Merge pull request #26 from ethz-asl/feature/firmware_update

Feature/firmware update

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -21,6 +21,23 @@ fi
 #                           Begin Optional drivers                            #
 ###############################################################################
 
+# ADIS16448 spi external IMU
+if param compare -s SENS_EN_ADIS164X 1
+then
+	if param compare -s SENS_OR_ADIS164X 0
+	then
+		adis16448 -S start
+	fi
+	if param compare -s SENS_OR_ADIS164X 4
+	then
+		adis16448 -S start -R 4
+	fi
+
+	# add a sleep to make sure the mag is the priority one
+	usleep 1000000
+fi
+
+
 if param compare -s SENS_EN_BATT 1
 then
 	batt_smbus start -X
@@ -108,19 +125,6 @@ then
 	vl53l1x start -X
 fi
 
-# ADIS16448 spi external IMU
-if param compare -s SENS_EN_ADIS164X 1
-then
-	if param compare -s SENS_OR_ADIS164X 0
-	then
-		adis16448 -S start
-	fi
-	if param compare -s SENS_OR_ADIS164X 4
-	then
-		adis16448 -S start -R 4
-	fi
-fi
-
 # Hall effect sensors si7210
 # Potentially remove the -k option if possible and improve the startup if possible
 if param greater CAL_AV_AOA_ID -1
@@ -213,5 +217,3 @@ fi
 ###############################################################################
 #                            End Optional drivers                             #
 ###############################################################################
-
-sensors start

ROMFS/px4fmu_common/init.d/rcS

@@ -332,6 +332,8 @@ else
 		#
 		# board sensors: rc.sensors
 		#
+		. ${R}etc/init.d/rc.sensors
+
 		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 		if [ -f $BOARD_RC_SENSORS ]
 		then
@@ -340,7 +342,7 @@ else
 		fi
 		unset BOARD_RC_SENSORS
 
-		. ${R}etc/init.d/rc.sensors
+		sensors start
 
 		if param compare -s BAT1_SOURCE 2
 		then

boards/px4/fmu-v2/src/spi.cpp

@@ -159,8 +159,8 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
 		}),
 		initSPIBusExternal(SPI::Bus::SPI4, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin14}),
 			initSPIConfigExternal(SPI::CS{GPIO::PortE, GPIO::Pin4}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin14}),
 		}),
 	}),
 

boards/px4/fmu-v3/src/spi.cpp

@@ -159,8 +159,8 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
 		}),
 		initSPIBusExternal(SPI::Bus::SPI4, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin14}),
 			initSPIConfigExternal(SPI::CS{GPIO::PortE, GPIO::Pin4}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin14}),
 		}),
 	}),
 

src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp

@@ -105,6 +105,7 @@ ADIS16448::ADIS16448(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
 	_px4_gyro(get_device_id(), rotation),
 	_px4_mag(get_device_id(), rotation)
 {
+	_debug_enabled = true;
 }
 
 ADIS16448::~ADIS16448()
@@ -160,12 +161,12 @@ int ADIS16448::probe()
 	}
 
 	for (int attempt = 0; attempt < 3; attempt++) {
-		const uint16_t PROD_ID = RegisterRead(Register::PROD_ID);
+		const uint16_t PROD_ID = RegisterReadVerified(Register::PROD_ID);
 
 		if (PROD_ID == Product_identification) {
-			const uint16_t SERIAL_NUM = RegisterRead(Register::SERIAL_NUM);
-			const uint16_t LOT_ID1 = RegisterRead(Register::LOT_ID1);
-			const uint16_t LOT_ID2 = RegisterRead(Register::LOT_ID2);
+			const uint16_t SERIAL_NUM = RegisterReadVerified(Register::SERIAL_NUM);
+			const uint16_t LOT_ID1 = RegisterReadVerified(Register::LOT_ID1);
+			const uint16_t LOT_ID2 = RegisterReadVerified(Register::LOT_ID2);
 
 			PX4_INFO("Serial Number: 0x%02x, Lot ID1: 0x%02x ID2: 0x%02x", SERIAL_NUM, LOT_ID1, LOT_ID2);
 
@@ -197,7 +198,7 @@ void ADIS16448::RunImpl()
 	case STATE::WAIT_FOR_RESET:
 
 		if (_self_test_passed) {
-			if ((RegisterRead(Register::PROD_ID) == Product_identification)) {
+			if ((RegisterReadVerified(Register::PROD_ID) == Product_identification)) {
 				// if reset succeeded then configure
 				_state = STATE::CONFIGURE;
 				ScheduleNow();
@@ -224,7 +225,7 @@ void ADIS16448::RunImpl()
 		break;
 
 	case STATE::SELF_TEST_CHECK: {
-			const uint16_t MSC_CTRL = RegisterRead(Register::MSC_CTRL);
+			const uint16_t MSC_CTRL = RegisterReadVerified(Register::MSC_CTRL);
 
 			if (MSC_CTRL & MSC_CTRL_BIT::Internal_self_test) {
 				// self test not finished, check again
@@ -244,7 +245,7 @@ void ADIS16448::RunImpl()
 
 			bool test_passed = true;
 
