mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
OP-378 - OP/INS - Add initial support for INS. HMC5883, BMP085, BMA180, IMU300 all added. Throrough verification has not been done on any of them. main() simply calls self-test functions on all of the hardware.
AHRS_comms still needs to be implemented. INS/GPS functionality still needs to be implemented. Double-check of the new drivers still needs to be done. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3162 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
chebuzz
chebuzz
parent
7fcde2f248
commit
06443b4281
27
Makefile
27
Makefile
@ -266,7 +266,7 @@ uavobjects_clean:
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#
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##############################
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FW_TARGETS := openpilot ahrs coptercontrol pipxtreme
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FW_TARGETS := openpilot ahrs coptercontrol pipxtreme ins
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BL_TARGETS := $(addprefix bl_, $(FW_TARGETS))
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.PHONY: all_fw all_fw_clean
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@ -377,6 +377,31 @@ bl_pipxtreme_clean:
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$(V0) @echo " CLEAN $@"
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$(V1) $(RM) -fr $(BUILD_DIR)/bl_pipxtreme
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.PHONY: ins
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ins: ins_bin
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ins_%: uavobjects_flight
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$(V1) mkdir -p $(BUILD_DIR)/ins/dep
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$(V1) $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" -C $(ROOT_DIR)/flight/INS $*
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.PHONY: ins_clean
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ins_clean:
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$(V0) @echo " CLEAN $@"
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$(V1) $(RM) -fr $(BUILD_DIR)/ins
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.PHONY: bl_ins
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bl_ins: bl_ins_elf
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bl_ins_%:
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$(V1) mkdir -p $(BUILD_DIR)/bl_ins/dep
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$(V1) $(MAKE) -r --no-print-directory OUTDIR="$(BUILD_DIR)/bl_ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" -C $(ROOT_DIR)/flight/Bootloaders/INS $*
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.PHONY: bl_ins_clean
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bl_ins_clean:
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$(V0) @echo " CLEAN $@"
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$(V1) $(RM) -fr $(BUILD_DIR)/bl_ins
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.PHONY: sim_posix
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sim_posix: sim_posix_elf
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479
flight/INS/Makefile
Normal file
479
flight/INS/Makefile
Normal file
@ -0,0 +1,479 @@
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#####
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# Project: OpenPilot INS
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#
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#
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# Makefile for OpenPilot INS project
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#
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# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2011.
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#
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful, but
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# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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# for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#####
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WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
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TOP := $(realpath $(WHEREAMI)/../../)
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include $(TOP)/make/firmware-defs.mk
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# Set developer code and compile options
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# Set to YES for debugging
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DEBUG ?= YES
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USE_BOOTLOADER ?= NO
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# Set to YES when using Code Sourcery toolchain
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CODE_SOURCERY ?= YES
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ifeq ($(CODE_SOURCERY), YES)
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REMOVE_CMD = cs-rm
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else
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REMOVE_CMD = rm
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endif
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FLASH_TOOL = OPENOCD
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# MCU name, submodel and board
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# - MCU used for compiler-option (-mcpu)
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# - MODEL used for linker-script name (-T) and passed as define
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# - BOARD just passed as define (optional)
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MCU = cortex-m3
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CHIP = STM32F103RET
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BOARD = STM3210E_INS
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MODEL = HD
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ifeq ($(USE_BOOTLOADER), YES)
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BOOT_MODEL = $(MODEL)_BL
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else
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BOOT_MODEL = $(MODEL)_NB
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endif
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# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
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OUTDIR = $(TOP)/build/ins
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# Target file name (without extension).
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TARGET = INS
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# Paths
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INS = ./
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INSINC = $(INS)/inc
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PIOS = ../PiOS
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PIOSINC = $(PIOS)/inc
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FLIGHTLIB = ../Libraries
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FLIGHTLIBINC = ../Libraries/inc
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PIOSSTM32F10X = $(PIOS)/STM32F10x
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PIOSCOMMON = $(PIOS)/Common
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PIOSBOARDS = $(PIOS)/Boards
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APPLIBDIR = $(PIOSSTM32F10X)/Libraries
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STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
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STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
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STMSPDSRCDIR = $(STMSPDDIR)/src
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STMSPDINCDIR = $(STMSPDDIR)/inc
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CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
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OPDIR = ../OpenPilot
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OPUAVOBJ = ../UAVObjects
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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OPSYSINC = $(OPDIR)/System/inc
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BOOT = ../Bootloaders/INS
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BOOTINC = $(BOOT)/inc
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OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
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# List C source files here. (C dependencies are automatically generated.)
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# use file-extension c for "c-only"-files
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## INS:
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SRC = ins.c
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SRC += pios_board.c
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#SRC += ins_timer.c
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#SRC += insgps13state.c
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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#SRC += $(FLIGHTLIB)/ins_spi_comm.c
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#SRC += $(FLIGHTLIB)/ins_comm_objects.c
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#SRC += $(FLIGHTLIB)/CoordinateConversions.c
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#SRC += $(BOOT)/ins_spi_program_slave.c
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#SRC += $(BOOT)/ins_slave_test.c
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#SRC += $(BOOT)/ins_spi_program.c
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## PIOS Hardware (STM32F10x)
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SRC += $(PIOSSTM32F10X)/pios_sys.c
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SRC += $(PIOSSTM32F10X)/pios_led.c
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SRC += $(PIOSSTM32F10X)/pios_delay.c
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SRC += $(PIOSSTM32F10X)/pios_usart.c
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SRC += $(PIOSSTM32F10X)/pios_irq.c
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SRC += $(PIOSSTM32F10X)/pios_i2c.c
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SRC += $(PIOSSTM32F10X)/pios_debug.c
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SRC += $(PIOSSTM32F10X)/pios_gpio.c
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SRC += $(PIOSSTM32F10X)/pios_spi.c
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SRC += $(PIOSSTM32F10X)/pios_exti.c
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_com.c
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SRC += $(PIOSCOMMON)/printf-stdarg.c
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SRC += $(PIOSCOMMON)/pios_iap.c
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SRC += $(PIOSCOMMON)/pios_bma180.c
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SRC += $(PIOSCOMMON)/pios_hmc5883.c
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SRC += $(PIOSCOMMON)/pios_bmp085.c
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SRC += $(PIOSCOMMON)/pios_imu3000.c
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## CMSIS for STM32
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SRC += $(CMSISDIR)/core_cm3.c
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SRC += $(CMSISDIR)/system_stm32f10x.c
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## Used parts of the STM-Library
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SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
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SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
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SRC += $(STMSPDSRCDIR)/misc.c
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# List C source files here which must be compiled in ARM-Mode (no -mthumb).
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# use file-extension c for "c-only"-files
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## just for testing, timer.c could be compiled in thumb-mode too
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SRCARM =
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# List C++ source files here.
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# use file-extension .cpp for C++-files (not .C)
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CPPSRC =
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# List C++ source files here which must be compiled in ARM-Mode.
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# use file-extension .cpp for C++-files (not .C)
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#CPPSRCARM = $(TARGET).cpp
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CPPSRCARM =
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# List Assembler source files here.
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# Make them always end in a capital .S. Files ending in a lowercase .s
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# will not be considered source files but generated files (assembler
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# output from the compiler), and will be deleted upon "make clean"!
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# Even though the DOS/Win* filesystem matches both .s and .S the same,
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# it will preserve the spelling of the filenames, and gcc itself does
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# care about how the name is spelled on its command-line.
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ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
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# List Assembler source files here which must be assembled in ARM-Mode..
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ASRCARM =
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# List any extra directories to look for include files here.
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# Each directory must be seperated by a space.
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EXTRAINCDIRS += $(PIOS)
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EXTRAINCDIRS += $(PIOSINC)
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EXTRAINCDIRS += $(FLIGHTLIBINC)
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EXTRAINCDIRS += $(PIOSSTM32F10X)
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EXTRAINCDIRS += $(PIOSCOMMON)
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EXTRAINCDIRS += $(PIOSBOARDS)
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EXTRAINCDIRS += $(STMSPDINCDIR)
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EXTRAINCDIRS += $(CMSISDIR)
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EXTRAINCDIRS += $(INSINC)
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EXTRAINCDIRS += $(OPUAVSYNTHDIR)
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EXTRAINCDIRS += $(BOOTINC)
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# List any extra directories to look for library files here.
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# Also add directories where the linker should search for
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# includes from linker-script to the list
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# Each directory must be seperated by a space.
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EXTRA_LIBDIRS =
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# Extra Libraries
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# Each library-name must be seperated by a space.
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# i.e. to link with libxyz.a, libabc.a and libefsl.a:
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# EXTRA_LIBS = xyz abc efsl
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# for newlib-lpc (file: libnewlibc-lpc.a):
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# EXTRA_LIBS = newlib-lpc
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EXTRA_LIBS =
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# Path to Linker-Scripts
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LINKERSCRIPTPATH = $(PIOSSTM32F10X)
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# Optimization level, can be [0, 1, 2, 3, s].
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# 0 = turn off optimization. s = optimize for size.
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# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
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ifeq ($(DEBUG),YES)
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CFLAGS += -Os
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CFLAGS += -DGENERAL_COV
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else
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CFLAGS += -Os
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endif
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# Output format. (can be ihex or binary or both)
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# binary to create a load-image in raw-binary format i.e. for SAM-BA,
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# ihex to create a load-image in Intel hex format
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#LOADFORMAT = ihex
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#LOADFORMAT = binary
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LOADFORMAT = both
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# Debugging format.
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DEBUGF = dwarf-2
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# Place project-specific -D (define) and/or
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# -U options for C here.
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CDEFS = -DSTM32F10X_$(MODEL)
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CDEFS += -DUSE_STDPERIPH_DRIVER
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CDEFS += -DUSE_$(BOARD)
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CDEFS += -DIN_INS
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ifeq ($(USE_BOOTLOADER), YES)
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CDEFS += -DUSE_BOOTLOADER
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endif
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# Place project-specific -D and/or -U options for
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# Assembler with preprocessor here.
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#ADEFS = -DUSE_IRQ_ASM_WRAPPER
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ADEFS = -D__ASSEMBLY__
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# Compiler flag to set the C Standard level.
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# c89 - "ANSI" C
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# gnu89 - c89 plus GCC extensions
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# c99 - ISO C99 standard (not yet fully implemented)
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# gnu99 - c99 plus GCC extensions
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CSTANDARD = -std=gnu99
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#-----
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# Compiler flags.
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# -g*: generate debugging information
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# -O*: optimization level
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# -f...: tuning, see GCC manual and avr-libc documentation
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# -Wall...: warning level
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# -Wa,...: tell GCC to pass this to the assembler.
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# -adhlns...: create assembler listing
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#
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# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
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ifeq ($(DEBUG),YES)
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CFLAGS += -g$(DEBUGF) #-DDEBUG
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else
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CFLAGS += -g$(DEBUGF)
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endif
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CFLAGS += -ffast-math
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CFLAGS += -mcpu=$(MCU)
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CFLAGS += $(CDEFS)
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CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
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CFLAGS += -mapcs-frame
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CFLAGS += -fomit-frame-pointer
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ifeq ($(CODE_SOURCERY), YES)
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CFLAGS += -fpromote-loop-indices
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endif
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CFLAGS += -Wall
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#CFLAGS += -Werror
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CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
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# Compiler flags to generate dependency files:
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CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
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# flags only for C
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#CONLYFLAGS += -Wnested-externs
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CONLYFLAGS += $(CSTANDARD)
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# Assembler flags.
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# -Wa,...: tell GCC to pass this to the assembler.
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# -ahlns: create listing
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ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp
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ASFLAGS += $(ADEFS)
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ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
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ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
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MATH_LIB = -lm
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# Linker flags.
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# -Wl,...: tell GCC to pass this to linker.
|
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# -Map: create map file
|
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# --cref: add cross reference to map file
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LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
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LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
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LDFLAGS += -lc
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LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
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LDFLAGS += $(MATH_LIB)
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LDFLAGS += -lc -lgcc
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# Set linker-script name depending on selected submodel name
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LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
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# ---------------------------------------------------------------------------
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# Options for OpenOCD flash-programming
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# see openocd.pdf/openocd.texi for further information
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#
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OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
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# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
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OOCD_EXE=openocd
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# debug level
|
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OOCD_CL=-d0
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# interface and board/target settings (using the OOCD target-library here)
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UNAME := $(shell uname)
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ifeq ($(UNAME), Darwin)
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OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../Project/OpenOCD/stm32.cfg
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else
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OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
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endif
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# initialize
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OOCD_CL+=-c init
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# show the targets
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OOCD_CL+=-c targets
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# commands to prepare flash-write
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OOCD_CL+= -c "reset halt"
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# flash erase
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OOCD_CL+=-c "stm32x mass_erase 0"
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# flash-write
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OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
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# Verify
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OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
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# reset target
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OOCD_CL+=-c "reset run"
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# terminate OOCD after programming
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OOCD_CL+=-c shutdown
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# ---------------------------------------------------------------------------
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# Define programs and commands.
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REMOVE = $(REMOVE_CMD) -f
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###SHELL = sh
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###COPY = cp
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# List of all source files.
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ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
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# List of all source files without directory and file-extension.
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ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
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|
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# Define all object files.
|
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ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
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|
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# Define all listing files (used for make clean).
|
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LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
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# Define all depedency-files (used for make clean).
|
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DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
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|
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# Default target.
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all: gccversion build
|
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ifeq ($(LOADFORMAT),ihex)
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build: elf hex lss sym
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else
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ifeq ($(LOADFORMAT),binary)
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build: elf bin lss sym
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else
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ifeq ($(LOADFORMAT),both)
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build: elf hex bin lss sym
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else
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$(error "$(MSG_FORMATERROR) $(FORMAT)")
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endif
|
||||
endif
|
||||
endif
|
||||
|
||||
# Program the device.
|
||||
ifeq ($(USE_BOOTLOADER), YES)
|
||||
# Program the device with OP Upload Tool".
|
||||
program: $(OUTDIR)/$(TARGET).bin
|
||||
@echo ${quote}Programming with OP Upload Tool${quote}
|
||||
../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 1 -p $(OUTDIR)/$(TARGET).bin
|
||||
else
|
||||
ifeq ($(FLASH_TOOL),OPENOCD)
|
||||
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
|
||||
program: $(OUTDIR)/$(TARGET).elf
|
||||
@echo ${quote}Programming with OPENOCD${quote}
|
||||
$(OOCD_EXE) $(OOCD_CL)
|
||||
endif
|
||||
endif
|
||||
|
||||
# Link: create ELF output file from object files.
|
||||
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
|
||||
|
||||
# Assemble: create object files from assembler source files.
|
||||
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
|
||||
|
||||
# Assemble: create object files from assembler source files. ARM-only
|
||||
$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C source files.
|
||||
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C source files. ARM-only
|
||||
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C++ source files.
