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refactor: devcontainer customisations #2

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refactor: devcontainer customisations #2

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76af175
refactor: devcontainer customisations
royratcliffe Aug 18, 2023
fe5ba92
fix: trailing comma
royratcliffe Aug 18, 2023
4df60a2
feat: add mhutchie.git-graph to recommendations
royratcliffe Aug 18, 2023
1b5d212
fix: C_Cpp settings, lowercase
royratcliffe Aug 18, 2023
61a20ff
fix: explorer open editors visible=1
royratcliffe Aug 18, 2023
974a5bd
Add condition for Iridium mode to not send params change after a time
Apr 25, 2023
054c6b9
new TDK IIM42653 IMU driver and ARKV6X Rev 2
AlexKlimaj Aug 16, 2023
da60618
ActuatorEffectiveness: add comment for 2% magic number to stop motors
sfuhrer Aug 17, 2023
550bd7c
EKF2: improve resilience against incorrect mag data
bresch Aug 17, 2023
09a2dc6
fw-atune: limit max test signal
Aug 18, 2023
3c4cca6
fw-atune: use same attitude P rule as for multirotors
Aug 18, 2023
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53 changes: 28 additions & 25 deletions .devcontainer/devcontainer.json
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Original file line number Diff line number Diff line change
Expand Up @@ -6,37 +6,40 @@

"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

// Set *default* container specific settings.json values on container create.
"settings": {
"terminal.integrated.shell.linux": "/bin/bash"
},
"customizations": {
// Set *default* container specific settings.json values on container create.
"settings": {
"terminal.integrated.shell.linux": "/bin/bash"
},

// Add the IDs of extensions you want installed when the container is created.
"extensions": [
"chiehyu.vscode-astyle",
"dan-c-underwood.arm",
"fredericbonnet.cmake-test-adapter",
"github.vscode-pull-request-github",
"marus25.cortex-debug",
"ms-azuretools.vscode-docker",
"ms-iot.vscode-ros",
"ms-python.python",
"ms-vscode.cmake-tools",
"ms-vscode.cpptools",
"ms-vscode.cpptools-extension-pack",
"redhat.vscode-yaml",
"streetsidesoftware.code-spell-checker",
"twxs.cmake",
"uavcan.dsdl",
"wholroyd.jinja",
"zixuanwang.linkerscript"
],
// Add the IDs of extensions you want installed when the container is created.
"extensions": [
"chiehyu.vscode-astyle",
"dan-c-underwood.arm",
"fredericbonnet.cmake-test-adapter",
"github.vscode-pull-request-github",
"debug-tracker-vscode",
"marus25.cortex-debug",
"ms-azuretools.vscode-docker",
"ms-iot.vscode-ros",
"ms-python.python",
"ms-vscode.cmake-tools",
"ms-vscode.cpptools",
"ms-vscode.cpptools-extension-pack",
"redhat.vscode-yaml",
"streetsidesoftware.code-spell-checker",
"twxs.cmake",
"uavcan.dsdl",
"wholroyd.jinja",
"zixuanwang.linkerscript"
]
},

"containerUser": "user",
"containerEnv": {
"LOCAL_USER_ID": "${localEnv:UID}"
},

// Use 'forwardPorts' to make a list of ports inside the container available locally.
"forwardPorts": [14556],
"forwardPorts": [14556]
}
3 changes: 2 additions & 1 deletion .vscode/extensions.json
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Expand Up @@ -18,6 +18,7 @@
"twxs.cmake",
"uavcan.dsdl",
"wholroyd.jinja",
"zixuanwang.linkerscript"
"zixuanwang.linkerscript",
"mhutchie.git-graph"
]
}
6 changes: 3 additions & 3 deletions .vscode/settings.json
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Expand Up @@ -7,8 +7,8 @@
"C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
"C_Cpp.default.cppStandard": "c++14",
"C_Cpp.default.cStandard": "c11",
"C_Cpp.formatting": "Disabled",
"C_Cpp.intelliSenseEngine": "Default",
"C_Cpp.formatting": "disabled",
"C_Cpp.intelliSenseEngine": "default",
"C_Cpp.vcpkg.enabled": false,
"C_Cpp.workspaceParsingPriority": "low",
"cmake.buildBeforeRun": true,
Expand Down Expand Up @@ -36,7 +36,7 @@
"editor.suggest.localityBonus": true,
"editor.tabSize": 8,
"editor.wordWrapColumn": 120,
"explorer.openEditors.visible": 0,
"explorer.openEditors.visible": 1,
"files.insertFinalNewline": true,
"files.trimTrailingWhitespace": true,
"files.watcherExclude": {
Expand Down
1 change: 1 addition & 0 deletions boards/ark/fmu-v6x/default.px4board
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Expand Up @@ -20,6 +20,7 @@ CONFIG_DRIVERS_HEATER=y
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
CONFIG_COMMON_LIGHT=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_COMMON_OPTICAL_FLOW=y
Expand Down
27 changes: 21 additions & 6 deletions boards/ark/fmu-v6x/init/rc.board_sensors
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Expand Up @@ -66,14 +66,29 @@ then
fi
fi

# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
iim42652 -R 3 -s -b 1 -C 32051 start
if ver hwtypecmp ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
then
# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
iim42652 -R 3 -s -b 1 -C 32051 start

# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
icm42688p -R 9 -s -b 2 -C 32051 start

# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
icm42688p -R 9 -s -b 2 -C 32051 start
# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
icm42688p -R 6 -s -b 3 -C 32051 start
fi

# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
icm42688p -R 6 -s -b 3 -C 32051 start
if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
then
# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
iim42653 -R 3 -s -b 1 -C 32051 start

# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
iim42653 -R 9 -s -b 2 -C 32051 start

# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
iim42653 -R 6 -s -b 3 -C 32051 start
fi

# Internal magnetometer on I2C
bmm150 -I start
Expand Down
27 changes: 11 additions & 16 deletions boards/ark/fmu-v6x/src/board_config.h
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Expand Up @@ -211,23 +211,18 @@
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
#define HW_INFO_INIT_PREFIX "ARKV6X"

#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 and Rev 3,4 Sensor sets
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 8 // Rev 0 and Rev 1
// Base/FMUM
#define ARKV6X00 HW_VER_REV(0x0,0x0) // ARKV6X, Rev 0
#define ARKV6X01 HW_VER_REV(0x0,0x1) // ARKV6X, BMI388 I2C2 Rev 1
#define ARKV6X03 HW_VER_REV(0x0,0x3) // ARKV6X, Sensor Set Rev 3
#define ARKV6X04 HW_VER_REV(0x0,0x4) // ARKV6X, Sensor Set Rev 4
#define ARKV6X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0
#define ARKV6X13 HW_VER_REV(0x1,0x3) // NO PX4IO, Sensor Set Rev 3
#define ARKV6X14 HW_VER_REV(0x1,0x4) // NO PX4IO, Sensor Set Rev 4
//#define ARKV6X40 HW_VER_REV(0x4,0x0) // ARKV6X, HB CM4 base Rev 0 // never shipped
//#define ARKV6X41 HW_VER_REV(0x4,0x1) // ARKV6X, BMI388 I2C2 HB CM4 base Rev 1 // never shipped
#define ARKV6X43 HW_VER_REV(0x4,0x3) // ARKV6X, Sensor Set HB CM4 base Rev 3
#define ARKV6X44 HW_VER_REV(0x4,0x4) // ARKV6X, Sensor Set HB CM4 base Rev 4
#define ARKV6X50 HW_VER_REV(0x5,0x0) // ARKV6X, ARKV6X Rev 0 with HB Mini Rev 5
//#define ARKV6X51 HW_VER_REV(0x5,0x1) // ARKV6X, BMI388 I2C2 HB Mini Rev 1 // never shipped
#define ARKV6X53 HW_VER_REV(0x5,0x3) // ARKV6X, Sensor Set HB Mini Rev 3
#define ARKV6X54 HW_VER_REV(0x5,0x4) // ARKV6X, Sensor Set HB Mini Rev 4
#define ARKV6X00 HW_VER_REV(0x0,0x0) // ARKV6X, Sensor Set Rev 0
#define ARKV6X01 HW_VER_REV(0x0,0x1) // ARKV6X, Sensor Set Rev 1
//#define ARKV6X03 HW_VER_REV(0x0,0x3) // ARKV6X, Sensor Set Rev 3
//#define ARKV6X04 HW_VER_REV(0x0,0x4) // ARKV6X, Sensor Set Rev 4
#define ARKV6X10 HW_VER_REV(0x1,0x0) // NO PX4IO, Sensor Set Rev 0
#define ARKV6X11 HW_VER_REV(0x1,0x1) // NO PX4IO, Sensor Set Rev 1
#define ARKV6X40 HW_VER_REV(0x4,0x0) // ARKV6X, Sensor Set Rev 0 HB CM4 base Rev 3
#define ARKV6X41 HW_VER_REV(0x4,0x1) // ARKV6X, Sensor Set Rev 1 HB CM4 base Rev 4
#define ARKV6X50 HW_VER_REV(0x5,0x0) // ARKV6X, Sensor Set Rev 0 HB Mini Rev 5
#define ARKV6X51 HW_VER_REV(0x5,0x1) // ARKV6X, Sensor Set Rev 1 HB Mini Rev 1 // never shipped

