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Code Issues Releases Activity

Update the F4 copyright headers to 2012

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This commit is contained in:
James Cotton 2012-01-04 19:29:29 -06:00
parent 25dfb5463e
commit 0da6109871
37 changed files with 219 additions and 1167 deletions
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2
flight/PiOS/STM32F4xx/pios_bma180.c
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@ -7,7 +7,7 @@
* @{
*
* @file pios_bma180.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief PiOS BMA180 digital accelerometer driver.
* - Driver for the BMA180 digital accelerometer on the SPI bus.
* @see The GNU Public License (GPL) Version 3

26
flight/PiOS/STM32F4xx/pios_bmp085.c
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@ -1,17 +1,17 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_BMP085 BMP085 Functions
* @brief Hardware functions to deal with the altitude pressure sensor
* @{
*
* @file pios_bmp085.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief BMP085 Pressure Sensor Routines
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************/
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_BMP085 BMP085 Functions
* @brief Hardware functions to deal with the altitude pressure sensor
* @{
*
* @file pios_bmp085.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief BMP085 Pressure Sensor Routines
* @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

2
flight/PiOS/STM32F4xx/pios_debug.c
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@ -7,7 +7,7 @@
* @{
*
* @file pios_debug.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Debugging Functions
* @see The GNU Public License (GPL) Version 3
*

2
flight/PiOS/STM32F4xx/pios_delay.c
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@ -7,7 +7,7 @@
* @{
*
* @file pios_delay.c
* @author Michael Smith Copyright (C) 2011
* @author Michael Smith Copyright (C) 2012
* @brief Delay Functions
* - Provides a micro-second granular delay using the CPU
* cycle counter.

2
flight/PiOS/STM32F4xx/pios_dsm.c
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@ -7,7 +7,7 @@
* @{
*
* @file pios_dsm.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Code bind and read Spektrum/JR DSMx satellite receiver serial stream
* @see The GNU Public License (GPL) Version 3
*

3
flight/PiOS/STM32F4xx/pios_exti.c
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@ -1,6 +1,5 @@
/**
******************************************************************************
*
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_EXTI External Interrupt Handlers
@ -9,7 +8,7 @@
* @{
*
* @file pios_exti.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief External Interrupt Handlers
* @see The GNU Public License (GPL) Version 3
*

2
flight/PiOS/STM32F4xx/pios_gpio.c
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@ -7,7 +7,7 @@
* @{
*
* @file pios_gpio.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief GPIO functions, init, toggle, on & off.
* @see The GNU Public License (GPL) Version 3
*

3
flight/PiOS/STM32F4xx/pios_hmc5883.c
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@ -5,9 +5,8 @@
* @addtogroup PIOS_HMC5883 HMC5883 Functions
* @brief Deals with the hardware interface to the magnetometers
* @{
*
* @file pios_hmc5883.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief HMC5883 Magnetic Sensor Functions from AHRS
* @see The GNU Public License (GPL) Version 3
*

5
flight/PiOS/STM32F4xx/pios_i2c.c
View File

@ -3,12 +3,11 @@
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_I2C I2C Functions
* @brief STM32F2xx Hardware dependent I2C functionality
* @brief STM32F4xx Hardware dependent I2C functionality
* @{
*
* @file pios_i2c.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief I2C Enable/Disable routines
* @see The GNU Public License (GPL) Version 3
*

38
flight/PiOS/STM32F4xx/pios_iap.c
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@ -1,12 +1,33 @@
/*!
* @File iap.c
* @Brief
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_IAP IAP Functions
* @brief STM32F4xx Hardware dependent I2C functionality
* @{
*
* Created on: Sep 6, 2010
* Author: joe
* @file pios_iap.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief In application programming functions
* @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
*/
/****************************************************************************************
* Header files
****************************************************************************************/
@ -131,3 +152,8 @@ void PIOS_IAP_ClearRequest(void)
BKP_WriteBackupRegister( MAGIC_REG_2, 0);
#endif
}
/**
* @}
* @}
*/