-			const uint16_t DIAG_STAT = RegisterRead(Register::DIAG_STAT);
+			const uint16_t DIAG_STAT = RegisterReadVerified(Register::DIAG_STAT);
 
 			if (DIAG_STAT & DIAG_STAT_BIT::Self_test_diagnostic_error_flag) {
 				PX4_ERR("self test failed");
@@ -477,7 +478,7 @@ void ADIS16448::RunImpl()
 
 bool ADIS16448::Configure()
 {
-	const uint16_t LOT_ID1 = RegisterRead(Register::LOT_ID1);
+	const uint16_t LOT_ID1 = RegisterReadVerified(Register::LOT_ID1);
 
 	// Only enable CRC-16 for verified lots (HACK to support older ADIS16448AMLZ with no explicit detection)
 	if (LOT_ID1 == 0x1824) {
@@ -603,7 +604,7 @@ bool ADIS16448::RegisterCheck(const register_config_t &reg_cfg)
 {
 	bool success = true;
 
-	const uint16_t reg_value = RegisterRead(reg_cfg.reg);
+	const uint16_t reg_value = RegisterReadVerified(reg_cfg.reg);
 
 	if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
 		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
@@ -628,10 +629,27 @@ uint16_t ADIS16448::RegisterRead(Register reg)
 	transferhword(cmd, nullptr, 1);
 	px4_udelay(SPI_STALL_PERIOD);
 	transferhword(nullptr, cmd, 1);
+	px4_udelay(SPI_STALL_PERIOD);
 
 	return cmd[0];
 }
 
+uint16_t ADIS16448::RegisterReadVerified(Register reg)
+{
+	// 3 attempts
+	for (int i = 0; i < 3; i++) {
+		uint16_t read1 = RegisterRead(reg);
+		uint16_t read2 = RegisterRead(reg);
+
+		if (read1 == read2) {
+			return read1;
+		}
+	}
+
+	// failed
+	return 0;
+}
+
 void ADIS16448::RegisterWrite(Register reg, uint16_t value)
 {
 	set_frequency(SPI_SPEED);
@@ -643,11 +661,12 @@ void ADIS16448::RegisterWrite(Register reg, uint16_t value)
 	transferhword(cmd, nullptr, 1);
 	px4_udelay(SPI_STALL_PERIOD);
 	transferhword(cmd + 1, nullptr, 1);
+	px4_udelay(SPI_STALL_PERIOD);
 }
 
 void ADIS16448::RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits)
 {
-	const uint16_t orig_val = RegisterRead(reg);
+	const uint16_t orig_val = RegisterReadVerified(reg);
 
 	uint16_t val = (orig_val & ~clearbits) | setbits;
 

src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp

@@ -94,6 +94,7 @@ class ADIS16448 : public device::SPI, public I2CSPIDriver<ADIS16448>
 	bool RegisterCheck(const register_config_t &reg_cfg);
 
 	uint16_t RegisterRead(Register reg);
+	uint16_t RegisterReadVerified(Register reg);
 	void RegisterWrite(Register reg, uint16_t value);
 	void RegisterSetAndClearBits(Register reg, uint16_t setbits, uint16_t clearbits);
 

src/drivers/imu/analog_devices/adis16448/Analog_Devices_ADIS16448_registers.hpp

@@ -65,7 +65,7 @@ namespace Analog_Devices_ADIS16448
 static constexpr uint32_t SPI_SPEED = 2 * 1000 * 1000;       // 2 MHz SPI serial interface
 static constexpr uint32_t SPI_SPEED_BURST = 1 * 1000 * 1000; // 1 MHz SPI serial interface for burst read
 
-static constexpr uint32_t SPI_STALL_PERIOD = 10; // 9 us Stall period between data
+static constexpr uint32_t SPI_STALL_PERIOD = 11; // 9 us Stall period between data
 
 static constexpr uint16_t DIR_WRITE = 0x80;
 

src/drivers/imu/analog_devices/adis16448/CMakeLists.txt

@@ -36,7 +36,7 @@ px4_add_module(
 	MAIN adis16448
 	COMPILE_FLAGS
 		${MAX_CUSTOM_OPT_LEVEL}
-		#-DDEBUG_BUILD
+		-DDEBUG_BUILD
 	SRCS
 		ADIS16448.cpp
 		ADIS16448.hpp