Driver changes for porting PX4 to BeagleBone Blue #228

UAV-Pilot · 2018-06-10T23:39:26Z

Robotics Cape library is included as a submodule in pull request #9635 in PX4/Firmware repository.
On BeagleBone Blue board, BMP280 and MPU9250 are on the same I2C bus.

bkueng

Thanks for the PR! Generally looks good.

The _mutex_shared_i2c_2_bus mutex is not required as all drivers within DriverFramework run on a single thread.

bkueng · 2018-07-26T07:45:02Z

drivers/bmp280/BMP280.cpp

+#if defined(__DF_BBBLUE)
+	// on BBBLUE, MPU9250 and BMP280 are on the same I2C bus
+	pthread_mutex_lock(&_mutex_shared_i2c_2_bus);
+		int ret = _start();


Wrong indentation (same for other places)

bkueng · 2018-07-26T07:49:52Z

drivers/bmp280/BMP280.cpp

+{
+#if defined(__DF_BBBLUE)
+	pthread_mutex_lock(&_mutex_shared_i2c_2_bus);
+		int busInUse = rc_i2c_get_lock(2);


m_bus_num instead of 2?

Yes, changed.

bkueng · 2018-07-26T07:51:41Z

drivers/bmp280/BMP280.cpp

+#define BMP280_FILTER_CUTOFF_FREQ	2.0f
+                                    // 2rad/s, about 0.3hz
+#define BMP280_FILTER_CHECK_HZ		25
+#define	BMP280_FILTER_DT			1.0f/BMP280_FILTER_CHECK_HZ


The define needs brackets: (1.0f/BMP280_FILTER_CHECK_HZ)

bkueng · 2018-07-26T07:53:09Z

drivers/bmp280/BMP280.hpp

@@ -79,6 +88,10 @@ class BMP280 : public BaroSensor
 	{
 		m_id.dev_id_s.devtype = DRV_DF_DEVTYPE_BMP280;
 		m_id.dev_id_s.address = BMP280_SLAVE_ADDRESS;
+
+		#ifdef __DF_BBBLUE


This should not be indented.

bkueng · 2018-07-26T07:55:11Z

drivers/bmp280/BMP280.cpp

@@ -53,8 +53,37 @@
 #define BMP280_BITS_CONFIG_FILTER_OFF	0b00000000
 #define BMP280_BITS_CONFIG_SPI_OFF	0b00000000

+#if defined(__DF_BBBLUE)
+#define BMP280_FILTER_ORDER			2
+#define BMP280_FILTER_CUTOFF_FREQ	2.0f


Is the filter required? The cutoff freq is really low.

The filter is not required. I got it from a librobotcontrol sample code. The cutoff frequency is increased.

I suggest removing it altogether then, since we generally don't filter the baro in the drivers.

Removed the filter

bkueng · 2018-07-26T07:56:03Z

drivers/bmp280/BMP280.cpp

+
+void BMP280::_measureDataRC()
+{
+#if defined(__DF_BBBLUE_USE_RC_BMP280_IMP)


All these ifdef's almost justify a separate driver.

The RC variant of the driver was developed before I got barometer and IMU drive work with PX4 I2C driver work on BBBlue. Later it's kept since it worked and has an additional filter.

bkueng · 2018-07-26T08:03:08Z

drivers/mpu9250/MPU9250.cpp

@@ -248,9 +300,56 @@ int MPU9250::mpu9250_deinit()
 }

 int MPU9250::start()
+{
+#if defined(__DF_BBBLUE)
+	// on BBBLUE, MPU9250 and BMP280 are on the same I2C bus


Sounds like a bad design choice. Do you get good flight performance on that board?