397
flight/PiOS/STM32F4xx/pios_imu3000.c
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@ -1,397 +0,0 @@
/**
******************************************************************************
* @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 Variables */
#define DEG_TO_RAD (M_PI / 180.0)
static void PIOS_IMU3000_Config(struct pios_imu3000_cfg const * cfg);
static int32_t PIOS_IMU3000_Read(uint8_t address, uint8_t * buffer, uint8_t len);
static int32_t PIOS_IMU3000_Write(uint8_t address, uint8_t buffer);
#define PIOS_IMU3000_MAX_DOWNSAMPLE 10
static int16_t pios_imu3000_buffer[PIOS_IMU3000_MAX_DOWNSAMPLE * sizeof(struct pios_imu3000_data)];
static t_fifo_buffer pios_imu3000_fifo;
volatile bool imu3000_first_read = true;
volatile bool imu3000_configured = false;
volatile bool imu3000_cb_ready = true;
static struct pios_imu3000_cfg const * cfg;
/**
* @brief Initialize the IMU3000 3-axis gyro sensor.
* @return none
*/
void PIOS_IMU3000_Init(const struct pios_imu3000_cfg * new_cfg)
{
cfg = new_cfg;
fifoBuf_init(&pios_imu3000_fifo, (uint8_t *) pios_imu3000_buffer, sizeof(pios_imu3000_buffer));
/* Configure EOC pin as input floating */
GPIO_Init(cfg->drdy.gpio, &cfg->drdy.init);
/* Configure the End Of Conversion (EOC) interrupt */
SYSCFG_EXTILineConfig(cfg->eoc_exti.port_source, cfg->eoc_exti.pin_source);
EXTI_Init(&cfg->eoc_exti.init);
/* Enable and set EOC EXTI Interrupt to the lowest priority */
NVIC_Init(&cfg->eoc_irq.init);
/* Configure the IMU3000 Sensor */
PIOS_IMU3000_Config(cfg);
}
/**
* @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(struct pios_imu3000_cfg const * cfg)
{
imu3000_first_read = true;
imu3000_cb_ready = true;
// Reset chip and fifo
while (PIOS_IMU3000_Write(PIOS_IMU3000_USER_CTRL_REG, 0x01 | 0x02) != 0);
PIOS_DELAY_WaituS(20);
while (PIOS_IMU3000_Write(PIOS_IMU3000_USER_CTRL_REG, 0x00) != 0);
// FIFO storage
while (PIOS_IMU3000_Write(PIOS_IMU3000_FIFO_EN_REG, cfg->Fifo_store) != 0);
// Sample rate divider
while (PIOS_IMU3000_Write(PIOS_IMU3000_SMPLRT_DIV_REG, cfg->Smpl_rate_div) != 0) ;
// Digital low-pass filter and scale
while (PIOS_IMU3000_Write(PIOS_IMU3000_DLPF_CFG_REG, cfg->filter | (cfg->range << 3)) != 0) ;
// Interrupt configuration
while (PIOS_IMU3000_Write(PIOS_IMU3000_USER_CTRL_REG, cfg->User_ctl) != 0) ;
// Interrupt configuration
while (PIOS_IMU3000_Write(PIOS_IMU3000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) ;
// Interrupt configuration
while (PIOS_IMU3000_Write(PIOS_IMU3000_INT_CFG_REG, cfg->Interrupt_cfg) != 0) ;
imu3000_configured = true;
}
/**
* @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
* \returns The number of samples remaining in the fifo
*/
int32_t PIOS_IMU3000_ReadGyros(struct pios_imu3000_data * data)
{
uint8_t buf[6];
if(PIOS_IMU3000_Read(PIOS_IMU3000_GYRO_X_OUT_MSB, (uint8_t *) buf, sizeof(buf)) < 0)
return -1;
data->x = buf[0] << 8 | buf[1];
data->y = buf[2] << 8 | buf[3];
data->z = buf[4] << 8 | buf[5];
return 0;
}
/**
* @brief Read the identification bytes from the IMU3000 sensor
* \return ID read from IMU3000 or -1 if failure
*/
int32_t PIOS_IMU3000_ReadID()
{
uint8_t imu3000_id;
if(PIOS_IMU3000_Read(0x00, (uint8_t *) &imu3000_id, 1) != 0)
return -1;
return imu3000_id;
}
/**
* \brief Reads the data from the IMU3000 FIFO
* \param[out] buffer destination buffer
* \param[in] len maximum number of bytes which should be read
* \note This returns the data as X, Y, Z the temperature
* \return number of bytes transferred if operation was successful
* \return -1 if error during I2C transfer
*/
int32_t PIOS_IMU3000_ReadFifo(struct pios_imu3000_data * buffer)
{
if(fifoBuf_getUsed(&pios_imu3000_fifo) < sizeof(*buffer))
return -1;
fifoBuf_getData(&pios_imu3000_fifo, (uint8_t *) buffer, sizeof(*buffer));
return 0;
}
/**
* @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 -2 if unable to claim i2c device
*/
static int32_t 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_GYRO_ADAPTER, txn_list, NELEMENTS(txn_list));
}
// Must allocate on stack to be persistent
static uint8_t cb_addr_buffer[] = {
0,
};
static struct pios_i2c_txn cb_txn_list[] = {
{
.addr = PIOS_IMU3000_I2C_ADDR,
.rw = PIOS_I2C_TXN_WRITE,
.len = sizeof(cb_addr_buffer),
.buf = cb_addr_buffer,
}
,
{
.addr = PIOS_IMU3000_I2C_ADDR,
.rw = PIOS_I2C_TXN_READ,
.len = 0,
.buf = 0,
}
};
static int32_t PIOS_IMU3000_Read_Callback(uint8_t address, uint8_t * buffer, uint8_t len, void *callback)
{
cb_addr_buffer[0] = address;
cb_txn_list[0].info = __func__,
cb_txn_list[1].info = __func__;
cb_txn_list[1].len = len;
cb_txn_list[1].buf = buffer;
return PIOS_I2C_Transfer_Callback(PIOS_I2C_GYRO_ADAPTER, cb_txn_list, NELEMENTS(cb_txn_list), callback);
}
/**
* @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
* \return -2 if unable to claim i2c device
*/
static int32_t 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_GYRO_ADAPTER, txn_list, NELEMENTS(txn_list));
}
float PIOS_IMU3000_GetScale()
{
switch (cfg->range) {
case PIOS_IMU3000_SCALE_250_DEG:
return DEG_TO_RAD / 131.0;
case PIOS_IMU3000_SCALE_500_DEG:
return DEG_TO_RAD / 65.5;
case PIOS_IMU3000_SCALE_1000_DEG:
return DEG_TO_RAD / 32.8;
case PIOS_IMU3000_SCALE_2000_DEG:
return DEG_TO_RAD / 16.4;
}
return 0;
}
/**
* @brief Run self-test operation.
* \return 0 if test succeeded
* \return non-zero value if test succeeded
*/
uint8_t PIOS_IMU3000_Test(void)
{
/* Verify that ID matches (IMU3000 ID is 0x69) */
int32_t imu3000_id = PIOS_IMU3000_ReadID();
if(imu3000_id < 0)
return -1;
if(imu3000_id != PIOS_IMU3000_I2C_ADDR)
return -2;
return 0;
}
static uint8_t imu3000_read_buffer[sizeof(struct pios_imu3000_data) + 2]; // Right now using ,Y,Z,fifo_footer
static void imu3000_callback()
{
struct pios_imu3000_data data;
if(fifoBuf_getFree(&pios_imu3000_fifo) < sizeof(data))
goto out;
if(imu3000_first_read) {
data.temperature = imu3000_read_buffer[0] << 8 | imu3000_read_buffer[1];
data.x = imu3000_read_buffer[2] << 8 | imu3000_read_buffer[3];
data.y = imu3000_read_buffer[4] << 8 | imu3000_read_buffer[5];
data.z = imu3000_read_buffer[6] << 8 | imu3000_read_buffer[7];
imu3000_first_read = false;
} else {
// First two bytes are left over fifo from last call
data.temperature = imu3000_read_buffer[2] << 8 | imu3000_read_buffer[3];
data.x = imu3000_read_buffer[4] << 8 | imu3000_read_buffer[5];
data.y = imu3000_read_buffer[6] << 8 | imu3000_read_buffer[7];
data.z = imu3000_read_buffer[8] << 8 | imu3000_read_buffer[9];
}
fifoBuf_putData(&pios_imu3000_fifo, (uint8_t *) &data, sizeof(data));
out:
imu3000_cb_ready = true;
}
/**
* @brief IRQ Handler
*/
uint32_t imu3000_irq = 0;
uint16_t fifo_level;
uint8_t fifo_level_data[2];
uint32_t cb_not_ready = 0;
void PIOS_IMU3000_IRQHandler(void)
{
imu3000_irq++;
if(!imu3000_configured)
return;
//PIOS_Assert(imu3000_cb_ready);
if(!imu3000_cb_ready) {
PIOS_LED_Toggle(LED2);
cb_not_ready++;
return;
}
// If at least one read doesnt succeed then the irq not reset and we will stall
while(PIOS_IMU3000_Read(PIOS_IMU3000_FIFO_CNT_MSB, (uint8_t *) &fifo_level_data, sizeof(fifo_level_data)) != 0)
PIOS_DELAY_WaituS(10);
fifo_level = (fifo_level_data[0] << 8) + fifo_level_data[1];
PIOS_DELAY_WaituS(10);
if(imu3000_first_read) {
// Stupid system for IMU3000. If first read from buffer then we will read 4 sensors without fifo
// footer. After this we will read out a fifo footer
if(fifo_level < sizeof(imu3000_read_buffer))
return;
imu3000_cb_ready = false;
// Leave footer in buffer
PIOS_IMU3000_Read_Callback(PIOS_IMU3000_FIFO_REG, imu3000_read_buffer, sizeof(imu3000_read_buffer) - 2, imu3000_callback);
} else {
// Stupid system for IMU3000. Ensure something is left in buffer
if(fifo_level < (sizeof(imu3000_read_buffer) + 2))
return;
imu3000_cb_ready = false;
// Leave footer in buffer
PIOS_IMU3000_Read_Callback(PIOS_IMU3000_FIFO_REG, imu3000_read_buffer, sizeof(imu3000_read_buffer), imu3000_callback);
}
}
/**
* The physical IRQ handler
* Soon this will be generic in pios_exti and the BMA180 will register
* against it. Right now this is crap!
*/
void EXTI1_IRQHandler(void)
{
if (EXTI_GetITStatus(EXTI_Line1) != RESET)
{
PIOS_IMU3000_IRQHandler();
EXTI_ClearITPendingBit(EXTI_Line1);
}
}
#endif
/**
* @}
* @}
*/

