boards: mRo Control Zero F7 improve sensors power on timing

PX4 · Jun 24, 2020 · c35f6a8 · c35f6a8
1 parent 620916e
commit c35f6a8
Show file tree

Hide file tree

Showing 5 changed files with 13 additions and 16 deletions.
diff --git a/boards/mro/ctrl-zero-f7/init/rc.board_sensors b/boards/mro/ctrl-zero-f7/init/rc.board_sensors
@@ -6,14 +6,14 @@
 adc start
 
 # Internal ICM-20602
-icm20602 -s -R 8 start
+icm20602 -s -b 1 -R 8 start
 
 # Internal SPI bus BMI088 accel & gyro
-bmi088 -A -R 8 -s start
-bmi088 -G -R 8 -s start
+bmi088 -A -s -b 5 -R 8 start
+bmi088 -G -s -b 5 -R 8 start
 
 # Internal ICM-20948 (with magnetometer)
-icm20948 -s -R 8 -M start
+icm20948 -s -b 1 -R 8 -M start
 
 # Interal DPS310 (barometer)
-dps310 -s start
+dps310 -s -b 2 start
diff --git a/boards/mro/ctrl-zero-f7/nuttx-config/include/board.h b/boards/mro/ctrl-zero-f7/nuttx-config/include/board.h
@@ -297,15 +297,17 @@
  * SPI6 Reserved
  *
  */
-#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1    /* PA5 */
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1)    /* PA5 */
 #define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
 #define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1   /* PA7 */
 
-#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_2    /* PB10 */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_2)    /* PB10 */
 #define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1   /* PB14 */
 #define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1   /* PB15 */
 
-#define GPIO_SPI5_SCK    GPIO_SPI5_SCK_1    /* PF7 */
+#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1)    /* PF7 */
 #define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1   /* PF8 */
 #define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_1   /* PF9 */
 

diff --git a/boards/mro/ctrl-zero-f7/src/init.c b/boards/mro/ctrl-zero-f7/src/init.c
@@ -100,9 +100,6 @@ __END_DECLS
  ************************************************************************************/
 __EXPORT void board_peripheral_reset(int ms)
 {
-	/* set the peripheral rails off */
-	board_control_spi_sensors_power(false, 0xffff);
-
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
 	VDD_3V3_SPEKTRUM_POWER_EN(false);
@@ -115,7 +112,6 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	/* switch the peripheral rail back on */
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
-	board_control_spi_sensors_power(true, 0xffff);
 }
 
 /************************************************************************************
@@ -162,9 +158,6 @@ stm32_boardinitialize(void)
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));
 
-	/* configure SPI interfaces */
-	px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
-
 	/* configure USB interfaces */
 	stm32_usbinitialize();
 }
@@ -198,7 +191,6 @@ stm32_boardinitialize(void)
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
-	px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
 	board_control_spi_sensors_power(true, 0xffff);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 

diff --git a/src/drivers/imu/invensense/icm20948/CMakeLists.txt b/src/drivers/imu/invensense/icm20948/CMakeLists.txt
@@ -34,6 +34,7 @@ px4_add_module(
 	MODULE drivers__imu__icm20948
 	MAIN icm20948
 	COMPILE_FLAGS
+		-DDEBUG_BUILD
 	SRCS
 		AKM_AK09916_registers.hpp
 		ICM20948.cpp

diff --git a/src/drivers/imu/invensense/icm20948/ICM20948.cpp b/src/drivers/imu/invensense/icm20948/ICM20948.cpp
@@ -50,6 +50,8 @@ ICM20948::ICM20948(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Ro
 	_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
 	_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
 {
+	_debug_enabled = true;
+
 	if (drdy_gpio != 0) {
 		_drdy_interval_perf = perf_alloc(PC_INTERVAL, MODULE_NAME": DRDY interval");
 	}