|
||||
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C++ source files. ARM-only
|
||||
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create assembler files from C source files. ARM/Thumb
|
||||
$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
|
||||
|
||||
# Compile: create assembler files from C source files. ARM only
|
||||
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
|
||||
|
||||
.PHONY: elf lss sym hex bin
|
||||
elf: $(OUTDIR)/$(TARGET).elf
|
||||
lss: $(OUTDIR)/$(TARGET).lss
|
||||
sym: $(OUTDIR)/$(TARGET).sym
|
||||
hex: $(OUTDIR)/$(TARGET).hex
|
||||
bin: $(OUTDIR)/$(TARGET).bin
|
||||
|
||||
# Display sizes of sections.
|
||||
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
|
||||
.PHONY: size
|
||||
size: $(OUTDIR)/$(TARGET).elf_size
|
||||
|
||||
# Generate Doxygen documents
|
||||
docs:
|
||||
doxygen $(DOXYGENDIR)/doxygen.cfg
|
||||
|
||||
# Target: clean project.
|
||||
clean: clean_list
|
||||
|
||||
clean_list :
|
||||
@echo $(MSG_CLEANING)
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
|
||||
$(V1) $(REMOVE) $(ALLOBJ)
|
||||
$(V1) $(REMOVE) $(LSTFILES)
|
||||
$(V1) $(REMOVE) $(DEPFILES)
|
||||
$(V1) $(REMOVE) $(SRC:.c=.s)
|
||||
$(V1) $(REMOVE) $(SRCARM:.c=.s)
|
||||
$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
|
||||
$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
|
||||
|
||||
# Create output files directory
|
||||
# all known MS Windows OS define the ComSpec environment variable
|
||||
ifdef ComSpec
|
||||
$(shell md $(subst /,\\,$(OUTDIR)) 2>NUL)
|
||||
else
|
||||
$(shell mkdir -p $(OUTDIR) 2>/dev/null)
|
||||
endif
|
||||
|
||||
# Include the dependency files.
|
||||
ifdef ComSpec
|
||||
-include $(shell md $(subst /,\\,$(OUTDIR))\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
|
||||
else
|
||||
-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
|
||||
endif
|
||||
|
||||
|
||||
# Listing of phony targets.
|
||||
.PHONY : all build clean clean_list program
|
||||
129
flight/INS/inc/ins.h
Normal file
129
flight/INS/inc/ins.h
Normal file
@ -0,0 +1,129 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup INS INS
|
||||
|
||||
* @brief The main INS headers
|
||||
*
|
||||
* @{
|
||||
* @addtogroup INS_Main
|
||||
* @brief INS headers
|
||||
* @{
|
||||
*
|
||||
* @file ins.h
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief INS Headers
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef INS_H
|
||||
#define INS_H
|
||||
|
||||
/* PIOS Includes */
|
||||
#include <pios.h>
|
||||
|
||||
struct mag_sensor {
|
||||
uint8_t id[4];
|
||||
uint8_t updated;
|
||||
struct {
|
||||
int16_t axis[3];
|
||||
} raw;
|
||||
struct {
|
||||
float axis[3];
|
||||
} scaled;
|
||||
struct {
|
||||
float bias[3];
|
||||
float scale[3];
|
||||
float variance[3];
|
||||
} calibration;
|
||||
};
|
||||
|
||||
//! Contains the data from the accelerometer
|
||||
struct accel_sensor {
|
||||
struct {
|
||||
uint16_t x;
|
||||
uint16_t y;
|
||||
uint16_t z;
|
||||
} raw;
|
||||
struct {
|
||||
float x;
|
||||
float y;
|
||||
float z;
|
||||
} filtered;
|
||||
struct {
|
||||
float scale[3][4];
|
||||
float variance[3];
|
||||
} calibration;
|
||||
};
|
||||
|
||||
//! Contains the data from the gyro
|
||||
struct gyro_sensor {
|
||||
struct {
|
||||
uint16_t x;
|
||||
uint16_t y;
|
||||
uint16_t z;
|
||||
} raw;
|
||||
struct {
|
||||
float x;
|
||||
float y;
|
||||
float z;
|
||||
} filtered;
|
||||
struct {
|
||||
float bias[3];
|
||||
float scale[3];
|
||||
float variance[3];
|
||||
float tempcompfactor[3];
|
||||
} calibration;
|
||||
struct {
|
||||
uint16_t xy;
|
||||
uint16_t z;
|
||||
} temp;
|
||||
};
|
||||
|
||||
//! Conains the current estimate of the attitude
|
||||
struct attitude_solution {
|
||||
struct {
|
||||
float q1;
|
||||
float q2;
|
||||
float q3;
|
||||
float q4;
|
||||
} quaternion;
|
||||
};
|
||||
|
||||
//! Contains data from the altitude sensor
|
||||
struct altitude_sensor {
|
||||
float altitude;
|
||||
bool updated;
|
||||
};
|
||||
|
||||
//! Contains data from the GPS (via the SPI link)
|
||||
struct gps_sensor {
|
||||
float NED[3];
|
||||
float heading;
|
||||
float groundspeed;
|
||||
float quality;
|
||||
bool updated;
|
||||
};
|
||||
|
||||
#endif /* INS_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
67
flight/INS/inc/pios_config.h
Normal file
67
flight/INS/inc/pios_config.h
Normal file
@ -0,0 +1,67 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup INS INS
|
||||
|
||||
* @brief The INS configuration
|
||||
*
|
||||
* @{
|
||||
* @addtogroup INS_Main
|
||||
* @brief INS configuration
|
||||
* @{
|
||||
*
|
||||
* @file pios_config.h
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief PiOS configuration header.
|
||||
* - Central compile time config for the project.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef PIOS_CONFIG_H
|
||||
#define PIOS_CONFIG_H
|
||||
|
||||
/* Enable/Disable PiOS Modules */
|
||||
#define PIOS_INCLUDE_DELAY
|
||||
#define PIOS_INCLUDE_I2C
|
||||
#define PIOS_INCLUDE_IRQ
|
||||
#define PIOS_INCLUDE_LED
|
||||
#define PIOS_INCLUDE_SPI
|
||||
#define PIOS_INCLUDE_SYS
|
||||
#define PIOS_INCLUDE_USART
|
||||
#define PIOS_INCLUDE_COM
|
||||
#define PIOS_INCLUDE_GPS
|
||||
#define PIOS_INCLUDE_HMC5883
|
||||
#define PIOS_INCLUDE_BMP085
|
||||
#define PIOS_INCLUDE_IMU3000
|
||||
#define PIOS_INCLUDE_GPIO
|
||||
#define PIOS_INCLUDE_EXTI
|
||||
|
||||
#define PIOS_INCLUDE_BMA180
|
||||
|
||||
/* COM Module */
|
||||
#define GPS_BAUDRATE 19200
|
||||
#define AUXUART_ENABLED 0
|
||||
#define AUXUART_BAUDRATE 19200
|
||||
|
||||
#endif /* PIOS_CONFIG_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
218
flight/INS/ins.c
Normal file
218
flight/INS/ins.c
Normal file
@ -0,0 +1,218 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup INS INS
|
||||
|
||||
* @brief The INS Modules perform
|
||||
*
|
||||
* @{
|
||||
* @addtogroup INS_Main
|
||||
* @brief Main function which does the hardware dependent stuff
|
||||
* @{
|
||||
*
|
||||
*
|
||||
* @file ins.c
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief INSGPS Test Program
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
/* OpenPilot Includes */
|
||||
#include "ins.h"
|
||||
#include "pios.h"
|
||||
#include <stdbool.h>
|
||||
#include "fifo_buffer.h"
|
||||
|
||||
void reset_values();
|
||||
|
||||
/**
|
||||
* @addtogroup INS_Global_Data INS Global Data
|
||||
* @{
|
||||
* Public data. Used by both EKF and the sender
|
||||
*/
|
||||
|
||||
//! Contains the data from the mag sensor chip
|
||||
struct mag_sensor mag_data;
|
||||
|
||||
//! Contains the data from the accelerometer
|
||||
struct accel_sensor accel_data;
|
||||
|
||||
//! Contains the data from the gyro
|
||||
struct gyro_sensor gyro_data;
|
||||
|
||||
//! Conains the current estimate of the attitude
|
||||
struct attitude_solution attitude_data;
|
||||
|
||||
//! Contains data from the altitude sensor
|
||||
struct altitude_sensor altitude_data;
|
||||
|
||||
//! Contains data from the GPS (via the SPI link)
|
||||
struct gps_sensor gps_data;
|
||||
|
||||
//! Offset correction of barometric alt, to match gps data
|
||||
//static float baro_offset = 0;
|
||||
|
||||
//static float mag_len = 0;
|
||||
|
||||
typedef enum { INS_IDLE, INS_DATA_READY, INS_PROCESSING } states;
|
||||
volatile int32_t ekf_too_slow;
|
||||
volatile int32_t total_conversion_blocks;
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* INS functions */
|
||||
void blink(int led, int times)
|
||||
{
|
||||
for(int i=0; i<times; i++)
|
||||
{
|
||||
PIOS_LED_Toggle(led);
|
||||
PIOS_DELAY_WaitmS(250);
|
||||
PIOS_LED_Toggle(led);
|
||||
PIOS_DELAY_WaitmS(250);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void test_accel()
|
||||
{
|
||||
if(PIOS_BMA180_Test())
|
||||
blink(LED1, 1);
|
||||
else
|
||||
blink(LED2, 1);
|
||||
}
|
||||
|
||||
#if defined (PIOS_INCLUDE_HMC5883)
|
||||
void test_mag()
|
||||
{
|
||||
if(PIOS_HMC5883_Test())
|
||||
blink(LED1, 2);
|
||||
else
|
||||
blink(LED2, 2);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined (PIOS_INCLUDE_BMP085)
|
||||
void test_pressure()
|
||||
{
|
||||
if(PIOS_BMP085_Test())
|
||||
blink(LED1, 3);
|
||||
else
|
||||
blink(LED2, 3);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined (PIOS_INCLUDE_IMU3000)
|
||||
void test_imu()
|
||||
{
|
||||
if(PIOS_IMU3000_Test())
|
||||
blink(LED1, 4);
|
||||
else
|
||||
blink(LED2, 4);
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
extern void PIOS_Board_Init(void);
|
||||
struct pios_bma180_data bma180_data;
|
||||
|
||||
/**
|
||||
* @brief INS Main function
|
||||
*/
|
||||
int main()
|
||||
{
|
||||
reset_values();
|
||||
|
||||
PIOS_Board_Init();
|
||||
|
||||
while (1)
|
||||
{
|
||||
test_accel();
|
||||
PIOS_DELAY_WaitmS(1000);
|
||||
|
||||
#if defined (PIOS_INCLUDE_HMC5883)
|
||||
test_mag();
|
||||
PIOS_DELAY_WaitmS(1000);
|
||||
#endif
|
||||
|
||||
#if defined (PIOS_INCLUDE_BMP085)
|
||||
test_pressure();
|
||||
PIOS_DELAY_WaitmS(1000);
|
||||
#endif
|
||||
|
||||
#if defined (PIOS_INCLUDE_IMU3000)
|
||||
test_imu();
|
||||
PIOS_DELAY_WaitmS(1000);
|
||||
#endif
|
||||
PIOS_DELAY_WaitmS(3000);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief Populate fields with initial values
|
||||
*/
|
||||
void reset_values()
|
||||
{
|
||||
accel_data.calibration.scale[0][1] = 0;
|
||||
accel_data.calibration.scale[1][0] = 0;
|
||||
accel_data.calibration.scale[0][2] = 0;
|
||||
accel_data.calibration.scale[2][0] = 0;
|
||||
accel_data.calibration.scale[1][2] = 0;
|
||||
accel_data.calibration.scale[2][1] = 0;
|
||||
|
||||
accel_data.calibration.scale[0][0] = 0.0359;
|
||||
accel_data.calibration.scale[1][1] = 0.0359;
|
||||
accel_data.calibration.scale[2][2] = 0.0359;
|
||||
accel_data.calibration.scale[0][3] = -73.5;
|
||||
accel_data.calibration.scale[1][3] = -73.5;
|
||||
accel_data.calibration.scale[2][3] = -73.5;
|
||||
|
||||
accel_data.calibration.variance[0] = 1e-4;
|
||||
accel_data.calibration.variance[1] = 1e-4;
|
||||
accel_data.calibration.variance[2] = 1e-4;
|
||||
|
||||
gyro_data.calibration.scale[0] = -0.014;
|
||||
gyro_data.calibration.scale[1] = 0.014;
|
||||
gyro_data.calibration.scale[2] = -0.014;
|
||||
gyro_data.calibration.bias[0] = -24;
|
||||
gyro_data.calibration.bias[1] = -24;
|
||||
gyro_data.calibration.bias[2] = -24;
|
||||
gyro_data.calibration.variance[0] = 1;
|
||||
gyro_data.calibration.variance[1] = 1;
|
||||
gyro_data.calibration.variance[2] = 1;
|
||||
mag_data.calibration.scale[0] = 1;
|
||||
mag_data.calibration.scale[1] = 1;
|
||||
mag_data.calibration.scale[2] = 1;
|
||||
mag_data.calibration.bias[0] = 0;
|
||||
mag_data.calibration.bias[1] = 0;
|
||||
mag_data.calibration.bias[2] = 0;
|
||||
mag_data.calibration.variance[0] = 50;
|
||||
mag_data.calibration.variance[1] = 50;
|
||||
mag_data.calibration.variance[2] = 50;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
602
flight/INS/pios_board.c
Normal file
602
flight/INS/pios_board.c
Normal file
@ -0,0 +1,602 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5883 HMC5883 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
*
|
||||
* @file pios_board.c
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief Defines board specific static initializers for hardware for the INS board.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include <pios.h>
|
||||
|
||||
#if defined(PIOS_INCLUDE_SPI)
|
||||
|
||||
#include <pios_spi_priv.h>
|
||||
|
||||
/* SPI2 Interface
|
||||
* - Used for mainboard communications and magnetometer
|
||||
*
|
||||
* NOTE: Leave this declared as const data so that it ends up in the
|
||||
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
|
||||
*/
|
||||
void PIOS_SPI_op_mag_irq_handler(void);
|
||||
void DMA1_Channel5_IRQHandler() __attribute__ ((alias("PIOS_SPI_op_mag_irq_handler")));
|
||||
void DMA1_Channel4_IRQHandler() __attribute__ ((alias("PIOS_SPI_op_mag_irq_handler")));
|
||||
static const struct pios_spi_cfg pios_spi_op_mag_cfg = {
|
||||
.regs = SPI2,
|
||||
.init = {
|
||||
.SPI_Mode = SPI_Mode_Slave,
|
||||
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
|
||||
.SPI_DataSize = SPI_DataSize_8b,
|
||||
.SPI_NSS = SPI_NSS_Hard,
|
||||
.SPI_FirstBit = SPI_FirstBit_MSB,
|
||||
.SPI_CRCPolynomial = 7,
|
||||
.SPI_CPOL = SPI_CPOL_High,
|
||||
.SPI_CPHA = SPI_CPHA_2Edge,
|
||||
},
|
||||
.use_crc = TRUE,
|
||||
.dma = {
|
||||
.ahb_clk = RCC_AHBPeriph_DMA1,
|
||||
|
||||
.irq = {
|
||||
.handler = PIOS_SPI_op_mag_irq_handler,
|
||||
.flags =
|
||||
(DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 |
|
||||
DMA1_FLAG_GL4),
|
||||
.init = {
|
||||
.NVIC_IRQChannel = DMA1_Channel4_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
|
||||
.rx = {
|
||||
.channel = DMA1_Channel4,
|
||||
.init = {
|
||||
.DMA_PeripheralBaseAddr =
|
||||
(uint32_t) & (SPI2->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralSRC,
|
||||
.DMA_PeripheralInc =
|
||||
DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize =
|
||||
DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize =
|
||||
DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_Medium,
|
||||
.DMA_M2M = DMA_M2M_Disable,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.channel = DMA1_Channel5,
|
||||
.init = {
|
||||
.DMA_PeripheralBaseAddr =
|
||||
(uint32_t) & (SPI2->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralDST,
|
||||
.DMA_PeripheralInc =
|
||||
DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize =
|
||||
DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize =
|
||||
DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_Medium,
|
||||
.DMA_M2M = DMA_M2M_Disable,
|
||||
},
|
||||
},
|
||||
},
|
||||
.ssel = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_12,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||
},
|
||||
},
|
||||
.sclk = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_13,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||
},
|
||||
},
|
||||
.miso = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_14,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
.mosi = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_15,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
uint32_t pios_spi_op_mag_id;
|
||||
void PIOS_SPI_op_mag_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_SPI_IRQ_Handler(pios_spi_op_mag_id);
|
||||
}
|
||||
|
||||
/* SPI1 Interface
|
||||
* - Used for BMA180 accelerometer
|
||||
*/
|
||||
void PIOS_SPI_accel_irq_handler(void);
|
||||
void DMA1_Channel2_IRQHandler() __attribute__ ((alias("PIOS_SPI_accel_irq_handler")));
|
||||
void DMA1_Channel3_IRQHandler() __attribute__ ((alias("PIOS_SPI_accel_irq_handler")));
|
||||
static const struct pios_spi_cfg pios_spi_accel_cfg = {
|
||||
.regs = SPI1,
|
||||
.init = {
|
||||
.SPI_Mode = SPI_Mode_Master,
|
||||
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
|
||||
.SPI_DataSize = SPI_DataSize_8b,
|
||||
.SPI_NSS = SPI_NSS_Soft,
|
||||
.SPI_FirstBit = SPI_FirstBit_MSB,
|
||||
.SPI_CRCPolynomial = 7,
|
||||
.SPI_CPOL = SPI_CPOL_High,
|
||||
.SPI_CPHA = SPI_CPHA_1Edge,
|
||||
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
|
||||
},
|
||||
.use_crc = FALSE,
|
||||
.dma = {
|
||||
.ahb_clk = RCC_AHBPeriph_DMA1,
|
||||
|
||||
.irq = {
|
||||
.handler = PIOS_SPI_accel_irq_handler,
|
||||
.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
|
||||
.init = {
|
||||
.NVIC_IRQChannel = DMA1_Channel2_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
|
||||
.rx = {
|
||||
.channel = DMA1_Channel2,
|
||||
.init = {
