From e450c5a9d93b805251d7de51bd55221fda6f157f Mon Sep 17 00:00:00 2001 From: TheLegendaryJedi Date: Mon, 21 Dec 2020 21:55:16 +0000 Subject: [PATCH] [UPDATE] - Crazyflie parameter config --- boards/bitcraze/crazyflie21/init/rc.board_sensors | 2 +- boards/bitcraze/crazyflie21/src/board_config.h | 2 +- cmake/configs/uavcan_board_ident | 1 + msg/tools/gencpp | 1 + msg/tools/genmsg | 1 + .../imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp | 6 +++--- .../imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp | 6 +++--- src/lib/DriverFramework | 1 + 8 files changed, 12 insertions(+), 8 deletions(-) create mode 160000 cmake/configs/uavcan_board_ident create mode 160000 msg/tools/gencpp create mode 160000 msg/tools/genmsg create mode 160000 src/lib/DriverFramework diff --git a/boards/bitcraze/crazyflie21/init/rc.board_sensors b/boards/bitcraze/crazyflie21/init/rc.board_sensors index 75a6c1b10a..60df800054 100644 --- a/boards/bitcraze/crazyflie21/init/rc.board_sensors +++ b/boards/bitcraze/crazyflie21/init/rc.board_sensors @@ -6,7 +6,7 @@ board_adc start # Internal I2C bus -bmp388 -I -a 0x77 start +bmp388 -I -a 0x77 -f 400 start bmi088_i2c -A -R 0 -I -a 0x18 start bmi088_i2c -G -R 0 -I -a 0x69 start diff --git a/boards/bitcraze/crazyflie21/src/board_config.h b/boards/bitcraze/crazyflie21/src/board_config.h index 0e6da91b13..72cf33cde0 100644 --- a/boards/bitcraze/crazyflie21/src/board_config.h +++ b/boards/bitcraze/crazyflie21/src/board_config.h @@ -95,7 +95,7 @@ #define PX4_I2C_BUS_MTD 1 #define BOARD_NUMBER_I2C_BUSES 3 -#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 100000, PX4_I2C_BUS_EXPANSION_HZ} +#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 400000, PX4_I2C_BUS_EXPANSION_HZ} /* Devices on the onboard bus. diff --git a/cmake/configs/uavcan_board_ident b/cmake/configs/uavcan_board_ident new file mode 160000 index 0000000000..2e5f9d6768 --- /dev/null +++ b/cmake/configs/uavcan_board_ident @@ -0,0 +1 @@ +Subproject commit 2e5f9d6768b1dbffc006dc2ceeb2bfe120f22163 diff --git a/msg/tools/gencpp b/msg/tools/gencpp new file mode 160000 index 0000000000..7e446a9976 --- /dev/null +++ b/msg/tools/gencpp @@ -0,0 +1 @@ +Subproject commit 7e446a9976916a7b6fc7266098c67fc6f73a76e0 diff --git a/msg/tools/genmsg b/msg/tools/genmsg new file mode 160000 index 0000000000..5736b1f7ad --- /dev/null +++ b/msg/tools/genmsg @@ -0,0 +1 @@ +Subproject commit 5736b1f7ad037fb5811a3100ba9da2db0ec1f20a diff --git a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp index 9a484995b7..b6d9940ea6 100644 --- a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp +++ b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp @@ -192,8 +192,8 @@ void BMI088_Accelerometer::RunImpl() break; case STATE::FIFO_READ: { - //FIFOReadTest(now); - NormalRead(now); + FIFOReadTest(now); + //NormalRead(now); } break; } @@ -875,7 +875,7 @@ bool BMI088_Accelerometer::FIFOReadTest(const hrt_abstime ×tamp_sample){ // empty return false; } - int n_frames_to_read = 5; + int n_frames_to_read = 6; // don't read more than 8 frames at a time if (fifo_fill_level > n_frames_to_read*7) { fifo_fill_level = n_frames_to_read*7; diff --git a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp index e93f957601..2fc29f0a2a 100644 --- a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp +++ b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp @@ -170,8 +170,8 @@ void BMI088_Gyroscope::RunImpl() break; case STATE::FIFO_READ: { - //FIFOReadTest(now); - NormalRead(now); + FIFOReadTest(now); + //NormalRead(now); } break; } @@ -467,7 +467,7 @@ bool BMI088_Gyroscope::FIFOReadTest(const hrt_abstime ×tamp_sample) n_frames &= 0x7F; - int n_frames_to_read = 5; + int n_frames_to_read = 6; // don't read more than 8 frames at a time if (n_frames > n_frames_to_read) { n_frames = n_frames_to_read; diff --git a/src/lib/DriverFramework b/src/lib/DriverFramework new file mode 160000 index 0000000000..06277ef49f --- /dev/null +++ b/src/lib/DriverFramework @@ -0,0 +1 @@ +Subproject commit 06277ef49fb8c9fad18d56ef40e8bc9fe1655a65