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Code Issues Releases Activity

Work on bringing the Revolution board up

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This commit is contained in:
James Cotton 2011-11-17 10:13:34 -06:00
parent d97e5dbc59
commit 0efffef1fa
8 changed files with 281 additions and 235 deletions
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20
flight/Modules/Attitude/revolution/attitude.c
View File

@ -141,7 +141,7 @@ MODULE_INITCALL(AttitudeInitialize, AttitudeStart)
int32_t accel_test;
int32_t gyro_test;
int32_t mag_test;
int32_t pressure_test;
//int32_t pressure_test;
/**
* Module thread, should not return.
@ -155,12 +155,12 @@ static void AttitudeTask(void *parameters)
settingsUpdatedCb(AttitudeSettingsHandle());
accel_test = PIOS_BMA180_Test();
gyro_test = PIOS_MPU6050_Test();
gyro_test = PIOS_MPU6000_Test();
mag_test = PIOS_HMC5883_Test();
pressure_test = PIOS_BMP085_Test();
// pressure_test = PIOS_BMP085_Test();
// Kick of pressure conversions
PIOS_BMP085_StartADC(TemperatureConv);
// PIOS_BMP085_StartADC(TemperatureConv);
// Main task loop
while (1) {
@ -209,7 +209,7 @@ static void AttitudeTask(void *parameters)
uint32_t accel_samples;
uint32_t gyro_samples;
struct pios_bma180_data accel;
struct pios_mpu6050_data gyro;
struct pios_mpu6000_data gyro;
AttitudeRawData raw;
int32_t accel_accum[3] = {0, 0, 0};
int32_t gyro_accum[3] = {0,0,0};
@ -256,7 +256,7 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
// Make sure we get one sample
count = 0;
while((read_good = PIOS_MPU6050_ReadFifo(&gyro)) != 0);
while((read_good = PIOS_MPU6000_ReadFifo(&gyro)) != 0);
while(read_good == 0) {
count++;
@ -264,11 +264,11 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
gyro_accum[1] += gyro.gyro_y;
gyro_accum[2] += gyro.gyro_z;
read_good = PIOS_MPU6050_ReadFifo(&gyro);
read_good = PIOS_MPU6000_ReadFifo(&gyro);
}
gyro_samples = count;
scaling = PIOS_MPU6050_GetScale() / gyro_samples;
scaling = PIOS_MPU6000_GetScale() / gyro_samples;
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] = -((float) gyro_accum[1]) * scaling;
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] = -((float) gyro_accum[0]) * scaling;
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] = -((float) gyro_accum[2]) * scaling;
@ -300,7 +300,7 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
}
AttitudeRawSet(&raw);
/*
int32_t retval = PIOS_BMP085_ReadADC();
if (retval == 0) { // Conversion completed
static uint32_t baro_conversions;
@ -322,7 +322,7 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
BaroAltitudeSet(&data);
}
}
}*/
return 0;
}

6
flight/PiOS/Boards/STM32F4xx_Revolution.h
View File

@ -109,10 +109,8 @@ TIM8 | | | |
// See also pios_board.c
//------------------------
#define PIOS_I2C_MAX_DEVS 3
extern uint32_t pios_i2c_pres_mag_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_pres_mag_adapter_id)
extern uint32_t pios_i2c_gyro_adapter_id;
#define PIOS_I2C_GYRO_ADAPTER (pios_i2c_gyro_adapter_id)
extern uint32_t pios_i2c_mag_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_mag_adapter_id)
//-------------------------
// PIOS_USART

2
flight/PiOS/STM32F4xx/pios_mpu6050.c
View File

@ -341,6 +341,7 @@ void PIOS_MPU6050_IRQHandler(void)
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
@ -354,6 +355,7 @@ void EXTI1_IRQHandler(void)
EXTI_ClearITPendingBit(EXTI_Line1);
}
}
#endif
#endif

3
flight/PiOS/pios.h
View File

@ -122,6 +122,9 @@
#if defined(PIOS_INCLUDE_MPU6050)
#include <pios_mpu6050.h>
#endif
#if defined(PIOS_INCLUDE_MPU6000)
#include <pios_mpu6000.h>
#endif
#include <pios_iap.h>
#if defined(PIOS_INCLUDE_ADXL345)