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralSRC,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_Medium,
|
||||
.DMA_M2M = DMA_M2M_Disable,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.channel = DMA1_Channel3,
|
||||
.init = {
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralDST,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_High,
|
||||
.DMA_M2M = DMA_M2M_Disable,
|
||||
},
|
||||
},
|
||||
},
|
||||
.ssel = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_4,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_Out_PP,
|
||||
},
|
||||
},
|
||||
.sclk = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_5,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
.miso = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_6,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
|
||||
},
|
||||
},
|
||||
.mosi = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_7,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
static uint32_t pios_spi_accel_id;
|
||||
void PIOS_SPI_accel_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_SPI_IRQ_Handler(pios_spi_accel_id);
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_SPI */
|
||||
|
||||
|
||||
|
||||
#if defined(PIOS_INCLUDE_GPS)
|
||||
#include <pios_usart_priv.h>
|
||||
|
||||
/*
|
||||
* GPS USART
|
||||
*/
|
||||
void PIOS_USART_gps_irq_handler(void);
|
||||
void USART1_IRQHandler()
|
||||
__attribute__ ((alias("PIOS_USART_gps_irq_handler")));
|
||||
const struct pios_usart_cfg pios_usart_gps_cfg = {
|
||||
.regs = USART1,
|
||||
.init = {
|
||||
#if defined (PIOS_USART_BAUDRATE)
|
||||
.USART_BaudRate = PIOS_USART_BAUDRATE,
|
||||
#else
|
||||
.USART_BaudRate = 57600,
|
||||
#endif
|
||||
.USART_WordLength = USART_WordLength_8b,
|
||||
.USART_Parity = USART_Parity_No,
|
||||
.USART_StopBits = USART_StopBits_1,
|
||||
.USART_HardwareFlowControl =
|
||||
USART_HardwareFlowControl_None,
|
||||
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
|
||||
},
|
||||
.irq = {
|
||||
.handler = PIOS_USART_gps_irq_handler,
|
||||
.init = {
|
||||
.NVIC_IRQChannel = USART1_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.rx = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IPU,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_9,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
static uint32_t pios_usart_gps_id;
|
||||
void PIOS_USART_gps_irq_handler(void)
|
||||
{
|
||||
PIOS_USART_IRQ_Handler(pios_usart_gps_id);
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_GPS */
|
||||
|
||||
#ifdef PIOS_COM_AUX
|
||||
/*
|
||||
* AUX USART
|
||||
*/
|
||||
void PIOS_USART_aux_irq_handler(void);
|
||||
void USART4_IRQHandler()
|
||||
__attribute__ ((alias("PIOS_USART_aux_irq_handler")));
|
||||
const struct pios_usart_cfg pios_usart_aux_cfg = {
|
||||
.regs = USART4,
|
||||
.init = {
|
||||
#if defined (PIOS_USART_BAUDRATE)
|
||||
.USART_BaudRate = PIOS_USART_BAUDRATE,
|
||||
#else
|
||||
.USART_BaudRate = 57600,
|
||||
#endif
|
||||
.USART_WordLength = USART_WordLength_8b,
|
||||
.USART_Parity = USART_Parity_No,
|
||||
.USART_StopBits = USART_StopBits_1,
|
||||
.USART_HardwareFlowControl =
|
||||
USART_HardwareFlowControl_None,
|
||||
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
|
||||
},
|
||||
.irq = {
|
||||
.handler = PIOS_USART_aux_irq_handler,
|
||||
.init = {
|
||||
.NVIC_IRQChannel = USART4_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.rx = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_11,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IPU,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_PP,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
static uint32_t pios_usart_aux_id;
|
||||
void PIOS_USART_aux_irq_handler(void)
|
||||
{
|
||||
PIOS_USART_IRQ_Handler(pios_usart_aux_id);
|
||||
}
|
||||
|
||||
#endif /* PIOS_COM_AUX */
|
||||
|
||||
|
||||
#if defined(PIOS_INCLUDE_I2C)
|
||||
|
||||
#include <pios_i2c_priv.h>
|
||||
|
||||
/*
|
||||
* I2C Adapters
|
||||
*/
|
||||
|
||||
void PIOS_I2C_pres_mag_adapter_ev_irq_handler(void);
|
||||
void PIOS_I2C_pres_mag_adapter_er_irq_handler(void);
|
||||
void I2C1_EV_IRQHandler()
|
||||
__attribute__ ((alias("PIOS_I2C_pres_mag_adapter_ev_irq_handler")));
|
||||
void I2C1_ER_IRQHandler()
|
||||
__attribute__ ((alias("PIOS_I2C_pres_mag_adapter_er_irq_handler")));
|
||||
|
||||
const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
|
||||
.regs = I2C1,
|
||||
.init = {
|
||||
.I2C_Mode = I2C_Mode_I2C,
|
||||
.I2C_OwnAddress1 = 0,
|
||||
.I2C_Ack = I2C_Ack_Enable,
|
||||
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
|
||||
.I2C_DutyCycle = I2C_DutyCycle_2,
|
||||
.I2C_ClockSpeed = 200000, /* bits/s */
|
||||
},
|
||||
.transfer_timeout_ms = 50,
|
||||
.scl = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_6,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_OD,
|
||||
},
|
||||
},
|
||||
.sda = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_7,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_OD,
|
||||
},
|
||||
},
|
||||
.event = {
|
||||
.handler = PIOS_I2C_pres_mag_adapter_ev_irq_handler,
|
||||
.flags = 0, /* FIXME: check this */
|
||||
.init = {
|
||||
.NVIC_IRQChannel = I2C1_EV_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.error = {
|
||||
.handler = PIOS_I2C_pres_mag_adapter_er_irq_handler,
|
||||
.flags = 0, /* FIXME: check this */
|
||||
.init = {
|
||||
.NVIC_IRQChannel = I2C1_ER_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
uint32_t pios_i2c_pres_mag_adapter_id;
|
||||
void PIOS_I2C_pres_mag_adapter_ev_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_I2C_EV_IRQ_Handler(pios_i2c_pres_mag_adapter_id);
|
||||
}
|
||||
|
||||
void PIOS_I2C_pres_mag_adapter_er_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_I2C_ER_IRQ_Handler(pios_i2c_pres_mag_adapter_id);
|
||||
}
|
||||
|
||||
|
||||
void PIOS_I2C_gyro_adapter_ev_irq_handler(void);
|
||||
void PIOS_I2C_gyro_adapter_er_irq_handler(void);
|
||||
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_ev_irq_handler")));
|
||||
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_er_irq_handler")));
|
||||
|
||||
const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
|
||||
.regs = I2C2,
|
||||
.init = {
|
||||
.I2C_Mode = I2C_Mode_I2C,
|
||||
.I2C_OwnAddress1 = 0,
|
||||
.I2C_Ack = I2C_Ack_Enable,
|
||||
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
|
||||
.I2C_DutyCycle = I2C_DutyCycle_2,
|
||||
.I2C_ClockSpeed = 400000, /* bits/s */
|
||||
},
|
||||
.transfer_timeout_ms = 50,
|
||||
.scl = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_OD,
|
||||
},
|
||||
},
|
||||
.sda = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_11,
|
||||
.GPIO_Speed = GPIO_Speed_10MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF_OD,
|
||||
},
|
||||
},
|
||||
.event = {
|
||||
.handler = PIOS_I2C_gyro_adapter_ev_irq_handler,
|
||||
.flags = 0, /* FIXME: check this */
|
||||
.init = {
|
||||
.NVIC_IRQChannel = I2C2_EV_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.error = {
|
||||
.handler = PIOS_I2C_gyro_adapter_er_irq_handler,
|
||||
.flags = 0, /* FIXME: check this */
|
||||
.init = {
|
||||
.NVIC_IRQChannel = I2C2_ER_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
uint32_t pios_i2c_gyro_adapter_id;
|
||||
void PIOS_I2C_gyro_adapter_ev_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_I2C_EV_IRQ_Handler(pios_i2c_gyro_adapter_id);
|
||||
}
|
||||
|
||||
void PIOS_I2C_gyro_adapter_er_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_I2C_ER_IRQ_Handler(pios_i2c_gyro_adapter_id);
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_I2C */
|
||||
|
||||
|
||||
|
||||
extern const struct pios_com_driver pios_usart_com_driver;
|
||||
|
||||
uint32_t pios_com_aux_id;
|
||||
uint32_t pios_com_gps_id;
|
||||
|
||||
/**
|
||||
* PIOS_Board_Init()
|
||||
* initializes all the core subsystems on this specific hardware
|
||||
* called from System/openpilot.c
|
||||
*/
|
||||
void PIOS_Board_Init(void) {
|
||||
/* Brings up System using CMSIS functions, enables the LEDs. */
|
||||
PIOS_SYS_Init();
|
||||
|
||||
/* Delay system */
|
||||
PIOS_DELAY_Init();
|
||||
|
||||
/* IAP System Setup */
|
||||
PIOS_IAP_Init();
|
||||
|
||||
#if defined(PIOS_INCLUDE_COM)
|
||||
#if defined(PIOS_INCLUDE_GPS)
|
||||
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_GPS */
|
||||
#endif /* PIOS_INCLUDE_COM */
|
||||
|
||||
#if defined (PIOS_INCLUDE_I2C)
|
||||
if (PIOS_I2C_Init(&pios_i2c_pres_mag_adapter_id, &pios_i2c_pres_mag_adapter_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
#if defined (PIOS_INCLUDE_BMP085)
|
||||
PIOS_BMP085_Init();
|
||||
#endif /* PIOS_INCLUDE_BMP085 */
|
||||
#if defined (PIOS_INCLUDE_HMC5883)
|
||||
PIOS_HMC5883_Init();
|
||||
#endif /* PIOS_INCLUDE_HMC5883 */
|
||||
|
||||
#if defined(PIOS_INCLUDE_IMU3000)
|
||||
if (PIOS_I2C_Init(&pios_i2c_gyro_adapter_id, &pios_i2c_gyro_adapter_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
PIOS_IMU3000_Init();
|
||||
#endif /* PIOS_INCLUDE_IMU3000 */
|
||||
#endif /* PIOS_INCLUDE_I2C */
|
||||
|
||||
#if defined(PIOS_INCLUDE_SPI)
|
||||
/* Set up the SPI interface to the accelerometer*/
|
||||
if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
||||
PIOS_BMA180_Attach(pios_spi_accel_id);
|
||||
|
||||
// #include "ahrs_spi_comm.h"
|
||||
// InsInitComms();
|
||||
//
|
||||
// /* Set up the SPI interface to the OP board */
|
||||
// if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) {
|
||||
// PIOS_DEBUG_Assert(0);
|
||||
// }
|
||||
//
|
||||
// InsConnect(pios_spi_op_id);
|
||||
#endif /* PIOS_INCLUDE_SPI */
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
|
||||
246
flight/PiOS/Boards/STM3210E_INS.h
Normal file
246
flight/PiOS/Boards/STM3210E_INS.h
Normal file
@ -0,0 +1,246 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @{
|
||||
* @file pios_board.h
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
|
||||
#ifndef STM3210E_INS_H_
|
||||
#define STM3210E_INS_H_
|
||||
|
||||
|
||||
|
||||
//------------------------
|
||||
// Timers and Channels Used
|
||||
//------------------------
|
||||
/*
|
||||
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
|
||||
------+-----------+-----------+-----------+----------
|
||||
TIM1 | | | |
|
||||
TIM2 | --------------- PIOS_DELAY -----------------
|
||||
TIM3 | | | |
|
||||
TIM4 | | | |
|
||||
TIM5 | | | |
|
||||
TIM6 | | | |
|
||||
TIM7 | | | |
|
||||
TIM8 | | | |
|
||||
------+-----------+-----------+-----------+----------
|
||||
*/
|
||||
|
||||
//------------------------
|
||||
// DMA Channels Used
|
||||
//------------------------
|
||||
/* Channel 1 - */
|
||||
/* Channel 2 - SPI1 RX */
|
||||
/* Channel 3 - SPI1 TX */
|
||||
/* Channel 4 - SPI2 RX */
|
||||
/* Channel 5 - SPI2 TX */
|
||||
/* Channel 6 - */
|
||||
/* Channel 7 - */
|
||||
/* Channel 8 - */
|
||||
/* Channel 9 - */
|
||||
/* Channel 10 - */
|
||||
/* Channel 11 - */
|
||||
/* Channel 12 - */
|
||||
|
||||
//------------------------
|
||||
// BOOTLOADER_SETTINGS
|
||||
//------------------------
|
||||
|
||||
//#define FUNC_ID 1
|
||||
//#define HW_VERSION 01
|
||||
|
||||
#define BOOTLOADER_VERSION 0
|
||||
#define BOARD_TYPE 0x05 // INS board
|
||||
#define BOARD_REVISION 0x01 // Beta version
|
||||
//#define HW_VERSION (BOARD_TYPE << 8) | BOARD_REVISION
|
||||
|
||||
#define MEM_SIZE 524288 //512K
|
||||
#define SIZE_OF_DESCRIPTION (uint8_t) 100
|
||||
#define START_OF_USER_CODE (uint32_t)0x08005000//REMEMBER SET ALSO IN link_stm32f10x_HD_BL.ld
|
||||
#define SIZE_OF_CODE (uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
|
||||
|
||||
#ifdef STM32F10X_HD
|
||||
#define HW_TYPE 0 //0=high_density 1=medium_density;
|
||||
#elif STM32F10X_MD
|
||||
#define HW_TYPE 1 //0=high_density 1=medium_density;
|
||||
#endif
|
||||
#define BOARD_READABLE TRUE
|
||||
#define BOARD_WRITABLA TRUE
|
||||
#define MAX_DEL_RETRYS 3
|
||||
|
||||
//------------------------
|
||||
// PIOS_LED
|
||||
//------------------------
|
||||
#define PIOS_LED_LED1_GPIO_PORT GPIOA
|
||||
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
|
||||
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
|
||||
#define PIOS_LED_LED2_GPIO_PORT GPIOA
|
||||
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_2
|
||||
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOA
|
||||
#define PIOS_LED_NUM 2
|
||||
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
|
||||
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
|
||||
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
|
||||
|
||||
//------------------------
|
||||
// PIOS_SPI
|
||||
// See also pios_board.c
|
||||
//------------------------
|
||||
#define PIOS_SPI_MAX_DEVS 2
|
||||
|
||||
//------------------------
|
||||
// PIOS_I2C
|
||||
// See also pios_board.c
|
||||
//------------------------
|
||||
#define PIOS_I2C_MAX_DEVS 3
|
||||
extern uint32_t pios_i2c_pres_mag_adapter_id;
|
||||
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_pres_mag_adapter_id)
|
||||
extern uint32_t pios_i2c_gyro_adapter_id;
|
||||
#define PIOS_I2C_GYRO_ADAPTER (pios_i2c_gyro_adapter_id)
|
||||
|
||||
//------------------------
|
||||
// PIOS_BMP085
|
||||
//------------------------
|
||||
#define PIOS_BMP085_EOC_GPIO_PORT GPIOC
|
||||
#define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_2
|
||||
#define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOC
|
||||
#define PIOS_BMP085_EOC_PIN_SOURCE GPIO_PinSource2
|
||||
#define PIOS_BMP085_EOC_CLK RCC_APB2Periph_GPIOC
|
||||
#define PIOS_BMP085_EOC_EXTI_LINE EXTI_Line2
|
||||
#define PIOS_BMP085_EOC_IRQn EXTI15_10_IRQn
|
||||
#define PIOS_BMP085_EOC_PRIO PIOS_IRQ_PRIO_LOW
|
||||
#define PIOS_BMP085_XCLR_GPIO_PORT GPIOC
|
||||
#define PIOS_BMP085_XCLR_GPIO_PIN GPIO_Pin_1
|
||||
#define PIOS_BMP085_OVERSAMPLING 3
|
||||
|
||||
//-------------------------
|
||||
// PIOS_USART
|
||||
//
|
||||
// See also pios_board.c
|
||||
//-------------------------
|
||||
#define PIOS_USART_MAX_DEVS 2
|
||||
|
||||
#define PIOS_USART_RX_BUFFER_SIZE 256
|
||||
#define PIOS_USART_TX_BUFFER_SIZE 256
|
||||
|
||||
//-------------------------
|
||||
// PIOS_COM
|
||||
//
|
||||
// See also pios_board.c
|
||||
//-------------------------
|
||||
#define PIOS_COM_MAX_DEVS 2
|
||||
|
||||
#define PIOS_COM_GPS_BAUDRATE 57600
|
||||
extern uint32_t pios_com_gps_id;
|
||||
#define PIOS_COM_GPS (pios_com_gps_id)
|
||||
|
||||
#ifdef PIOS_ENABLE_AUX_UART
|
||||
#define PIOS_COM_AUX_BAUDRATE 57600
|
||||
extern uint32_t pios_com_aux_id;
|
||||
#define PIOS_COM_AUX (pios_com_aux_id)
|
||||
#define PIOS_COM_DEBUG PIOS_COM_AUX
|
||||
#endif
|
||||
|
||||
//-------------------------
|
||||
// Delay Timer
|
||||
//-------------------------
|
||||
#define PIOS_DELAY_TIMER TIM2
|
||||
#define PIOS_DELAY_TIMER_RCC_FUNC RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE)
|
||||
|
||||
//-------------------------
|
||||
// System Settings
|
||||
//-------------------------
|
||||
#define PIOS_MASTER_CLOCK 72000000
|
||||
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
|
||||
#if defined(USE_BOOTLOADER)
|
||||
#define PIOS_NVIC_VECTTAB_FLASH (START_OF_USER_CODE)
|
||||
#else
|
||||
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
|
||||
#endif
|
||||
|
||||
//-------------------------
|
||||
// Interrupt Priorities
|
||||
//-------------------------
|
||||
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
|
||||
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
|
||||
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
|
||||
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
|
||||
|
||||
//-------------------------
|
||||
// ADC
|
||||
// None.
