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Code Issues Releases Activity

Got SPI IRQ from mainboard firing

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This commit is contained in:
James Cotton 2011-08-14 01:44:44 -05:00
parent 80c2d45d93
commit 02d5e27e93
2 changed files with 36 additions and 18 deletions
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34
flight/INS/ins.c
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@ -450,9 +450,15 @@ uint32_t total_conversion_blocks;
int32_t gyro_error;
int16_t gyro[4];
int16_t mag[3];
int16_t accel[3];
float altitude;
int32_t pressure;
int32_t dr;
int32_t sclk, sclk_prev;
int32_t sclk_count;
int main()
{
gps_data.quality = -1;
@ -480,8 +486,8 @@ int main()
if(PIOS_IMU3000_Test() != 0)
panic(1);
//if(PIOS_BMA180_Test() != 0)
// panic(2);
if(PIOS_BMA180_Test() != 0)
panic(2);
if(PIOS_HMC5883_Test() != 0)
panic(3);
@ -489,6 +495,19 @@ int main()
if(PIOS_BMP085_Test() != 0)
panic(4);
PIOS_LED_On(LED1);
PIOS_LED_Off(LED2);
/*
while(1) {
sclk = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_15);
if(sclk_prev != sclk)
sclk_count++;
sclk_prev = sclk;
dr = SPI2->DR;
}
*/
/*
uint32_t count = 500;
while(count--) {
// Update the pressure data
@ -504,14 +523,11 @@ int main()
PIOS_HMC5883_ReadMag(mag);
PIOS_DELAY_WaitmS(50);
PIOS_BMA180_ReadAccels(accel);
PIOS_DELAY_WaitmS(50);;
}
if(PIOS_IMU3000_Test() != 0)
panic(1);
pressure++;
gyro[0]++;
mag[0]++;
*/
// Flash warning light while trying to connect
uint16_t time_val = PIOS_DELAY_GetuS();
uint16_t ms_count = 0;

20
flight/INS/pios_board.c
View File

@ -42,10 +42,11 @@
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
*/
void PIOS_SPI_op_irq_handler(void);
void DMA1_Stream3_IRQ_Handler(void) __attribute__((alias("PIOS_SPI_op_irq_handler")));
void DMA1_Stream4_IRQ_Handler(void) __attribute__((alias("PIOS_SPI_op_irq_handler")));
void DMA1_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_op_irq_handler")));
void DMA1_Stream4_IRQHandler(void) __attribute__((alias("PIOS_SPI_op_irq_handler")));
static const struct pios_spi_cfg pios_spi_op_cfg = {
.regs = SPI2,
.remap = GPIO_AF_SPI2,
.init = {
.SPI_Mode = SPI_Mode_Slave,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
@ -61,9 +62,9 @@ static const struct pios_spi_cfg pios_spi_op_cfg = {
.ahb_clk = RCC_AHB1Periph_DMA1,
.irq = {
.flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3),
.flags = (DMA_IT_TCIF4 | DMA_IT_TEIF4 | DMA_IT_HTIF4),
.init = {
.NVIC_IRQChannel = DMA1_Stream0_IRQn,
.NVIC_IRQChannel = DMA1_Stream3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
@ -114,7 +115,7 @@ static const struct pios_spi_cfg pios_spi_op_cfg = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_OD,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
@ -162,10 +163,11 @@ void PIOS_SPI_op_irq_handler(void)
* - Used for BMA180 accelerometer
*/
void PIOS_SPI_accel_irq_handler(void);
void DMA2_Stream0_IRQ_Handler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
void DMA2_Stream3_IRQ_Handler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
void DMA2_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
static const struct pios_spi_cfg pios_spi_accel_cfg = {
.regs = SPI1,
.remap = GPIO_AF_SPI1,
.init = {
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
@ -742,8 +744,8 @@ void PIOS_Board_Init(void) {
if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
PIOS_DEBUG_Assert(0);
}
/*PIOS_BMA180_Attach(pios_spi_accel_id);
PIOS_BMA180_Init(&pios_bma180_cfg);*/
PIOS_BMA180_Attach(pios_spi_accel_id);
PIOS_BMA180_Init(&pios_bma180_cfg);
PIOS_IMU3000_Init(&pios_imu3000_cfg);
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
PIOS_BMP085_Init(&pios_bmp085_cfg);