rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-29 14:52:12 +01:00
Code Issues Releases Activity

Reading gyro registers directly working.

Browse Source
This commit is contained in:
James Cotton 2011-08-13 08:33:46 -05:00
parent e7990f5d43
commit 13e5f4123a
3 changed files with 39 additions and 62 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
flight/INS/ins.c
View File

@ -481,19 +481,24 @@ int main()
//if(PIOS_BMA180_Test() != 0)
// panic(2);
if(PIOS_HMC5883_Test() != 0)
panic(3);
//if(PIOS_HMC5883_Test() != 0)
// panic(3);
if(PIOS_BMP085_Test() != 0)
panic(4);
//if(PIOS_BMP085_Test() != 0)
// panic(4);
while(1) {
gyro_error = PIOS_IMU3000_ReadFifo((uint8_t *) gyro, sizeof(gyro));
if(PIOS_HMC5883_NewDataAvailable())
PIOS_HMC5883_ReadMag(mag);
pressure = PIOS_BMP085_GetPressure();
PIOS_DELAY_WaitmS(5);
uint32_t count = 500;
while(count--) {
gyro_error = PIOS_IMU3000_ReadGyros(gyro);
// if(PIOS_HMC5883_NewDataAvailable())
// PIOS_HMC5883_ReadMag(mag);
// pressure = PIOS_BMP085_GetPressure();
PIOS_DELAY_WaitmS(50);
}
if(PIOS_IMU3000_Test() != 0)
panic(1);
pressure++;
gyro[0]++;
mag[0]++;

8
flight/INS/pios_board.c
View File

@ -742,11 +742,11 @@ void PIOS_Board_Init(void) {
if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
PIOS_DEBUG_Assert(0);
}
PIOS_BMA180_Attach(pios_spi_accel_id);
PIOS_BMA180_Init(&pios_bma180_cfg);
/*PIOS_BMA180_Attach(pios_spi_accel_id);
PIOS_BMA180_Init(&pios_bma180_cfg);*/
PIOS_IMU3000_Init(&pios_imu3000_cfg);
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
PIOS_BMP085_Init(&pios_bmp085_cfg);
/*PIOS_HMC5883_Init(&pios_hmc5883_cfg);
PIOS_BMP085_Init(&pios_bmp085_cfg);*/
/* Set up the SPI interface to the OP board */

68
flight/PiOS/STM32F2xx/pios_imu3000.c
View File

@ -148,60 +148,30 @@ int32_t PIOS_IMU3000_ReadID()
* \return number of bytes transferred if operation was successful
* \return -1 if error during I2C transfer
*/
uint32_t imu_read = 0;
int32_t PIOS_IMU3000_ReadFifo(uint8_t * buffer, uint16_t len)
{
uint16_t fifo_level;
uint8_t addr_buffer[] = {
0x3A,
};
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 = 2,
.buf = (uint8_t *) &fifo_level,
}
};
// Get the number of bytes in the fifo
PIOS_I2C_Transfer(PIOS_I2C_GYRO_ADAPTER, txn_list, NELEMENTS(txn_list));
addr_buffer[0] = 0x3C;
uint16_t fifo_level;
int8_t retval1, retval2;
// Get the number of bytes in the fifo
retval1 = PIOS_IMU3000_Read(PIOS_IMU3000_FIFO_CNT_MSB, (uint8_t *) &fifo_level, sizeof(fifo_level));
if(retval1 != 0)
return -1;
if(len > fifo_level)
len = fifo_level;
len &= 0x01f8; // only read chunks of 8 bytes (includes footer)
len -= (len % 10); // only read chunks of 10 bytes (includes footer and temperature measurement)
// No bytes available to transfer
if(len == 0)
return 0;
imu_read += len;
const struct pios_i2c_txn txn_list2[] = {
{
.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_list2, NELEMENTS(txn_list)) ? len : -1;
retval2 = PIOS_IMU3000_Read(PIOS_IMU3000_FIFO_REG, (uint8_t *) &buffer, len);
return (retval2 < 0) ? -1 : len;
}
/**
@ -290,8 +260,10 @@ uint8_t PIOS_IMU3000_Test(void)
/**
* @brief IRQ Handler
*/
uint32_t imu3000_irq = 0;
void PIOS_IMU3000_IRQHandler(void)
{
imu3000_irq++;
}
/**