|
||||
//-------------------------
|
||||
|
||||
|
||||
//-------------------------
|
||||
// GPIO
|
||||
// Not used, but pios_gpio.c expects something
|
||||
//-------------------------
|
||||
#define PIOS_GPIO_1_PORT GPIOA
|
||||
#define PIOS_GPIO_1_PIN GPIO_Pin_1
|
||||
#define PIOS_GPIO_1_GPIO_CLK RCC_APB2Periph_GPIOA
|
||||
|
||||
#define PIOS_GPIO_PORTS { PIOS_GPIO_1_PORT }
|
||||
#define PIOS_GPIO_PINS { PIOS_GPIO_1_PIN }
|
||||
#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK }
|
||||
#define PIOS_GPIO_NUM 1
|
||||
|
||||
#define PIOS_BMA_ENABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0)
|
||||
#define PIOS_BMA_DISABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,1)
|
||||
|
||||
//------------------------
|
||||
// PIOS_HMC5883
|
||||
//------------------------
|
||||
#define PIOS_HMC5883_DRDY_GPIO_PORT GPIOB
|
||||
#define PIOS_HMC5883_DRDY_GPIO_PIN GPIO_Pin_8
|
||||
#define PIOS_HMC5883_DRDY_PORT_SOURCE GPIO_PortSourceGPIOB
|
||||
#define PIOS_HMC5883_DRDY_PIN_SOURCE GPIO_PinSource8
|
||||
#define PIOS_HMC5883_DRDY_CLK RCC_APB2Periph_GPIOB
|
||||
#define PIOS_HMC5883_DRDY_EXTI_LINE EXTI_Line8
|
||||
#define PIOS_HMC5883_DRDY_IRQn EXTI9_5_IRQn
|
||||
#define PIOS_HMC5883_DRDY_PRIO PIOS_IRQ_PRIO_LOW
|
||||
|
||||
//------------------------
|
||||
// PIOS_IMU3000
|
||||
//------------------------
|
||||
#define PIOS_IMU3000_INT_GPIO_PORT GPIOB
|
||||
#define PIOS_IMU3000_INT_GPIO_PIN GPIO_Pin_1
|
||||
#define PIOS_IMU3000_INT_PORT_SOURCE GPIO_PortSourceGPIOB
|
||||
#define PIOS_IMU3000_INT_PIN_SOURCE GPIO_PinSource1
|
||||
#define PIOS_IMU3000_INT_CLK RCC_APB2Periph_GPIOB
|
||||
#define PIOS_IMU3000_INT_EXTI_LINE EXTI_Line1
|
||||
#define PIOS_IMU3000_INT_IRQn EXTI1_IRQn
|
||||
#define PIOS_IMU3000_INT_PRIO PIOS_IRQ_PRIO_HIGH
|
||||
|
||||
|
||||
|
||||
|
||||
#endif /* STM3210E_INS_H_ */
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -9,6 +9,8 @@
|
||||
#include "STM32103CB_PIPXTREME_Rev1.h"
|
||||
#elif USE_STM32103CB_CC_Rev1
|
||||
#include "STM32103CB_CC_Rev1.h"
|
||||
#elif USE_STM3210E_INS
|
||||
#include "STM3210E_INS.h"
|
||||
#endif
|
||||
|
||||
#endif /* PIOS_BOARD_H_ */
|
||||
|
||||
212
flight/PiOS/Common/pios_bma180.c
Normal file
212
flight/PiOS/Common/pios_bma180.c
Normal file
@ -0,0 +1,212 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_BMA180 BMA180 Functions
|
||||
* @brief Deals with the hardware interface to the BMA180 3-axis accelerometer
|
||||
* @{
|
||||
*
|
||||
* @file pios_bma180.h
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief PiOS BMA180 digital accelerometer driver.
|
||||
* - Driver for the BMA180 digital accelerometer on the SPI bus.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "pios.h"
|
||||
|
||||
static uint32_t PIOS_SPI_ACCEL;
|
||||
static uint8_t EEPROM_WRITEABLE=0;
|
||||
|
||||
|
||||
/**
|
||||
* @brief Claim the SPI bus for the accel communications and select this chip
|
||||
*/
|
||||
void PIOS_BMA180_ClaimBus()
|
||||
{
|
||||
PIOS_SPI_ClaimBus(PIOS_SPI_ACCEL);
|
||||
PIOS_BMA_ENABLE;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Release the SPI bus for the accel communications and end the transaction
|
||||
*/
|
||||
void PIOS_BMA180_ReleaseBus()
|
||||
{
|
||||
PIOS_BMA_DISABLE;
|
||||
PIOS_SPI_ReleaseBus(PIOS_SPI_ACCEL);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Set the EEPROM write-enable bit. Must be set to 1 (unlocked) before writing control registers.
|
||||
* @return none
|
||||
* @param _we[in] bit to set, 1 to enable writes or 0 to disable writes
|
||||
*/
|
||||
void PIOS_BMA180_WriteEnable(uint8_t _we)
|
||||
{
|
||||
uint8_t addr_reg[2] = {BMA_WE_ADDR,0};
|
||||
|
||||
PIOS_BMA180_ClaimBus();
|
||||
addr_reg[1] = PIOS_SPI_TransferByte(PIOS_SPI_ACCEL,(0x80 | BMA_WE_ADDR) );
|
||||
addr_reg[1] &= 0xEF;
|
||||
addr_reg[1] |= ( (0x01 & _we) << 4);
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,addr_reg,NULL,sizeof(addr_reg),NULL);
|
||||
PIOS_BMA180_ReleaseBus();
|
||||
EEPROM_WRITEABLE=_we;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Read a register from BMA180
|
||||
* @returns The register value
|
||||
* @param reg[in] Register address to be read
|
||||
*/
|
||||
uint8_t PIOS_BMA180_GetReg(uint8_t reg)
|
||||
{
|
||||
uint8_t data;
|
||||
PIOS_BMA180_ClaimBus();
|
||||
data = PIOS_SPI_TransferByte(PIOS_SPI_ACCEL,(0x80 | reg) );
|
||||
PIOS_BMA180_ReleaseBus();
|
||||
return(data);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Write a BMA180 register. EEPROM must be unlocked before calling this function.
|
||||
* @return none
|
||||
* @param reg[in] address of register to be written
|
||||
* @param data[in] data that is to be written to register
|
||||
*/
|
||||
void PIOS_BMA180_SetReg(uint8_t reg, uint8_t data)
|
||||
{
|
||||
uint8_t reg_data[2] = { (0x7F & reg), data};
|
||||
PIOS_BMA180_ClaimBus();
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,reg_data,NULL,2,NULL);
|
||||
PIOS_BMA180_ReleaseBus();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Select the bandwidth the digital filter pass allows.
|
||||
* @return none
|
||||
* @param rate[in] Bandwidth setting to be used
|
||||
*
|
||||
* EEPROM must be write-enabled before calling this function.
|
||||
*/
|
||||
void PIOS_BMA180_SelectBW(uint8_t bw)
|
||||
{
|
||||
uint8_t addr_reg[2] = { BMA_BW_ADDR, 0};
|
||||
|
||||
PIOS_BMA180_ClaimBus();
|
||||
addr_reg[1] = PIOS_SPI_TransferByte(PIOS_SPI_ACCEL,(0x80|BMA_BW_ADDR));
|
||||
addr_reg[1] &= 0x0F;
|
||||
addr_reg[1] |= (bw << 4);
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,addr_reg,NULL,sizeof(addr_reg),NULL);
|
||||
PIOS_BMA180_ReleaseBus();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Select the full scale acceleration range.
|
||||
* @return none
|
||||
* @param rate[in] Range setting to be used
|
||||
*
|
||||
*/
|
||||
void PIOS_BMA180_SetRange(uint8_t range)
|
||||
{
|
||||
uint8_t addr_reg[2] = { BMA_RANGE_ADDR, 0};
|
||||
|
||||
PIOS_BMA180_ClaimBus();
|
||||
addr_reg[1] = PIOS_SPI_TransferByte(PIOS_SPI_ACCEL,(0x80|BMA_RANGE_ADDR));
|
||||
addr_reg[1] &= 0x0F;
|
||||
addr_reg[1] |= (range << 4);
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,addr_reg,NULL,sizeof(addr_reg),NULL);
|
||||
PIOS_BMA180_ReleaseBus();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Connect to the correct SPI bus
|
||||
*/
|
||||
void PIOS_BMA180_Attach(uint32_t spi_id)
|
||||
{
|
||||
PIOS_SPI_ACCEL = spi_id;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initialize with good default settings
|
||||
*/
|
||||
void PIOS_BMA180_Init()
|
||||
{
|
||||
/*
|
||||
PIOS_BMA180_ReleaseBus();
|
||||
PIOS_BMA180_WriteEnable(1);
|
||||
PIOS_BMA180_SelectRate(BMA_RATE_3200);
|
||||
PIOS_BMA180_SetRange(BMA_RANGE_8G);
|
||||
PIOS_BMA180_FifoDepth(16);
|
||||
PIOS_BMA180_SetMeasure(1);
|
||||
PIOS_BMA180_WriteEnable(0);
|
||||
*/
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Read a single set of values from the x y z channels
|
||||
* @returns The number of samples remaining in the fifo
|
||||
*/
|
||||
uint8_t PIOS_BMA180_Read(struct pios_bma180_data * data)
|
||||
{
|
||||
// To save memory use same buffer for in and out but offset by
|
||||
// a byte
|
||||
uint8_t buf[7] = {0,0,0,0,0,0};
|
||||
uint8_t rec[7] = {0,0,0,0,0,0};
|
||||
buf[0] = BMA_X_LSB_ADDR | 0x80 ; // Multibyte read starting at X LSB
|
||||
|
||||
PIOS_BMA180_ClaimBus();
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,&buf[0],&rec[0],7,NULL);
|
||||
PIOS_BMA180_ReleaseBus();
|
||||
|
||||
// | MSB | LSB | 0 | new_data |
|
||||
data->x = ( (rec[2] << 8) | rec[1] ) >> 2;
|
||||
data->y = ( (rec[4] << 8) | rec[3] ) >> 2;
|
||||
data->z = ( (rec[6] << 8) | rec[5] ) >> 2;
|
||||
|
||||
return 0; // return number of remaining entries
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Test SPI and chip functionality by reading chip ID register
|
||||
* @return 0 if test failed, any other value signals test succeeded.
|
||||
*
|
||||
*/
|
||||
uint8_t PIOS_BMA180_Test()
|
||||
{
|
||||
uint8_t data = 0;
|
||||
uint8_t pass = 0;
|
||||
PIOS_BMA180_ClaimBus();
|
||||
data = PIOS_SPI_TransferByte(PIOS_SPI_ACCEL,(0x80 | BMA_CHIPID_ADDR) );
|
||||
data &= 0x07;
|
||||
if(0x03 == data)
|
||||
pass = 1;
|
||||
data = PIOS_SPI_TransferByte(PIOS_SPI_ACCEL,(0x80 | BMA_VERSION_ADDR) );
|
||||
if(0x12 == data)
|
||||
pass = 1 && pass; // Only passes if first and second test passS
|
||||
PIOS_BMA180_ReleaseBus();
|
||||
return pass;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
393
flight/PiOS/Common/pios_hmc5883.c
Normal file
393
flight/PiOS/Common/pios_hmc5883.c
Normal file
@ -0,0 +1,393 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5883 HMC5883 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
*
|
||||
* @file pios_hmc5883.c
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief HMC5883 Magnetic Sensor Functions from AHRS
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
/* Project Includes */
|
||||
#include "pios.h"
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
|
||||
/* Global Variables */
|
||||
|
||||
/* Local Types */
|
||||
typedef struct {
|
||||
uint8_t M_ODR; /* OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
|
||||
uint8_t Meas_Conf; /* Measurement Configuration,: Normal, positive bias, or negative bias --> here below the relative define */
|
||||
uint8_t Gain; /* Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
|
||||
uint8_t Mode;
|
||||
} PIOS_HMC5883_ConfigTypeDef;
|
||||
|
||||
/* Local Variables */
|
||||
volatile bool pios_hmc5883_data_ready;
|
||||
|
||||
static void PIOS_HMC5883_Config(PIOS_HMC5883_ConfigTypeDef * HMC5883_Config_Struct);
|
||||
static bool PIOS_HMC5883_Read(uint8_t address, uint8_t * buffer, uint8_t len);
|
||||
static bool PIOS_HMC5883_Write(uint8_t address, uint8_t buffer);
|
||||
|
||||
/**
|
||||
* @brief Initialize the HMC5883 magnetometer sensor.
|
||||
* @return none
|
||||
*/
|
||||
void PIOS_HMC5883_Init(void)
|
||||
{
|
||||
GPIO_InitTypeDef GPIO_InitStructure;
|
||||
EXTI_InitTypeDef EXTI_InitStructure;
|
||||
NVIC_InitTypeDef NVIC_InitStructure;
|
||||
|
||||
/* Enable DRDY GPIO clock */
|
||||
RCC_APB2PeriphClockCmd(PIOS_HMC5883_DRDY_CLK | RCC_APB2Periph_AFIO, ENABLE);
|
||||
|
||||
/* Configure EOC pin as input floating */
|
||||
GPIO_InitStructure.GPIO_Pin = PIOS_HMC5883_DRDY_GPIO_PIN;
|
||||
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
|
||||
GPIO_Init(PIOS_HMC5883_DRDY_GPIO_PORT, &GPIO_InitStructure);
|
||||
|
||||
/* Configure the End Of Conversion (EOC) interrupt */
|
||||
GPIO_EXTILineConfig(PIOS_HMC5883_DRDY_PORT_SOURCE, PIOS_HMC5883_DRDY_PIN_SOURCE);
|
||||
EXTI_InitStructure.EXTI_Line = PIOS_HMC5883_DRDY_EXTI_LINE;
|
||||
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
|
||||
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
|
||||
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
|
||||
EXTI_Init(&EXTI_InitStructure);
|
||||
|
||||
/* Enable and set EOC EXTI Interrupt to the lowest priority */
|
||||
NVIC_InitStructure.NVIC_IRQChannel = PIOS_HMC5883_DRDY_IRQn;
|
||||
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_HMC5883_DRDY_PRIO;
|
||||
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
|
||||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
||||
NVIC_Init(&NVIC_InitStructure);
|
||||
|
||||
/* Configure the HMC5883 Sensor */
|
||||
PIOS_HMC5883_ConfigTypeDef HMC5883_InitStructure;
|
||||
HMC5883_InitStructure.M_ODR = PIOS_HMC5883_ODR_15;
|
||||
HMC5883_InitStructure.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL;
|
||||
HMC5883_InitStructure.Gain = PIOS_HMC5883_GAIN_1_9;
|
||||
HMC5883_InitStructure.Mode = PIOS_HMC5883_MODE_CONTINUOUS;
|
||||
PIOS_HMC5883_Config(&HMC5883_InitStructure);
|
||||
|
||||
pios_hmc5883_data_ready = false;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initialize the HMC5883 magnetometer sensor
|
||||
* \return none
|
||||
* \param[in] PIOS_HMC5883_ConfigTypeDef struct to be used to configure sensor.
