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Code Issues Releases Activity

Code to disable all gyros. All modules now running.

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This commit is contained in:
James Cotton 2012-01-04 22:37:15 -06:00
parent 5ee9c8008e
commit 0fbcf7723d
3 changed files with 7 additions and 5 deletions
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7
flight/Modules/Sensors/sensors.c
View File

@ -163,8 +163,6 @@ static void SensorsTask(void *parameters)
gyro_test = PIOS_MPU6000_Test(); gyro_test = PIOS_MPU6000_Test();
#elif defined(PIOS_INCLUDE_L3GD20) #elif defined(PIOS_INCLUDE_L3GD20)
gyro_test = PIOS_L3GD20_Test(); gyro_test = PIOS_L3GD20_Test();
#else
#error No gyro defined
#endif #endif
mag_test = PIOS_HMC5883_Test(); mag_test = PIOS_HMC5883_Test();
@ -263,7 +261,10 @@ static void SensorsTask(void *parameters)
gyro_scaling = PIOS_L3GD20_GetScale(); gyro_scaling = PIOS_L3GD20_GetScale();
#else #else
#error No gyro defined //#error No gyro defined
struct gyro_data {float x; float y; float z; float temperature;} gyro;
gyro_scaling = 0;
gyro_samples = 1;
#endif #endif
float accels[3] = {(float) accel_accum[1] / accel_samples, (float) accel_accum[0] / accel_samples, -(float) accel_accum[2] / accel_samples}; float accels[3] = {(float) accel_accum[1] / accel_samples, (float) accel_accum[0] / accel_samples, -(float) accel_accum[2] / accel_samples};

2
flight/Revolution/System/inc/pios_config.h
View File

@ -59,7 +59,7 @@
#define PIOS_INCLUDE_HMC5883 #define PIOS_INCLUDE_HMC5883
//#define PIOS_INCLUDE_MPU6000 //#define PIOS_INCLUDE_MPU6000
//#define PIOS_MPU6000_ACCEL //#define PIOS_MPU6000_ACCEL
#define PIOS_INCLUDE_L3GD20 //#define PIOS_INCLUDE_L3GD20
#define PIOS_INCLUDE_MS5611 #define PIOS_INCLUDE_MS5611
//#define PIOS_INCLUDE_HCSR04 //#define PIOS_INCLUDE_HCSR04

3
flight/Revolution/System/pios_board.c
View File

@ -1671,6 +1671,7 @@ void PIOS_Board_Init(void) {
PIOS_DELAY_WaitmS(500); PIOS_DELAY_WaitmS(500);
/*
#if defined(PIOS_INCLUDE_MPU6000) #if defined(PIOS_INCLUDE_MPU6000)
PIOS_MPU6000_Attach(pios_spi_gyro_id); PIOS_MPU6000_Attach(pios_spi_gyro_id);
PIOS_MPU6000_Init(&pios_mpu6000_cfg); PIOS_MPU6000_Init(&pios_mpu6000_cfg);
@ -1680,7 +1681,7 @@ void PIOS_Board_Init(void) {
#else #else
PIOS_Assert(0); PIOS_Assert(0);
#endif #endif
*/
PIOS_BMA180_Attach(pios_spi_accel_id); PIOS_BMA180_Attach(pios_spi_accel_id);
PIOS_BMA180_Init(&pios_bma180_cfg); PIOS_BMA180_Init(&pios_bma180_cfg);