uORB::Subscription constructor to take ORB_ID enum
 - move orb test messages into msg/
 2020-03-11 09:06:33 -04:00
Beat Küng 335623e11d SPI config: use enum to specify bus 2020-03-10 10:11:43 -04:00
Beat Küng 1851665fab boards: add new spi+i2c config 
Chip-select and SPI initialization uses the new config, whereas the drivers
still use the existing defines.

The configuration in board_config.h can be removed after all drivers are
updated.
 2020-03-10 10:11:43 -04:00
Beat Küng 06712450a7 i2c+spi: add module base class and bus iterators 2020-03-10 10:11:43 -04:00
Beat Küng af15c7d945 i2c+spi: extend hw_description for I2C + SPI 2020-03-10 10:11:43 -04:00
Beat Küng 18bc6cf872 ScheduledWorkItem::ScheduleClear: remove item from runnable queue 
The existing behavior is unexpected: if the work item is already on the
runnable queue, it will still be triggered after a call to ScheduleClear().
This can lead to race conditions.
 2020-03-09 08:06:00 -04:00
Daniel Agar fca7700746
Update submodule nuttx to latest Wed Mar 4 01:36:16 UTC 2020 
- nuttx in PX4/Firmware (b7a83e23c5e50896bb137266cf89ff928dfaae42): d509b1edd7
    - nuttx current upstream: bf646dcf46
    - Changes: d509b1edd7...bf646dcf46

    bf646dcf46 2020-03-03 Daniel Agar - [BACKPORT] stm32h7: spi_exchange (no dma) available with CONFIG_STM32H7_SPI_DMATHRESHOLD
    f2a7ef0ade 2020-03-03 Daniel Agar - [BACKPORT] stm32f7: spi_exchange (no dma) available with CONFIG_STM32F7_SPI_DMATHRESHOLD
    7ffc59ba3d 2020-03-03 Daniel Agar - [BACKPORT] stm32: spi_exchange (no dma) available with CONFIG_STM32_SPI_DMATHRESHOLD
    d1c8fdb5fb 2020-03-02 Daniel Agar - [BACKPORT] arm/stm32h7 add STM32H7_SPI_DMATHRESHOLD
    fa8d636118 2020-03-02 Daniel Agar - [BACKPORT] stm32f76xx77xx_dma.h fix DMAMAP_SPI2_RX_2/DMAMAP_SPI2_TX_2
    762d80b217 2020-03-02 Daniel Agar - [BACKPORT] arm/stm32f7 add STM32F7_SPI_DMATHRESHOLD
    4f4bbbbf1c 2020-03-02 Daniel Agar - [BACKPORT] arm/stm32 add STM32_SPI_DMATHRESHOLD

Co-authored-by: PX4 Build Bot <bot@px4.io>
 2020-03-03 20:56:48 -05:00
David Sidrane ee220a5086 px4_fmuv5x:Update manifest for USB not present 2020-03-02 19:59:36 -05:00
David Sidrane 431f7c16c8 NuttX with PX4 Contrib backported imxrt:Call out to board to set up FlexRAM 2020-03-02 10:20:33 -08:00
David Sidrane cad3a811d2 nxp_fmurt1062-v1:Run from OCRAM 2020-03-02 10:20:33 -08:00