3
flight/PiOS/STM32F4xx/pios_irq.c
View File

@ -7,8 +7,7 @@
* @{
*
* @file pios_irq.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012
* @brief IRQ Enable/Disable routines
* @see The GNU Public License (GPL) Version 3
*

2
flight/PiOS/STM32F4xx/pios_led.c
View File

@ -7,7 +7,7 @@
* @{
*
* @file pios_led.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief LED functions, init, toggle, on & off.
* @see The GNU Public License (GPL) Version 3
*

18
flight/PiOS/STM32F4xx/pios_mpu6000.c
View File

@ -7,7 +7,7 @@
* @{
*
* @file pios_mpu000.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief MPU6000 6-axis gyro and accel chip
* @see The GNU Public License (GPL) Version 3
*
@ -54,7 +54,7 @@ static struct pios_mpu6000_cfg const * cfg;
#define GRAV 9.81f
/**
* @brief Initialize the MPU6050 3-axis gyro sensor.
* @brief Initialize the MPU6000 3-axis gyro sensor.
* @return none
*/
void PIOS_MPU6000_Init(const struct pios_mpu6000_cfg * new_cfg)
@ -63,7 +63,7 @@ void PIOS_MPU6000_Init(const struct pios_mpu6000_cfg * new_cfg)
fifoBuf_init(&pios_mpu6000_fifo, (uint8_t *) pios_mpu6000_buffer, sizeof(pios_mpu6000_buffer));
/* Configure the MPU6050 Sensor */
/* Configure the MPU6000 Sensor */
PIOS_SPI_SetPrescalar(pios_spi_gyro, SPI_BaudRatePrescaler_256);
PIOS_MPU6000_Config(cfg);
PIOS_SPI_SetPrescalar(pios_spi_gyro, SPI_BaudRatePrescaler_8);
@ -81,7 +81,7 @@ void PIOS_MPU6000_Init(const struct pios_mpu6000_cfg * new_cfg)
}
/**
* @brief Initialize the MPU6050 3-axis gyro sensor
* @brief Initialize the MPU6000 3-axis gyro sensor
* \return none
* \param[in] PIOS_MPU6000_ConfigTypeDef struct to be used to configure sensor.
*
@ -244,9 +244,9 @@ int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * data)
return 0;
}
/**
* @brief Read the identification bytes from the MPU6050 sensor
* \return ID read from MPU6050 or -1 if failure
/*
* @brief Read the identification bytes from the MPU6000 sensor
* \return ID read from MPU6000 or -1 if failure
*/
int32_t PIOS_MPU6000_ReadID()
{
@ -257,7 +257,7 @@ int32_t PIOS_MPU6000_ReadID()
}
/**
* \brief Reads the data from the MPU6050 FIFO
* \brief Reads the data from the MPU6000 FIFO
* \param[out] buffer destination buffer
* \param[in] len maximum number of bytes which should be read
* \note This returns the data as X, Y, Z the temperature
@ -303,7 +303,7 @@ float PIOS_MPU6000_GetAccelScale()
*/
uint8_t PIOS_MPU6000_Test(void)
{
/* Verify that ID matches (MPU6050 ID is 0x69) */
/* Verify that ID matches (MPU6000 ID is 0x69) */
int32_t mpu6000_id = PIOS_MPU6000_ReadID();
if(mpu6000_id < 0)
return -1;

365
flight/PiOS/STM32F4xx/pios_mpu6050.c
View File

@ -1,365 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MPU6050 MPU6050 Functions
* @brief Deals with the hardware interface to the 3-axis gyro
* @{
*
* @file pios_mpu050.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief MPU6050 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_MPU6050)
/* Global Variables */
/* Local Variables */
#define DEG_TO_RAD (M_PI / 180.0)
static void PIOS_MPU6050_Config(struct pios_mpu6050_cfg const * cfg);
static int32_t PIOS_MPU6050_Read(uint8_t address, uint8_t * buffer, uint8_t len);
static int32_t PIOS_MPU6050_Write(uint8_t address, uint8_t buffer);
#define PIOS_MPU6050_MAX_DOWNSAMPLE 10
static int16_t pios_mpu6050_buffer[PIOS_MPU6050_MAX_DOWNSAMPLE * sizeof(struct pios_mpu6050_data)];
static t_fifo_buffer pios_mpu6050_fifo;
volatile bool mpu6050_first_read = true;
volatile bool mpu6050_configured = false;
volatile bool mpu6050_cb_ready = true;
static struct pios_mpu6050_cfg const * cfg;
/**
* @brief Initialize the MPU6050 3-axis gyro sensor.
* @return none
*/
void PIOS_MPU6050_Init(const struct pios_mpu6050_cfg * new_cfg)
{
cfg = new_cfg;
fifoBuf_init(&pios_mpu6050_fifo, (uint8_t *) pios_mpu6050_buffer, sizeof(pios_mpu6050_buffer));
/* Configure EOC pin as input floating */
GPIO_Init(cfg->drdy.gpio, &cfg->drdy.init);
/* Configure the End Of Conversion (EOC) interrupt */
SYSCFG_EXTILineConfig(cfg->eoc_exti.port_source, cfg->eoc_exti.pin_source);
EXTI_Init(&cfg->eoc_exti.init);
/* Enable and set EOC EXTI Interrupt to the lowest priority */
NVIC_Init(&cfg->eoc_irq.init);
/* Configure the MPU6050 Sensor */
PIOS_MPU6050_Config(cfg);
}
/**
* @brief Initialize the MPU6050 3-axis gyro sensor
* \return none
* \param[in] PIOS_MPU6050_ConfigTypeDef struct to be used to configure sensor.
*
*/
static void PIOS_MPU6050_Config(struct pios_mpu6050_cfg const * cfg)
{
mpu6050_first_read = true;
mpu6050_cb_ready = true;
// Reset chip and fifo
while (PIOS_MPU6050_Write(PIOS_MPU6050_USER_CTRL_REG, 0x01 | 0x02 | 0x04) != 0);
PIOS_DELAY_WaituS(20);
// FIFO storage
while (PIOS_MPU6050_Write(PIOS_MPU6050_FIFO_EN_REG, cfg->Fifo_store) != 0);
// Sample rate divider
while (PIOS_MPU6050_Write(PIOS_MPU6050_SMPLRT_DIV_REG, cfg->Smpl_rate_div) != 0) ;
// Digital low-pass filter and scale
while (PIOS_MPU6050_Write(PIOS_MPU6050_DLPF_CFG_REG, cfg->filter) != 0) ;
// Digital low-pass filter and scale
while (PIOS_MPU6050_Write(PIOS_MPU6050_GYRO_CFG_REG, cfg->gyro_range) != 0) ;
// Interrupt configuration
while (PIOS_MPU6050_Write(PIOS_MPU6050_USER_CTRL_REG, cfg->User_ctl) != 0) ;
// Interrupt configuration
while (PIOS_MPU6050_Write(PIOS_MPU6050_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) ;
// Interrupt configuration
while (PIOS_MPU6050_Write(PIOS_MPU6050_INT_CFG_REG, cfg->interrupt_cfg) != 0) ;
// Interrupt configuration
while (PIOS_MPU6050_Write(PIOS_MPU6050_INT_EN_REG, cfg->interrupt_en) != 0) ;
mpu6050_configured = true;
}
/**
* @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
* \returns The number of samples remaining in the fifo
*/
int32_t PIOS_MPU6050_ReadGyros(struct pios_mpu6050_data * data)
{
uint8_t buf[6];
if(PIOS_MPU6050_Read(PIOS_MPU6050_GYRO_X_OUT_MSB, (uint8_t *) buf, sizeof(buf)) < 0)
return -1;
data->gyro_x = buf[0] << 8 | buf[1];
data->gyro_y = buf[2] << 8 | buf[3];
data->gyro_z = buf[4] << 8 | buf[5];
return 0;
}
/**
* @brief Read the identification bytes from the MPU6050 sensor
* \return ID read from MPU6050 or -1 if failure
*/
int32_t PIOS_MPU6050_ReadID()
{
uint8_t mpu6050_id;
if(PIOS_MPU6050_Read(PIOS_MPU6050_WHOAMI, (uint8_t *) &mpu6050_id, 1) != 0)
return -1;
return mpu6050_id;
}
/**
* \brief Reads the data from the MPU6050 FIFO
* \param[out] buffer destination buffer
* \param[in] len maximum number of bytes which should be read
* \note This returns the data as X, Y, Z the temperature
* \return number of bytes transferred if operation was successful
* \return -1 if error during I2C transfer
*/
int32_t PIOS_MPU6050_ReadFifo(struct pios_mpu6050_data * buffer)
{
if(fifoBuf_getUsed(&pios_mpu6050_fifo) < sizeof(*buffer))
return -1;
fifoBuf_getData(&pios_mpu6050_fifo, (uint8_t *) buffer, sizeof(*buffer));
return 0;
}
/**
* @brief Reads one or more bytes from MPU6050 into a buffer
* \param[in] address MPU6050 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 -2 if unable to claim i2c device
*/
static int32_t PIOS_MPU6050_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_MPU6050_I2C_ADDR,
.rw = PIOS_I2C_TXN_WRITE,
.len = sizeof(addr_buffer),
.buf = addr_buffer,
}
,
{
.info = __func__,
.addr = PIOS_MPU6050_I2C_ADDR,
.rw = PIOS_I2C_TXN_READ,
.len = len,
.buf = buffer,
}
};
return PIOS_I2C_Transfer(PIOS_I2C_GYRO_ADAPTER, txn_list, NELEMENTS(txn_list));
}
// Must allocate on stack to be persistent
static uint8_t cb_addr_buffer[] = {
0,
};
static struct pios_i2c_txn cb_txn_list[] = {
{
.addr = PIOS_MPU6050_I2C_ADDR,
.rw = PIOS_I2C_TXN_WRITE,
.len = sizeof(cb_addr_buffer),
.buf = cb_addr_buffer,
}
,
{
.addr = PIOS_MPU6050_I2C_ADDR,
.rw = PIOS_I2C_TXN_READ,
.len = 0,
.buf = 0,
}
};
static int32_t PIOS_MPU6050_Read_Callback(uint8_t address, uint8_t * buffer, uint8_t len, void *callback)
{
cb_addr_buffer[0] = address;
cb_txn_list[0].info = __func__,
cb_txn_list[1].info = __func__;
cb_txn_list[1].len = len;
cb_txn_list[1].buf = buffer;
return PIOS_I2C_Transfer_Callback(PIOS_I2C_GYRO_ADAPTER, cb_txn_list, NELEMENTS(cb_txn_list), callback);
}
/**
* @brief Writes one or more bytes to the MPU6050
* \param[in] address Register address
* \param[in] buffer source buffer
* \return 0 if operation was successful
* \return -1 if error during I2C transfer
* \return -2 if unable to claim i2c device
*/
static int32_t PIOS_MPU6050_Write(uint8_t address, uint8_t buffer)
{
uint8_t data[] = {
address,
buffer,
};
const struct pios_i2c_txn txn_list[] = {
{
.info = __func__,
.addr = PIOS_MPU6050_I2C_ADDR,
.rw = PIOS_I2C_TXN_WRITE,
.len = sizeof(data),
.buf = data,
}
,
};
return PIOS_I2C_Transfer(PIOS_I2C_GYRO_ADAPTER, txn_list, NELEMENTS(txn_list));
}
float PIOS_MPU6050_GetScale()
{
switch (cfg->gyro_range) {
case PIOS_MPU6050_SCALE_250_DEG:
return 1.0f / 131.0f;
case PIOS_MPU6050_SCALE_500_DEG:
return 1.0f / 65.5f;
case PIOS_MPU6050_SCALE_1000_DEG:
return 1.0f / 32.8f;
case PIOS_MPU6050_SCALE_2000_DEG:
return 1.0f / 16.4f;
}
return 0;
}
/**
* @brief Run self-test operation.
* \return 0 if test succeeded
* \return non-zero value if test succeeded
*/
uint8_t PIOS_MPU6050_Test(void)
{
/* Verify that ID matches (MPU6050 ID is 0x69) */
int32_t mpu6050_id = PIOS_MPU6050_ReadID();
if(mpu6050_id < 0)
return -1;
if(mpu6050_id != PIOS_MPU6050_I2C_ADDR & 0xFE)
return -2;
return 0;
}
static uint8_t mpu6050_read_buffer[sizeof(struct pios_mpu6050_data)]; // Right now using ,Y,Z,fifo_footer
static void MPU6050_callback()
{
struct pios_mpu6050_data data;
if(fifoBuf_getFree(&pios_mpu6050_fifo) < sizeof(data))
goto out;
data.temperature = mpu6050_read_buffer[0] << 8 | mpu6050_read_buffer[1];
data.gyro_x = mpu6050_read_buffer[2] << 8 | mpu6050_read_buffer[3];
data.gyro_y = mpu6050_read_buffer[4] << 8 | mpu6050_read_buffer[5];
data.gyro_z = mpu6050_read_buffer[6] << 8 | mpu6050_read_buffer[7];
fifoBuf_putData(&pios_mpu6050_fifo, (uint8_t *) &data, sizeof(data));
out:
mpu6050_cb_ready = true;
}
/**
* @brief IRQ Handler
*/
uint32_t mpu6050_irq = 0;
uint16_t fifo_level;
uint8_t fifo_level_data[2];
uint32_t cb_not_ready = 0;
void PIOS_MPU6050_IRQHandler(void)
{
mpu6050_irq++;
if(!mpu6050_configured)
return;
//PIOS_Assert(MPU6050_cb_ready);
if(!mpu6050_cb_ready) {
PIOS_LED_Toggle(LED2);
cb_not_ready++;
return;
}
// Leave footer in buffer
PIOS_MPU6050_Read_Callback(PIOS_MPU6050_FIFO_REG, mpu6050_read_buffer, sizeof(mpu6050_read_buffer), MPU6050_callback);
}
#if defined(PIOS_INCLUDE_MPU6050)
/**
* The physical IRQ handler
* Soon this will be generic in pios_exti and the BMA180 will register
* against it. Right now this is crap!
*/
void EXTI1_IRQHandler(void)
{
if (EXTI_GetITStatus(EXTI_Line1) != RESET)
{
PIOS_MPU6050_IRQHandler();
EXTI_ClearITPendingBit(EXTI_Line1);
}
}
#endif
#endif
/**
* @}
* @}
*/

