mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-27 16:54:15 +01:00
AHRS: First pass refactoring the ADC code into another function. Still want to clean up a few constants make the downsampling go into a smaller circularbuffer nicely.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1614 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124
peabody124
parent
1051d894b9
commit
0875dc8442
@ -25,7 +25,7 @@
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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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DEBUG ?= NO
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USE_BOOTLOADER ?= NO
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# Set to YES when using Code Sourcery toolchain
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@ -89,6 +89,7 @@ CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
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## AHRS:
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SRC = ahrs.c
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SRC += pios_board.c
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SRC += ahrs_adc.c
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SRC += ahrs_fsm.c
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SRC += insgps.c
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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@ -190,12 +191,11 @@ LINKERSCRIPTPATH = $(PIOSSTM32F10X)
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# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
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ifeq ($(DEBUG),YES)
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# Do nothing, default is -O0
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CFLAGS += -O0
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CFLAGS += -DGENERAL_COV
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else
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endif
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# Now need -Os always for size reasons
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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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@ -239,7 +239,7 @@ CSTANDARD = -std=gnu99
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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)
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CFLAGS += -g$(DEBUGF)
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endif
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CFLAGS += -ffast-math
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@ -34,46 +34,25 @@
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/* OpenPilot Includes */
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#include "ahrs.h"
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#include "ahrs_adc.h"
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#include "pios_opahrs_proto.h"
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#include "ahrs_fsm.h" /* lfsm_state */
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#include "insgps.h"
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#include "CoordinateConversions.h"
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/**
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* State of AHRS EKF
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* @arg AHRS_IDLE - waiting for data to be available for filtering
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* @arg AHRS_DATA_READY - Data ready for downsampling and processing
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* @arg AHRS_PROCESSING - Performing update on the available data
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*/
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volatile enum {AHRS_IDLE, AHRS_DATA_READY, AHRS_PROCESSING} ahrs_state;
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volatile enum algorithms ahrs_algorithm;
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/**
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* @addtogroup AHRS_ADC_Configuration ADC Configuration
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* @{
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* Functions to configure ADC and handle interrupts
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*/
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void AHRS_ADC_Config(int32_t ekf_rate, int32_t adc_oversample);
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void AHRS_ADC_DMA_Handler(void);
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void DMA1_Channel1_IRQHandler() __attribute__ ((alias ("AHRS_ADC_DMA_Handler")));
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/**
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* @}
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*/
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// For debugging the raw sensors
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//#define DUMP_RAW
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#define DUMP_FRIENDLY
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//#define DUMP_FRIENDLY
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/**
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* @addtogroup AHRS_Definitions
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* @{
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*/
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// Currently analog acquistion hard coded at 480 Hz
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#define ADC_OVERSAMPLE 18
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#define EKF_RATE ((float) 4*480 / ADC_OVERSAMPLE)
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#define ADC_CONTINUOUS_CHANNELS PIOS_ADC_NUM_PINS
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#define CORRECTION_COUNT 4
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#define ADC_RATE (4*480)
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#define EKF_RATE (ADC_RATE / adc_oversampling)
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#define VDD 3.3 /* supply voltage for ADC */
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#define FULL_RANGE 4096 /* 12 bit ADC */
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#define ACCEL_RANGE 2 /* adjustable by FS input */
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@ -172,6 +151,8 @@ void process_spi_request(void);
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void downsample_data(void);
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void calibrate_sensors(void);
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void converge_insgps();
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void timer_start();
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uint32_t timer_count();
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/**
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* @addtogroup AHRS_Global_Data AHRS Global Data
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@ -195,15 +176,7 @@ int16_t gyro_bias[3] = {0,0,0};
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//! Magnetometer bias (direction) from OP or calibrate sensors
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int16_t mag_bias[3] = {0,0,0};
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//! Filter coefficients used in decimation. Limited order so filter can't run between samples