This seems to be a common concern regarding using BBBlue as a flight controller. I saw similar comments regarding ArduPilot port on BBBlue. I wish that in future version of BBBlue, IMU could be on a faster bus. Previous PX4 code discarded 3/4 of IMU samples. After I saw some IMU TIMEOUT messages, I changed code to not to discard any IMU sample. Before I submitted the initial pull request with librobotcontrol as submodule, someone made the same change to not to discard any IMU sample ( so such change is not shown in this pull request). Since previously with 1/4 of current IMU sample frequency, it's on the boundary of meeting minimum sample frequency, now with 4 times of previous sample frequency, current IMU sample frequency seems to be adequate. However, due to my limited experience with drones and PX4, I don't know what kind of performance is qualified as good flight performance. I hope after this pull request is merged in, other more experienced PX4 users can better evaluate the flight performance on this board.

bkueng · 2018-07-26T08:04:17Z

drivers/mpu9250/MPU9250.cpp

+#if defined(__IMU_USE_I2C)
+	rc_init();
+
+	int	result = I2CDevObj::start();


int result

bkueng · 2018-07-26T08:09:57Z

framework/include/I2CDevObj.hpp

@@ -74,6 +77,8 @@ class I2CDevObj : public DevObj

 	int m_fd{ -1};
 	unsigned _retries{0};
+	int m_bus_num{0};
+	//uint32_t m_slave_address{0};


Commented code should be removed

bkueng · 2018-07-26T08:13:37Z

framework/src/CMakeLists.txt

@@ -43,6 +43,10 @@ if("${DF_TARGET}" STREQUAL "nuttx")
 		)
 	add_dependencies(df_driver_framework prebuild_targets)
 else()
+	include_directories(../../../Robotics_Cape_Installer/library/include)


Is this needed? And if so, can we move it to Toolchain-bbblue.cmake?

No. I missed it last time. Removed.

bkueng · 2018-07-30T07:12:13Z

drivers/bmp280/BMP280.hpp

-
+#if defined(__DF_BBBLUE)
+#define BARO_DEVICE_PATH "/dev/i2c-2"
+extern pthread_mutex_t _mutex_shared_i2c_2_bus;


Can you remove this mutex? Everything runs on a single thread.

After removing the mutex, the following error occurred, so I added the mutex back. BTW, the low pass filter with bmp280 was removed.

px4 starting.

INFO [dataman] Unknown restart, data manager file 'rootfs/fs/microsd/dataman' size is 11405132 bytes
INFO [bbblue_adc] Initializing Robotics Cape library ...
344199 BMP280 sensor configuration succeeded
INFO [df_bmp280_wrapper] BMP280 started
447748 MPU9250 sensor WHOAMI wrong: 0x0, should be: 0x71
ERROR [df_mpu9250_wrapper] MPU9250 start fail: -1
ERROR [df_mpu9250_wrapper] DfMpu9250Wrapper start failed
Command 'df_mpu9250_wrapper' failed, returned -1
INFO [bbblue_adc] BBBlueADC started

Also note that "bbblue_adc start" is placed after bmp280 & mpu9250 wrapper in px4.config, the log message of bbblue_adc came first.

BTW, in pull request PX4/PX4-Autopilot#9635, Lorenz Meier mentioned moving from DriverFramework to CDev soon, so these 2 drivers will be replaced eventually.

Might be that some startup code is called from the wrong thread then. Ok, let's keep it in under the assumption that we want to move away from DriverFramework.

UAV-Pilot · 2018-07-31T06:08:47Z

Not sure why the Travis CI build failed. The build was 100% completed, and all tests passed successfully.

bkueng

CI fails with:

Formatted  ./drivers/bmp280/BMP280.cpp
./drivers/bmp280/BMP280.cpp bad formatting
Formatted  ./drivers/mpu9250/MPU9250.cpp
./drivers/mpu9250/MPU9250.cpp bad formatting
Formatted  ./framework/src/I2CDevObj.cpp
./framework/src/I2CDevObj.cpp bad formatting
Please run "make fix-style"

Otherwise this is good to go.

UAV-Pilot · 2018-07-31T15:43:48Z

I missed the build error message. All checks passed this time. Thanks!

bkueng · 2018-07-31T17:16:44Z

Thanks for the update. Can you rebase to master, it shows some conflicts?

