Board config: SPI & I2C config simplifications (1) #14221

bkueng · 2020-02-24T16:16:35Z

This brings the 1. iteration from #14156: extending board configs with the new SPI+I2C config.

With this PR the SPI reset and chip-select code uses the new configuration whereas the drivers still use the existing board config.

The SPI address used to be some (arbitrary) board-specific number, which is now set to zero (and allows for extension to multiple instances of the same sensor type on one bus). To avoid having to recalibrate, code was added to do the transition on param import (7e03d4a). Consolidation of separate Accel vs Gyro ID's was done as well.

There's some tricky dependencies during bootup: the board hw detection requires ADC on some boards (v5), and the SPI init requires to know the board version. This leads to some changes in bootup on some of the boards. @davids5 let me know if you see a problem with that (board changes are in 5a986ae).

Other:

CPU load increases by ~1% on a pixhawk 2 cube due to the more generic SPI chip-select
FLASH usage: ~+800 bytes on v2 (the SPI config for all hw versions)
there's a fix for missing IO on pixhawk 2 mini

Tested on these boards (comparing the boot output):

pixhawk 4
pixhawk 2 mini (V2M)
cube 2.0 (V30)
mro pixhawk 2 (V2)
mro pixracer (+external SPI)
nxp/fmuk66-v3
durandal
kakutef7
omnibusf4sd
pixhawk 3 pro
v5x

Next steps (the PR does not depend on those and can be merged independently):

update all drivers
remove the old board I2C+SPI configs

davids5 · 2020-02-24T16:42:42Z

@bkueng

The SPI address used to be some (arbitrary) board-specific number, which is now set to zero
This was the Nuttx SPI bus number (buss, cs). It was used to ensure (ASSERT) a CS was on the bus it was called for in the Select. It was helpful in boar bring up.

davids5 · 2020-02-24T16:56:50Z

There's some tricky dependencies during bootup: the board hw detection requires ADC on some boards (v5), and the SPI init requires to know the board version. This leads to some changes in bootup on some of the boards. @davids5 let me know if you see a problem with that (board changes are in 5a986ae).

I think I do.

stm32_boardinitialize is called very early in INIT; no OS facilities.
it is calling
board_control_spi_sensors_power_configgpio();
board_control_spi_sensors_power(true, 0xffff);

Before the board_app_initialize(uintptr_t arg) which is late in init. is called and determine the HW.

The reasoning for this was to not add delays the start up. (Using the time from OS init as the reset time)

Will this still work correctly?

bkueng · 2020-02-24T17:26:06Z

Will this still work correctly?

The way it is now, yes. It configures the GPIO's and accesses the (static) SPI configuration (so it does not access more OS functionality than before). But please have a look at the definitions as well (under platforms/nuttx/src/px4/stm/stm32_common/spi/spi.cpp).

bkueng · 2020-02-26T18:22:35Z

@PX4/testflights can you test this on all boards? Make sure to check that you do not have to recalibrate sensors when flashing this PR. When switching back to master, you will however have to recalibrate.

dannyfpv · 2020-02-28T23:34:28Z

tested on pixhawk4 v5 f-450
Modes Tested*

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL
Notes:
No issues noted, good flight in general.

pr Log:
https://review.px4.io/plot_app?log=c2050236-6edb-4c77-acbf-6d0ff6469ae3

master log:
https://review.px4.io/plot_app?log=8683d9d1-7b9d-4b27-8275-385306679379

Junkim3DR · 2020-02-29T04:28:32Z

Tested on NXP FMUK66 v3

Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint then trigger RTL.

Notes
No issues noted, good flight in general.

Logs
https://review.px4.io/plot_app?log=7a562fe5-f253-49c8-b693-5bc35422a990

Tested on Pixhawk 3 v4Pro

Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint then trigger RTL.

Notes
No issues noted, good flight in general.