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int16_t fir_coeffs[ADC_OVERSAMPLE+1];
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//! Raw buffer that DMA data is dumped into
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volatile int16_t raw_data_buffer[ADC_CONTINUOUS_CHANNELS * ADC_OVERSAMPLE * 2]; // Double buffer that DMA just used
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//! Swapped by interrupt handler to achieve double buffering
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volatile int16_t * valid_data_buffer;
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//! Counts how many times the EKF wasn't idle when DMA handler called
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uint32_t ekf_too_slow = 0;
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//! Total number of data blocks converted
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uint32_t total_conversion_blocks = 0;
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int16_t fir_coeffs[50];
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//! Home location in ECEF coordinates
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double BaseECEF[3] = {0, 0, 0};
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//! Rotation matrix from LLA to Rne
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@ -212,7 +185,8 @@ float Rne[3][3];
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uint8_t calibration_pending = FALSE;
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//! Counter for tracking the idle level
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static uint32_t idle_counter = 0;
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//! The oversampling rate, ekf is 2k / this
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static uint8_t adc_oversampling = 18;
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/**
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* @}
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*/
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@ -239,8 +213,7 @@ int main()
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PIOS_COM_Init();
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/* ADC system */
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AHRS_ADC_Config(EKF_RATE, ADC_OVERSAMPLE);
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AHRS_ADC_Config(adc_oversampling);
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/* Setup the Accelerometer FS (Full-Scale) GPIO */
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PIOS_GPIO_Enable(0);
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@ -268,11 +241,12 @@ int main()
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lfsm_init();
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ahrs_state = AHRS_IDLE;;
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ahrs_state = AHRS_IDLE;
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/* Use simple averaging filter for now */
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for (int i = 0; i < ADC_OVERSAMPLE; i++)
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for (int i = 0; i < adc_oversampling; i++)
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fir_coeffs[i] = 1;
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fir_coeffs[ADC_OVERSAMPLE] = ADC_OVERSAMPLE;
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fir_coeffs[adc_oversampling] = adc_oversampling;
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if(ahrs_algorithm == INSGPS_Algo) {
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// compute a data point and initialize INS
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@ -448,48 +422,44 @@ int main()
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*/
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void downsample_data()
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{
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int16_t temp;
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int32_t accel_raw[3], gyro_raw[3];
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uint16_t i;
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// Get the Y data. Third byte in. Convert to m/s
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accel_raw[0] = 0;
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for( i = 0; i < ADC_OVERSAMPLE; i++ )
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{
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temp = ( valid_data_buffer[0 + i * ADC_CONTINUOUS_CHANNELS] + accel_bias[1] ) * fir_coeffs[i];
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accel_raw[0] += temp;
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}
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accel_data.filtered.y = (float) accel_raw[0] / (float) fir_coeffs[ADC_OVERSAMPLE] * accel_scale[1];
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for( i = 0; i < adc_oversampling; i++ )
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accel_raw[0] += ( valid_data_buffer[0 + i * PIOS_ADC_NUM_PINS] + accel_bias[1] ) * fir_coeffs[i];
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accel_data.filtered.y = (float) accel_raw[0] / (float) fir_coeffs[adc_oversampling] * accel_scale[1];
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// Get the X data which projects forward/backwards. Fifth byte in. Convert to m/s
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accel_raw[1] = 0;
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for( i = 0; i < ADC_OVERSAMPLE; i++ )
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accel_raw[1] += ( valid_data_buffer[2 + i * ADC_CONTINUOUS_CHANNELS] + accel_bias[0] ) * fir_coeffs[i];
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accel_data.filtered.x = (float) accel_raw[1] / (float) fir_coeffs[ADC_OVERSAMPLE] * accel_scale[0];
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for( i = 0; i < adc_oversampling; i++ )
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accel_raw[1] += ( valid_data_buffer[2 + i * PIOS_ADC_NUM_PINS] + accel_bias[0] ) * fir_coeffs[i];
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accel_data.filtered.x = (float) accel_raw[1] / (float) fir_coeffs[adc_oversampling] * accel_scale[0];
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// Get the Z data. Third byte in. Convert to m/s
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accel_raw[2] = 0;
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for( i = 0; i < ADC_OVERSAMPLE; i++ )
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accel_raw[2] += ( valid_data_buffer[4 + i * ADC_CONTINUOUS_CHANNELS] + accel_bias[2] ) * fir_coeffs[i];
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accel_data.filtered.z = -(float) accel_raw[2] / (float) fir_coeffs[ADC_OVERSAMPLE] * accel_scale[2];
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for( i = 0; i < adc_oversampling; i++ )
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accel_raw[2] += ( valid_data_buffer[4 + i * PIOS_ADC_NUM_PINS] + accel_bias[2] ) * fir_coeffs[i];
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accel_data.filtered.z = -(float) accel_raw[2] / (float) fir_coeffs[adc_oversampling] * accel_scale[2];
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// Get the X gyro data. Seventh byte in. Convert to deg/s.
