ardupilot

Commit Graph

Author	SHA1	Message	Date
Andrew Tridgell	53b76efbd2	AP_InerialSensor: setup INT_PIN_CFG correctly this restores the behavior lost with the 20789 driver change	7 years ago
Andrew Tridgell	b380143349	AP_InertialSensor: improved handling of I2C invensense sensor on I2C the lower bus bandwidth changes the tradeoffs	7 years ago
Andrew Tridgell	b33c815e96	AP_InertialSensor: added whoami for prototype 20789	7 years ago
Peter Barker	71cf3941a7	AP_InertialSensor: move Invensense register defines into separate file	7 years ago
Peter Barker	3ee112843c	AP_InertialSensor: configure bypass for 20789 like we do for AK8963	7 years ago
Peter Barker	5d94172ada	AP_InertialSensor: remove clearing of BIT_USER_CTRL_I2C_MST_EN bit in user_ctrl This bit should never be set on 20789	7 years ago
Andrew Tridgell	5a4f0fed2d	AP_InertialSensor: added ICM-20789 support	7 years ago
Andrew Tridgell	f4521772c1	AP_InertialSensor: don't try fast sampling on a MPU6500 it can't do it	7 years ago
Andrew Tridgell	d575d676b6	AP_InertialSensor: fixed another transfer without bus semaphore	7 years ago
Andrew Tridgell	2ffb8d1583	AP_InertialSensor: fixed a bug where bus semaphore not held during init of the invensense driver we could do a transfer without the bus semaphore held. That violates the locking rules for the bus	7 years ago
Andrew Tridgell	24c424ae5d	AP_InertialSensor: support over 1kHz IMUs this allows for invensense IMUs to run above 1kHz by adjusting the downsampling rate	7 years ago
Andrew Tridgell	9416165fe3	AP_InertialSensor: improved invensense debugging on ChibiOS	7 years ago
bugobliterator	1c6beaa7c4	AP_InertialSensor: use new API for DMA safe allocation	7 years ago
Lucas De Marchi	caa4e3ee89	AP_InertialSensor: remove raspilot	8 years ago
Lucas De Marchi	06fe5ce8ba	AP_InertialSensor: implement periodic thread for AuxiliaryBus	8 years ago
Andrew Tridgell	bfd8d151c8	AP_InertialSensor: lower slave rate with fast sampling On an invensense IMU with fast sampling we need to lower the slave sample rate for slave sensors such as the built-in AK8963 compass on a MPU9250. The slave rate is set as a multiple of the main rate, so it needs to be much lower for fast sampling. If we leave it high then it greatly impacts on IMU sample rate. Without this change a MPU9250 with fast sampling and a compass enabled will give a gyro rate of around 7200Hz. With this change it gets 7760Hz	8 years ago
Andrew Tridgell	519a293af9	AP_InertialSensor: fixed instance usage in set_gyro_oversampling() thanks Francisco!	8 years ago
Andrew Tridgell	db25b6e966	AP_InertialSensor: estimate and log sensor rates for all IMUs this adds IMU.GHz and IMU.AHz log fields so we can see the actual observed sensor rates of each IMU	8 years ago
Andrew Tridgell	49cc0965c0	AP_InertialSensor: separate handling of FIFO and non-FIFO sensors FIFO sensors produce data at a well known rate, but samples come in bunches, so we can't use the system clock to calculate deltaT. non-FIFO sensors produce data when we sample them, but that rate is less regular due to timing jitter. For FIFO sensors this changes makes us use a learned sample rate, which allows for different clock speeds on sensor and system board. For non-FIFO sensors we use the system clock to measure deltaT the overall effect is a fix for sensors that produce samples at other than the claimed datasheet rate.	8 years ago
Andrew Tridgell	c952e58edb	AP_InertialSensor: fixed invensense driver temp reading different parts have quite different zero offsets in temperature	8 years ago
Andrew Tridgell	875274e761	AP_InertialSensor: added support for ICM-20602 treat the same as a 20608	8 years ago
Lucas De Marchi	2d50eb312c	AP_InertialSensor: add support to MPU6500 Just like and MPU9250 without mag and with different WHOAMI register.	8 years ago