Logs
https://review.px4.io/plot_app?log=c8254650-1392-4e7a-94fc-de6d030a939f

jorge789 · 2020-02-29T15:58:48Z

Tested on PixRacer V4

- Modes Tested
Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL (Return To Land): Good.
- Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint then swith RTL..
- Notes
No issues noted, good flight in general.

Log
https://review.px4.io/plot_app?log=048cf1d0-c14a-424d-b4ed-04849f80df04

Nota****In altitude mode, the vehicle did not respect the height that continued to increase in pitch forward.
Master comparison
Log
https://review.px4.io/plot_app?log=1db4f45f-17fc-45ac-84c9-f97c292a0083

dagar · 2020-03-02T16:35:39Z

there's a fix for missing IO on pixhawk 2 mini

The 3DR pixhawk mini? I'm fairly certain it actually does have an IO (the 8 pwm outputs).

src/lib/parameters/param_translation.cpp

davids5 · 2020-03-02T18:15:29Z

@bkueng - Spi bus name are Great!

@dagar yes the V2M does have a PIO

platforms/common/i2c_spi_buses.cpp

bkueng · 2020-03-03T10:18:20Z

The 3DR pixhawk mini? I'm fairly certain it actually does have an IO (the 8 pwm outputs).

Indeed. Something was off then on my test board, it was not able to communicate with the IO.
Anyway, I dropped the commit.

bkueng · 2020-03-09T08:54:30Z

@dagar can we get this in?

davids5 · 2020-03-09T12:47:21Z

@bkueng @dagar I have the fully instrumented V3 I would like to check the timing of these changes on. I can work on that today.

dagar · 2020-03-09T12:56:50Z

@dagar can we get this in?

I'll review it today.

@bkueng @dagar I have the fully instrumented V3 I would like to check the timing of these changes on. I can work on that today.

Thanks @davids5, I might have some related questions while you're in there.

dagar · 2020-03-09T18:49:06Z

For now can you at least keep qurt building? Hopefully soon we'll decide to either resurrect Excelsior (ModalAI) or purge it.

dagar · 2020-03-09T18:57:12Z

platforms/nuttx/src/px4/stm/stm32_common/spi/spi.cpp

+
+		} else {
+			// Making sure the other peripherals are not selected
+			stm32_gpiowrite(bus->devices[i].cs_gpio, 1);


Did you consider not propagating this?

That is an option too. I was considering the opposite: dropping the deselect.

@bkueng

I was considering the opposite: dropping the deselect.

Do you mean leaving parts selected until another device is selected?

That might be a bad idea, the CS needs to be de-asserted to release the bus and re-asserted for some parts to reset state (address counters) etc

Yes, but since that's a bad idea, let's look into the other option then.

dagar · 2020-03-09T19:18:11Z

I'm wondering if we should use this as an opportunity to split fmu-v2 and fmu-v3.

Proposal

boards/px4/fmu-v2/src/spi.cpp
- limit to HW_VER_FMUV2

This would save a little bit of flash and help us identify boards that need bootloader updates.

dagar · 2020-03-09T19:21:17Z

boards/px4/fmu-v4/src/spi.cpp

+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),


Question for later, is there a better way we can handle these cases of "contains one of the following"?

We could do it based on those that use the same CS pin.

dagar · 2020-03-09T19:24:08Z

boards/px4/fmu-v4/src/spi.cpp

+		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20608, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
+		initSPIDevice(DRV_MAG_DEVTYPE_HMC5883, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}), // hmc5983


Don't newer pixracers have an lis3mdl in place of the hmc5883?

https://github.com/PX4/Firmware/blob/3fef401e811e9df8931d4aa51259a1259f997ee6/boards/px4/fmu-v4/src/spi.c#L152-L159

Right, I overlooked that one.

dagar · 2020-03-09T19:28:11Z

boards/px4/fmu-v4pro/src/init.c

@@ -110,7 +110,7 @@ __EXPORT void board_peripheral_reset(int ms)
 {
 	/* set the peripheral and sensor rails off */
 	stm32_gpiowrite(GPIO_VDD_3V3_PERIPH_EN, 0);
-	stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
+	board_control_spi_sensors_power(false, 0xffff);