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gyro_raw[0] = 0;
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for( i = 0; i < ADC_OVERSAMPLE; i++ )
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gyro_raw[0] += ( valid_data_buffer[1 + i * ADC_CONTINUOUS_CHANNELS] + gyro_bias[0] ) * fir_coeffs[i];
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gyro_data.filtered.x = (float) gyro_raw[0] / (float) fir_coeffs[ADC_OVERSAMPLE] * gyro_scale[0];
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for( i = 0; i < adc_oversampling; i++ )
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gyro_raw[0] += ( valid_data_buffer[1 + i * PIOS_ADC_NUM_PINS] + gyro_bias[0] ) * fir_coeffs[i];
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gyro_data.filtered.x = (float) gyro_raw[0] / (float) fir_coeffs[adc_oversampling] * gyro_scale[0];
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// Get the Y gyro data. Second byte in. Convert to deg/s.
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gyro_raw[1] = 0;
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for( i = 0; i < ADC_OVERSAMPLE; i++ )
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gyro_raw[1] += ( valid_data_buffer[3 + i * ADC_CONTINUOUS_CHANNELS] + gyro_bias[1] ) * fir_coeffs[i];
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gyro_data.filtered.y = (float) gyro_raw[1] / (float) fir_coeffs[ADC_OVERSAMPLE] * gyro_scale[1];
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for( i = 0; i < adc_oversampling; i++ )
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gyro_raw[1] += ( valid_data_buffer[3 + i * PIOS_ADC_NUM_PINS] + gyro_bias[1] ) * fir_coeffs[i];
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gyro_data.filtered.y = (float) gyro_raw[1] / (float) fir_coeffs[adc_oversampling] * gyro_scale[1];
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// Get the Z gyro data. Fifth byte in. Convert to deg/s.
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gyro_raw[2] = 0;
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for( i = 0; i < ADC_OVERSAMPLE; i++ )
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gyro_raw[2] += ( valid_data_buffer[5 + i * ADC_CONTINUOUS_CHANNELS] + gyro_bias[2] ) * fir_coeffs[i];
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gyro_data.filtered.z = (float) gyro_raw[2] / (float) fir_coeffs[ADC_OVERSAMPLE] * gyro_scale[2];
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for( i = 0; i < adc_oversampling; i++ )
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gyro_raw[2] += ( valid_data_buffer[5 + i * PIOS_ADC_NUM_PINS] + gyro_bias[2] ) * fir_coeffs[i];
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gyro_data.filtered.z = (float) gyro_raw[2] / (float) fir_coeffs[adc_oversampling] * gyro_scale[2];
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}
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/**
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@ -832,7 +802,8 @@ void process_spi_request(void)
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user_tx_v1.payload.user.v.rsp.update.Vel[2] = Nav.Vel[2];
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// compute the idle fraction
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user_tx_v1.payload.user.v.rsp.update.load = (MAX_IDLE_COUNT - idle_counter) * 100 / MAX_IDLE_COUNT;
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user_tx_v1.payload.user.v.rsp.update.load = ((float) ekf_too_slow / (float) total_conversion_blocks) * 100;
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//(MAX_IDLE_COUNT - idle_counter) * 100 / MAX_IDLE_COUNT;
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dump_spi_message(PIOS_COM_AUX, "U", (uint8_t *)&user_tx_v1, sizeof(user_tx_v1));
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lfsm_user_set_tx_v1 (&user_tx_v1);
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@ -849,167 +820,5 @@ void process_spi_request(void)
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* @}
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*/
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/* Local Variables */
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static GPIO_TypeDef* ADC_GPIO_PORT[PIOS_ADC_NUM_PINS] = PIOS_ADC_PORTS;
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static const uint32_t ADC_GPIO_PIN[PIOS_ADC_NUM_PINS] = PIOS_ADC_PINS;
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static const uint32_t ADC_CHANNEL[PIOS_ADC_NUM_PINS] = PIOS_ADC_CHANNELS;
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static ADC_TypeDef* ADC_MAPPING[PIOS_ADC_NUM_PINS] = PIOS_ADC_MAPPING;
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static const uint32_t ADC_CHANNEL_MAPPING[PIOS_ADC_NUM_PINS] = PIOS_ADC_CHANNEL_MAPPING;
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/**
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* @brief Initialise the ADC Peripheral
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* @param[in] ekf_rate
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* @param[in] adc_oversample
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*
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* Currently ignores rates and uses hardcoded values. Need a little logic to
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* map from sampling rates and such to ADC constants.
