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Code Issues Releases Activity

Add BMA180 to CopterControl 3D. Had to reduce the stack space by 256 bytes.

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Some can be reclaimed by making the BMA180 allocate its fifo dynamically but
I'll do that later when it uses FreeRTOS queues for the FIFO.
This commit is contained in:
James Cotton 2012-01-23 23:45:40 -06:00
parent 11471ff68b
commit 0cb6b13d33
4 changed files with 45 additions and 2 deletions
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1
flight/CopterControl/Makefile
View File

@ -226,6 +226,7 @@ SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
SRC += $(PIOSCOMMON)/pios_flash_w25x.c
SRC += $(PIOSCOMMON)/pios_adxl345.c
SRC += $(PIOSCOMMON)/pios_l3gd20.c
SRC += $(PIOSCOMMON)/pios_bma180.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_bmp085.c

2
flight/CopterControl/System/inc/FreeRTOSConfig.h
View File

@ -31,7 +31,7 @@
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 48 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 54 * 256) )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 53 * 256) )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0

1
flight/CopterControl/System/inc/pios_config.h
View File

@ -75,6 +75,7 @@
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_ADXL345
#define PIOS_INCLUDE_BMA180
#define PIOS_INCLUDE_L3GD20
#define PIOS_INCLUDE_FLASH

43
flight/CopterControl/System/pios_board.c
View File

@ -1141,6 +1141,44 @@ uint32_t pios_com_vcp_id;
uint32_t pios_com_gps_id;
uint32_t pios_com_bridge_id;
/**
* Configuration for the BMA180 chip
*/
#if defined(PIOS_INCLUDE_BMA180)
#include "pios_bma180.h"
static const struct pios_exti_cfg pios_exti_bma180_cfg __exti_config = {
.vector = PIOS_BMA180_IRQHandler,
.line = EXTI_Line13,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_IPU,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI15_10_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line13, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising,
.EXTI_LineCmd = ENABLE,
},
},
};
static const struct pios_bma180_cfg pios_bma180_cfg = {
.exti_cfg = &pios_exti_bma180_cfg,
};
#endif /* PIOS_INCLUDE_BMA180 */
/**
* Configuration for L3GD20 chip
*/
@ -1199,7 +1237,6 @@ void PIOS_Board_Init(void) {
}
PIOS_Flash_W25X_Init(pios_spi_flash_accel_id, 1);
PIOS_ADXL345_Init(pios_spi_flash_accel_id, 0);
PIOS_FLASHFS_Init();
@ -1700,6 +1737,7 @@ void PIOS_Board_Init(void) {
if(0) {
PIOS_ADC_Init();
PIOS_ADXL345_Init(pios_spi_flash_accel_id, 0);
} else
{
// Revision 2 with L3GD20 gyros, start a SPI interface and connect to it
@ -1711,6 +1749,9 @@ void PIOS_Board_Init(void) {
PIOS_L3GD20_Attach(pios_spi_gyro_id);
PIOS_L3GD20_Init(&pios_l3gd20_cfg);
PIOS_BMA180_Attach(pios_spi_flash_accel_id);
PIOS_BMA180_Init(&pios_bma180_cfg);
}
break;
default: