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hwdef: added baro in HolybroG4_GPS #28781

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merged 4 commits into from
Dec 9, 2024
Merged

hwdef: added baro in HolybroG4_GPS #28781

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635eab0
hwdef: added baro in HolybroG4_GPS
tridge Nov 30, 2024
d2f945b
AP_Periph: fixed IMU in periph
tridge Nov 30, 2024
cc06a6e
waf: enable IMU in simulated AP_Periph
tridge Nov 30, 2024
5b88da6
hwdef: enable IMU in HolybroG4_GPS
tridge Nov 30, 2024
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16 changes: 14 additions & 2 deletions Tools/AP_Periph/imu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,15 @@ extern const AP_HAL::HAL &hal;
void AP_Periph_FW::can_imu_update(void)
{
while (true) {
// sleep for a bit to avoid flooding the CPU
hal.scheduler->delay_microseconds(100);
// we need to delay by a ms value as hal->schedule->delay_microseconds_boost
// used in wait_for_sample() takes uint16_t
const uint32_t delay_ms = 1000U / g.imu_sample_rate;
hal.scheduler->delay(delay_ms);

if (delay_ms == 0) {
// sleep for a bit to avoid flooding the CPU
hal.scheduler->delay_microseconds(100);
}

imu.update();

Expand All @@ -38,6 +45,11 @@ void AP_Periph_FW::can_imu_update(void)
pkt.accelerometer_latest[1] = tmp.y;
pkt.accelerometer_latest[2] = tmp.z;

tmp = imu.get_gyro();
pkt.rate_gyro_latest[0] = tmp.x;
pkt.rate_gyro_latest[1] = tmp.y;
pkt.rate_gyro_latest[2] = tmp.z;

uint8_t buffer[UAVCAN_EQUIPMENT_AHRS_RAWIMU_MAX_SIZE];
uint16_t total_size = uavcan_equipment_ahrs_RawIMU_encode(&pkt, buffer, !canfdout());
canard_broadcast(UAVCAN_EQUIPMENT_AHRS_RAWIMU_SIGNATURE,
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2 changes: 2 additions & 0 deletions Tools/ardupilotwaf/boards.py
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Original file line number Diff line number Diff line change
Expand Up @@ -949,6 +949,7 @@ def configure_env(self, cfg, env):
HAL_PERIPH_ENABLE_AIRSPEED = 1,
HAL_PERIPH_ENABLE_MAG = 1,
HAL_PERIPH_ENABLE_BARO = 1,
HAL_PERIPH_ENABLE_IMU = 1,
HAL_PERIPH_ENABLE_RANGEFINDER = 1,
HAL_PERIPH_ENABLE_BATTERY = 1,
HAL_PERIPH_ENABLE_EFI = 1,
Expand All @@ -963,6 +964,7 @@ def configure_env(self, cfg, env):
HAL_WITH_ESC_TELEM = 1,
AP_EXTENDED_ESC_TELEM_ENABLED = 1,
AP_TERRAIN_AVAILABLE = 1,
HAL_GYROFFT_ENABLED = 0,
)

class sitl_periph_gps(sitl_periph):
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18 changes: 15 additions & 3 deletions libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
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Expand Up @@ -74,9 +74,9 @@ define HAL_I2C_INTERNAL_MASK 3
I2C_ORDER I2C1 I2C2

# one SPI bus (for IMU, unused)
#PA5 SPI1_SCK SPI1
#PA6 SPI1_MISO SPI1
#PA7 SPI1_MOSI SPI1
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI CS
PC4 GYR_CS CS
Expand All @@ -95,6 +95,10 @@ COMPASS IST8310 I2C:0:0x0E false ROTATION_NONE
# compass RM3100 on can-F9P-v2
COMPASS RM3100 I2C:0:0x20 false ROTATION_NONE

# baro, disabled by default
BARO ICP201XX I2C:0:0x64
define AP_PERIPH_BARO_ENABLE_DEFAULT 0

define HAL_USE_ADC FALSE
define STM32_ADC_USE_ADC1 FALSE
define HAL_DISABLE_ADC_DRIVER TRUE
Expand Down Expand Up @@ -130,9 +134,17 @@ DMA_NOSHARE USART3*
# add support for moving baseline yaw
define GPS_MOVING_BASELINE 1

SPIDEV icm42688 SPI1 DEVID1 ICM_CS MODE0 24*MHZ 24*MHZ

IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180

define HAL_PERIPH_ENABLE_IMU

# GPS+MAG+LEDs
define HAL_PERIPH_ENABLE_GPS
define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO
define HAL_PERIPH_ENABLE_IMU
define HAL_PERIPH_ENABLE_NOTIFY
define HAL_PERIPH_ENABLE_RC_OUT

Expand Down
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