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*/
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void AHRS_ADC_Config(int32_t ekf_rate, int32_t adc_oversample)
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{
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int32_t i;
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/* Setup analog pins */
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
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/* Enable each ADC pin in the array */
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for(i = 0; i < PIOS_ADC_NUM_PINS; i++) {
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GPIO_InitStructure.GPIO_Pin = ADC_GPIO_PIN[i];
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GPIO_Init(ADC_GPIO_PORT[i], &GPIO_InitStructure);
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}
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/* Enable ADC clocks */
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PIOS_ADC_CLOCK_FUNCTION;
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/* Map channels to conversion slots depending on the channel selection mask */
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for(i = 0; i < PIOS_ADC_NUM_PINS; i++) {
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ADC_RegularChannelConfig(ADC_MAPPING[i], ADC_CHANNEL[i], ADC_CHANNEL_MAPPING[i], PIOS_ADC_SAMPLE_TIME);
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}
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#if (PIOS_ADC_USE_TEMP_SENSOR)
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ADC_TempSensorVrefintCmd(ENABLE);
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ADC_RegularChannelConfig(PIOS_ADC_TEMP_SENSOR_ADC, ADC_Channel_14, PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL, PIOS_ADC_SAMPLE_TIME);
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#endif
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// TODO: update ADC to continuous sampling, configure the sampling rate
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/* Configure ADCs */
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ADC_InitTypeDef ADC_InitStructure;
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ADC_StructInit(&ADC_InitStructure);
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ADC_InitStructure.ADC_Mode = ADC_Mode_RegSimult;
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ADC_InitStructure.ADC_ScanConvMode = ENABLE;
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ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
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ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
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ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
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ADC_InitStructure.ADC_NbrOfChannel = 4; //((PIOS_ADC_NUM_CHANNELS + 1) >> 1);
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ADC_Init(ADC1, &ADC_InitStructure);
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#if (PIOS_ADC_USE_ADC2)
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ADC_Init(ADC2, &ADC_InitStructure);
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/* Enable ADC2 external trigger conversion (to synch with ADC1) */
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ADC_ExternalTrigConvCmd(ADC2, ENABLE);
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#endif
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RCC_ADCCLKConfig(PIOS_ADC_ADCCLK);
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RCC_PCLK2Config(RCC_HCLK_Div16);
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/* Enable ADC1->DMA request */
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ADC_DMACmd(ADC1, ENABLE);
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/* ADC1 calibration */
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ADC_Cmd(ADC1, ENABLE);
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ADC_ResetCalibration(ADC1);
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while(ADC_GetResetCalibrationStatus(ADC1));
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ADC_StartCalibration(ADC1);
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while(ADC_GetCalibrationStatus(ADC1));
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#if (PIOS_ADC_USE_ADC2)
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/* ADC2 calibration */
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ADC_Cmd(ADC2, ENABLE);
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ADC_ResetCalibration(ADC2);
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while(ADC_GetResetCalibrationStatus(ADC2));
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ADC_StartCalibration(ADC2);
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while(ADC_GetCalibrationStatus(ADC2));
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#endif
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/* Enable DMA1 clock */
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
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/* Configure DMA1 channel 1 to fetch data from ADC result register */
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DMA_InitTypeDef DMA_InitStructure;
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DMA_StructInit(&DMA_InitStructure);
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DMA_DeInit(DMA1_Channel1);
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DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR;
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DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&raw_data_buffer[0];
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
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/* We are double buffering half words from the ADC. Make buffer appropriately sized */
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DMA_InitStructure.DMA_BufferSize = (ADC_CONTINUOUS_CHANNELS * ADC_OVERSAMPLE * 2) >> 1;
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
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/* Note: We read ADC1 and ADC2 in parallel making a word read, also hence the half buffer size */
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
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DMA_InitStructure.DMA_Priority = DMA_Priority_High;
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DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
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DMA_Init(DMA1_Channel1, &DMA_InitStructure);
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DMA_Cmd(DMA1_Channel1, ENABLE);
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/* Trigger interrupt when for half conversions too to indicate double buffer */
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DMA_ITConfig(DMA1_Channel1, DMA_IT_TC, ENABLE);
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DMA_ITConfig(DMA1_Channel1, DMA_IT_HT, ENABLE);
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/* Configure and enable DMA interrupt */
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel1_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_ADC_IRQ_PRIO;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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/* Finally start initial conversion */
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ADC_SoftwareStartConvCmd(ADC1, ENABLE);
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}
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/**
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* @brief Interrupt for half and full buffer transfer
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*
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* This interrupt handler swaps between the two halfs of the double buffer to make
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* sure the ahrs uses the most recent data. Only swaps data when AHRS is idle, but
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* really this is a pretense of a sanity check since the DMA engine is consantly
|
||||
* running in the background. Keep an eye on the ekf_too_slow variable to make sure
|
||||
* it's keeping up.
