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Code Issues Releases Activity

Fix the MPU6000 implementation

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This commit is contained in:
James Cotton 2012-01-28 00:21:58 -06:00
parent e07fca0465
commit 13447ac907
3 changed files with 16 additions and 8 deletions
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12
flight/Modules/Sensors/sensors.c
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@ -159,11 +159,16 @@ static void SensorsTask(void *parameters)
UAVObjEvent ev; UAVObjEvent ev;
settingsUpdatedCb(&ev); settingsUpdatedCb(&ev);
accel_test = PIOS_BMA180_Test();
#if defined(PIOS_INCLUDE_MPU6000) #if defined(PIOS_INCLUDE_MPU6000)
gyro_test = PIOS_MPU6000_Test(); gyro_test = PIOS_MPU6000_Test();
#if !defined(PIOS_INCLUDE_BMA180)
accel_test = gyro_test;
#endif
#elif defined(PIOS_INCLUDE_L3GD20) #elif defined(PIOS_INCLUDE_L3GD20)
gyro_test = PIOS_L3GD20_Test(); gyro_test = PIOS_L3GD20_Test();
#endif
#if defined(PIOS_INCLUDE_BMA180)
accel_test = PIOS_BMA180_Test();
#endif #endif
mag_test = PIOS_HMC5883_Test(); mag_test = PIOS_HMC5883_Test();
@ -299,7 +304,12 @@ static void SensorsTask(void *parameters)
accelsData.x = accels[0] * accel_scaling * accel_scale[0] - accel_bias[0]; accelsData.x = accels[0] * accel_scaling * accel_scale[0] - accel_bias[0];
accelsData.y = accels[1] * accel_scaling * accel_scale[1] - accel_bias[1]; accelsData.y = accels[1] * accel_scaling * accel_scale[1] - accel_bias[1];
accelsData.z = accels[2] * accel_scaling * accel_scale[2] - accel_bias[2]; accelsData.z = accels[2] * accel_scaling * accel_scale[2] - accel_bias[2];
#if defined(BMA180)
accelsData.temperature = 25.0f + ((float) accel.temperature - 2.0f) / 2.0f; accelsData.temperature = 25.0f + ((float) accel.temperature - 2.0f) / 2.0f;
#elif defined(PIOS_MPU6000_ACCEL)
accelsData.temperature = 35.0f + ((float) gyro.temperature + 512.0f) / 340.0f;
#endif
accelsData.temperature =
AccelsSet(&accelsData); AccelsSet(&accelsData);
float gyros[3] = {(float) gyro_accum[1] / gyro_samples, (float) gyro_accum[0] / gyro_samples, -(float) gyro_accum[2] / gyro_samples}; float gyros[3] = {(float) gyro_accum[1] / gyro_samples, (float) gyro_accum[0] / gyro_samples, -(float) gyro_accum[2] / gyro_samples};

8
flight/PiOS/Common/pios_mpu6000.c
View File

@ -34,6 +34,8 @@
#if defined(PIOS_INCLUDE_MPU6000) #if defined(PIOS_INCLUDE_MPU6000)
#include "fifo_buffer.h"
/* Global Variables */ /* Global Variables */
uint32_t pios_spi_gyro; uint32_t pios_spi_gyro;
@ -69,11 +71,7 @@ void PIOS_MPU6000_Init(const struct pios_mpu6000_cfg * new_cfg)
PIOS_SPI_SetPrescalar(pios_spi_gyro, SPI_BaudRatePrescaler_8); PIOS_SPI_SetPrescalar(pios_spi_gyro, SPI_BaudRatePrescaler_8);
/* Set up EXTI line */ /* Set up EXTI line */
PIOS_EXTI_Init(&new_cfg->cfg); PIOS_EXTI_Init(cfg->exti_cfg);
/* Enable and set EOC EXTI Interrupt to the lowest priority */
NVIC_Init(&cfg->eoc_irq.init);
} }
/** /**

2
flight/Revolution/System/pios_board.c
View File

@ -428,7 +428,7 @@ void PIOS_Board_Init(void) {
#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);
PIOS_Assert(PIOS_MPU6000_Test() == 0); // PIOS_Assert(PIOS_MPU6000_Test() == 0);
#elif defined(PIOS_INCLUDE_L3GD20) #elif defined(PIOS_INCLUDE_L3GD20)
PIOS_L3GD20_Init(pios_spi_gyro_id, 0, &pios_l3gd20_cfg); PIOS_L3GD20_Init(pios_spi_gyro_id, 0, &pios_l3gd20_cfg);
PIOS_Assert(PIOS_L3GD20_Test() == 0); PIOS_Assert(PIOS_L3GD20_Test() == 0);