Are we ever not using a busmask of 0xffff?

in V5x

I don't believe so. https://github.com/PX4/Firmware/pull/14221/files#diff-8e2fa2c853114fc9e393de59a7442b16R108

dagar · 2020-03-09T19:41:27Z

Overall this looks great. The only blocker I see for merging is the pixracer lis3mdl (#9175) and possibly the fmu-v2/v3 split (unless there's a reason that's a terrible idea).

davids5 · 2020-03-09T21:16:28Z

It is cool! Debug wise it can be not really inspectable...but that should be ok because it is perfect!.

On V3 I do not see a clean power reset on the sensors from SW. This may be an artifact of the bad HW that bootlooped on Sensor power down. We should fix that herein or a next PR.

The right thing to do is to power off all the sensors in stm32_boardinitialize the power them on in board_app_initialize. This gives us a free 3 ms delay and a clean reset on the sensors.

To overcome the bad HW that wired the FMU and sensor power together, will have to reserve a RTC register for state:Call it RTCn.

0xXXXXXXXX - not any of the below, unknown (first boot)
0xbaddbadd - bad HW
0xb00b0000 - powering off
0xA0A0A0A0 - AOK HW

Then in stm32_boardinitialize check for RTCn == 0xbaddbadd or 0xb00b0000 if so just power on the sensors. This is bad HW! If RTCn is 0xb00b0000 , write RTCn to 0xbaddbadd. This is bad HW and it bootlooped. We should not power it off. It would be nice to log this.

If RTCn is 0xA0A0A0A0 leave it, if not set it to 0xb00b00 turn the power off.

Then in board_app_initialize if RTCn is not 0xbaddbadd, set it to 0xA0A0A0A0 - this is good hw.

Bad HW will boot twice if the RTC battery drains. But it is bad HW so I think that is OK.

davids5 · 2020-03-09T21:31:42Z

timing wise. it is a tad slower. But if we have no more ISR driven SPI and all accesses on a bus are serialized. We can dump the setting all CS to 1 and reduce the code to just doing the select. (This is also true for 1 device on a bus.)

This PR:

master:

davids5

@bkueng Really nice! Thank you for this! I ran it and instrumented it, and I stepped it. While it is 500ns slower, and a bit harder to inspect in some cases. It million times more readable!

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.

This avoids the need for recalibration, and also cleans up other driver ID's (merge separate accel/gyro). The SPI address was previously set to a board-specific (arbitrary) value, and is now set to 0. This will allow extending for multiple sensors of the same type on the same bus.

to reduce FLASH size

bkueng · 2020-03-10T09:47:44Z

Thanks for the reviews.

I added the lis3mdl to pixracer, and added QuRT.

For now can you at least keep qurt building? Hopefully soon we'll decide to either resurrect Excelsior (ModalAI) or purge it.

Yes, but I think that ship has sailed already. If there's indeed anyone supporting it, I'm perfectly fine with that though.

I'm wondering if we should use this as an opportunity to split fmu-v2 and fmu-v3.
Proposal
boards/px4/fmu-v2/src/spi.cpp
limit to HW_VER_FMUV2

That's an option. I'm a bit concerned if it gets flashed to the wrong board and uses the wrong pins.

dakejahl · 2020-07-01T07:13:52Z

src/lib/parameters/param.h

@@ -467,18 +467,20 @@ __END_DECLS
 // param is a C-interface. This means there is no overloading, and thus no type-safety for param_get().
 // So for C++ code we redefine param_get() to inlined overloaded versions, which gives us type-safety
 // w/o having to use a different interface
-static inline int param_get(param_t param, float *val)
+static inline int param_get_cplusplus(param_t param, float *val)


This breaks linking on gcc-linaro-7.5.0-2019.12-x86_64_arm-linux-gnueabihf

Please provide the error.