|
||||
*/
|
||||
void AHRS_ADC_DMA_Handler(void)
|
||||
{
|
||||
if ( ahrs_state == AHRS_IDLE )
|
||||
{
|
||||
// Ideally this would have a mutex, but I think we can avoid it (and don't have RTOS features)
|
||||
|
||||
if( DMA_GetFlagStatus( DMA1_IT_TC1 ) ) // whole double buffer filled
|
||||
valid_data_buffer = &raw_data_buffer[ 1 * ADC_CONTINUOUS_CHANNELS * ADC_OVERSAMPLE ];
|
||||
else if ( DMA_GetFlagStatus(DMA1_IT_HT1) )
|
||||
valid_data_buffer = &raw_data_buffer[ 0 * ADC_CONTINUOUS_CHANNELS * ADC_OVERSAMPLE ];
|
||||
else {
|
||||
// lets cause a seg fault and catch whatever is going on
|
||||
valid_data_buffer = 0;
|
||||
}
|
||||
|
||||
ahrs_state = AHRS_DATA_READY;
|
||||
}
|
||||
else {
|
||||
// Track how many times an interrupt occurred before EKF finished processing
|
||||
ekf_too_slow++;
|
||||
}
|
||||
|
||||
total_conversion_blocks++;
|
||||
|
||||
// Clear all interrupt from DMA 1 - regardless if buffer swapped
|
||||
DMA_ClearFlag( DMA1_IT_GL1 );
|
||||
|
||||
}
|
||||
|
||||
216
flight/AHRS/ahrs_adc.c
Normal file
216
flight/AHRS/ahrs_adc.c
Normal file
@ -0,0 +1,216 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup AHRS AHRS Control
|
||||
* @brief The AHRS Modules perform
|
||||
*
|
||||
* @{
|
||||
* @addtogroup AHRS_ADC
|
||||
* @brief Specialized ADC code for double buffered DMA for AHRS
|
||||
* @{
|
||||
*
|
||||
*
|
||||
* @file ahrs.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @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
|
||||
*/
|
||||
|
||||
#include "ahrs_adc.h"
|
||||
|
||||
// Remap the ADC DMA handler to this one
|
||||
void DMA1_Channel1_IRQHandler() __attribute__ ((alias ("AHRS_ADC_DMA_Handler")));
|
||||
|
||||
//! Where the raw data is stored
|
||||
volatile int16_t raw_data_buffer[MAX_SAMPLES]; // Double buffer that DMA just used
|
||||
//! Swapped by interrupt handler to achieve double buffering
|
||||
volatile int16_t * valid_data_buffer;
|
||||
volatile int32_t total_conversion_blocks;
|
||||
volatile int32_t ekf_too_slow;
|
||||
volatile uint8_t adc_oversample;
|
||||
volatile states ahrs_state;
|
||||
|
||||
/* Local Variables */
|
||||
static GPIO_TypeDef* ADC_GPIO_PORT[PIOS_ADC_NUM_PINS] = PIOS_ADC_PORTS;
|
||||
static const uint32_t ADC_GPIO_PIN[PIOS_ADC_NUM_PINS] = PIOS_ADC_PINS;
|
||||
static const uint32_t ADC_CHANNEL[PIOS_ADC_NUM_PINS] = PIOS_ADC_CHANNELS;
|
||||
|
||||
static ADC_TypeDef* ADC_MAPPING[PIOS_ADC_NUM_PINS] = PIOS_ADC_MAPPING;
|
||||
static const uint32_t ADC_CHANNEL_MAPPING[PIOS_ADC_NUM_PINS] = PIOS_ADC_CHANNEL_MAPPING;
|
||||
|
||||
/**
|
||||
* @brief Initialise the ADC Peripheral
|
||||
* @param[in] adc_oversample
|
||||
* @return
|
||||
* @arg 1 for success
|
||||
* @arg 0 for failure
|
||||
* Currently ignores rates and uses hardcoded values. Need a little logic to
|
||||
* map from sampling rates and such to ADC constants.