|
||||
*
|
||||
* CTRL_REGA: Control Register A
|
||||
* Read Write
|
||||
* Default value: 0x10
|
||||
* 7:5 0 These bits must be cleared for correct operation.
|
||||
* 4:2 DO2-DO0: Data Output Rate Bits
|
||||
* DO2 | DO1 | DO0 | Minimum Data Output Rate (Hz)
|
||||
* ------------------------------------------------------
|
||||
* 0 | 0 | 0 | 0.75
|
||||
* 0 | 0 | 1 | 1.5
|
||||
* 0 | 1 | 0 | 3
|
||||
* 0 | 1 | 1 | 7.5
|
||||
* 1 | 0 | 0 | 15 (default)
|
||||
* 1 | 0 | 1 | 30
|
||||
* 1 | 1 | 0 | 75
|
||||
* 1 | 1 | 1 | Not Used
|
||||
* 1:0 MS1-MS0: Measurement Configuration Bits
|
||||
* MS1 | MS0 | MODE
|
||||
* ------------------------------
|
||||
* 0 | 0 | Normal
|
||||
* 0 | 1 | Positive Bias
|
||||
* 1 | 0 | Negative Bias
|
||||
* 1 | 1 | Not Used
|
||||
*
|
||||
* CTRL_REGB: Control RegisterB
|
||||
* Read Write
|
||||
* Default value: 0x20
|
||||
* 7:5 GN2-GN0: Gain Configuration Bits.
|
||||
* GN2 | GN1 | GN0 | Mag Input | Gain | Output Range
|
||||
* | | | Range[Ga] | [LSB/mGa] |
|
||||
* ------------------------------------------------------
|
||||
* 0 | 0 | 0 | ±0.88Ga | 1370 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 0 | 1 | ±1.3Ga (def) | 1090 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 1 | 0 | ±1.9Ga | 820 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 1 | 1 | ±2.5Ga | 660 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 0 | 0 | ±4.0Ga | 440 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 0 | 1 | ±4.7Ga | 390 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 1 | 0 | ±5.6Ga | 330 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 1 | 1 | ±8.1Ga | 230 | 0xF8000x07FF (-2048:2047)
|
||||
* |Not recommended|
|
||||
*
|
||||
* 4:0 CRB4-CRB: 0 This bit must be cleared for correct operation.
|
||||
*
|
||||
* _MODE_REG: Mode Register
|
||||
* Read Write
|
||||
* Default value: 0x02
|
||||
* 7:2 0 These bits must be cleared for correct operation.
|
||||
* 1:0 MD1-MD0: Mode Select Bits
|
||||
* MS1 | MS0 | MODE
|
||||
* ------------------------------
|
||||
* 0 | 0 | Continuous-Conversion Mode.
|
||||
* 0 | 1 | Single-Conversion Mode
|
||||
* 1 | 0 | Negative Bias
|
||||
* 1 | 1 | Sleep Mode
|
||||
*/
|
||||
static void PIOS_HMC5883_Config(PIOS_HMC5883_ConfigTypeDef * HMC5883_Config_Struct)
|
||||
{
|
||||
uint8_t CTRLA = 0x00;
|
||||
uint8_t CTRLB = 0x00;
|
||||
uint8_t MODE = 0x00;
|
||||
|
||||
CTRLA |= (uint8_t) (HMC5883_Config_Struct->M_ODR | HMC5883_Config_Struct->Meas_Conf);
|
||||
CTRLB |= (uint8_t) (HMC5883_Config_Struct->Gain);
|
||||
MODE |= (uint8_t) (HMC5883_Config_Struct->Mode);
|
||||
|
||||
// CRTL_REGA
|
||||
while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, CTRLA)) ;
|
||||
|
||||
// CRTL_REGB
|
||||
while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, CTRLB)) ;
|
||||
|
||||
// Mode register
|
||||
while (!PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, MODE)) ;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Read current X, Z, Y values (in that order)
|
||||
* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
|
||||
* \return none
|
||||
*/
|
||||
void PIOS_HMC5883_ReadMag(int16_t out[3])
|
||||
{
|
||||
uint8_t buffer[6];
|
||||
uint8_t ctrlB;
|
||||
|
||||
pios_hmc5883_data_ready = false;
|
||||
|
||||
while (!PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_B, &ctrlB, 1)) ;
|
||||
while (!PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_XMSB_REG, buffer, 6)) ;
|
||||
|
||||
switch (ctrlB & 0xE0) {
|
||||
case 0x00:
|
||||
for (int i = 0; i < 3; i++)
|
||||
out[i] = ((int16_t) ((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5883_Sensitivity_0_88Ga;
|
||||
break;
|
||||
case 0x20:
|
||||
for (int i = 0; i < 3; i++)
|
||||
out[i] = ((int16_t) ((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5883_Sensitivity_1_3Ga;
|
||||
break;
|
||||
case 0x40:
|
||||
for (int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5883_Sensitivity_1_9Ga;
|
||||
break;
|
||||
case 0x60:
|
||||
for (int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5883_Sensitivity_2_5Ga;
|
||||
break;
|
||||
case 0x80:
|
||||
for (int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5883_Sensitivity_4_0Ga;
|
||||
break;
|
||||
case 0xA0:
|
||||
for (int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5883_Sensitivity_4_7Ga;
|
||||
break;
|
||||
case 0xC0:
|
||||
for (int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5883_Sensitivity_5_6Ga;
|
||||
break;
|
||||
case 0xE0:
|
||||
for (int i = 0; i < 3; i++)
|
||||
out[i] = (int16_t) (((uint16_t) buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5883_Sensitivity_8_1Ga;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Read the identification bytes from the HMC5883 sensor
|
||||
* \param[out] uint8_t array of size 4 to store HMC5883 ID.
|
||||
* \return none
|
||||
*/
|
||||
void PIOS_HMC5883_ReadID(uint8_t out[4])
|
||||
{
|
||||
while (!PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_IDA_REG, out, 3)) ;
|
||||
out[3] = '\0';
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Tells whether new magnetometer readings are available
|
||||
* \return true if new data is available
|
||||
* \return false if new data is not available
|
||||
*/
|
||||
bool PIOS_HMC5883_NewDataAvailable(void)
|
||||
{
|
||||
return (pios_hmc5883_data_ready);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Reads one or more bytes into a buffer
|
||||
* \param[in] address HMC5883 register address (depends on size)
|
||||
* \param[out] buffer destination buffer
|
||||
* \param[in] len number of bytes which should be read
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -4 if invalid length
|
||||
*/
|
||||
static bool PIOS_HMC5883_Read(uint8_t address, uint8_t * buffer, uint8_t len)
|
||||
{
|
||||
uint8_t addr_buffer[] = {
|
||||
address,
|
||||
};
|
||||
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_HMC5883_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(addr_buffer),
|
||||
.buf = addr_buffer,
|
||||
}
|
||||
,
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_HMC5883_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_READ,
|
||||
.len = len,
|
||||
.buf = buffer,
|
||||
}
|
||||
};
|
||||
|
||||
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Writes one or more bytes to the HMC5883
|
||||
* \param[in] address Register address
|
||||
* \param[in] buffer source buffer
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
*/
|
||||
static bool PIOS_HMC5883_Write(uint8_t address, uint8_t buffer)
|
||||
{
|
||||
uint8_t data[] = {
|
||||
address,
|
||||
buffer,
|
||||
};
|
||||
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_HMC5883_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(data),
|
||||
.buf = data,
|
||||
}
|
||||
,
|
||||
};
|
||||
|
||||
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Run self-test operation. Do not call this during operational use!!
|
||||
* \return 0 if test failed
|
||||
* \return non-zero value if test succeeded
|
||||
*/
|
||||
int32_t PIOS_HMC5883_Test(void)
|
||||
{
|
||||
/* Verify that ID matches (HMC5883 ID is null-terminated ASCII string "H43") */
|
||||
char id[4];
|
||||
PIOS_HMC5883_ReadID((uint8_t *)id);
|
||||
if(!strncmp("H43\0",id,4))
|
||||
return 0;
|
||||
else
|
||||
return 1;
|
||||
|
||||
int32_t passed = 1;
|
||||
uint8_t registers[3] = {0,0,0};
|
||||
|
||||
/* Backup existing configuration */
|
||||
while (!PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_A,registers,3) );
|
||||
|
||||
/*
|
||||
* Put HMC5883 into self test mode
|
||||
* This is done by placing measurement config into positive (0x01) or negative (0x10) bias
|
||||
* and then placing the mode register into single-measurement mode. This causes the HMC5883
|
||||
* to create an artificial magnetic field of ~1.1 Gauss.
|
||||
*
|
||||
* If gain were PIOS_HMC5883_GAIN_2_5, for example, X and Y will read around +766 LSB
|
||||
* (1.16 Ga * 660 LSB/Ga) and Z would read around +713 LSB (1.08 Ga * 660 LSB/Ga)
|
||||
*
|
||||
* Changing measurement config back to PIOS_HMC5883_MEASCONF_NORMAL will leave self-test mode.
|
||||
*/
|
||||
while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, PIOS_HMC5883_MEASCONF_BIAS_POS | PIOS_HMC5883_ODR_15)) ;
|
||||
while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, PIOS_HMC5883_GAIN_2_5)) ;
|
||||
while (!PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_SINGLE)) ;
|
||||
|
||||
uint8_t values[6];
|
||||
while (!PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_XMSB_REG, values, 6)) ;
|
||||
int16_t x = (int16_t) (((uint16_t) values[0] << 8) + values[1]);
|
||||
int16_t y = (int16_t) (((uint16_t) values[2] << 8) + values[3]);
|
||||
int16_t z = (int16_t) (((uint16_t) values[4] << 8) + values[5]);
|
||||
|
||||
if(abs(abs(x) - 766) > 20)
|
||||
passed &= 0;
|
||||
if(abs(abs(y) - 766) > 20)
|
||||
passed &= 0;
|
||||
if(abs(abs(z) - 713) > 20)
|
||||
passed &= 0;
|
||||
|
||||
/* Restore backup configuration */
|
||||
while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A,registers[0]) );
|
||||
while (!PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B,registers[1]) );
|
||||
while (!PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG,registers[2]) );
|
||||
|
||||
return passed;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief IRQ Handler
|
||||
*/
|
||||
void PIOS_HMC5883_IRQHandler(void)
|
||||
{
|
||||
pios_hmc5883_data_ready = true;
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_HMC5883 */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
238
flight/PiOS/Common/pios_imu3000.c
Normal file
238
flight/PiOS/Common/pios_imu3000.c
Normal file
@ -0,0 +1,238 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_IMU3000 IMU3000 Functions
|
||||
* @brief Deals with the hardware interface to the 3-axis gyro
|
||||
* @{
|
||||
*
|
||||
* @file pios_IMU3000.c
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief IMU3000 3-axis gyor functions from INS
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
/* Project Includes */
|
||||
#include "pios.h"
|
||||
|
||||
#if defined(PIOS_INCLUDE_IMU3000)
|
||||
|
||||
/* Global Variables */
|
||||
|
||||
/* Local Types */
|
||||
typedef struct {
|
||||
uint8_t Fifo_store; /* FIFO storage of different readings (See datasheet page 31 for more details) */
|
||||
uint8_t Smpl_rate_div; /* Sample rate divider to use (See datasheet page 32 for more details) */
|
||||
uint8_t DigLPF_Scale; /* Digital low-pass filter and full-range scale (See datasheet page 33 for more details) */
|
||||
uint8_t Interrupt_cfg; /* Interrupt configuration (See datasheet page 35 for more details) */
|
||||
uint8_t User_ctl; /* User control settings (See datasheet page 41 for more details) */
|
||||
uint8_t Pwr_mgmt_clk; /* Power management and clock selection (See datasheet page 32 for more details) */
|
||||
} PIOS_IMU3000_ConfigTypeDef;
|
||||
|
||||
/* Local Variables */
|
||||
|
||||
static void PIOS_IMU3000_Config(PIOS_IMU3000_ConfigTypeDef * IMU3000_Config_Struct);
|
||||
static bool PIOS_IMU3000_Read(uint8_t address, uint8_t * buffer, uint8_t len);
|
||||
static bool PIOS_IMU3000_Write(uint8_t address, uint8_t buffer);
|
||||
|
||||
/**
|
||||
* @brief Initialize the IMU3000 3-axis gyro sensor.
|
||||
* @return none
|
||||
*/
|
||||
void PIOS_IMU3000_Init(void)
|
||||
{
|
||||
GPIO_InitTypeDef GPIO_InitStructure;
|
||||
EXTI_InitTypeDef EXTI_InitStructure;
|
||||
NVIC_InitTypeDef NVIC_InitStructure;
|
||||
|
||||
/* Enable INT GPIO clock */
|
||||
RCC_APB2PeriphClockCmd(PIOS_IMU3000_INT_CLK | RCC_APB2Periph_AFIO, ENABLE);
|
||||
|
||||
/* Configure IMU3000 interrupt pin as input floating */
|
||||
GPIO_InitStructure.GPIO_Pin = PIOS_IMU3000_INT_GPIO_PIN;
|
||||
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
|
||||
GPIO_Init(PIOS_IMU3000_INT_GPIO_PORT, &GPIO_InitStructure);
|
||||
|
||||
/* Configure the End Of Conversion (EOC) interrupt */
|
||||
GPIO_EXTILineConfig(PIOS_IMU3000_INT_PORT_SOURCE, PIOS_IMU3000_INT_PIN_SOURCE);
|
||||
EXTI_InitStructure.EXTI_Line = PIOS_IMU3000_INT_EXTI_LINE;
|
||||
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
|
||||
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
|
||||
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
|
||||
EXTI_Init(&EXTI_InitStructure);
|
||||
|
||||
/* Enable and set EOC EXTI Interrupt to the lowest priority */
|
||||
NVIC_InitStructure.NVIC_IRQChannel = PIOS_IMU3000_INT_IRQn;
|
||||
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IMU3000_INT_PRIO;
|
||||
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
|
||||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
||||
NVIC_Init(&NVIC_InitStructure);
|
||||
|
||||
/* Configure the IMU3000 Sensor */
|
||||
PIOS_IMU3000_ConfigTypeDef IMU3000_InitStructure;
|
||||
IMU3000_InitStructure.Fifo_store = PIOS_IMU3000_FIFO_TEMP_OUT | PIOS_IMU3000_FIFO_GYRO_X_OUT |
|
||||
PIOS_IMU3000_FIFO_GYRO_Y_OUT | PIOS_IMU3000_FIFO_GYRO_Z_OUT | PIOS_IMU3000_FIFO_FOOTER;
|
||||
IMU3000_InitStructure.Smpl_rate_div = 8;
|
||||
IMU3000_InitStructure.DigLPF_Scale = PIOS_IMU3000_LOWPASS_256_HZ | PIOS_IMU3000_SCALE_500_DEG;
|
||||
IMU3000_InitStructure.Interrupt_cfg = PIOS_IMU3000_INT_CLR_ANYRD | PIOS_IMU3000_INT_DATA_RDY;
|
||||
IMU3000_InitStructure.User_ctl = PIOS_IMU3000_USERCTL_FIFO_EN;
|
||||
IMU3000_InitStructure.Pwr_mgmt_clk = PIOS_IMU3000_PWRMGMT_PLL_X_CLK;
|
||||
PIOS_IMU3000_Config(&IMU3000_InitStructure);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initialize the IMU3000 3-axis gyro sensor
|
||||
* \return none
|
||||
* \param[in] PIOS_IMU3000_ConfigTypeDef struct to be used to configure sensor.