26
flight/PiOS/STM32F4xx/pios_ms5611.c
View File

@ -1,17 +1,17 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_BMP085 BMP085 Functions
* @brief Hardware functions to deal with the altitude pressure sensor
* @{
*
* @file pios_ms5611.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief MS5611 Pressure Sensor Routines
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************/
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MS5611 MS5611 Functions
* @brief Hardware functions to deal with the altitude pressure sensor
* @{
*
* @file pios_ms5611.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief MS5611 Pressure Sensor Routines
* @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

2
flight/PiOS/STM32F4xx/pios_ppm.c
View File

@ -7,7 +7,7 @@
* @{
*
* @file pios_ppm.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief PPM Input functions (STM32 dependent)
* @see The GNU Public License (GPL) Version 3
*

4
flight/PiOS/STM32F4xx/pios_pwm.c
View File

@ -3,11 +3,11 @@
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_PWM PWM Input Functions
* @brief Code to measure with PWM input
* @brief Code to measure with PWM input
* @{
*
* @file pios_pwm.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief PWM Input functions (STM32 dependent)
* @see The GNU Public License (GPL) Version 3
*

2
flight/PiOS/STM32F4xx/pios_rtc.c
View File

@ -7,7 +7,7 @@
* @{
*
* @file pios_pwm.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief PWM Input functions (STM32 dependent)
* @see The GNU Public License (GPL) Version 3
*

2
flight/PiOS/STM32F4xx/pios_servo.c
View File

@ -7,7 +7,7 @@
* @{
*
* @file pios_servo.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief RC Servo routines (STM32 dependent)
* @see The GNU Public License (GPL) Version 3
*

3
flight/PiOS/STM32F4xx/pios_spi.c
View File

@ -7,8 +7,7 @@
* @{
*
* @file pios_spi.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Hardware Abstraction Layer for SPI ports of STM32
* @see The GNU Public License (GPL) Version 3
* @notes

3
flight/PiOS/STM32F4xx/pios_sys.c
View File

@ -8,8 +8,7 @@
*
* @file pios_sys.c
* @author Michael Smith Copyright (C) 2011
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Sets up basic STM32 system hardware, functions are called from Main.
* @see The GNU Public License (GPL) Version 3
*