|
||||
*/
|
||||
uint8_t AHRS_ADC_Config(int32_t adc_oversample)
|
||||
{
|
||||
|
||||
int32_t i;
|
||||
|
||||
ADC_DeInit(ADC1);
|
||||
ADC_DeInit(ADC2);
|
||||
|
||||
/* Setup analog pins */
|
||||
GPIO_InitTypeDef GPIO_InitStructure;
|
||||
GPIO_StructInit(&GPIO_InitStructure);
|
||||
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
|
||||
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
|
||||
|
||||
/* Enable each ADC pin in the array */
|
||||
for(i = 0; i < PIOS_ADC_NUM_PINS; i++) {
|
||||
GPIO_InitStructure.GPIO_Pin = ADC_GPIO_PIN[i];
|
||||
GPIO_Init(ADC_GPIO_PORT[i], &GPIO_InitStructure);
|
||||
}
|
||||
|
||||
/* Enable ADC clocks */
|
||||
PIOS_ADC_CLOCK_FUNCTION;
|
||||
|
||||
/* Map channels to conversion slots depending on the channel selection mask */
|
||||
for(i = 0; i < PIOS_ADC_NUM_PINS; i++) {
|
||||
ADC_RegularChannelConfig(ADC_MAPPING[i], ADC_CHANNEL[i], ADC_CHANNEL_MAPPING[i], PIOS_ADC_SAMPLE_TIME);
|
||||
}
|
||||
|
||||
#if (PIOS_ADC_USE_TEMP_SENSOR)
|
||||
ADC_TempSensorVrefintCmd(ENABLE);
|
||||
ADC_RegularChannelConfig(PIOS_ADC_TEMP_SENSOR_ADC, ADC_Channel_14, PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL, PIOS_ADC_SAMPLE_TIME);
|
||||
#endif
|
||||
|
||||
// TODO: update ADC to continuous sampling, configure the sampling rate
|
||||
/* Configure ADCs */
|
||||
ADC_InitTypeDef ADC_InitStructure;
|
||||
ADC_StructInit(&ADC_InitStructure);
|
||||
ADC_InitStructure.ADC_Mode = ADC_Mode_RegSimult;
|
||||
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
|
||||
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
|
||||
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
|
||||
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
|
||||
ADC_InitStructure.ADC_NbrOfChannel = ((PIOS_ADC_NUM_CHANNELS + 1) >> 1);
|
||||
ADC_Init(ADC1, &ADC_InitStructure);
|
||||
|
||||
#if (PIOS_ADC_USE_ADC2)
|
||||
ADC_Init(ADC2, &ADC_InitStructure);
|
||||
|
||||
/* Enable ADC2 external trigger conversion (to synch with ADC1) */
|
||||
ADC_ExternalTrigConvCmd(ADC2, ENABLE);
|
||||
#endif
|
||||
|
||||
RCC_ADCCLKConfig(PIOS_ADC_ADCCLK);
|
||||
RCC_PCLK2Config(RCC_HCLK_Div16);
|
||||
|
||||
/* Enable ADC1->DMA request */
|
||||
ADC_DMACmd(ADC1, ENABLE);
|
||||
|
||||
/* ADC1 calibration */
|
||||
ADC_Cmd(ADC1, ENABLE);
|
||||
ADC_ResetCalibration(ADC1);
|
||||
while(ADC_GetResetCalibrationStatus(ADC1));
|
||||
ADC_StartCalibration(ADC1);
|
||||
while(ADC_GetCalibrationStatus(ADC1));
|
||||
|
||||
#if (PIOS_ADC_USE_ADC2)
|
||||
/* ADC2 calibration */
|
||||
ADC_Cmd(ADC2, ENABLE);
|
||||
ADC_ResetCalibration(ADC2);
|
||||
while(ADC_GetResetCalibrationStatus(ADC2));
|
||||
ADC_StartCalibration(ADC2);
|
||||
while(ADC_GetCalibrationStatus(ADC2));
|
||||
#endif
|
||||
|
||||
/* Enable DMA1 clock */
|
||||
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
|
||||
|
||||
/* Configure DMA1 channel 1 to fetch data from ADC result register */
|
||||
DMA_InitTypeDef DMA_InitStructure;
|
||||
DMA_StructInit(&DMA_InitStructure);
|
||||
DMA_DeInit(DMA1_Channel1);
|
||||
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR;
|
||||
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&raw_data_buffer[0];
|
||||
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
|
||||
/* We are double buffering half words from the ADC. Make buffer appropriately sized */
|
||||
