This will initialize those structs with zero in all fields not set
and all fields set will only be change once to the final value not
wasting CPU time zeroing it.
This will guarantee that no non-unitialized structs will have
a trash value on from_external causing it to be sent to the
MAVLink channel without need it.
The previous approach was checking system id and component id but it
will not work in 100% of cases as external devices can send MAVLink
message with the right system id but with broadcast component id.
Define the default I2C buss frequncies that are backward compatible
with the existing code. While allowing it the defaults to be overridden
by a board config.
Based on the legacy STM32 code, the I2C buss numbering starts at 1.
The bus frequency is stored in a 0 based array. If px4_i2cbus_initialize
returns a valid device, then the _bus-1 will act as the index to the
busses frequency.
A board may define BOARD_NUMBER_I2C_BUSES - the number of I2C busses
it supports* and BOARD_I2C_BUS_CLOCK_INIT to initalize the bus
clocks for a given busses.
BOARD_NUMBER_I2C_BUSES - the number of busses including the *highest
number bus. If the board has 2 I2C
busses I2C1 and I2C3 BOARD_NUMBER_I2C_BUSES
would be set to 3
BOARD_I2C_BUS_CLOCK_INIT - Initalization for the bus frequencies
by bus. A call init, with a frequency
less then the value used for the
Initalization will result in the device
not starting becuase the buss runs too
fast for it.
PX4_NUMBER_I2C_BUSES number of busses that the HW can support
not all of them my be usesd. I.E. The STM32F427 has 3 I2C
busses but only I2C1 and I2C3 are used.
* For some reason cppcheck complains with `fp != nullptr` but accepts truthiness
of handle by itself.
* Note that the expressions are equivalent according to the C++ standard ("A
prvalue of arithmetic, unscoped enumeration, pointer, or pointer to member
type can be converted to a prvalue of type bool. A zero value, null pointer
value, or null member pointer value is converted to false; any other value is
converted to true. A prvalue of type std::nullptr_t can be converted to a
prvalue of type bool; the resulting value is false.")
Using the hwvercmp on FMUv2 HW derivatives built with px4fmu_v3_default
to ues a more targeted startup approach:
1) Detect V3 and V2M
2) On V3 use the external mpu9250 to further discriminate between 2.0
and 2.1. Then only start the devices that are on that version of
the board.
3) Due to HW errata on PixhawkMini deprecate mpu9250.
The mpu9250 will not start reliably on the PixhawkMini
Since we have an ICM20608 and an External Mag the
mpu9250 is not to be used.
px4fmuv2 had PX4_SPIDEV_BMI defined, for the v3 cmake, but never
provided a Chip select decoded by PX4_SPIDEV_BMI. PX4_SPIDEV_BMI
has been removed from V2, but PX4_SPIDEV_EXT_BMI still remains
and has a chip select assigned to it.
The removes the alias so it is clear what bus and port bit
is associated with as CS or DRDY signal.
This becomes important when varients of V2 a) use the CS on differnt
busses or b) swap a RDY (in) for a CS (out). In both cases,
a CS on once buss, can back feed and cause sensor reset to not be
able to turn off the power if all the pins are not tunered
off
Pixhawk mini has reused the GPIO_SPI_CS_EXT1 signal that was associated
with SPI4. We can not in good faith assert a CS on a bus wer are not resetting.
So we must do this only on HW_VER_FMUV2MIN
Insure a 0.0 voltage initial condition on VDD_3V3_SENSORS
By starting the GPIO_VDD_3V3_SENSORS_EN, low and deferring
the GPIO init of the slave selects and drdy signals until
board_app_initialize. We get ~ 80 ms of power off time
with 0.00 voltage applied to the sensors.
1) Add hwtypecmp command to allow rc to further enumerate PX4FMU_V2
for sub types of 'V2' -FMUv2 'V2M' PixhawkMini, 'V30' Cube
2) Extend hw to report to display
HW type
HW version
HW revision
There are several boards that share the px4fmu-v2 build as px4fmu-v3 build.
It was initially envisioned, that the build would be binary compatable and
the RC script would probe different sensors and determine at runtime the
HW type. Unfortunately, a failed sensor, can result in mis-detection
of the HW and result in an improper start up and not detect the HW
failure.
All these boards's bootloader report board type as px4fmu-v2.
This precludes and automated selection of the correct fw if it
had been built, by a different build i.e. px4fmu-cube etc.
We need a way to deal with the slight differences in HW that effect
the operations of drivers and board level functions that are different
from the FMUv2 pinout and bus utilization.
1) FMUv3 AKA Cube 2.0 and Cube 2.1 Bothe I2C busses are external.
This effected the mag on GPS2 not reporting Internal and
having the wrong rotation applied.
2) FMUv3 does not performa a SPI buss reset correctly.
FMUv2 provides a SPI1 buss reset. But FMUv3 is on
SPI4. To complicate matters the CS cross bus
boundries.
3) PixhawkMini reused a signal that was associated with SPI4
as a SPI1 ready signal.
Based on hardware differnce in the use of PB4 and PB12 this code
detects: FMUv2, the Cube, and PixhawkMini and provides the
simple common API for retriving the type, version and revision.
On FmuV5 this same API will be used.
Per the data sheet: Start-up time for register read/write from power-up is
Typically 11 ms and the Maximum is 100 ms.
It seems the power up reset is only triggered at VDD < 150 mV. So the
symptom reported: Failure is only happening after a long power down is
consistent with VDD not dropping below 150 mV, therefore not generating
a POR and being ready to be written with out delay.
This fix adds a delay of 110 ms to ensure the reset has ended with some.
margin.
Beat Küng
José Roberto de Souza
David Sidrane
Peter Duerr
Vicente Monge
Lorenz Meier
Sander Smeets