…C_AUTOPILOT_EXT

UAV-Pilot · 2018-08-01T06:40:50Z

Did rebase, etc. Current files should be the same as those in last commit except some commit history were somehow skipped during those git rebase master / git rebase --continue / git rebase --skip operations. I copied the saved latest files over in the last few runs of rebase. Please try again.

bkueng

Let's merge it then

dagar and others added 2 commits April 11, 2018 21:19

cmake change px4_add_module -> px4_add_library

f9e9a37

Merge remote-tracking branch 'origin/master'

e6efbeb

UAV-Pilot mentioned this pull request Jul 24, 2018

Port PX4 to BeagleBone Blue Board using library librobotcontrol instead of a submodule PX4/PX4-Autopilot#10012

Merged

bkueng suggested changes Jul 26, 2018

View reviewed changes

bkueng reviewed Jul 30, 2018

View reviewed changes

bkueng approved these changes Jul 31, 2018

View reviewed changes

UAV-Pilot and others added 5 commits July 31, 2018 20:53

Port I2C drivers of BMP280 and MPU9250 for BeagleBone Blue

faf202b

BMP280 and MPU9250 I2C driver change for BeagleBone Blue

3497bb9

fixed issue with BMP280 I2C lock/unlock flag; changed handling of -DR…

173df80

…C_AUTOPILOT_EXT

sync-ed MPU9250_mag.hpp to the master to avoid confusion

3e3db57

BMP280 and MPU9250 I2C driver change for BeagleBone Blue

6d5c0c6

UAV-Pilot force-pushed the BBBlue_Drivers branch from c30a18d to 6d5c0c6 Compare August 1, 2018 05:04

bkueng approved these changes Aug 2, 2018

View reviewed changes

bkueng merged commit 3bdfdf3 into PX4:master Aug 2, 2018

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Driver changes for porting PX4 to BeagleBone Blue #228

Driver changes for porting PX4 to BeagleBone Blue #228

UAV-Pilot commented Jun 10, 2018

bkueng left a comment

bkueng Jul 26, 2018

UAV-Pilot Jul 29, 2018

bkueng Jul 26, 2018

UAV-Pilot Jul 29, 2018

bkueng Jul 26, 2018

UAV-Pilot Jul 29, 2018

bkueng Jul 26, 2018

UAV-Pilot Jul 29, 2018

bkueng Jul 26, 2018

UAV-Pilot Jul 29, 2018

bkueng Jul 30, 2018

UAV-Pilot Jul 31, 2018

bkueng Jul 26, 2018

UAV-Pilot Jul 29, 2018 •

edited

Loading

bkueng Jul 26, 2018

UAV-Pilot Jul 29, 2018

bkueng Jul 26, 2018

UAV-Pilot Jul 29, 2018

bkueng Jul 26, 2018

UAV-Pilot Jul 29, 2018

bkueng Jul 26, 2018

UAV-Pilot Jul 29, 2018

bkueng Jul 30, 2018

UAV-Pilot Jul 31, 2018 •

edited

Loading

bkueng Jul 31, 2018

UAV-Pilot commented Jul 31, 2018

bkueng left a comment

UAV-Pilot commented Jul 31, 2018

bkueng commented Jul 31, 2018

UAV-Pilot commented Aug 1, 2018

bkueng left a comment

Driver changes for porting PX4 to BeagleBone Blue #228

Driver changes for porting PX4 to BeagleBone Blue #228

Conversation

UAV-Pilot commented Jun 10, 2018

bkueng left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

UAV-Pilot Jul 29, 2018 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

UAV-Pilot Jul 31, 2018 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

UAV-Pilot commented Jul 31, 2018

bkueng left a comment

Choose a reason for hiding this comment

UAV-Pilot commented Jul 31, 2018

bkueng commented Jul 31, 2018

UAV-Pilot commented Aug 1, 2018

bkueng left a comment

Choose a reason for hiding this comment

UAV-Pilot Jul 29, 2018 •

edited

Loading

UAV-Pilot Jul 31, 2018 •

edited

Loading