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PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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External IMU adis16448 not starting on fmuv3 #17858

Closed Jaeyoung-Lim closed 3 years ago

Jaeyoung-Lim commented 3 years ago

Describe the bug When trying to run the adis16448 driver on a fmuv3 hardware, the driver is not able to start.

Expected behavior Driver should start as expected

Log Files and Screenshots Log from boot through the debug port

bad version detected, forcing to fmu-v2
FMUv2 ver 0x8 : Rev 0 V2
[boot] Fault Log info File No 4 Length 3177 flags:0x01 state:1
[boot] Fault Log is Armed
sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
HW arch: PX4_FMU_V3
HW type: V2
HW version: 0x00090008
HW revision: 0x00000000
FW git-hash: 0f4eaec6c12dad9a41cea0cb8456f90e88908320
FW version: 1.12.0 0 (17563648)
FW git-branch: develop
OS: NuttX
OS versi[hardfault_log] Fault Log is Armed
on: Release 10.0.0 (167772415)
OS git-hash: 011fbb2ce150e05532e04b2f63d93ee932b226fb
Build datetime: Jul  1 2021 08:14:41
Build uri: localhost
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 000100000000393839343335511400460027
MCU: STM32F42x, rev. 3
nsh: cat: open failed: Is a directory
INFO  [param] selected parameter default file /fs/mtd_params
Board architecture defaults: /etc/init.d/rc.board_arch_defaults
INFO  [px4io] IO FW CRC match
Board sensors: /etc/init.d/rc.board_sensors
rgbled #0 on I2C bus 2
WARN  [SPI_I2C] rgbled_ncp5623c: no instance started (no device on bus?)
WARN  [SPI_I2C] hmc5883: no instance started (no device on bus?)
WARN  [SPI_I2C] ms5611: no instance started (no device on bus?)
ms5611 #0 on SPI bus 1 (devid=0x3d)
mpu6000 #0 on SPI bus 1 (devid=0x21)
WARN  [SPI_I2C] mpu9250: no instance started (no device on bus?)
l3gd20 #0 on SPI bus 1 (devid=0x22)
lsm303d #0 on SPI bus 1 (devid=0x11)
Board extras: /etc/init.d/rc.board_mavlink
INFO  [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B
Starting Main GPS on /dev/ttyS3
Starting MAVLink on /dev/ttyS1
INFO  [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B
INFO  [px4io] default PWM output device
INFO  [init] Mixer: /etc/mixers/AAERTWF.main.mix on /dev/pwm_output0
INFO  [pwm_out] instance: 0, MAX RATE: 100, default: 50, alt: 50
INFO  [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1
ERROR [px4io] failed setting PWM rate on IO
ERROR [pwm] PWM_SERVO_SET_SELECT_UPDATE_RATE
ekf2 [476:100]
INFO  [logger] logger started (mode=all)
INFO  [logger] logging 49 topics from logger_topics.txt

NuttShell (NSH) NuttX-10.0.0
nsh> ERROR [ekf2] 0 - vehicle_magnetometer lost, generation 18 -> 25
INFO  [airspeed_selector] No airspeed sensor detected. Switch to non-airspeed mode.

Additional context Add any other context about the problem here.

Jaeyoung-Lim commented 3 years ago

@dagar This is with the debug build enabled (log seems to be identical)

reset done, 10 ms

bad version detected, forcing to fmu-v2
FMUv2 ver 0x8 : Rev 0 V2
[boot] Fault Log info File No 4 Length 3177 flags:0x01 state:1
[boot] Fault Log is Armed
sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
HW arch: PX4_FMU_V3
HW type: V2
HW version: 0x00090008
HW revision: 0x00000000
FW git-hash: 01307a43feadb97194989961a655d242fe69e77e
FW version: 1.12.0 0 (17563648)
FW git-branch: develop
OS: NuttX
OS versi[hardfault_log] Fault Log is Armed
on: Release 10.0.0 (167772415)
OS git-hash: 011fbb2ce150e05532e04b2f63d93ee932b226fb
Build datetime: Jul  1 2021 08:14:41
Build uri: localhost
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 000100000000393839343335511400460027
MCU: STM32F42x, rev. 3
nsh: cat: open failed: Is a directory
INFO  [param] selected parameter default file /fs/mtd_params
Board architecture defaults: /etc/init.d/rc.board_arch_defaults
INFO  [px4io] IO FW CRC match
Board sensors: /etc/init.d/rc.board_sensors
rgbled #0 on I2C bus 2
WARN  [SPI_I2C] rgbled_ncp5623c: no instance started (no device on bus?)
WARN  [SPI_I2C] hmc5883: no instance started (no device on bus?)
WARN  [SPI_I2C] ms5611: no instance started (no device on bus?)
ms5611 #0 on SPI bus 1 (devid=0x3d)
mpu6000 #0 on SPI bus 1 (devid=0x21)
WARN  [SPI_I2C] mpu9250: no instance started (no device on bus?)
l3gd20 #0 on SPI bus 1 (devid=0x22)
lsm303d #0 on SPI bus 1 (devid=0x11)
WARN  [SPI_I2C] adis16448: no instance started (no device on bus?)
Board extras: /etc/init.d/rc.board_mavlink
INFO  [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B
Starting Main GPS on /dev/ttyS3
Starting MAVLink on /dev/ttyS1
INFO  [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B
INFO  [px4io] default PWM output device
INFO  [init] Mixer: /etc/mixers/AAERTWF.main.mix on /dev/pwm_output0
INFO  [pwm_out] instance: 0, MAX RATE: 100, default: 50, alt: 50
INFO  [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1
ERROR [px4io] failed setting PWM rate on IO
ERROR [pwm] PWM_SERVO_SET_SELECT_UPDATE_RATE
ekf2 [485:100]
INFO  [logger] logger started (mode=all)
INFO  [logger] logging 49 topics from logger_topics.txt