[691/691] Linking CXX executable bin/px4 FAILED: bin/px4 : && /home/jake/hexagon/Qualcomm/ARM_Tools/gcc-linaro-7.5.0-2019.12-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf-g++ --sysroot=/home/jake/hexagon/Qualcomm/ARM_Tools/gcc-linaro-7.5.0-2019.12-x86_64_arm-linux-gnueabihf/arm-linux-gnueabihf/libc -O2 -g -DNDEBUG -fuse-ld=gold -Wl,--export-dynamic -rdynamic platforms/posix/CMakeFiles/px4.dir/px4muorb_stub.c.o platforms/posix/CMakeFiles/px4.dir/src/px4/common/main.cpp.o platforms/posix/CMakeFiles/px4.dir/apps.cpp.o platforms/posix/CMakeFiles/px4.dir/home/jake/hexagon/Qualcomm/Hexagon_SDK/3.1/libs/common/rpcmem/src/rpcmem.c.o -o bin/px4 -L/home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/external/Install/lib -Wl,-rpath,/home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/external/Install/lib -Wl,--start-group platforms/posix/src/px4/common/libpx4_layer.a src/lib/parameters/libparameters.a src/modules/uORB/libmodules__uORB.a src/drivers/batt_smbus/libdrivers__batt_smbus.a src/drivers/camera_trigger/libdrivers__camera_trigger.a src/drivers/differential_pressure/ets/libdrivers__ets_airspeed.a src/drivers/differential_pressure/ms4525/libdrivers__ms4525_airspeed.a src/drivers/differential_pressure/ms5525/libdrivers__ms5525_airspeed.a src/drivers/differential_pressure/sdp3x/libdrivers__sdp3x_airspeed.a src/drivers/distance_sensor/cm8jl65/libdrivers__cm8jl65.a src/drivers/distance_sensor/leddar_one/libdrivers__distance_sensor__leddar_one.a src/drivers/distance_sensor/ll40ls/libdrivers__ll40ls.a src/drivers/distance_sensor/ll40ls_pwm/libdrivers__ll40ls_pwm.a src/drivers/distance_sensor/mappydot/libdrivers__mappydot.a src/drivers/distance_sensor/mb12xx/libdrivers__mb12xx.a src/drivers/distance_sensor/pga460/libdrivers__pga460.a src/drivers/distance_sensor/sf0x/libdrivers__sf0x.a src/drivers/distance_sensor/sf1xx/libdrivers__sf1xx.a src/drivers/distance_sensor/srf02/libdrivers__distance_sensor__srf02.a src/drivers/distance_sensor/teraranger/libdrivers__distance_sensor__teraranger.a src/drivers/distance_sensor/tfmini/libdrivers__tfmini.a src/drivers/distance_sensor/ulanding_radar/libdrivers__distance_sensor__ulanding_radar.a src/drivers/distance_sensor/vl53l0x/libdrivers__distance_sensor__vl53l0x.a src/drivers/gps/libdrivers__gps.a src/drivers/pwm_out_sim/libdrivers__pwm_out_sim.a src/drivers/qshell/posix/libdrivers__qshell__posix.a src/drivers/rc_input/libdrivers__rc_input.a src/modules/airspeed_selector/libmodules__airspeed_selector.a src/modules/attitude_estimator_q/libmodules__attitude_estimator_q.a src/modules/camera_feedback/libmodules__camera_feedback.a src/modules/commander/libmodules__commander.a src/modules/dataman/libmodules__dataman.a src/modules/ekf2/libmodules__ekf2.a src/modules/events/libmodules__events.a src/modules/fw_att_control/libmodules__fw_att_control.a src/modules/fw_pos_control_l1/libmodules__fw_pos_control_l1.a src/modules/land_detector/libmodules__land_detector.a src/modules/landing_target_estimator/libmodules__landing_target_estimator.a src/modules/local_position_estimator/libmodules__local_position_estimator.a src/modules/logger/libmodules__logger.a src/modules/mavlink/libmodules__mavlink.a src/modules/mc_att_control/libmodules__mc_att_control.a src/modules/mc_hover_thrust_estimator/libmodules__mc_hover_thrust_estimator.a src/modules/mc_pos_control/libmodules__mc_pos_control.a src/modules/mc_rate_control/libmodules__mc_rate_control.a src/modules/muorb/krait/libmodules__muorb__krait.a src/modules/muorb/test/libmodules__muorb__test__muorb_test.a src/modules/navigator/libmodules__navigator.a src/modules/rc_update/libmodules__rc_update.a src/modules/rover_pos_control/libmodules__rover_pos_control.a src/modules/sensors/libmodules__sensors.a src/modules/simulator/libmodules__simulator.a src/modules/simulator/battery_simulator/libmodules__simulator__battery_simulator.a src/modules/vmount/libdrivers__vmount.a src/modules/vtol_att_control/libmodules__vtol_att_control.a src/systemcmds/esc_calib/libsystemcmds__esc_calib.a src/systemcmds/led_control/libsystemcmds__led_control.a src/systemcmds/mixer/libsystemcmds__mixer.a src/systemcmds/motor_ramp/libsystemcmds__motor_ramp.a src/systemcmds/motor_test/libsystemcmds__motor_test.a src/systemcmds/param/libsystemcmds__param.a