|
||||
*
|
||||
*/
|
||||
static void PIOS_IMU3000_Config(PIOS_IMU3000_ConfigTypeDef * IMU3000_Config_Struct)
|
||||
{
|
||||
// TODO: Add checks against current config so we only update what has changed
|
||||
|
||||
// FIFO storage
|
||||
while (!PIOS_IMU3000_Write(PIOS_IMU3000_FIFO_EN_REG, IMU3000_Config_Struct->Fifo_store)) ;
|
||||
|
||||
// Sample rate divider
|
||||
while (!PIOS_IMU3000_Write(PIOS_IMU3000_SMPLRT_DIV_REG, IMU3000_Config_Struct->Smpl_rate_div)) ;
|
||||
|
||||
// Digital low-pass filter and scale
|
||||
while (!PIOS_IMU3000_Write(PIOS_IMU3000_DLPF_CFG_REG, IMU3000_Config_Struct->DigLPF_Scale)) ;
|
||||
|
||||
// Interrupt configuration
|
||||
while (!PIOS_IMU3000_Write(PIOS_IMU3000_INT_CFG_REG, IMU3000_Config_Struct->Interrupt_cfg)) ;
|
||||
|
||||
// Interrupt configuration
|
||||
while (!PIOS_IMU3000_Write(PIOS_IMU3000_USER_CTRL_REG, IMU3000_Config_Struct->User_ctl)) ;
|
||||
|
||||
// Interrupt configuration
|
||||
while (!PIOS_IMU3000_Write(PIOS_IMU3000_PWR_MGMT_REG, IMU3000_Config_Struct->Pwr_mgmt_clk)) ;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Read current X, Z, Y values (in that order)
|
||||
* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
|
||||
* \return none
|
||||
*/
|
||||
void PIOS_IMU3000_ReadGyros(int16_t out[3])
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Read the identification bytes from the IMU3000 sensor
|
||||
* \return ID read from IMU3000
|
||||
*/
|
||||
uint8_t PIOS_IMU3000_ReadID()
|
||||
{
|
||||
uint8_t id;
|
||||
while (!PIOS_IMU3000_Read(0x00, &id, 1)) ;
|
||||
return id;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Reads one or more bytes from IMU3000 into a buffer
|
||||
* \param[in] address IMU3000 register address (depends on size)
|
||||
* \param[out] buffer destination buffer
|
||||
* \param[in] len number of bytes which should be read
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -4 if invalid length
|
||||
*/
|
||||
static bool PIOS_IMU3000_Read(uint8_t address, uint8_t * buffer, uint8_t len)
|
||||
{
|
||||
uint8_t addr_buffer[] = {
|
||||
address,
|
||||
};
|
||||
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_IMU3000_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(addr_buffer),
|
||||
.buf = addr_buffer,
|
||||
}
|
||||
,
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_IMU3000_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_READ,
|
||||
.len = len,
|
||||
.buf = buffer,
|
||||
}
|
||||
};
|
||||
|
||||
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Writes one or more bytes to the IMU3000
|
||||
* \param[in] address Register address
|
||||
* \param[in] buffer source buffer
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
*/
|
||||
static bool PIOS_IMU3000_Write(uint8_t address, uint8_t buffer)
|
||||
{
|
||||
uint8_t data[] = {
|
||||
address,
|
||||
buffer,
|
||||
};
|
||||
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_IMU3000_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(data),
|
||||
.buf = data,
|
||||
}
|
||||
,
|
||||
};
|
||||
|
||||
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Run self-test operation.
|
||||
* \return 0 if test failed
|
||||
* \return non-zero value if test succeeded
|
||||
*/
|
||||
uint8_t PIOS_IMU3000_Test(void)
|
||||
{
|
||||
/* Verify that ID matches (IMU3000 ID is 0x69) */
|
||||
return (0x69 ^ PIOS_IMU3000_ReadID() );
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief IRQ Handler
|
||||
*/
|
||||
void PIOS_IMU3000_IRQHandler(void)
|
||||
{
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_IMU3000 */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
402
flight/PiOS/STM32F10x/link_STM3210E_INS_HD_BL.ld
Normal file
402
flight/PiOS/STM32F10x/link_STM3210E_INS_HD_BL.ld
Normal file
@ -0,0 +1,402 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file link_STM3210E_INS_HD_BL.ld
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief PiOS linker for the OpenPilot INS board
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
|
||||
/* Memory Spaces Definitions */
|
||||
MEMORY
|
||||
{
|
||||
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
FLASH (rx) : ORIGIN = 0x08005000, LENGTH = 492K
|
||||
FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||
EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||
EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||
EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||
EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||
}
|
||||
|
||||
_estack = 0x20004FF0;
|
||||
|
||||
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
|
||||
_irq_stack_size = 0x400;
|
||||
|
||||
/* Check valid alignment for VTOR */
|
||||
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
|
||||
|
||||
/*
|
||||
this sends all unreferenced IRQHandlers to reset
|
||||
*/
|
||||
|
||||
|
||||
PROVIDE ( Undefined_Handler = 0 ) ;
|
||||
PROVIDE ( SWI_Handler = 0 ) ;
|
||||
PROVIDE ( IRQ_Handler = 0 ) ;
|
||||
PROVIDE ( Prefetch_Handler = 0 ) ;
|
||||
PROVIDE ( Abort_Handler = 0 ) ;
|
||||
PROVIDE ( FIQ_Handler = 0 ) ;
|
||||
|
||||
PROVIDE ( NMI_Handler = 0 ) ;
|
||||
PROVIDE ( HardFault_Handler = 0 ) ;
|
||||
PROVIDE ( MemManage_Handler = 0 ) ;
|
||||
PROVIDE ( BusFault_Handler = 0 ) ;
|
||||
PROVIDE ( UsageFault_Handler = 0 ) ;
|
||||
PROVIDE ( SVC_Handler = 0 ) ;
|
||||
PROVIDE ( DebugMon_Handler = 0 ) ;
|
||||
PROVIDE ( PendSV_Handler = 0 ) ;
|
||||
PROVIDE ( SysTick_Handler = 0 ) ;
|
||||
|
||||
PROVIDE ( WWDG_IRQHandler = 0 ) ;
|
||||
PROVIDE ( PVD_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TAMPER_IRQHandler = 0 ) ;
|
||||
PROVIDE ( RTC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( FLASH_IRQHandler = 0 ) ;
|
||||
PROVIDE ( RCC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI0_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel6_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel7_IRQHandler = 0 ) ;
|
||||
PROVIDE ( ADC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USB_HP_CAN1_TX_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USB_LP_CAN1_RX0_IRQHandler = 0 ) ;
|
||||
PROVIDE ( CAN1_RX1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( CAN1_SCE_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI9_5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_BRK_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_UP_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_TRG_COM_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_CC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C1_EV_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C1_ER_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C2_EV_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C2_ER_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SPI1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SPI2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USART1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USART2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USART3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI15_10_IRQHandler = 0 ) ;
|
||||
PROVIDE ( RTCAlarm_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USBWakeUp_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_BRK_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_UP_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_TRG_COM_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_CC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( ADC3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( FSMC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SDIO_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SPI3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( UART4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( UART5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM6_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM7_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel4_5_IRQHandler = 0 ) ;
|
||||
|
||||
|
||||
|
||||
/******************************************************************************/
|
||||
/* Peripheral memory map */
|
||||
/******************************************************************************/
|
||||
/*this allows to compile the ST lib in "non-debug" mode*/
|
||||
|
||||
|
||||
/* Peripheral and SRAM base address in the alias region */
|
||||
PERIPH_BB_BASE = 0x42000000;
|
||||
SRAM_BB_BASE = 0x22000000;
|
||||
|
||||
/* Peripheral and SRAM base address in the bit-band region */
|
||||
SRAM_BASE = 0x20000000;
|
||||
PERIPH_BASE = 0x40000000;
|
||||
|
||||
/* Flash registers base address */
|
||||
PROVIDE ( FLASH_BASE = 0x40022000);
|
||||
/* Flash Option Bytes base address */
|
||||
PROVIDE ( OB_BASE = 0x1FFFF800);
|
||||
|
||||
/* Peripheral memory map */
|
||||
APB1PERIPH_BASE = PERIPH_BASE ;
|
||||
APB2PERIPH_BASE = (PERIPH_BASE + 0x10000) ;
|
||||
AHBPERIPH_BASE = (PERIPH_BASE + 0x20000) ;
|
||||
|
||||
PROVIDE ( TIM2 = (APB1PERIPH_BASE + 0x0000) ) ;
|
||||
PROVIDE ( TIM3 = (APB1PERIPH_BASE + 0x0400) ) ;
|
||||
PROVIDE ( TIM4 = (APB1PERIPH_BASE + 0x0800) ) ;
|
||||
PROVIDE ( RTC = (APB1PERIPH_BASE + 0x2800) ) ;
|
||||
PROVIDE ( WWDG = (APB1PERIPH_BASE + 0x2C00) ) ;
|
||||
PROVIDE ( IWDG = (APB1PERIPH_BASE + 0x3000) ) ;
|
||||
PROVIDE ( SPI2 = (APB1PERIPH_BASE + 0x3800) ) ;
|
||||
PROVIDE ( USART2 = (APB1PERIPH_BASE + 0x4400) ) ;
|
||||
PROVIDE ( USART3 = (APB1PERIPH_BASE + 0x4800) ) ;
|
||||
PROVIDE ( I2C1 = (APB1PERIPH_BASE + 0x5400) ) ;
|
||||
PROVIDE ( I2C2 = (APB1PERIPH_BASE + 0x5800) ) ;
|
||||
PROVIDE ( CAN = (APB1PERIPH_BASE + 0x6400) ) ;
|
||||
PROVIDE ( BKP = (APB1PERIPH_BASE + 0x6C00) ) ;
|
||||
PROVIDE ( PWR = (APB1PERIPH_BASE + 0x7000) ) ;
|
||||
|
||||
PROVIDE ( AFIO = (APB2PERIPH_BASE + 0x0000) ) ;
|
||||
PROVIDE ( EXTI = (APB2PERIPH_BASE + 0x0400) ) ;
|
||||
PROVIDE ( GPIOA = (APB2PERIPH_BASE + 0x0800) ) ;
|
||||
PROVIDE ( GPIOB = (APB2PERIPH_BASE + 0x0C00) ) ;
|
||||
PROVIDE ( GPIOC = (APB2PERIPH_BASE + 0x1000) ) ;
|
||||
PROVIDE ( GPIOD = (APB2PERIPH_BASE + 0x1400) ) ;
|
||||
PROVIDE ( GPIOE = (APB2PERIPH_BASE + 0x1800) ) ;
|
||||
PROVIDE ( ADC1 = (APB2PERIPH_BASE + 0x2400) ) ;
|
||||
PROVIDE ( ADC2 = (APB2PERIPH_BASE + 0x2800) ) ;
|
||||
PROVIDE ( TIM1 = (APB2PERIPH_BASE + 0x2C00) ) ;
|
||||
PROVIDE ( SPI1 = (APB2PERIPH_BASE + 0x3000) ) ;
|
||||
PROVIDE ( USART1 = (APB2PERIPH_BASE + 0x3800) ) ;
|
||||
|
||||
PROVIDE ( DMA = (AHBPERIPH_BASE + 0x0000) ) ;
|
||||
PROVIDE ( DMA_Channel1 = (AHBPERIPH_BASE + 0x0008) ) ;
|
||||
PROVIDE ( DMA_Channel2 = (AHBPERIPH_BASE + 0x001C) ) ;
|
||||
PROVIDE ( DMA_Channel3 = (AHBPERIPH_BASE + 0x0030) ) ;
|
||||
PROVIDE ( DMA_Channel4 = (AHBPERIPH_BASE + 0x0044) ) ;
|
||||
PROVIDE ( DMA_Channel5 = (AHBPERIPH_BASE + 0x0058) ) ;
|
||||
PROVIDE ( DMA_Channel6 = (AHBPERIPH_BASE + 0x006C) ) ;
|
||||
PROVIDE ( DMA_Channel7 = (AHBPERIPH_BASE + 0x0080) ) ;
|
||||
PROVIDE ( RCC = (AHBPERIPH_BASE + 0x1000) ) ;
|
||||
|
||||
/* System Control Space memory map */
|
||||
SCS_BASE = 0xE000E000;
|
||||
|
||||
PROVIDE ( SysTick = (SCS_BASE + 0x0010) ) ;
|
||||
PROVIDE ( NVIC = (SCS_BASE + 0x0100) ) ;
|
||||
PROVIDE ( SCB = (SCS_BASE + 0x0D00) ) ;
|
||||
|
||||
|
||||
/* Sections Definitions */
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
|
||||
/* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
|
||||
.isr_vector :
|
||||
{
|
||||
KEEP(*(.isr_vector)) /* Startup code */
|
||||
. = ALIGN(4);
|
||||
} >FLASH
|
||||
|
||||
/* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
|
||||
.flashtext :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
*(.flashtext) /* Startup code */
|
||||
. = ALIGN(4);
|
||||
} >FLASH
|
||||
|
||||
|
||||
/* init sections */
|
||||
.initcalluavobj.init :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
__uavobj_initcall_start = .;
|
||||
KEEP(*(.initcalluavobj.init))
|
||||
. = ALIGN(4);
|
||||
__uavobj_initcall_end = .;
|
||||
} >FLASH
|
||||
|
||||
/* the program code is stored in the .text section, which goes to Flash */
|
||||
.text :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
|
||||
*(.text) /* remaining code */
|
||||
*(.text.*) /* remaining code */
|
||||
*(.rodata) /* read-only data (constants) */
|
||||
*(.rodata*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
|
||||
. = ALIGN(4);
|
||||
_etext = .;
|
||||
/* This is used by the startup in order to initialize the .data secion */
|
||||
_sidata = _etext;
|
||||
} >FLASH
|
||||
|
||||
|
||||
/*
|
||||
* This stack is used both as the initial sp during early init as well as ultimately
|
||||
* being used as the STM32's MSP (Main Stack Pointer) which is the same stack that
|
||||
* is used for _all_ interrupt handlers. The end of this stack should be placed
|
||||
* against the lowest address in RAM so that a stack overrun results in a hard fault
|
||||
* at the first access beyond the end of the stack.
|
||||
*/
|
||||
.irq_stack :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_irq_stack_end = . ;
|
||||
. = . + _irq_stack_size ;
|
||||
. = ALIGN(4);
|
||||
_irq_stack_top = . - 4 ;
|
||||
. = ALIGN(4);
|
||||
} >RAM
|
||||
|
||||
|
||||
/* This is the initialized data section
|
||||
The program executes knowing that the data is in the RAM
|
||||
but the loader puts the initial values in the FLASH (inidata).
|
||||
It is one task of the startup to copy the initial values from FLASH to RAM. */
|
||||
.data : AT ( _sidata )
|
||||
{
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .data secion */
|
||||
_sdata = . ;
|
||||
|
||||
*(.data)
|
||||
*(.data.*)
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .data secion */
|
||||
_edata = . ;
|
||||
} >RAM
|
||||
|
||||
|
||||
|
||||
/* This is the uninitialized data section */
|
||||
.bss :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .bss secion */
|
||||
_sbss = .;
|
||||
|
||||
*(.bss)
|
||||
*(COMMON)
|
||||
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .bss secion */
|
||||
_ebss = . ;
|
||||
} >RAM
|
||||
|
||||
PROVIDE ( end = _ebss );
|
||||
PROVIDE ( _end = _ebss );
|
||||
|
||||
/* this is the FLASH Bank1 */
|
||||
/* the C or assembly source must explicitly place the code or data there
|
||||
using the "section" attribute */
|
||||
.b1text :
|
||||
{
|
||||
*(.b1text) /* remaining code */
|
||||
*(.b1rodata) /* read-only data (constants) */
|
||||
*(.b1rodata*)
|
||||
} >FLASHB1
|
||||
|
||||
/* this is the EXTMEM */
|
||||
/* the C or assembly source must explicitly place the code or data there
|
||||
using the "section" attribute */
|
||||
|
||||
/* EXTMEM Bank0 */
|
||||
.eb0text :
|
||||
{
|
||||
*(.eb0text) /* remaining code */
|
||||
*(.eb0rodata) /* read-only data (constants) */
|
||||
*(.eb0rodata*)
|
||||
} >EXTMEMB0
|
||||
|
||||
/* EXTMEM Bank1 */
|
||||
.eb1text :
|
||||
{
|
||||
*(.eb1text) /* remaining code */
|
||||
*(.eb1rodata) /* read-only data (constants) */
|
||||
*(.eb1rodata*)
|
||||
} >EXTMEMB1
|
||||
|
||||
/* EXTMEM Bank2 */
|
||||
.eb2text :
|
||||
{
|
||||
*(.eb2text) /* remaining code */
|
||||
*(.eb2rodata) /* read-only data (constants) */
|
||||
*(.eb2rodata*)
|
||||
} >EXTMEMB2
|
||||
|
||||
/* EXTMEM Bank0 */
|
||||
.eb3text :
|
||||
{
|
||||
*(.eb3text) /* remaining code */
|
||||
*(.eb3rodata) /* read-only data (constants) */
|
||||
*(.eb3rodata*)
|
||||
} >EXTMEMB3
|
||||
|
||||
__exidx_start = .;
|
||||
__exidx_end = .;
|
||||
|
||||
/* after that it's only debugging information. */
|
||||
|
||||
/* remove the debugging information from the standard libraries */
|
||||
/DISCARD/ :
|
||||
{
|
||||
libc.a ( * )
|
||||
libm.a ( * )
|
||||
libgcc.a ( * )
|
||||
}
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
/* DWARF debug sections.