#define UAVCAN_NUM_IFACES_RUNTIME 1

Expand Down
23 changes: 8 additions & 15 deletions boards/ark/fmu-v6x/src/manifest.c
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Expand Up @@ -160,21 +160,14 @@ static const px4_hw_mft_item_t hw_mft_list_v0650[] = {

static px4_hw_mft_list_entry_t mft_lists[] = {
// ver_rev
{ARKV6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
{ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
{ARKV6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
//{ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // HB CM4 base // never shipped
//{ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2 HB CM4 base // never shipped
{ARKV6X43, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3
{ARKV6X44, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4
{ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X Rev 0 with HB Mini Rev 5
//{ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2 HB Mini // never shipped
{ARKV6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
{ARKV6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
{ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
{ARKV6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
{ARKV6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
{ARKV6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4
{ARKV6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X, Sensor Set Rev 0
{ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // ARKV6X, Sensor Set Rev 1
{ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO, Sensor Set Rev 0
{ARKV6X11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // NO PX4IO, Sensor Set Rev 1
{ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X, Sensor Set Rev 0 HB CM4 base Rev 3
{ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // ARKV6X, Sensor Set Rev 1 HB CM4 base Rev 4
{ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X, Sensor Set Rev 0 HB Mini Rev 5
{ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X, Sensor Set Rev 1 HB Mini Rev 1 // never shipped
};

/************************************************************************************
Expand Down
140 changes: 139 additions & 1 deletion boards/ark/fmu-v6x/src/spi.cpp
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Expand Up @@ -59,7 +59,76 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
}),
}),

initSPIHWVersion(ARKV6X01, { // Placeholder
initSPIHWVersion(ARKV6X01, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),

initSPIHWVersion(ARKV6X10, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),

initSPIHWVersion(ARKV6X11, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),

initSPIHWVersion(ARKV6X40, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
Expand All @@ -81,6 +150,75 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),

initSPIHWVersion(ARKV6X41, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),

initSPIHWVersion(ARKV6X50, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),

initSPIHWVersion(ARKV6X51, {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
}, {GPIO::PortI, GPIO::Pin11}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
}, {GPIO::PortF, GPIO::Pin4}),
initSPIBus(SPI::Bus::SPI3, {
initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
}, {GPIO::PortE, GPIO::Pin7}),
// initSPIBus(SPI::Bus::SPI4, {
// // no devices
// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
// }, {GPIO::PortG, GPIO::Pin8}),
initSPIBus(SPI::Bus::SPI5, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
}),
initSPIBusExternal(SPI::Bus::SPI6, {
initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
}),
}),
};

static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);
1 change: 1 addition & 0 deletions msg/EstimatorStatusFlags.msg
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Expand Up @@ -41,6 +41,7 @@ bool cs_fake_hgt # 33 - true when fake height measurements are be
bool cs_gravity_vector # 34 - true when gravity vector measurements are being fused
bool cs_mag # 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended
bool cs_ev_yaw_fault # 36 - true when the EV heading has been declared faulty and is no longer being used
bool cs_mag_heading_consistent # 37 - true when the heading obtained from mag data is declared consistent with the filter

# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes
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1 change: 1 addition & 0 deletions src/drivers/drv_sensor.h
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Expand Up @@ -82,6 +82,7 @@
#define DRV_IMU_DEVTYPE_IIM42652 0x2B
#define DRV_IMU_DEVTYPE_IAM20680HP 0x2C
#define DRV_IMU_DEVTYPE_ICM42686P 0x2D
#define DRV_IMU_DEVTYPE_IIM42653 0x2E

#define DRV_RNG_DEVTYPE_MB12XX 0x31
#define DRV_RNG_DEVTYPE_LL40LS 0x32
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