NuttShell (NSH) NuttX-10.0.0
nsh> ERROR [ekf2] 0 - vehicle_magnetometer lost, generation 18 -> 25
INFO  [airspeed_selector] No airspeed sensor detected. Switch to non-airspeed mode.
Jaeyoung-Lim commented 3 years ago

More debug outputs:

Failing to instantiate driver base: https://github.com/PX4/PX4-Autopilot/blob/847b3b5b64538e6d3c27fdcde50adee6f7510637/platforms/common/i2c_spi_buses.cpp#L541

INFO  [SPI_I2C] instantiate failed (no device on bus 4 (devid 0x10000000)?)
WARN  [SPI_I2C] adis16448: no instance started (no device on bus?)
INFO  [SPI_I2C] instantiate failed (no device on bus 1 (devid 0x0)?)
INFO  [SPI_I2C] instantiate failed (no device on bus 1 (devid 0x0)?)
INFO  [SPI_I2C] instantiate failed (no device on bus 1 (devid 0x0)?)
INFO  [SPI_I2C] instantiate failed (no device on bus 1 (devid 0x0)?)
INFO  [SPI_I2C] instantiate failed (no device on bus 1 (devid 0x0)?)
INFO  [SPI_I2C] instantiate failed (no device on bus 1 (devid 0x0)?)
INFO  [SPI_I2C] instantiate failed (no device on bus 1 (devid 0x0)?)
INFO  [SPI_I2C] instantiate failed (no device on bus 1 (devid 0x0)?)
INFO  [SPI_I2C] instantiate failed (no device on bus 1 (devid 0x0)?)
INFO  [SPI_I2C] instantiate failed (no device on bus 1 (devid 0x0)?)
INFO  [SPI_I2C] instantiate failed (no device on bus 1 (devid 0x0)?)
INFO  [SPI_I2C] instantiate failed (no device on bus 1 (devid 0x0)?)
INFO  [SPI_I2C] instantiate failed (no device on bus 1 (devid 0x0)?)
INFO  [SPI_I2C] instantiate failed (no device on bus 1 (devid 0x0)?)
acfloria commented 3 years ago

I tried to debug why the startup fails by adding some more debug outputs:

INFO [adis16448] ADIS instantiate called INFO [adis16448] ADIS16448 Constructor: bus = 4 INFO [adis16448] ADIS16448 Constructor: device = 268435456 INFO [adis16448] ADIS16448 Constructor: bus_frequency = 2000000 INFO [adis16448] ADIS instance created INFO [drivers__device] SPI Init called INFO [adis16448] Probe called INFO [adis16448] PROD_ID 0 INFO [adis16448] SERIAL_NUM 0 INFO [adis16448] LOT_ID1 0 INFO [adis16448] LOT_ID2 0 INFO [adis16448] unexpected PROD_ID 0x00 INFO [adis16448] PROD_ID 0 INFO [adis16448] SERIAL_NUM 0 INFO [adis16448] LOT_ID1 0 INFO [adis16448] LOT_ID2 0 INFO [adis16448] unexpected PROD_ID 0x00 INFO [adis16448] PROD_ID 0 INFO [adis16448] SERIAL_NUM 0 INFO [adis16448] LOT_ID1 0 INFO [adis16448] LOT_ID2 0 INFO [adis16448] unexpected PROD_ID 0x00 INFO [drivers__device] probe failed INFO [adis16448] ADIS16448.init(): ret = -1 INFO [adis16448] ADIS16448.init(): ret = not OK INFO [adis16448] SPI::init failed (-1)

It seems as if the SPI communication is not working because it is returning always 0. The hardware is fine. When flashing it with our old custom firmware the product ID is correctly read as 0x4040 and the driver is working.

acfloria commented 3 years ago

I tested it with some older versions:

1.11.0 Same as above, returns all 0

1.10.0 The product ID gets detected but the measure fails:

INFO [adis16448] ADIS16448 is detected ID: 0x4040, Serial: 0x1b ADIS16448 on SPI bus 4 at 4 (1000 KHz) ERROR [adis16448] measure failed ERROR [adis16448] driver start failed

1.9.0 The Adis driver starts up and works.