|
||||
Symbols in the DWARF debugging sections are relative to the beginning
|
||||
of the section so we begin them at 0. */
|
||||
/* DWARF 1 */
|
||||
.debug 0 : { *(.debug) }
|
||||
.line 0 : { *(.line) }
|
||||
/* GNU DWARF 1 extensions */
|
||||
.debug_srcinfo 0 : { *(.debug_srcinfo) }
|
||||
.debug_sfnames 0 : { *(.debug_sfnames) }
|
||||
/* DWARF 1.1 and DWARF 2 */
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
/* DWARF 2 */
|
||||
.debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_frame 0 : { *(.debug_frame) }
|
||||
.debug_str 0 : { *(.debug_str) }
|
||||
.debug_loc 0 : { *(.debug_loc) }
|
||||
.debug_macinfo 0 : { *(.debug_macinfo) }
|
||||
/* SGI/MIPS DWARF 2 extensions */
|
||||
.debug_weaknames 0 : { *(.debug_weaknames) }
|
||||
.debug_funcnames 0 : { *(.debug_funcnames) }
|
||||
.debug_typenames 0 : { *(.debug_typenames) }
|
||||
.debug_varnames 0 : { *(.debug_varnames) }
|
||||
}
|
||||
|
||||
|
||||
402
flight/PiOS/STM32F10x/link_STM3210E_INS_HD_NB.ld
Normal file
402
flight/PiOS/STM32F10x/link_STM3210E_INS_HD_NB.ld
Normal file
@ -0,0 +1,402 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file link_STM3210E_INS_HD_NB.ld
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief PiOS linker for the OpenPilot INS board
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
|
||||
/* Memory Spaces Definitions */
|
||||
MEMORY
|
||||
{
|
||||
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 512K
|
||||
FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||
EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||
EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||
EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||
EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||
}
|
||||
|
||||
_estack = 0x20004FF0;
|
||||
|
||||
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
|
||||
_irq_stack_size = 0x400;
|
||||
|
||||
/* Check valid alignment for VTOR */
|
||||
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
|
||||
|
||||
/*
|
||||
this sends all unreferenced IRQHandlers to reset
|
||||
*/
|
||||
|
||||
|
||||
PROVIDE ( Undefined_Handler = 0 ) ;
|
||||
PROVIDE ( SWI_Handler = 0 ) ;
|
||||
PROVIDE ( IRQ_Handler = 0 ) ;
|
||||
PROVIDE ( Prefetch_Handler = 0 ) ;
|
||||
PROVIDE ( Abort_Handler = 0 ) ;
|
||||
PROVIDE ( FIQ_Handler = 0 ) ;
|
||||
|
||||
PROVIDE ( NMI_Handler = 0 ) ;
|
||||
PROVIDE ( HardFault_Handler = 0 ) ;
|
||||
PROVIDE ( MemManage_Handler = 0 ) ;
|
||||
PROVIDE ( BusFault_Handler = 0 ) ;
|
||||
PROVIDE ( UsageFault_Handler = 0 ) ;
|
||||
PROVIDE ( SVC_Handler = 0 ) ;
|
||||
PROVIDE ( DebugMon_Handler = 0 ) ;
|
||||
PROVIDE ( PendSV_Handler = 0 ) ;
|
||||
PROVIDE ( SysTick_Handler = 0 ) ;
|
||||
|
||||
PROVIDE ( WWDG_IRQHandler = 0 ) ;
|
||||
PROVIDE ( PVD_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TAMPER_IRQHandler = 0 ) ;
|
||||
PROVIDE ( RTC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( FLASH_IRQHandler = 0 ) ;
|
||||
PROVIDE ( RCC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI0_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel6_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel7_IRQHandler = 0 ) ;
|
||||
PROVIDE ( ADC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USB_HP_CAN1_TX_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USB_LP_CAN1_RX0_IRQHandler = 0 ) ;
|
||||
PROVIDE ( CAN1_RX1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( CAN1_SCE_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI9_5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_BRK_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_UP_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_TRG_COM_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_CC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C1_EV_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C1_ER_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C2_EV_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C2_ER_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SPI1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SPI2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USART1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USART2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USART3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI15_10_IRQHandler = 0 ) ;
|
||||
PROVIDE ( RTCAlarm_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USBWakeUp_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_BRK_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_UP_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_TRG_COM_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_CC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( ADC3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( FSMC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SDIO_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SPI3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( UART4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( UART5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM6_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM7_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel4_5_IRQHandler = 0 ) ;
|
||||
|
||||
|
||||
|
||||
/******************************************************************************/
|
||||
/* Peripheral memory map */
|
||||
/******************************************************************************/
|
||||
/*this allows to compile the ST lib in "non-debug" mode*/
|
||||
|
||||
|
||||
/* Peripheral and SRAM base address in the alias region */
|
||||
PERIPH_BB_BASE = 0x42000000;
|
||||
SRAM_BB_BASE = 0x22000000;
|
||||
|
||||
/* Peripheral and SRAM base address in the bit-band region */
|
||||
SRAM_BASE = 0x20000000;
|
||||
PERIPH_BASE = 0x40000000;
|
||||
|
||||
/* Flash registers base address */
|
||||
PROVIDE ( FLASH_BASE = 0x40022000);
|
||||
/* Flash Option Bytes base address */
|
||||
PROVIDE ( OB_BASE = 0x1FFFF800);
|
||||
|
||||
/* Peripheral memory map */
|
||||
APB1PERIPH_BASE = PERIPH_BASE ;
|
||||
APB2PERIPH_BASE = (PERIPH_BASE + 0x10000) ;
|
||||
AHBPERIPH_BASE = (PERIPH_BASE + 0x20000) ;
|
||||
|
||||
PROVIDE ( TIM2 = (APB1PERIPH_BASE + 0x0000) ) ;
|
||||
PROVIDE ( TIM3 = (APB1PERIPH_BASE + 0x0400) ) ;
|
||||
PROVIDE ( TIM4 = (APB1PERIPH_BASE + 0x0800) ) ;
|
||||
PROVIDE ( RTC = (APB1PERIPH_BASE + 0x2800) ) ;
|
||||
PROVIDE ( WWDG = (APB1PERIPH_BASE + 0x2C00) ) ;
|
||||
PROVIDE ( IWDG = (APB1PERIPH_BASE + 0x3000) ) ;
|
||||
PROVIDE ( SPI2 = (APB1PERIPH_BASE + 0x3800) ) ;
|
||||
PROVIDE ( USART2 = (APB1PERIPH_BASE + 0x4400) ) ;
|
||||
PROVIDE ( USART3 = (APB1PERIPH_BASE + 0x4800) ) ;
|
||||
PROVIDE ( I2C1 = (APB1PERIPH_BASE + 0x5400) ) ;
|
||||
PROVIDE ( I2C2 = (APB1PERIPH_BASE + 0x5800) ) ;
|
||||
PROVIDE ( CAN = (APB1PERIPH_BASE + 0x6400) ) ;
|
||||
PROVIDE ( BKP = (APB1PERIPH_BASE + 0x6C00) ) ;
|
||||
PROVIDE ( PWR = (APB1PERIPH_BASE + 0x7000) ) ;
|
||||
|
||||
PROVIDE ( AFIO = (APB2PERIPH_BASE + 0x0000) ) ;
|
||||
PROVIDE ( EXTI = (APB2PERIPH_BASE + 0x0400) ) ;
|
||||
PROVIDE ( GPIOA = (APB2PERIPH_BASE + 0x0800) ) ;
|
||||
PROVIDE ( GPIOB = (APB2PERIPH_BASE + 0x0C00) ) ;
|
||||
PROVIDE ( GPIOC = (APB2PERIPH_BASE + 0x1000) ) ;
|
||||
PROVIDE ( GPIOD = (APB2PERIPH_BASE + 0x1400) ) ;
|
||||
PROVIDE ( GPIOE = (APB2PERIPH_BASE + 0x1800) ) ;
|
||||
PROVIDE ( ADC1 = (APB2PERIPH_BASE + 0x2400) ) ;
|
||||
PROVIDE ( ADC2 = (APB2PERIPH_BASE + 0x2800) ) ;
|
||||
PROVIDE ( TIM1 = (APB2PERIPH_BASE + 0x2C00) ) ;
|
||||
PROVIDE ( SPI1 = (APB2PERIPH_BASE + 0x3000) ) ;
|
||||
PROVIDE ( USART1 = (APB2PERIPH_BASE + 0x3800) ) ;
|
||||
|
||||
PROVIDE ( DMA = (AHBPERIPH_BASE + 0x0000) ) ;
|
||||
PROVIDE ( DMA_Channel1 = (AHBPERIPH_BASE + 0x0008) ) ;
|
||||
PROVIDE ( DMA_Channel2 = (AHBPERIPH_BASE + 0x001C) ) ;
|
||||
PROVIDE ( DMA_Channel3 = (AHBPERIPH_BASE + 0x0030) ) ;
|
||||
PROVIDE ( DMA_Channel4 = (AHBPERIPH_BASE + 0x0044) ) ;
|
||||
PROVIDE ( DMA_Channel5 = (AHBPERIPH_BASE + 0x0058) ) ;
|
||||
PROVIDE ( DMA_Channel6 = (AHBPERIPH_BASE + 0x006C) ) ;
|
||||
PROVIDE ( DMA_Channel7 = (AHBPERIPH_BASE + 0x0080) ) ;
|
||||
PROVIDE ( RCC = (AHBPERIPH_BASE + 0x1000) ) ;
|
||||
|
||||
/* System Control Space memory map */
|
||||
SCS_BASE = 0xE000E000;
|
||||
|
||||
PROVIDE ( SysTick = (SCS_BASE + 0x0010) ) ;
|
||||
PROVIDE ( NVIC = (SCS_BASE + 0x0100) ) ;
|
||||
PROVIDE ( SCB = (SCS_BASE + 0x0D00) ) ;
|
||||
|
||||
|
||||
/* Sections Definitions */
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
|
||||
/* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
|
||||
.isr_vector :
|
||||
{
|
||||
KEEP(*(.isr_vector)) /* Startup code */
|
||||
. = ALIGN(4);
|
||||
} >FLASH
|
||||
|
||||
/* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
|
||||
.flashtext :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
*(.flashtext) /* Startup code */
|
||||
. = ALIGN(4);
|
||||
} >FLASH
|
||||
|
||||
|
||||
/* init sections */
|
||||
.initcalluavobj.init :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
__uavobj_initcall_start = .;
|
||||
KEEP(*(.initcalluavobj.init))
|
||||
. = ALIGN(4);
|
||||
__uavobj_initcall_end = .;
|
||||
} >FLASH
|
||||
|
||||
/* the program code is stored in the .text section, which goes to Flash */
|
||||
.text :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
|
||||
*(.text) /* remaining code */
|
||||
*(.text.*) /* remaining code */
|
||||
*(.rodata) /* read-only data (constants) */
|
||||
*(.rodata*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
|
||||
. = ALIGN(4);
|
||||
_etext = .;
|
||||
/* This is used by the startup in order to initialize the .data secion */
|
||||
_sidata = _etext;
|
||||
} >FLASH
|
||||
|
||||
|
||||
/*
|
||||
* This stack is used both as the initial sp during early init as well as ultimately
|
||||
* being used as the STM32's MSP (Main Stack Pointer) which is the same stack that
|
||||
* is used for _all_ interrupt handlers. The end of this stack should be placed
|
||||
* against the lowest address in RAM so that a stack overrun results in a hard fault
|
||||
* at the first access beyond the end of the stack.
|
||||
*/
|
||||
.irq_stack :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_irq_stack_end = . ;
|
||||
. = . + _irq_stack_size ;
|
||||
. = ALIGN(4);
|
||||
_irq_stack_top = . - 4 ;
|
||||
. = ALIGN(4);
|
||||
} >RAM
|
||||
|
||||
|
||||
/* This is the initialized data section
|
||||
The program executes knowing that the data is in the RAM
|
||||
but the loader puts the initial values in the FLASH (inidata).
|
||||
It is one task of the startup to copy the initial values from FLASH to RAM. */
|
||||
.data : AT ( _sidata )
|
||||
{
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .data secion */
|
||||
_sdata = . ;
|
||||
|
||||
*(.data)
|
||||
*(.data.*)
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .data secion */
|
||||
_edata = . ;
|
||||
} >RAM
|
||||
|
||||
|
||||
|
||||
/* This is the uninitialized data section */
|
||||
.bss :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .bss secion */
|
||||
_sbss = .;
|
||||
|
||||
*(.bss)
|
||||
*(COMMON)
|
||||
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .bss secion */
|
||||
_ebss = . ;
|
||||
} >RAM
|
||||
|
||||
PROVIDE ( end = _ebss );
|
||||
PROVIDE ( _end = _ebss );
|
||||
|
||||
/* this is the FLASH Bank1 */
|
||||
/* the C or assembly source must explicitly place the code or data there
|
||||
using the "section" attribute */
|
||||
.b1text :
|
||||
{
|
||||
*(.b1text) /* remaining code */
|
||||
*(.b1rodata) /* read-only data (constants) */
|
||||
*(.b1rodata*)
|
||||
} >FLASHB1
|
||||
|
||||
/* this is the EXTMEM */
|
||||
/* the C or assembly source must explicitly place the code or data there
|
||||
using the "section" attribute */
|
||||
|
||||
/* EXTMEM Bank0 */
|
||||
.eb0text :
|
||||
{
|
||||
*(.eb0text) /* remaining code */
|
||||
*(.eb0rodata) /* read-only data (constants) */
|
||||
*(.eb0rodata*)
|
||||
} >EXTMEMB0
|
||||
|
||||
/* EXTMEM Bank1 */
|
||||
.eb1text :
|
||||
{
|
||||
*(.eb1text) /* remaining code */
|
||||
*(.eb1rodata) /* read-only data (constants) */
|
||||
*(.eb1rodata*)
|
||||
} >EXTMEMB1
|
||||
|
||||
/* EXTMEM Bank2 */
|
||||
.eb2text :
|
||||
{
|
||||
*(.eb2text) /* remaining code */
|
||||
*(.eb2rodata) /* read-only data (constants) */
|
||||
*(.eb2rodata*)
|
||||
} >EXTMEMB2
|
||||
|
||||
/* EXTMEM Bank0 */
|
||||
.eb3text :
|
||||
{
|
||||
*(.eb3text) /* remaining code */
|
||||
*(.eb3rodata) /* read-only data (constants) */
|
||||
*(.eb3rodata*)
|
||||
} >EXTMEMB3
|
||||
|
||||
__exidx_start = .;
|
||||
__exidx_end = .;
|
||||
|
||||
/* after that it's only debugging information. */
|
||||
|
||||
/* remove the debugging information from the standard libraries */
|
||||
/DISCARD/ :
|
||||
{
|
||||
libc.a ( * )
|
||||
libm.a ( * )
|
||||
libgcc.a ( * )
|
||||
}
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
/* DWARF debug sections.