src/systemcmds/perf/libsystemcmds__perf.a src/systemcmds/pwm/libsystemcmds__pwm.a src/systemcmds/sd_bench/libsystemcmds__sd_bench.a src/systemcmds/shutdown/libsystemcmds__shutdown.a src/systemcmds/topic_listener/libsystemcmds__topic_listener.a src/systemcmds/tune_control/libsystemcmds__tune_control.a src/systemcmds/ver/libsystemcmds__ver.a src/systemcmds/work_queue/libsystemcmds__work_queue.a -L/home/jake/hexagon/Qualcomm/Hexagon_SDK/3.1/libs/common/remote/ship/UbuntuARM_Debug -lsdsprpc -lpthread -lm -lrt -Wl,--end-group 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src/lib/flight_tasks/tasks/Failsafe/libFlightTaskFailsafe.a src/lib/flight_tasks/tasks/Descend/libFlightTaskDescend.a src/lib/flight_tasks/tasks/Transition/libFlightTaskTransition.a src/lib/flight_tasks/tasks/Orbit/libFlightTaskOrbit.a src/lib/flight_tasks/tasks/ManualAltitudeSmooth/libFlightTaskManualAltitudeSmooth.a src/lib/flight_tasks/tasks/ManualAltitude/libFlightTaskManualAltitude.a src/lib/flight_tasks/tasks/Manual/libFlightTaskManual.a src/lib/flight_tasks/tasks/Utility/libFlightTaskUtility.a src/lib/flight_tasks/tasks/FlightTask/libFlightTask.a src/lib/bezier/libbezier.a src/lib/weather_vane/libWeatherVane.a src/lib/collision_prevention/libCollisionPrevention.a src/modules/mc_pos_control/Takeoff/libTakeoff.a src/lib/hysteresis/libhysteresis.a src/lib/circuit_breaker/libcircuit_breaker.a src/modules/mc_rate_control/RateControl/libRateControl.a src/lib/landing_slope/liblanding_slope.a src/lib/l1/libl1.a src/lib/pid/libpid.a src/lib/airspeed/libairspeed.a src/modules/sensors/data_validator/libdata_validator.a src/modules/sensors/vehicle_acceleration/libvehicle_acceleration.a src/modules/sensors/vehicle_angular_velocity/libvehicle_angular_velocity.a src/modules/sensors/vehicle_air_data/libvehicle_air_data.a src/modules/sensors/vehicle_imu/libvehicle_imu.a src/modules/sensors/sensor_calibration/libsensor_calibration.a src/lib/mag_compensation/libmag_compensation.a src/lib/drivers/accelerometer/libdrivers_accelerometer.a src/lib/drivers/barometer/libdrivers_barometer.a src/lib/drivers/gyroscope/libdrivers_gyroscope.a src/lib/drivers/device/libdrivers__device.a src/lib/drivers/magnetometer/libdrivers_magnetometer.a src/lib/conversion/libconversion.a src/lib/mathlib/libmathlib.a src/lib/battery/libbattery.a src/lib/ecl/geo/libecl_geo.a src/lib/mixer/libmixer.a src/lib/mixer/HelicopterMixer/libHelicopterMixer.a src/lib/mixer/MultirotorMixer/libMultirotorMixer.a src/lib/mixer/NullMixer/libNullMixer.a src/lib/mixer/SimpleMixer/libSimpleMixer.a src/lib/mixer/Mixer/libMixer.a src/lib/tunes/libtunes.a src/lib/version/libversion.a platforms/posix/src/px4/common/libpx4_layer.a src/lib/parameters/libparameters.a src/modules/uORB/libmodules__uORB.a platforms/common/px4_work_queue/libpx4_work_queue.a platforms/posix/src/px4/common/px4_daemon/libpx4_daemon.a platforms/common/libpx4_platform.a src/lib/systemlib/libsystemlib.a src/lib/cdev/libcdev.a platforms/posix/src/px4/common/libpx4_layer.a src/lib/parameters/libparameters.a src/modules/uORB/libmodules__uORB.a platforms/common/px4_work_queue/libpx4_work_queue.a platforms/posix/src/px4/common/px4_daemon/libpx4_daemon.a platforms/common/libpx4_platform.a src/lib/systemlib/libsystemlib.a src/lib/cdev/libcdev.a platforms/common/work_queue/libwork_queue.a boards/atlflight/excelsior/src/libdrivers_board.a src/lib/perf/libperf.a src/lib/parameters/tinybson/libtinybson.a msg/libuorb_msgs.a -lpthread -lm -lrt && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-uorb && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-batt_smbus && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-camera_trigger && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-ets_airspeed && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-ms4525_airspeed && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-ms5525_airspeed && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-sdp3x_airspeed && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-cm8jl65 && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-leddar_one && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-ll40ls && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-ll40ls_pwm && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-mappydot && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-mb12xx && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-pga460 && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-sf0x && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-sf1xx && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-srf02 && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-teraranger && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-tfmini && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-ulanding_radar && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-vl53l0x && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-gps && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-pwm_out_sim && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-qshell && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-rc_input && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-airspeed_selector && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-attitude_estimator_q && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-camera_feedback && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-commander && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-dataman && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-ekf2 && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-send_event && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-fw_att_control && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-fw_pos_control_l1 && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-land_detector && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-landing_target_estimator && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-local_position_estimator && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-logger && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-mavlink && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-mc_att_control && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-mc_hover_thrust_estimator && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-mc_pos_control && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-mc_rate_control && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-muorb && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-muorb_test && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-navigator && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-rc_update && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-rover_pos_control && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-sensors && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-simulator && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-battery_simulator && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-vmount && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-vtol_att_control && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-esc_calib && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-led_control && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-mixer && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-motor_ramp && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-motor_test && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-param && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-perf && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-pwm && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-sd_bench && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-shutdown && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-listener && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-tune_control && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-ver && cd /home/jake/code/jake/px4/Firmware/build/atlflight_excelsior_default/bin && /usr/bin/cmake -E create_symlink px4 px4-work_queue ../../src/lib/parameters/param.h:473: error: undefined reference to 'param_get' ../../src/lib/parameters/param.h:473: error: undefined reference to 'param_get' ../../src/lib/parameters/param.h:473: error: undefined reference to 'param_get' ../../src/lib/parameters/param.h:473: error: undefined reference to 'param_get' collect2: error: ld returned 1 exit status ninja: build stopped: subcommand failed. Makefile:224: recipe for target 'atlflight_excelsior' failed make: *** [atlflight_excelsior] Error 1