DMA_InitStructure.DMA_BufferSize = (PIOS_ADC_NUM_CHANNELS * adc_oversample * 2) >> 1;
|
||||
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
|
||||
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
|
||||
/* Note: We read ADC1 and ADC2 in parallel making a word read, also hence the half buffer size */
|
||||
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
|
||||
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
|
||||
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
|
||||
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
|
||||
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
|
||||
DMA_Init(DMA1_Channel1, &DMA_InitStructure);
|
||||
DMA_Cmd(DMA1_Channel1, ENABLE);
|
||||
|
||||
/* Trigger interrupt when for half conversions too to indicate double buffer */
|
||||
DMA_ITConfig(DMA1_Channel1, DMA_IT_TC, ENABLE);
|
||||
DMA_ITConfig(DMA1_Channel1, DMA_IT_HT, ENABLE);
|
||||
|
||||
/* Configure and enable DMA interrupt */
|
||||
NVIC_InitTypeDef NVIC_InitStructure;
|
||||
NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel1_IRQn;
|
||||
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_ADC_IRQ_PRIO;
|
||||
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
|
||||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
||||
NVIC_Init(&NVIC_InitStructure);
|
||||
|
||||
/* Finally start initial conversion */
|
||||
ADC_SoftwareStartConvCmd(ADC1, ENABLE);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Interrupt for half and full buffer transfer
|
||||
*
|
||||
* This interrupt handler swaps between the two halfs of the double buffer to make
|
||||
* sure the ahrs uses the most recent data. Only swaps data when AHRS is idle, but
|
||||
* really this is a pretense of a sanity check since the DMA engine is consantly
|
||||
* running in the background. Keep an eye on the ekf_too_slow variable to make sure
|
||||
* it's keeping up.
|
||||
*/
|
||||
void AHRS_ADC_DMA_Handler(void)
|
||||
{
|
||||
if ( ahrs_state == AHRS_IDLE )
|
||||
{
|
||||
// Ideally this would have a mutex, but I think we can avoid it (and don't have RTOS features)
|
||||
|
||||
if( DMA_GetFlagStatus( DMA1_IT_TC1 ) ) // whole double buffer filled
|
||||
valid_data_buffer = &raw_data_buffer[ 1 * PIOS_ADC_NUM_CHANNELS * adc_oversample ];
|
||||
else if ( DMA_GetFlagStatus(DMA1_IT_HT1) )
|
||||
valid_data_buffer = &raw_data_buffer[ 0 * PIOS_ADC_NUM_CHANNELS * adc_oversample ];
|
||||
else {
|
||||
// lets cause a seg fault and catch whatever is going on
|
||||
valid_data_buffer = 0;
|
||||
}
|
||||
|
||||
ahrs_state = AHRS_DATA_READY;
|
||||
}
|
||||
else {
|
||||
// Track how many times an interrupt occurred before EKF finished processing
|
||||
ekf_too_slow++;
|
||||
}
|
||||
|
||||
total_conversion_blocks++;
|
||||
|
||||
// Clear all interrupt from DMA 1 - regardless if buffer swapped
|
||||
DMA_ClearFlag( DMA1_IT_GL1 );
|
||||
|
||||
}
|
||||
53
flight/AHRS/inc/ahrs_adc.h
Normal file
53
flight/AHRS/inc/ahrs_adc.h
Normal file
@ -0,0 +1,53 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup AHRS AHRS Control
|
||||
* @brief The AHRS Modules perform
|
||||
*
|
||||
* @{
|
||||
* @addtogroup AHRS_ADC
|
||||
* @brief Specialized ADC code for double buffered DMA for AHRS
|
||||
* @{
|
||||
*
|
||||
*
|
||||
* @file ahrs.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @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