murata	a3f5b4f319	AP_InertialSensor: Change from magic number 0 to definition name.	8 years ago
murata	2643e7e906	AP_InertialSensor: Unify from print or println to printf.	8 years ago
Lucas De Marchi	5472bc4de1	Global: change Device::PeriodicCb signature Remove bool return as it's never being used and not supported on PX4.	8 years ago
mirkix	62fabca19d	AP_InertialSensor: Enable I2C bypass for MPU9250 conntected via I2C to access internal AK8963	8 years ago
Randy Mackay	946d30476a	AP_InertialSensor: fix whoami for MPU6k	8 years ago
Lucas De Marchi	9569ed94a9	AP_InertialSensor: Invensense: use capital letters for define	8 years ago
Andrew Tridgell	65b9b86099	AP_InertialSensor: unify MPU6000 and MPU9250 drivers make a single AP_InertialSensor_Invensense driver. This avoids a lot of duplication and will save time as new varients are added	8 years ago
Pierre Kancir	13c16e187f	InertialSensor: MPU6000 utilize an explicit type cast to avoid the loss of a fractional part	8 years ago
Randy Mackay	699279ed1f	AP_InertialSensor: fix build warning for MPU6000	8 years ago
Andrew Tridgell	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	8 years ago
Andrew Tridgell	771cedca3d	AP_InertialSensor: reduced number of SPI transfers use cached copy of temperature in MPU6000 and MPU9250 to detect FIFO error when possible	8 years ago
Andrew Tridgell	27605b0258	AP_InertialSensor: run invensese reg checking at low speed config register read/write should be at low bus speed. also change to check every 20 calls to reduce checking cost	8 years ago
Andrew Tridgell	f3a778f980	AP_InertialSensor: fixed freeing of fifo buffer	8 years ago
Andrew Tridgell	6f28c61c8d	AP_InertialSensor: changed SIZE to LEN thanks to Lucas for suggestion	8 years ago
hiro2233	cb7f46d653	AP_InertialSensor: fixed handling of user_ctrl register with aux bus implementations	8 years ago
Andrew Tridgell	9b4c588c09	AP_InertialSensor: adapt drivers for SPI-DMA capable systems no longer need accumulate() transfers with SPI enabled DMA on stm32	8 years ago
Andrew Tridgell	28daddaaf2	AP_InertialSensor: don't use accumulate approach on Linux or I2C	8 years ago
Andrew Tridgell	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!	8 years ago
Lucas De Marchi	87c6d5da13	AP_InertialSensor: replace panic() with return 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.	8 years ago
Andrew Tridgell	6129b1abb6	AP_InertialSensor: wait forever for semaphore on startup some boards take a silly amount of time to get semaphore on startup	8 years ago
Andrew Tridgell	216cf53922	AP_InertialSensor: handle FIFO overflow for MPU6k and 9250 this prevents temporary corruption of INS data on FIFO overflow	8 years ago
Andrew Tridgell	624178f3be	AP_InertialSensor: added INS_FAST_SAMPLE parameter 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	8 years ago
Andrew Tridgell	c0303ffe8a	AP_InertialSensor: temporarily disable fast sampling a problem has been found with the filtering with fast sampling on ICM-20608 and MPU9250. Disable until it is solved.	8 years ago
Andrew Tridgell	c794ad9ee8	AP_InertialSensor: use smaller FIFO buffers this allows for reading multiple chunks from the fifo per callback	8 years ago
Andrew Tridgell	77a83c091a	AP_InertialSensor: added register checking for MPU6000/ICM20608	8 years ago
Andrew Tridgell	af0ec41652	AP_InertialSensor: fixed accel clip detection with fast sampling we need to check on every sample at the full rate	8 years ago
Andrew Tridgell	8da42b7a8b	AP_InertialSensor: fixed temperature for fast sampling case	8 years ago
Andrew Tridgell	e27a76e460	AP_InertialSensor: fixed auxiliary bus with FIFO enabled make sure fifo reset doesn't check I2C master enable	8 years ago

29 Commits (ac99d37bc104d88cd996759da1a74ef166d0475c)