36
flight/PiOS/STM32F4xx/pios_tim.c
View File

@ -1,3 +1,34 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_TIM Timer Functions
* @brief PIOS Timer control code
* @{
*
* @file pios_tim.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Sets up timers and ways to register callbacks on them
* @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"
#include "pios_tim.h"
@ -454,3 +485,8 @@ static void PIOS_TIM_8_CC_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM8);
}
/**
* @}
* @}
*/

3
flight/PiOS/STM32F4xx/pios_usart.c
View File

@ -7,8 +7,7 @@
* @{
*
* @file pios_usart.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief USART commands. Inits USARTs, controls USARTs & Interupt handlers. (STM32 dependent)
* @see The GNU Public License (GPL) Version 3
*

2
flight/PiOS/STM32F4xx/pios_wdg.c
View File

@ -7,7 +7,7 @@
* @{
*
* @file pios_spi.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @brief Hardware Abstraction Layer for SPI ports of STM32
* @see The GNU Public License (GPL) Version 3

31
flight/PiOS/STM32F4xx/startup.c
View File

@ -1,8 +1,31 @@
/**
* @file startup.c
* @brief Generic CortexM3 startup code for PiOS.
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
*
* @file startup.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief C based startup of F4
* @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 <string.h>
#include <stm32f4xx.h>
@ -119,3 +142,7 @@ struct cm3_vectors cpu_vectors __attribute((section(".cpu_vectors"))) = {
xPortSysTickHandler,
}
};
/**
* @}
*/

30
flight/PiOS/STM32F4xx/vectors_stm32f4xx.c
View File

@ -1,6 +1,28 @@
/**
* @file startup.c
* @brief I/O peripheral vectors for STM32F4xx
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
*
* @file vector_stm32f4xx.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief C based vectors for F4
* @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
*/
/** interrupt handler */
@ -184,3 +206,7 @@ vector *io_vectors[] __attribute__((section(".io_vectors"))) = {
HASH_RNG_IRQHandler, // Hash and Rng
FPU_IRQHandler, // FPU
};
/**
* @}
*/

34
flight/PiOS/inc/pios_adxl345.h
View File

@ -1,12 +1,31 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_ADXL345 ADXL345 Functions
* @brief Data from the ADXL345 sensors
* @{
* @file pios_adxl345.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief PiOS SPI ADXL345
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* pios_adxl345.h
* OpenPilotOSX
* 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.
*
* Created by James Cotton on 1/16/11.
* Copyright 2011 OpenPilot. All rights reserved.
* 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_ADXL345_H
#define PIOS_ADXL345_H
@ -56,3 +75,8 @@ uint8_t PIOS_ADXL345_Read(struct pios_adxl345_data * data);
uint8_t PIOS_ADXL345_FifoElements();
#endif
/**
* @}
* @}
*/

3
flight/PiOS/inc/pios_bma180.h
View File

@ -7,8 +7,7 @@
* @{
*
* @file pios_bma180.h
* @author David "Buzz" Carlson (buzz@chebuzz.com)
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief PiOS BMA180 digital accelerometer driver.
* - Driver for the BMA180 digital accelerometer on the SPI bus.
* @see The GNU Public License (GPL) Version 3

2
flight/PiOS/inc/pios_bmp085.h
View File

@ -7,7 +7,7 @@
* @{
*
* @file pios_bmp085.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief BMP085 functions header.
* @see The GNU Public License (GPL) Version 3
*

2
flight/PiOS/inc/pios_hmc5843.h
View File

@ -7,7 +7,7 @@
* @{
*
* @file pios_hmc5843.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief HMC5843 functions header.
* @see The GNU Public License (GPL) Version 3
*

3
flight/PiOS/inc/pios_hmc5883.h
View File

@ -7,8 +7,7 @@
* @{
*
* @file pios_hmc5883.h
* @author David "Buzz" Carlson (buzz@chebuzz.com)
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief HMC5883 functions header.
* @see The GNU Public License (GPL) Version 3
*

152
flight/PiOS/inc/pios_imu3000.h
View File

@ -1,152 +0,0 @@
/**
******************************************************************************
* @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
#include "pios.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
/* 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
enum pios_imu3000_range {
PIOS_IMU3000_SCALE_250_DEG = 0x00,
PIOS_IMU3000_SCALE_500_DEG = 0x01,
PIOS_IMU3000_SCALE_1000_DEG = 0x02,
PIOS_IMU3000_SCALE_2000_DEG = 0x03
};
enum pios_imu3000_filter {
PIOS_IMU3000_LOWPASS_256_HZ = 0x00,
PIOS_IMU3000_LOWPASS_188_HZ = 0x01,
PIOS_IMU3000_LOWPASS_98_HZ = 0x02,
PIOS_IMU3000_LOWPASS_42_HZ = 0x03,
PIOS_IMU3000_LOWPASS_20_HZ = 0x04,
PIOS_IMU3000_LOWPASS_10_HZ = 0x05,
PIOS_IMU3000_LOWPASS_5_HZ = 0x06
};
struct pios_imu3000_data {
int16_t x;
int16_t y;
int16_t z;
int16_t temperature;
};
struct pios_imu3000_cfg {
struct stm32_gpio drdy;
struct stm32_exti eoc_exti;
struct stm32_irq eoc_irq;
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 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) */
enum pios_imu3000_range range;
enum pios_imu3000_filter filter;
};
/* Public Functions */
extern void PIOS_IMU3000_Init(const struct pios_imu3000_cfg * cfg);
extern int32_t PIOS_IMU3000_ReadFifo(struct pios_imu3000_data * buffer);
extern int32_t PIOS_IMU3000_ReadGyros(struct pios_imu3000_data * buffer);
extern int32_t PIOS_IMU3000_ReadID();
extern uint8_t PIOS_IMU3000_Test();
extern float PIOS_IMU3000_GetScale();
#endif /* PIOS_IMU3000_H */
/**
* @}
* @}
*/

9
flight/PiOS/inc/pios_mpu6000.h
View File

@ -2,14 +2,13 @@
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MPU6000 MPU6050 Functions
* @addtogroup PIOS_MPU6000 MPU6000 Functions
* @brief Deals with the hardware interface to the 3-axis gyro
* @{
*
* @file PIOS_MPU6000.h
* @author David "Buzz" Carlson (buzz@chebuzz.com)
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief MPU6050 3-axis gyor function headers
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief MPU6000 3-axis gyor function headers
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************
@ -35,7 +34,7 @@
#include "pios.h"
/* MPU6050 Addresses */
/* MPU6000 Addresses */
#define PIOS_MPU6000_SMPLRT_DIV_REG 0X19
#define PIOS_MPU6000_DLPF_CFG_REG 0X1A
#define PIOS_MPU6000_GYRO_CFG_REG 0X1B