|
||||
*/
|
||||
|
||||
#ifndef AHRS_ADC
|
||||
#define AHRS_ADC
|
||||
|
||||
#include <pios.h>
|
||||
|
||||
// Maximum of 50 oversampled points
|
||||
#define MAX_SAMPLES (8*50*2)
|
||||
|
||||
uint8_t AHRS_ADC_Config(int32_t adc_oversample);
|
||||
void AHRS_ADC_DMA_Handler(void);
|
||||
|
||||
typedef enum {AHRS_IDLE, AHRS_DATA_READY, AHRS_PROCESSING} states;
|
||||
extern volatile states ahrs_state;
|
||||
extern volatile int16_t * valid_data_buffer;
|
||||
//! Counts how many times the EKF wasn't idle when DMA handler called
|
||||
extern volatile int32_t total_conversion_blocks;
|
||||
//! Total number of data blocks converted
|
||||
extern volatile int32_t ekf_too_slow;
|
||||
|
||||
#endif
|
||||
@ -39,7 +39,11 @@
|
||||
#define NUMV 10 // number of measurements, v is the measurement noise vector
|
||||
#define NUMU 6 // number of deterministic inputs, U is the input vector
|
||||
|
||||
//#define COVARIANCE_PREDICTION_GENERAL
|
||||
#if defined(GENERAL_COV)
|
||||
// This might trick people so I have a note here. There is a slower but bigger version of the
|
||||
// code here but won't fit when debugging disabled (requires -Os)
|
||||
#define COVARIANCE_PREDICTION_GENERAL
|
||||
#endif
|
||||
|
||||
// Private functions
|
||||
void INSCorrection(float mag_data[3], float Pos[3], float Vel[3], float BaroAlt, uint16_t SensorsUsed);
|
||||
|
||||
@ -2862,6 +2862,10 @@
|
||||
65EF3931123AF97D00D1B036 /* gpstime.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = gpstime.c; sourceTree = "<group>"; };
|
||||
65EF3932123AF97D00D1B036 /* vtolsettings.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = vtolsettings.c; sourceTree = "<group>"; };
|
||||
65EF3933123AF97D00D1B036 /* vtolstatus.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = vtolstatus.c; sourceTree = "<group>"; };
|
||||
65FC65BE123F209400B04F74 /* ahrs_adc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_adc.c; path = ../../AHRS/ahrs_adc.c; sourceTree = SOURCE_ROOT; };
|
||||
65FC65D5123F22AD00B04F74 /* ahrs_adc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_adc.h; sourceTree = "<group>"; };
|
||||
65FC66AA123F30F100B04F74 /* ahrs_timer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_timer.c; path = ../../AHRS/ahrs_timer.c; sourceTree = SOURCE_ROOT; };
|
||||
65FC66AB123F312A00B04F74 /* ahrs_timer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_timer.h; sourceTree = "<group>"; };
|
||||
/* End PBXFileReference section */
|
||||
|
||||
/* Begin PBXGroup section */
|
||||
@ -6747,7 +6751,9 @@
|
||||
children = (
|
||||
65322D77122897210046CD7C /* MagOrAccelSensorCal.c */,
|
||||
654330231218E9780063F913 /* insgps.c */,
|
||||
65FC65BE123F209400B04F74 /* ahrs_adc.c */,
|
||||
65B7E6AD120DF1E2000C1123 /* ahrs_fsm.c */,
|
||||
65FC66AA123F30F100B04F74 /* ahrs_timer.c */,
|
||||
65B7E6AE120DF1E2000C1123 /* ahrs.c */,
|
||||
65B7E6AF120DF1E2000C1123 /* inc */,
|
||||
65B7E6B6120DF1E2000C1123 /* Makefile */,
|
||||
@ -6759,6 +6765,8 @@
|
||||
65B7E6AF120DF1E2000C1123 /* inc */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65FC66AB123F312A00B04F74 /* ahrs_timer.h */,
|
||||
65FC65D5123F22AD00B04F74 /* ahrs_adc.h */,
|
||||
6543304F121980300063F913 /* insgps.h */,
|
||||
65B7E6B0120DF1E2000C1123 /* ahrs.h */,
|
||||
65B7E6B1120DF1E2000C1123 /* ahrs_fsm.h */,
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user