MPU9250 not found after v1.12.0 on BeagleBone blue

[navunlimited]

Describe the bug I was able to make MPU9250 work ok on v1.11.3. But here are other issues about pwm test and esc calibration since bblue pwm mapping is different from PX4 default. So I tried to update to newer version v1.12.3 since there are new board_pwm_out files there. After recompile and upload the v1.12.3, MPU9250 cannot be found at all. So, I tried v1.12.0. The issue is the same. It seems that PX4-Autopilot/src/drivers/imu/mpu9250 directory is removed or combined into invensense/mpu9250 after v1.12.0. But something goes wrong. PS. pwm functions seem not working as well since escs keep beeping after lunch px4.....

To Reproduce compiling v1.12.0 or v1.12.3 and uploading. run ./bin/px4 -s px4.config

Expected behavior bmp280 #0 on I2C bus 2 mpu9250 #0 on I2C bus 2

Log Files and Screenshots debian@beaglebone:~/px4$ sudo ./bin/px4 -s px4.config INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed.

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| \ \ \ / / / | | |/ / \ V / / /| | | / / \ / /_| | | | / /^\ \ __ | _| \/ \/ |/

px4 starting.

INFO [px4] Calling startup script: /bin/sh px4.config 0 INFO [parameters] BSON document size 127 bytes, decoded 127 bytes BAT1_V_CHANNEL: curr: -1 -> new: 5 INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes bmp280 #0 on I2C bus 2 address 0x76 WARN [SPI_I2C] UnknownApp: no instance started (no device on bus?) INFO [commander] LED: open /dev/led0 failed (22) INFO [mavlink] mode: Normal, data rate: 1000000 B/s on udp port 14556 remote port 14550 INFO [drivers_board] Initializing librobotcontrol ... INFO [logger] logger started (mode=all) INFO [mavlink] using network interface SoftAp0, IP: 192.168.8.1 INFO [mavlink] with netmask: 255.255.255.0 INFO [mavlink] and broadcast IP: 192.168.8.255 INFO [px4] Startup script returned successfully

Drone (please complete the following information):

• Beaglebone Blue

Additional context Add any other context about the problem here.

[Ncerzzk]

how about check the address of mpu9250 by i2cdetect -y -a N and using mpu9250_i2c -I -a 0xXX start ?

[navunlimited]

how about check the address of mpu9250 by i2cdetect -y -a N and using mpu9250_i2c -I -a 0xXX start ?

None of them work: debian@beaglebone:~/px4$ sudo i2cdetect -y -a 2 Error: Can't use SMBus Quick Write command on this bus

However, I know the bus address 0x68 from using v1.11.3 version by printing out info when mpu9250 was called:

I2CSPIDriverBase::module_start is called I2c bus is internal I2C initialize opening I2C bus/device: /dev/i2c-2: #fd: 8 device_ID: 2385937 on I2C bus 2 at 0x68 by sq mpu9250 initial sample rate: 1000 mpu9250 after change sample rate: 50 IMU9250 probe WHOAMI: 0x71

so try the second command: pxh> mpu9250_i2c -I -a 0x68 start ERROR [SPI_I2C] Bug: driver mpu9250_i2c does not pass the I2C address to I2CSPIDriverBase

I think the point is that MPU9250 from v1.11.3 was working. Then got broken after being removed or combined into invensens/mpu9250. Not sure how many differences between the invensens/mpu9250 and the previous mpu9250 driver which is using librobotcontrol in beaglebone blue.

[dagar]

@navunlimited I can take a closer look if anyone is actually using this board.

Can you try running i2cdetect within PX4?

[dagar]

Can you try this on current master as well?

[navunlimited]

@dagar Thank you for your time and effort. I have tried compiling master head (after installing two more tools: kconfiglib and jsonschema) and uploaded to bb blue board. Then started px4 and tried i2cdetect. But no luck. It looks like i2cdetect can only run in linux, not in px4:

############################################################# debian@beaglebone:~/px4$ sudo ./bin/px4 -s px4.config [sudo] password for debian: INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed.

---

| \ \ \ / / / | | |/ / \ V / / /| | | / / \ / /_| | | | / /^\ \ __ | _| \/ \/ |/

px4 starting.