155
flight/PiOS/inc/pios_mpu6050.h
View File

@ -1,155 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MPU6050 MPU6050 Functions
* @brief Deals with the hardware interface to the 3-axis gyro
* @{
*
* @file pios_MPU6050.h
* @author David "Buzz" Carlson (buzz@chebuzz.com)
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief MPU6050 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_MPU6050_H
#define PIOS_MPU6050_H
#include "pios.h"
/* MPU6050 Addresses */
#define PIOS_MPU6050_I2C_ADDR 0x69
#define PIOS_MPU6050_SMPLRT_DIV_REG 0X19
#define PIOS_MPU6050_DLPF_CFG_REG 0X1A
#define PIOS_MPU6050_GYRO_CFG_REG 0X1B
#define PIOS_MPU6050_ACCEL_CFG_REG 0X1C
#define PIOS_MPU6050_FIFO_EN_REG 0x23
#define PIOS_MPU6050_INT_CFG_REG 0x37
#define PIOS_MPU6050_INT_EN_REG 0x38
#define PIOS_MPU6050_INT_STATUS_REG 0x3A
#define PIOS_MPU6050_ACCEL_X_OUT_MSB 0x3B
#define PIOS_MPU6050_ACCEL_X_OUT_LSB 0x3C
#define PIOS_MPU6050_ACCEL_Y_OUT_MSB 0x3D
#define PIOS_MPU6050_ACCEL_Y_OUT_LSB 0x3E
#define PIOS_MPU6050_ACCEL_Z_OUT_MSB 0x3F
#define PIOS_MPU6050_ACCEL_Z_OUT_LSB 0x40
#define PIOS_MPU6050_TEMP_OUT_MSB 0x41
#define PIOS_MPU6050_TEMP_OUT_LSB 0x42
#define PIOS_MPU6050_GYRO_X_OUT_MSB 0x43
#define PIOS_MPU6050_GYRO_X_OUT_LSB 0x44
#define PIOS_MPU6050_GYRO_Y_OUT_MSB 0x45
#define PIOS_MPU6050_GYRO_Y_OUT_LSB 0x46
#define PIOS_MPU6050_GYRO_Z_OUT_MSB 0x47
#define PIOS_MPU6050_GYRO_Z_OUT_LSB 0x48
#define PIOS_MPU6050_USER_CTRL_REG 0x6A
#define PIOS_MPU6050_PWR_MGMT_REG 0x6B
#define PIOS_MPU6050_FIFO_CNT_MSB 0x72
#define PIOS_MPU6050_FIFO_CNT_LSB 0x73
#define PIOS_MPU6050_FIFO_REG 0x74
#define PIOS_MPU6050_WHOAMI 0x75
/* FIFO enable for storing different values */
#define PIOS_MPU6050_FIFO_TEMP_OUT 0x80
#define PIOS_MPU6050_FIFO_GYRO_X_OUT 0x40
#define PIOS_MPU6050_FIFO_GYRO_Y_OUT 0x20
#define PIOS_MPU6050_FIFO_GYRO_Z_OUT 0x10
#define PIOS_MPU6050_ACCEL_OUT 0x04
/* Interrupt Configuration */
#define PIOS_MPU6050_INT_ACTL 0x80
#define PIOS_MPU6050_INT_OPEN 0x40
#define PIOS_MPU6050_INT_LATCH_EN 0x20
#define PIOS_MPU6050_INT_CLR_ANYRD 0x10
#define PIOS_MPU6050_INTEN_OVERFLOW 0x10
#define PIOS_MPU6050_INTEN_DATA_RDY 0x01
/* Interrupt status */
#define PIOS_MPU6050_INT_STATUS_FIFO_FULL 0x80
#define PIOS_MPU6050_INT_STATUS_IMU_RDY 0X04
#define PIOS_MPU6050_INT_STATUS_DATA_RDY 0X01
/* User control functionality */
#define PIOS_MPU6050_USERCTL_FIFO_EN 0X40
#define PIOS_MPU6050_USERCTL_FIFO_RST 0X02
#define PIOS_MPU6050_USERCTL_GYRO_RST 0X01
/* Power management and clock selection */
#define PIOS_MPU6050_PWRMGMT_IMU_RST 0X80
#define PIOS_MPU6050_PWRMGMT_INTERN_CLK 0X00
#define PIOS_MPU6050_PWRMGMT_PLL_X_CLK 0X01
#define PIOS_MPU6050_PWRMGMT_PLL_Y_CLK 0X02
#define PIOS_MPU6050_PWRMGMT_PLL_Z_CLK 0X03
#define PIOS_MPU6050_PWRMGMT_STOP_CLK 0X07
enum pios_mpu6050_range {
PIOS_MPU6050_SCALE_250_DEG = 0x00,
PIOS_MPU6050_SCALE_500_DEG = 0x08,
PIOS_MPU6050_SCALE_1000_DEG = 0x10,
PIOS_MPU6050_SCALE_2000_DEG = 0x18
};
enum pios_mpu6050_filter {
PIOS_MPU6050_LOWPASS_256_HZ = 0x00,
PIOS_MPU6050_LOWPASS_188_HZ = 0x01,
PIOS_MPU6050_LOWPASS_98_HZ = 0x02,
PIOS_MPU6050_LOWPASS_42_HZ = 0x03,
PIOS_MPU6050_LOWPASS_20_HZ = 0x04,
PIOS_MPU6050_LOWPASS_10_HZ = 0x05,
PIOS_MPU6050_LOWPASS_5_HZ = 0x06
};
struct pios_mpu6050_data {
int16_t gyro_x;
int16_t gyro_y;
int16_t gyro_z;
int16_t temperature;
};
struct pios_mpu6050_cfg {
struct stm32_gpio drdy;
struct stm32_exti eoc_exti;
struct stm32_irq eoc_irq;
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 interrupt_cfg; /* Interrupt configuration (See datasheet page 35 for more details) */
uint8_t interrupt_en; /* 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) */
enum pios_mpu6050_range gyro_range;
enum pios_mpu6050_filter filter;
};
/* Public Functions */
extern void PIOS_MPU6050_Init(const struct pios_mpu6050_cfg * cfg);
extern int32_t PIOS_MPU6050_ReadFifo(struct pios_mpu6050_data * buffer);
extern int32_t PIOS_MPU6050_ReadGyros(struct pios_mpu6050_data * buffer);
extern int32_t PIOS_MPU6050_ReadID();
extern uint8_t PIOS_MPU6050_Test();
extern float PIOS_MPU6050_GetScale();
#endif /* PIOS_MPU6050_H */
/**
* @}
* @}
*/