4
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -77,6 +77,8 @@
652C856A132B6EA600BFCC70 /* sonaraltitude.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = sonaraltitude.xml; sourceTree = "<group>"; };
65322D3B122841F60046CD7C /* gpstime.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = gpstime.xml; sourceTree = "<group>"; };
65345C871288668B00A5E4E8 /* guidancesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = guidancesettings.xml; sourceTree = "<group>"; };
6534B5571474F78B003DF47C /* pios_mpu6000.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_mpu6000.h; sourceTree = "<group>"; };
6534B5581474F7B1003DF47C /* pios_mpu6000.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_mpu6000.c; sourceTree = "<group>"; };
6536D47B1307962C0042A298 /* stabilizationdesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = stabilizationdesired.xml; sourceTree = "<group>"; };
6536D4881307AB950042A298 /* UAVObjects.inc */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.pascal; path = UAVObjects.inc; sourceTree = "<group>"; };
65408AA812BB1648004DACC5 /* i2cstats.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = i2cstats.xml; sourceTree = "<group>"; };
@ -3874,6 +3876,7 @@
65904ECF14613B6100FD9482 /* pios_imu3000.c */,
65904ED014613B6100FD9482 /* pios_irq.c */,
65904ED114613B6100FD9482 /* pios_led.c */,
6534B5581474F7B1003DF47C /* pios_mpu6000.c */,
65FA9B7A14709E700019A260 /* pios_mpu6050.c */,
65904ED214613B6100FD9482 /* pios_ppm.c */,
65904ED314613B6100FD9482 /* pios_servo.c */,
@ -8533,6 +8536,7 @@
65FA9B8014709E9E0019A260 /* pios_initcall.h */,
65E8F04411EFF25C00BBF654 /* pios_irq.h */,
65E8F04511EFF25C00BBF654 /* pios_led.h */,
6534B5571474F78B003DF47C /* pios_mpu6000.h */,
65FA9B8114709E9E0019A260 /* pios_mpu6050.h */,
65E8F04611EFF25C00BBF654 /* pios_opahrs.h */,
65E8F04711EFF25C00BBF654 /* pios_opahrs_proto.h */,

3
flight/Revolution/Makefile
View File

@ -49,8 +49,7 @@ endif
FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = Actuator Telemetry ManualControl Stabilization
# Attitude/revolution
MODULES = Actuator Telemetry ManualControl Stabilization Attitude/revolution
PYMODULES =
#FlightPlan

4
flight/Revolution/System/inc/pios_config.h
View File

@ -55,9 +55,7 @@
#define PIOS_INCLUDE_BMA180
#define PIOS_INCLUDE_HMC5883
#define PIOS_INCLUDE_BMP085
//#define PIOS_INCLUDE_IMU3000
#define PIOS_INCLUDE_MPU6050
#define PIOS_INCLUDE_MPU6000
//#define PIOS_INCLUDE_HCSR04
#define PIOS_INCLUDE_COM