INFO [px4] Calling startup script: /bin/sh px4.config 0 INFO [param] selected parameter default file eeprom/parameters ERROR [param] open 'eeprom/parameters' failed (2) CBRK_SUPPLY_CHK: curr: 0 -> new: 894281 SYS_AUTOSTART: curr: 0 -> new: 4011 MAV_TYPE: curr: 0 -> new: 2 BAT1_V_CHANNEL: curr: -1 -> new: 5 BAT1_V_DIV: curr: -1.0000 -> new: 11.0000 INFO [dataman] data manager file './dataman' size is 7866640 bytes bmp280 #0 on I2C bus 2 address 0x76 ERROR [SPI_I2C] UnknownApp: no instance started (no device on bus?) ERROR [gps] failed to instantiate object INFO [commander] LED: open /dev/led0 failed (22) INFO [mavlink] mode: Normal, data rate: 1000000 B/s on udp port 14556 remote port 14550 INFO [mavlink] using network interface SoftAp0, IP: 192.168.8.1 INFO [mavlink] with netmask: 255.255.255.0 INFO [mavlink] and broadcast IP: 192.168.8.255 INFO [drivers_board] Initializing librobotcontrol ... INFO [logger] logger started (mode=all) INFO [px4] Startup script returned successfully pxh> i2cdetect Invalid command: i2cdetect ########################################################

tried i2cdetect -l in debian: ####################################################### debian@beaglebone:~$ i2cdetect -l i2c-1 i2c OMAP I2C adapter I2C adapter i2c-2 i2c OMAP I2C adapter I2C adapter i2c-0 i2c OMAP I2C adapter I2C adapter ###############################################

Based on v1.11.3 experience, I knew both bmp280 and mpu9250 are on i2c-2: ###################################################### debian@beaglebone:~$ i2cdetect -y -r 2 0 1 2 3 4 5 6 7 8 9 a b c d e f 00: -- -- -- -- -- -- -- -- -- -- -- -- -- 10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 60: -- -- -- -- -- -- -- -- 68 -- -- -- -- -- -- -- 70: -- -- -- -- -- -- 76 -- #############################################

we can see bmp280 is @0x76, mpu is @0x68, which both match my previous post info from using v1.11.3. Hope these info helps.

[navunlimited]

@dagar any progress or need any help?

[navunlimited]

@dagar I tried again on using SPI bus for adis16477 which was working on v1.11.3. But no luck on v1.12.0. So, I guess i2c and spi drivers both have issues after updating to v1.12.0

################################################### debian@beaglebone:~/px4$ sudo ./bin/px4 -s px4.config INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM. INFO [px4] assuming working directory is rootfs, no symlinks needed.

---

| \ \ \ / / / | | |/ / \ V / / /| | | / / \ / /_| | | | / /^\ \ __ | _| \/ \/ |/

px4 starting.

INFO [px4] Calling startup script: /bin/sh px4.config 0 INFO [parameters] BSON document size 387 bytes, decoded 387 bytes BAT1_V_CHANNEL: curr: -1 -> new: 5 INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes bmp280 #0 on I2C bus 2 address 0x76 WARN [SPI_I2C] UnknownApp: no instance started (no device on bus?) <------ first one to start mpu9250 WARN [SPI_I2C] UnknownApp: no instance started (no device on bus?) <------- second one to start adis16477 INFO [commander] LED: open /dev/led0 failed (22) INFO [mavlink] mode: Normal, data rate: 1000000 B/s on /dev/ttyS5 @ 460800B INFO [drivers_board] Initializing librobotcontrol ... INFO [logger] logger started (mode=all) INFO [logger] Logging FIFO data: increasing task prio and logging rate
INFO [logger] Start file log (type: full) INFO [logger] [logger] ./log/2022-08-06/09_10_58.ulg INFO [logger] Opened full log file: ./log/2022-08-06/09_10_58.ulg INFO [px4] Startup script returned successfully

################################################################

Another issue I found is that there is no IMU FIFO logging. I was using px4_v1.11.3 stable version and I did not see any IMU FIFO message. Any idea to make it work? ################################# INFO [logger] logger started (mode=file) INFO [logger] Logging FIFO data: increasing task prio and logging rate <----- look like SDLOG_PROFILE = 771 setting is correct INFO [logger] Start file log (type: full) INFO [logger] [logger] ./log/2022-08-05/05_22_20.ulg INFO [logger] Opened full log file: ./log/2022-08-05/05_22_20.ulg ###################################

no IMU FIFO files found by either using “ulog2csv” log analysis tool

or matlab’s ulogreader() then readTopicMsgs():

[dagar]

@navunlimited ping me on slack to discuss?

I don't know what the problem is, but I'd be happy to get this fixed in the main branch, and then backported for the next stable point release (v1.13.1).