4
flight/PiOS/inc/pios_ms5611.h
View File

@ -2,12 +2,12 @@
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_BMP085 BMP085 Functions
* @addtogroup PIOS_MS5611 MS5611 Functions
* @brief Hardware functions to deal with the altitude pressure sensor
* @{
*
* @file pios_ms5611.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief MS5611 functions header.
* @see The GNU Public License (GPL) Version 3
*

8
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -219,7 +219,6 @@
65904ECC14613B6100FD9482 /* pios_hmc5883.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_hmc5883.c; sourceTree = "<group>"; };
65904ECD14613B6100FD9482 /* pios_i2c.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_i2c.c; sourceTree = "<group>"; };
65904ECE14613B6100FD9482 /* pios_iap.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_iap.c; sourceTree = "<group>"; };
65904ECF14613B6100FD9482 /* pios_imu3000.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_imu3000.c; sourceTree = "<group>"; };
65904ED014613B6100FD9482 /* pios_irq.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_irq.c; sourceTree = "<group>"; };
65904ED114613B6100FD9482 /* pios_led.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_led.c; sourceTree = "<group>"; };
65904ED214613B6100FD9482 /* pios_ppm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_ppm.c; sourceTree = "<group>"; };
@ -2870,7 +2869,6 @@
65C35F6612F0DC2D004811C2 /* attitude.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = attitude.c; sourceTree = "<group>"; };
65C35F6812F0DC2D004811C2 /* attitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = attitude.h; sourceTree = "<group>"; };
65D1FBD413F504C9006374A6 /* pios_hmc5883.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_hmc5883.h; sourceTree = "<group>"; };
65D1FBDA13F51AE1006374A6 /* pios_imu3000.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_imu3000.h; sourceTree = "<group>"; };
65D1FBE713F53477006374A6 /* pios_bl_helper.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_bl_helper.h; sourceTree = "<group>"; };
65D2CA841248F9A400B1E7D6 /* mixersettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixersettings.xml; sourceTree = "<group>"; };
65D2CA851248F9A400B1E7D6 /* mixerstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixerstatus.xml; sourceTree = "<group>"; };
@ -3331,14 +3329,12 @@
65FA9B71147087020019A260 /* STM32F4xx_Revolution.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32F4xx_Revolution.h; sourceTree = "<group>"; };
65FA9B77147095D40019A260 /* attitude.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = attitude.c; sourceTree = "<group>"; };
65FA9B79147095D40019A260 /* attitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = attitude.h; sourceTree = "<group>"; };
65FA9B7A14709E700019A260 /* pios_mpu6050.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_mpu6050.c; sourceTree = "<group>"; };
65FA9B7B14709E9E0019A260 /* pios_board_info.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board_info.h; sourceTree = "<group>"; };
65FA9B7C14709E9E0019A260 /* pios_gcsrcvr_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_gcsrcvr_priv.h; sourceTree = "<group>"; };
65FA9B7D14709E9E0019A260 /* pios_hcsr04.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_hcsr04.h; sourceTree = "<group>"; };
65FA9B7E14709E9E0019A260 /* pios_i2c_esc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_i2c_esc.h; sourceTree = "<group>"; };
65FA9B7F14709E9E0019A260 /* pios_iap.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_iap.h; sourceTree = "<group>"; };
65FA9B8014709E9E0019A260 /* pios_initcall.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_initcall.h; sourceTree = "<group>"; };
65FA9B8114709E9E0019A260 /* pios_mpu6050.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_mpu6050.h; sourceTree = "<group>"; };
65FA9B8214709E9E0019A260 /* pios_ppm_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_ppm_priv.h; sourceTree = "<group>"; };
65FA9B8314709E9E0019A260 /* pios_tim_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_tim_priv.h; sourceTree = "<group>"; };
65FA9B8414709E9F0019A260 /* pios_tim.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_tim.h; sourceTree = "<group>"; };
@ -3913,11 +3909,9 @@
65904ECC14613B6100FD9482 /* pios_hmc5883.c */,
65904ECD14613B6100FD9482 /* pios_i2c.c */,
65904ECE14613B6100FD9482 /* pios_iap.c */,
65904ECF14613B6100FD9482 /* pios_imu3000.c */,
65904ED014613B6100FD9482 /* pios_irq.c */,
65904ED114613B6100FD9482 /* pios_led.c */,
6534B5581474F7B1003DF47C /* pios_mpu6000.c */,
65FA9B7A14709E700019A260 /* pios_mpu6050.c */,
65FAB9071481F9F6000FF8B2 /* pios_ms5611.c */,
65904ED214613B6100FD9482 /* pios_ppm.c */,
65FAB8FD1480DA19000FF8B2 /* pios_pwm.c */,
@ -8578,13 +8572,11 @@
65E8F04311EFF25C00BBF654 /* pios_i2c.h */,
65FA9B7E14709E9E0019A260 /* pios_i2c_esc.h */,
6526645A122DF972006F9A3C /* pios_i2c_priv.h */,
65D1FBDA13F51AE1006374A6 /* pios_imu3000.h */,
65FA9B8014709E9E0019A260 /* pios_initcall.h */,
65E8F04411EFF25C00BBF654 /* pios_irq.h */,
65E8F04511EFF25C00BBF654 /* pios_led.h */,
6534B55B1476D3A8003DF47C /* pios_ms5611.h */,
6534B5571474F78B003DF47C /* pios_mpu6000.h */,
65FA9B8114709E9E0019A260 /* pios_mpu6050.h */,
65E8F04611EFF25C00BBF654 /* pios_opahrs.h */,
65E8F04711EFF25C00BBF654 /* pios_opahrs_proto.h */,
65E8F04811EFF25C00BBF654 /* pios_ppm.h */,