474
flight/Revolution/System/pios_board.c
View File

@ -1,15 +1,13 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @addtogroup Revolution Revolution configuration files
* @{
* @addtogroup PIOS_HMC5883 HMC5883 Functions
* @brief Deals with the hardware interface to the magnetometers
* @brief Configures the revolution board
* @{
*
* @file pios_board.c
* @author David "Buzz" Carlson (buzz@chebuzz.com)
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief Defines board specific static initializers for hardware for the INS board.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief Defines board specific static initializers for hardware for the Revolution board.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
@ -39,129 +37,6 @@
#include <hwsettings.h>
#include "manualcontrolsettings.h"
/* SPI2 Interface
* - Used for mainboard communications
*
* NOTE: Leave this declared as const data so that it ends up in the
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
*/
void PIOS_SPI_op_irq_handler(void);
void DMA1_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_op_irq_handler")));
void DMA1_Stream4_IRQHandler(void) __attribute__((alias("PIOS_SPI_op_irq_handler")));
static const struct pios_spi_cfg pios_spi_op_cfg = {
.regs = SPI2,
.remap = GPIO_AF_SPI2,
.init = {
.SPI_Mode = SPI_Mode_Slave,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Hard,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
},
.use_crc = true,
.dma = {
.irq = {
// Note this is the stream ID that triggers interrupts (in this case RX)
.flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3),
.init = {
.NVIC_IRQChannel = DMA1_Stream3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Stream3,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralToMemory,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
//TODO: Enable FIFO
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
.tx = {
.channel = DMA1_Stream4,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
},
.sclk = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.miso = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.mosi = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.slave_count = 1,
.ssel = { {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
} },
};
uint32_t pios_spi_op_id;
void PIOS_SPI_op_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_op_id);
}
/* SPI1 Interface
* - Used for BMA180 accelerometer
*/
@ -281,6 +156,128 @@ void PIOS_SPI_accel_irq_handler(void)
PIOS_SPI_IRQ_Handler(pios_spi_accel_id);
}
/* SPI2 Interface
* - Used for gyro communications
*/
void PIOS_SPI_GYRO_irq_handler(void);
void DMA1_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
void DMA1_Stream4_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
static const struct pios_spi_cfg pios_spi_gyro_cfg = {
.regs = SPI2,
.remap = GPIO_AF_SPI2,
.init = {
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
// .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4,
},
.use_crc = false,
.dma = {
.irq = {
// Note this is the stream ID that triggers interrupts (in this case RX)
.flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3),
.init = {
.NVIC_IRQChannel = DMA1_Stream3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Stream3,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralToMemory,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
//TODO: Enable FIFO
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
.tx = {
.channel = DMA1_Stream4,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
},
.sclk = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.miso = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.mosi = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.slave_count = 1,
.ssel = { {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
} },
};
uint32_t pios_spi_gyro_id;
void PIOS_SPI_gyro_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
}
#endif /* PIOS_INCLUDE_SPI */
@ -459,14 +456,14 @@ static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
/*
* I2C Adapters
*/
void PIOS_I2C_pres_mag_adapter_ev_irq_handler(void);
void PIOS_I2C_pres_mag_adapter_er_irq_handler(void);
void PIOS_I2C_mag_adapter_ev_irq_handler(void);
void PIOS_I2C_mag_adapter_er_irq_handler(void);
void I2C1_EV_IRQHandler()
__attribute__ ((alias("PIOS_I2C_pres_mag_adapter_ev_irq_handler")));
__attribute__ ((alias("PIOS_I2C_mag_adapter_ev_irq_handler")));
void I2C1_ER_IRQHandler()
__attribute__ ((alias("PIOS_I2C_pres_mag_adapter_er_irq_handler")));
__attribute__ ((alias("PIOS_I2C_mag_adapter_er_irq_handler")));
static const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_mag_adapter_cfg = {
.regs = I2C1,
.remap = GPIO_AF_I2C1,
.init = {
@ -518,26 +515,26 @@ static const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
},
};
uint32_t pios_i2c_pres_mag_adapter_id;
void PIOS_I2C_pres_mag_adapter_ev_irq_handler(void)
uint32_t pios_i2c_mag_adapter_id;
void PIOS_I2C_mag_adapter_ev_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_EV_IRQ_Handler(pios_i2c_pres_mag_adapter_id);
PIOS_I2C_EV_IRQ_Handler(pios_i2c_mag_adapter_id);
}
void PIOS_I2C_pres_mag_adapter_er_irq_handler(void)
void PIOS_I2C_mag_adapter_er_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_ER_IRQ_Handler(pios_i2c_pres_mag_adapter_id);
PIOS_I2C_ER_IRQ_Handler(pios_i2c_mag_adapter_id);
}
void PIOS_I2C_gyro_adapter_ev_irq_handler(void);
void PIOS_I2C_gyro_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_er_irq_handler")));
void PIOS_I2C_flexiport_adapter_ev_irq_handler(void);
void PIOS_I2C_flexiport_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_er_irq_handler")));
static const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.regs = I2C2,
.remap = GPIO_AF_I2C2,
.init = {
@ -589,19 +586,89 @@ static const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
},
};
uint32_t pios_i2c_gyro_adapter_id;
void PIOS_I2C_gyro_adapter_ev_irq_handler(void)
uint32_t pios_i2c_flexiport_adapter_id;
void PIOS_I2C_flexiport_adapter_ev_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_EV_IRQ_Handler(pios_i2c_gyro_adapter_id);
PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexiport_adapter_id);
}
void PIOS_I2C_gyro_adapter_er_irq_handler(void)
void PIOS_I2C_flexiport_adapter_er_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_ER_IRQ_Handler(pios_i2c_gyro_adapter_id);
PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexiport_adapter_id);
}
void PIOS_I2C_pressure_adapter_ev_irq_handler(void);
void PIOS_I2C_pressure_adapter_er_irq_handler(void);
void I2C3_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_pressure_adapter_ev_irq_handler")));
void I2C3_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_pressure_adapter_er_irq_handler")));
static const struct pios_i2c_adapter_cfg pios_i2c_pressure_adapter_cfg = {
.regs = I2C3,
.remap = GPIO_AF_I2C3,
.init = {
.I2C_Mode = I2C_Mode_I2C,
.I2C_OwnAddress1 = 0,
.I2C_Ack = I2C_Ack_Enable,
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
.I2C_DutyCycle = I2C_DutyCycle_2,
.I2C_ClockSpeed = 400000, /* bits/s */
},
.transfer_timeout_ms = 50,
.scl = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.sda = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.event = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.error = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
uint32_t pios_i2c_pressure_adapter_id;
void PIOS_I2C_pressure_adapter_ev_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_EV_IRQ_Handler(pios_i2c_pressure_adapter_id);
}
void PIOS_I2C_pressure_adapter_er_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_ER_IRQ_Handler(pios_i2c_pressure_adapter_id);
}
#endif /* PIOS_INCLUDE_I2C */
#if defined(PIOS_INCLUDE_RCVR)
@ -630,7 +697,7 @@ static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
.drdy = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Pin = GPIO_Pin_5,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
@ -638,10 +705,10 @@ static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
},
},
.eoc_exti = {
.pin_source = EXTI_PinSource8,
.pin_source = EXTI_PinSource5,
.port_source = EXTI_PortSourceGPIOB,
.init = {
.EXTI_Line = EXTI_Line8, // matches above GPIO pin
.EXTI_Line = EXTI_Line5, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising,
.EXTI_LineCmd = ENABLE,
@ -694,12 +761,12 @@ static const struct pios_bma180_cfg pios_bma180_cfg = {
},
};
#include "pios_mpu6050.h"
static const struct pios_mpu6050_cfg pios_mpu6050_cfg = {
#include "pios_mpu6000.h"
static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
.drdy = {
.gpio = GPIOB,
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_1,
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
@ -707,10 +774,10 @@ static const struct pios_mpu6050_cfg pios_mpu6050_cfg = {
},
},
.eoc_exti = {
.pin_source = EXTI_PinSource1,
.port_source = EXTI_PortSourceGPIOB,
.pin_source = EXTI_PinSource8,
.port_source = EXTI_PortSourceGPIOD,
.init = {
.EXTI_Line = EXTI_Line1, // matches above GPIO pin
.EXTI_Line = EXTI_Line8, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising,
.EXTI_LineCmd = ENABLE,
@ -718,72 +785,33 @@ static const struct pios_mpu6050_cfg pios_mpu6050_cfg = {
},
.eoc_irq = {
.init = {
.NVIC_IRQChannel = EXTI1_IRQn,
.NVIC_IRQChannel = EXTI9_5_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.Fifo_store = PIOS_MPU6050_FIFO_TEMP_OUT | PIOS_MPU6050_FIFO_GYRO_X_OUT | PIOS_MPU6050_FIFO_GYRO_Y_OUT | PIOS_MPU6050_FIFO_GYRO_Z_OUT,
.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
// Clock at 8 khz, downsampled by 8 for 1khz
.Smpl_rate_div = 7,
.interrupt_cfg = PIOS_MPU6050_INT_CLR_ANYRD,
.interrupt_en = PIOS_MPU6050_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU6050_USERCTL_FIFO_EN,
.Pwr_mgmt_clk = PIOS_MPU6050_PWRMGMT_PLL_X_CLK,
.gyro_range = PIOS_MPU6050_SCALE_500_DEG,
.filter = PIOS_MPU6050_LOWPASS_256_HZ
.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN,
.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
.gyro_range = PIOS_MPU6000_SCALE_500_DEG,
.filter = PIOS_MPU6000_LOWPASS_256_HZ
};
#include "pios_bmp085.h"
static const struct pios_bmp085_cfg pios_bmp085_cfg = {
.drdy = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.eoc_exti = {
.pin_source = EXTI_PinSource2,
.port_source = EXTI_PortSourceGPIOC,
.init = {
.EXTI_Line = EXTI_Line2, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising,
.EXTI_LineCmd = ENABLE,
},
},
.eoc_irq = {
.init = {
.NVIC_IRQChannel = EXTI2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.xclr = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_1,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.oversampling = 3,
};
/**
* PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware
* called from System/openpilot.c
*/
int32_t test_val;
uint8_t buf[2];
uint8_t rec[2];
struct pios_mpu6000_data test_gyro_data;
void PIOS_Board_Init(void) {
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
@ -856,11 +884,11 @@ void PIOS_Board_Init(void) {
#endif /* PIOS_INCLUDE_COM */
if (PIOS_I2C_Init(&pios_i2c_pres_mag_adapter_id, &pios_i2c_pres_mag_adapter_cfg)) {
if (PIOS_I2C_Init(&pios_i2c_mag_adapter_id, &pios_i2c_mag_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_I2C_Init(&pios_i2c_gyro_adapter_id, &pios_i2c_gyro_adapter_cfg)) {
if (PIOS_I2C_Init(&pios_i2c_pressure_adapter_id, &pios_i2c_pressure_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
/* Set up the SPI interface to the accelerometer*/
@ -868,15 +896,29 @@ void PIOS_Board_Init(void) {
PIOS_DEBUG_Assert(0);
}
uint32_t test_val = PIOS_MPU6050_Test();
/* Set up the SPI interface to the gyro */
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_DEBUG_Assert(0);
}
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
PIOS_MPU6000_Attach(pios_spi_gyro_id);
PIOS_MPU6000_Init(&pios_mpu6000_cfg);
PIOS_BMA180_Attach(pios_spi_accel_id);
PIOS_BMA180_Init(&pios_bma180_cfg);
/*
test_val = PIOS_HMC5883_Test();
*/
/*
PIOS_MPU6050_Init(&pios_mpu6050_cfg);
PIOS_BMP085_Init(&pios_bmp085_cfg);
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
test_val ++;
*/
// test_val = PIOS_BMA180_Test();
}