|
||||
Symbols in the DWARF debugging sections are relative to the beginning
|
||||
of the section so we begin them at 0. */
|
||||
/* DWARF 1 */
|
||||
.debug 0 : { *(.debug) }
|
||||
.line 0 : { *(.line) }
|
||||
/* GNU DWARF 1 extensions */
|
||||
.debug_srcinfo 0 : { *(.debug_srcinfo) }
|
||||
.debug_sfnames 0 : { *(.debug_sfnames) }
|
||||
/* DWARF 1.1 and DWARF 2 */
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
/* DWARF 2 */
|
||||
.debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_frame 0 : { *(.debug_frame) }
|
||||
.debug_str 0 : { *(.debug_str) }
|
||||
.debug_loc 0 : { *(.debug_loc) }
|
||||
.debug_macinfo 0 : { *(.debug_macinfo) }
|
||||
/* SGI/MIPS DWARF 2 extensions */
|
||||
.debug_weaknames 0 : { *(.debug_weaknames) }
|
||||
.debug_funcnames 0 : { *(.debug_funcnames) }
|
||||
.debug_typenames 0 : { *(.debug_typenames) }
|
||||
.debug_varnames 0 : { *(.debug_varnames) }
|
||||
}
|
||||
|
||||
|
||||
87
flight/PiOS/inc/pios_bma180.h
Normal file
87
flight/PiOS/inc/pios_bma180.h
Normal file
@ -0,0 +1,87 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_BMA180 BMA180 Functions
|
||||
* @brief Deals with the hardware interface to the BMA180 3-axis accelerometer
|
||||
* @{
|
||||
*
|
||||
* @file pios_bma180.h
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief PiOS BMA180 digital accelerometer driver.
|
||||
* - Driver for the BMA180 digital accelerometer on the SPI bus.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef PIOS_BMA180_H
|
||||
#define PIOS_BMA180_H
|
||||
|
||||
/* BMA180 Addresses */
|
||||
#define BMA_CHIPID_ADDR 0x00
|
||||
#define BMA_VERSION_ADDR 0x00
|
||||
#define BMA_X_LSB_ADDR 0x02
|
||||
#define BMA_Y_LSB_ADDR 0x04
|
||||
#define BMA_Z_LSB_ADDR 0x06
|
||||
#define BMA_WE_ADDR 0x0D
|
||||
#define BMA_BW_ADDR 0x20
|
||||
#define BMA_RANGE_ADDR 0x35
|
||||
|
||||
/* Accel range */
|
||||
#define BMA_RANGE_1G 0x00 // +/- 1G ADC resolution 0.13 mg/LSB
|
||||
#define BMA_RANGE_1_5G 0x01 // +/- 1.5G ADC resolution 0.19 mg/LSB
|
||||
#define BMA_RANGE_2G 0x02 // +/- 2G ADC resolution 0.25 mg/LSB *** default ***
|
||||
#define BMA_RANGE_3G 0x03 // +/- 3G ADC resolution 0.38 mg/LSB
|
||||
#define BMA_RANGE_4G 0x04 // +/- 4G ADC resolution 0.50 mg/LSB
|
||||
#define BMA_RANGE_8G 0x05 // +/- 8G ADC resolution 0.99 mg/LSB
|
||||
#define BMA_RANGE_16G 0x06 // +/- 16G ADC resolution 1.98 mg/LSB
|
||||
|
||||
/* Measurement bandwidth */
|
||||
#define BMA_BW_10HZ 0x00
|
||||
#define BMA_BW_20HZ 0x01
|
||||
#define BMA_BW_40HZ 0x02
|
||||
#define BMA_BW_75HZ 0x03
|
||||
#define BMA_BW_150HZ 0x04 // *** default ***
|
||||
#define BMA_BW_300HZ 0x05
|
||||
#define BMA_BW_600HZ 0x06
|
||||
#define BMA_BW_1200HZ 0x07
|
||||
#define BMA_BW_HP1HZ 0x08 // High-pass, 1Hz
|
||||
#define BMA_BW_BP0_300HZ 0x09 // Band-pass, 0.3Hz-300Hz
|
||||
|
||||
struct pios_bma180_data {
|
||||
int16_t x;
|
||||
int16_t y;
|
||||
int16_t z;
|
||||
};
|
||||
|
||||
/* Public Functions */
|
||||
void PIOS_BMA180_WriteEnable(uint8_t _we);
|
||||
uint8_t PIOS_BMA180_GetReg(uint8_t reg);
|
||||
void PIOS_BMA180_SetReg(uint8_t reg, uint8_t data);
|
||||
void PIOS_BMA180_Attach(uint32_t spi_id);
|
||||
void PIOS_BMA180_Init();
|
||||
uint8_t PIOS_BMA180_Read(struct pios_bma180_data * data);
|
||||
uint8_t PIOS_BMA180_Test();
|
||||
|
||||
#endif /* PIOS_BMA180_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
105
flight/PiOS/inc/pios_hmc5883.h
Normal file
105
flight/PiOS/inc/pios_hmc5883.h
Normal file
@ -0,0 +1,105 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5883 HMC5883 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
*
|
||||
* @file pios_hmc5883.h
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief HMC5883 functions header.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef PIOS_HMC5883_H
|
||||
#define PIOS_HMC5883_H
|
||||
|
||||
/* HMC5883 Addresses */
|
||||
#define PIOS_HMC5883_I2C_ADDR 0x1E
|
||||
#define PIOS_HMC5883_I2C_READ_ADDR 0x3D
|
||||
#define PIOS_HMC5883_I2C_WRITE_ADDR 0x3C
|
||||
#define PIOS_HMC5883_CONFIG_REG_A (uint8_t)0x00
|
||||
#define PIOS_HMC5883_CONFIG_REG_B (uint8_t)0x01
|
||||
#define PIOS_HMC5883_MODE_REG (uint8_t)0x02
|
||||
#define PIOS_HMC5883_DATAOUT_XMSB_REG 0x03
|
||||
#define PIOS_HMC5883_DATAOUT_XLSB_REG 0x04
|
||||
#define PIOS_HMC5883_DATAOUT_ZMSB_REG 0x05
|
||||
#define PIOS_HMC5883_DATAOUT_ZLSB_REG 0x06
|
||||
#define PIOS_HMC5883_DATAOUT_YMSB_REG 0x07
|
||||
#define PIOS_HMC5883_DATAOUT_YLSB_REG 0x08
|
||||
#define PIOS_HMC5883_DATAOUT_STATUS_REG 0x09
|
||||
#define PIOS_HMC5883_DATAOUT_IDA_REG 0x0A
|
||||
#define PIOS_HMC5883_DATAOUT_IDB_REG 0x0B
|
||||
#define PIOS_HMC5883_DATAOUT_IDC_REG 0x0C
|
||||
|
||||
/* Output Data Rate */
|
||||
#define PIOS_HMC5883_ODR_0_75 0x00
|
||||
#define PIOS_HMC5883_ODR_1_5 0x04
|
||||
#define PIOS_HMC5883_ODR_3 0x08
|
||||
#define PIOS_HMC5883_ODR_7_5 0x0C
|
||||
#define PIOS_HMC5883_ODR_15 0x10
|
||||
#define PIOS_HMC5883_ODR_30 0x14
|
||||
#define PIOS_HMC5883_ODR_75 0x18
|
||||
|
||||
/* Measure configuration */
|
||||
#define PIOS_HMC5883_MEASCONF_NORMAL 0x00
|
||||
#define PIOS_HMC5883_MEASCONF_BIAS_POS 0x01
|
||||
#define PIOS_HMC5883_MEASCONF_BIAS_NEG 0x02
|
||||
|
||||
/* Gain settings */
|
||||
#define PIOS_HMC5883_GAIN_0_88 0x00
|
||||
#define PIOS_HMC5883_GAIN_1_3 0x20
|
||||
#define PIOS_HMC5883_GAIN_1_9 0x40
|
||||
#define PIOS_HMC5883_GAIN_2_5 0x60
|
||||
#define PIOS_HMC5883_GAIN_4_0 0x80
|
||||
#define PIOS_HMC5883_GAIN_4_7 0xA0
|
||||
#define PIOS_HMC5883_GAIN_5_6 0xC0
|
||||
#define PIOS_HMC5883_GAIN_8_1 0xE0
|
||||
|
||||
/* Modes */
|
||||
#define PIOS_HMC5883_MODE_CONTINUOUS 0x00
|
||||
#define PIOS_HMC5883_MODE_SINGLE 0x01
|
||||
#define PIOS_HMC5883_MODE_IDLE 0x02
|
||||
#define PIOS_HMC5883_MODE_SLEEP 0x03
|
||||
|
||||
/* Sensitivity Conversion Values */
|
||||
#define PIOS_HMC5883_Sensitivity_0_88Ga 1370 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_1_3Ga 1090 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_1_9Ga 820 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_2_5Ga 660 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_4_0Ga 440 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_4_7Ga 390 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_5_6Ga 330 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_8_1Ga 230 // LSB/Ga --> NOT RECOMMENDED
|
||||
|
||||
/* Public Functions */
|
||||
extern void PIOS_HMC5883_Init(void);
|
||||
extern bool PIOS_HMC5883_NewDataAvailable(void);
|
||||
extern void PIOS_HMC5883_ReadMag(int16_t out[3]);
|
||||
extern void PIOS_HMC5883_ReadID(uint8_t out[4]);
|
||||
extern int32_t PIOS_HMC5883_Test(void);
|
||||
|
||||
#endif /* PIOS_HMC5883_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
126
flight/PiOS/inc/pios_imu3000.h
Normal file
126
flight/PiOS/inc/pios_imu3000.h
Normal file
@ -0,0 +1,126 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_IMU3000 IMU3000 Functions
|
||||
* @brief Deals with the hardware interface to the 3-axis gyro
|
||||
* @{
|
||||
*
|
||||
* @file pios_imu3000.h
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief IMU3000 3-axis gyor function headers
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef PIOS_IMU3000_H
|
||||
#define PIOS_IMU3000_H
|
||||
|
||||
/* IMU3000 Addresses */
|
||||
#define PIOS_IMU3000_I2C_ADDR 0x69
|
||||
#define PIOS_IMU3000_I2C_READ_ADDR 0xD2
|
||||
#define PIOS_IMU3000_I2C_WRITE_ADDR 0xD3
|
||||
#define PIOS_IMU3000_X_MSB_OFFSET_REG 0x0C
|
||||
#define PIOS_IMU3000_X_LSB_OFFSET_REG 0x0D
|
||||
#define PIOS_IMU3000_Y_MSB_OFFSET_REG 0x0E
|
||||
#define PIOS_IMU3000_Y_LSB_OFFSET_REG 0x0F
|
||||
#define PIOS_IMU3000_Z_MSB_OFFSET_REG 0x10
|
||||
#define PIOS_IMU3000_Z_LSB_OFFSET_REG 0x11
|
||||
#define PIOS_IMU3000_FIFO_EN_REG 0x12
|
||||
#define PIOS_IMU3000_SMPLRT_DIV_REG 0X15
|
||||
#define PIOS_IMU3000_DLPF_CFG_REG 0X16
|
||||
#define PIOS_IMU3000_INT_CFG_REG 0x17
|
||||
#define PIOS_IMU3000_INT_STATUS_REG 0x1A
|
||||
#define PIOS_IMU3000_TEMP_OUT_MSB 0x1B
|
||||
#define PIOS_IMU3000_TEMP_OUT_LSB 0x1C
|
||||
#define PIOS_IMU3000_GYRO_X_OUT_MSB 0x1D
|
||||
#define PIOS_IMU3000_GYRO_X_OUT_LSB 0x1E
|
||||
#define PIOS_IMU3000_GYRO_Y_OUT_MSB 0x1F
|
||||
#define PIOS_IMU3000_GYRO_Y_OUT_LSB 0x20
|
||||
#define PIOS_IMU3000_GYRO_Z_OUT_MSB 0x21
|
||||
#define PIOS_IMU3000_GYRO_Z_OUT_LSB 0x22
|
||||
#define PIOS_IMU3000_FIFO_CNT_MSB 0x3A
|
||||
#define PIOS_IMU3000_FIFO_CNT_LSB 0x3B
|
||||
#define PIOS_IMU3000_FIFO_REG 0x3C
|
||||
#define PIOS_IMU3000_USER_CTRL_REG 0x3D
|
||||
#define PIOS_IMU3000_PWR_MGMT_REG 0x3E
|
||||
|
||||
/* FIFO enable for storing different values */
|
||||
#define PIOS_IMU3000_FIFO_TEMP_OUT 0x80
|
||||
#define PIOS_IMU3000_FIFO_GYRO_X_OUT 0x40
|
||||
#define PIOS_IMU3000_FIFO_GYRO_Y_OUT 0x20
|
||||
#define PIOS_IMU3000_FIFO_GYRO_Z_OUT 0x10
|
||||
#define PIOS_IMU3000_FIFO_FOOTER 0x01
|
||||
|
||||
/* Gyro full-scale range */
|
||||
#define PIOS_IMU3000_SCALE_250_DEG 0x00
|
||||
#define PIOS_IMU3000_SCALE_500_DEG 0x01
|
||||
#define PIOS_IMU3000_SCALE_1000_DEG 0x02
|
||||
#define PIOS_IMU3000_SCALE_2000_DEG 0x03
|
||||
|
||||
/* Digital low-pass filter configuration */
|
||||
#define PIOS_IMU3000_LOWPASS_256_HZ 0x00
|
||||
#define PIOS_IMU3000_LOWPASS_188_HZ 0x01
|
||||
#define PIOS_IMU3000_LOWPASS_98_HZ 0x02
|
||||
#define PIOS_IMU3000_LOWPASS_42_HZ 0x03
|
||||
#define PIOS_IMU3000_LOWPASS_20_HZ 0x04
|
||||
#define PIOS_IMU3000_LOWPASS_10_HZ 0x05
|
||||
#define PIOS_IMU3000_LOWPASS_5_HZ 0x06
|
||||
|
||||
/* Interrupt Configuration */
|
||||
#define PIOS_IMU3000_INT_ACTL 0x80
|
||||
#define PIOS_IMU3000_INT_OPEN 0x40
|
||||
#define PIOS_IMU3000_INT_LATCH_EN 0x20
|
||||
#define PIOS_IMU3000_INT_CLR_ANYRD 0x10
|
||||
#define PIOS_IMU3000_INT_IMU_RDY 0x04
|
||||
#define PIOS_IMU3000_INT_DATA_RDY 0x01
|
||||
|
||||
/* Interrupt status */
|
||||
#define PIOS_IMU3000_INT_STATUS_FIFO_FULL 0x80
|
||||
#define PIOS_IMU3000_INT_STATUS_IMU_RDY 0X04
|
||||
#define PIOS_IMU3000_INT_STATUS_DATA_RDY 0X01
|
||||
|
||||
/* User control functionality */
|
||||
#define PIOS_IMU3000_USERCTL_FIFO_EN 0X40
|
||||
#define PIOS_IMU3000_USERCTL_FIFO_RST 0X02
|
||||
#define PIOS_IMU3000_USERCTL_GYRO_RST 0X01
|
||||
|
||||
/* Power management and clock selection */
|
||||
#define PIOS_IMU3000_PWRMGMT_IMU_RST 0X80
|
||||
#define PIOS_IMU3000_PWRMGMT_INTERN_CLK 0X00
|
||||
#define PIOS_IMU3000_PWRMGMT_PLL_X_CLK 0X01
|
||||
#define PIOS_IMU3000_PWRMGMT_PLL_Y_CLK 0X02
|
||||
#define PIOS_IMU3000_PWRMGMT_PLL_Z_CLK 0X03
|
||||
#define PIOS_IMU3000_PWRMGMT_STOP_CLK 0X07
|
||||
|
||||
|
||||
/* Public Functions */
|
||||
extern void PIOS_IMU3000_Init(void);
|
||||
extern bool PIOS_IMU3000_NewDataAvailable(void);
|
||||
extern void PIOS_IMU3000_ReadGyros(int16_t out[3]);
|
||||
extern uint8_t PIOS_IMU3000_ReadID();
|
||||
extern uint8_t PIOS_IMU3000_Test();
|
||||
|
||||
#endif /* PIOS_IMU3000_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -98,15 +98,25 @@
|
||||
#if defined(PIOS_INCLUDE_HMC5843)
|
||||
#include <pios_hmc5843.h>
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#include <pios_hmc5883.h>
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_I2C_ESC)
|
||||
#include <pios_i2c_esc.h>
|
||||
#endif
|
||||
#if defined(PIOS_INCLUDE_IMU3000)
|
||||
#include <pios_imu3000.h>
|
||||
#endif
|
||||
#include <pios_iap.h>
|
||||
|
||||
#if defined(PIOS_INCLUDE_ADXL345)
|
||||
#include <pios_adxl345.h>
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_BMA180)
|
||||
#include <pios_bma180.h>
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_FLASH)
|
||||
#include <pios_flash_w25x.h>
|
||||
#endif
|
||||
|
||||
Loading…
Reference in New Issue
Block a user