You need to add #define PARAM_IMPLEMENTATION in parameters_shmem.cpp before #include "param.h"

That did the trick. Thank you!

bkueng force-pushed the spi_i2c_config_refactoring_boards branch 2 times, most recently from 5e421ae to 97f0281 Compare February 26, 2020 09:15

weekly-digest bot mentioned this pull request Mar 1, 2020

Weekly Digest (23 February, 2020 - 1 March, 2020) #14268

Closed

bkueng force-pushed the spi_i2c_config_refactoring_boards branch 2 times, most recently from ce65c4b to 27dff4b Compare March 2, 2020 15:50

dagar requested review from dagar and davids5 March 2, 2020 16:36

dagar added the Admin: Enhancement (improvement) 💡 label Mar 2, 2020

dagar reviewed Mar 2, 2020

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src/lib/parameters/param_translation.cpp Show resolved Hide resolved

dagar reviewed Mar 2, 2020

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platforms/common/i2c_spi_buses.cpp Show resolved Hide resolved

bkueng force-pushed the spi_i2c_config_refactoring_boards branch from 27dff4b to 80c8ad3 Compare March 3, 2020 10:16

bkueng force-pushed the spi_i2c_config_refactoring_boards branch from 80c8ad3 to 9ab45e5 Compare March 3, 2020 10:56

dagar reviewed Mar 9, 2020

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dagar added this to the Release v1.11.0 milestone Mar 9, 2020

dagar reviewed Mar 9, 2020

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davids5 previously approved these changes Mar 9, 2020

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bkueng added 8 commits March 10, 2020 10:37

i2c+spi: extend hw_description for I2C + SPI

be092f6

i2c+spi: add module base class and bus iterators

eb4dd81

boards: add new spi+i2c config

de15c55

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.

param: fix param_get_cplusplus type check

66a3f73

fmu-v2: disable perf command and some airframes

5a5108f

to reduce FLASH size

omnibusf4sd: disable landing_target_estimator

6346718

to reduce FLASH size

SPI config: use enum to specify bus

88ef51b

bkueng dismissed davids5’s stale review via 88ef51b March 10, 2020 09:41

bkueng force-pushed the spi_i2c_config_refactoring_boards branch from 9ab45e5 to 88ef51b Compare March 10, 2020 09:41

dagar approved these changes Mar 10, 2020

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dagar merged commit 335623e into master Mar 10, 2020

dagar deleted the spi_i2c_config_refactoring_boards branch March 10, 2020 14:11

bkueng mentioned this pull request Mar 13, 2020

Drivers: SPI & I2C config simplifications (2) #14386

Merged

mrpollo mentioned this pull request Mar 16, 2020

v1.11.0 Release Notes #14402

Closed

dakejahl reviewed Jul 1, 2020

View reviewed changes

Board config: SPI & I2C config simplifications (1) #14221

Board config: SPI & I2C config simplifications (1) #14221

Conversation

bkueng commented Feb 24, 2020

davids5 commented Feb 24, 2020

davids5 commented Feb 24, 2020

bkueng commented Feb 24, 2020

bkueng commented Feb 26, 2020

dannyfpv commented Feb 28, 2020

Junkim3DR commented Feb 29, 2020

Tested on NXP FMUK66 v3

Tested on Pixhawk 3 v4Pro

jorge789 commented Feb 29, 2020

Tested on PixRacer V4

dagar commented Mar 2, 2020

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bkueng commented Mar 3, 2020

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dagar commented Mar 9, 2020

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