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Code Issues Releases Activity

Get the MPU6000 CC3D working. Right now the ADC system is commented out, which

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will break regular CC.
This commit is contained in:
James Cotton 2012-03-26 00:22:59 -05:00
parent a0b7453580
commit 1415728762
6 changed files with 143 additions and 175 deletions
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5
flight/CopterControl/Makefile
View File

@ -215,7 +215,7 @@ SRC += $(PIOSSTM32F10X)/pios_led.c
SRC += $(PIOSSTM32F10X)/pios_delay.c SRC += $(PIOSSTM32F10X)/pios_delay.c
SRC += $(PIOSSTM32F10X)/pios_usart.c SRC += $(PIOSSTM32F10X)/pios_usart.c
SRC += $(PIOSSTM32F10X)/pios_irq.c SRC += $(PIOSSTM32F10X)/pios_irq.c
SRC += $(PIOSSTM32F10X)/pios_adc.c #SRC += $(PIOSSTM32F10X)/pios_adc.c
SRC += $(PIOSSTM32F10X)/pios_servo.c SRC += $(PIOSSTM32F10X)/pios_servo.c
SRC += $(PIOSSTM32F10X)/pios_i2c.c SRC += $(PIOSSTM32F10X)/pios_i2c.c
SRC += $(PIOSSTM32F10X)/pios_spi.c SRC += $(PIOSSTM32F10X)/pios_spi.c
@ -248,8 +248,7 @@ SRC += $(PIOSCOMMON)/pios_crc.c
SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
SRC += $(PIOSCOMMON)/pios_flash_jedec.c SRC += $(PIOSCOMMON)/pios_flash_jedec.c
SRC += $(PIOSCOMMON)/pios_adxl345.c SRC += $(PIOSCOMMON)/pios_adxl345.c
SRC += $(PIOSCOMMON)/pios_l3gd20.c SRC += $(PIOSCOMMON)/pios_mpu6000.c
SRC += $(PIOSCOMMON)/pios_bma180.c
SRC += $(PIOSCOMMON)/pios_com.c SRC += $(PIOSCOMMON)/pios_com.c
#SRC += $(PIOSCOMMON)/pios_i2c_esc.c #SRC += $(PIOSCOMMON)/pios_i2c_esc.c
#SRC += $(PIOSCOMMON)/pios_bmp085.c #SRC += $(PIOSCOMMON)/pios_bmp085.c

9
flight/CopterControl/System/inc/pios_config.h
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@ -34,7 +34,7 @@
#define PIOS_CONFIG_H #define PIOS_CONFIG_H
/* Enable/Disable PiOS Modules */ /* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_ADC //#define PIOS_INCLUDE_ADC
#define PIOS_INCLUDE_DELAY #define PIOS_INCLUDE_DELAY
//#if defined(USE_I2C) //#if defined(USE_I2C)
//#define PIOS_INCLUDE_I2C //#define PIOS_INCLUDE_I2C
@ -77,11 +77,8 @@
#define PIOS_INCLUDE_ADXL345 #define PIOS_INCLUDE_ADXL345
#define PIOS_INCLUDE_FLASH #define PIOS_INCLUDE_FLASH
#define PIOS_INCLUDE_BMA180 #define PIOS_INCLUDE_MPU6000
#define PIOS_INCLUDE_L3GD20 #define PIOS_MPU6000_ACCEL
/*
#define PIOS_INCLUDE_BMP085
*/
/* A really shitty setting saving implementation */ /* A really shitty setting saving implementation */
#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS #define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS

106
flight/CopterControl/System/pios_board.c
View File

@ -68,52 +68,12 @@ uint32_t pios_com_gps_id;
uint32_t pios_com_bridge_id; uint32_t pios_com_bridge_id;
/** /**
* Configuration for the BMA180 chip * Configuration for MPU6000 chip
*/ */
#if defined(PIOS_INCLUDE_BMA180) #if defined(PIOS_INCLUDE_MPU6000)
#include "pios_bma180.h" #include "pios_mpu6000.h"
static const struct pios_exti_cfg pios_exti_bma180_cfg __exti_config = { static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
.vector = PIOS_BMA180_IRQHandler, .vector = PIOS_MPU6000_IRQHandler,
.line = EXTI_Line13,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI15_10_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line13, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising,
.EXTI_LineCmd = ENABLE,
},
},
};
static const struct pios_bma180_cfg pios_bma180_cfg = {
.exti_cfg = &pios_exti_bma180_cfg,
.bandwidth = BMA_BW_300HZ,
.range = BMA_RANGE_8G,
};
#endif /* PIOS_INCLUDE_BMA180 */
/**
* Configuration for L3GD20 chip
*/
#if defined(PIOS_INCLUDE_L3GD20)
#include "pios_l3gd20.h"
static const struct pios_exti_cfg pios_exti_l3gd20_cfg __exti_config = {
.vector = PIOS_L3GD20_IRQHandler,
.line = EXTI_Line3, .line = EXTI_Line3,
.pin = { .pin = {
.gpio = GPIOA, .gpio = GPIOA,
@ -141,11 +101,19 @@ static const struct pios_exti_cfg pios_exti_l3gd20_cfg __exti_config = {
}, },
}; };
static const struct pios_l3gd20_cfg pios_l3gd20_cfg = { static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
.exti_cfg = &pios_exti_l3gd20_cfg, .exti_cfg = &pios_exti_mpu6000_cfg,
.range = PIOS_L3GD20_SCALE_500_DEG, .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_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
}; };
#endif /* PIOS_INCLUDE_L3GD20 */ #endif /* PIOS_INCLUDE_MPU6000 */
static const struct flashfs_cfg flashfs_w25x_cfg = { static const struct flashfs_cfg flashfs_w25x_cfg = {
.table_magic = 0x85FB3C35, .table_magic = 0x85FB3C35,
@ -160,12 +128,25 @@ static const struct pios_flash_jedec_cfg flash_w25x_cfg = {
.chip_erase = 0x60 .chip_erase = 0x60
}; };
static const struct flashfs_cfg flashfs_m25p_cfg = {
.table_magic = 0x85FB3D35,
.obj_magic = 0x3015A371,
.obj_table_start = 0x00000010,
.obj_table_end = 0x00010000,
.sector_size = 0x00010000,
};
static const struct pios_flash_jedec_cfg flash_m25p_cfg = {
.sector_erase = 0xD8,
.chip_erase = 0xC7
};
#include <pios_board_info.h> #include <pios_board_info.h>
/** /**
* PIOS_Board_Init() * PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware * initializes all the core subsystems on this specific hardware
* called from System/openpilot.c * called from System/openpilot.c
*/ */
int32_t init_test;
void PIOS_Board_Init(void) { void PIOS_Board_Init(void) {
/* Delay system */ /* Delay system */
@ -206,9 +187,19 @@ void PIOS_Board_Init(void) {
} }
#endif #endif
PIOS_Flash_Jedec_Init(pios_spi_flash_accel_id, 1, &flash_w25x_cfg);
switch(bdinfo->board_rev) {
case 0x01: // Revision 1
PIOS_Flash_Jedec_Init(pios_spi_flash_accel_id, 1, &flash_w25x_cfg);
PIOS_FLASHFS_Init(&flashfs_w25x_cfg); PIOS_FLASHFS_Init(&flashfs_w25x_cfg);
break;
case 0x02: // Revision 2
PIOS_Flash_Jedec_Init(pios_spi_flash_accel_id, 0, &flash_m25p_cfg);
PIOS_FLASHFS_Init(&flashfs_m25p_cfg);
break;
default:
PIOS_DEBUG_Assert(0);
}
/* Initialize UAVObject libraries */ /* Initialize UAVObject libraries */
EventDispatcherInitialize(); EventDispatcherInitialize();
@ -709,7 +700,9 @@ void PIOS_Board_Init(void) {
switch(bdinfo->board_rev) { switch(bdinfo->board_rev) {
case 0x01: case 0x01:
// Revision 1 with invensense gyros, start the ADC // Revision 1 with invensense gyros, start the ADC
#if defined(PIOS_INCLUDE_ADC)
PIOS_ADC_Init(); PIOS_ADC_Init();
#endif
#if defined(PIOS_INCLUDE_ADXL345) #if defined(PIOS_INCLUDE_ADXL345)
PIOS_ADXL345_Init(pios_spi_flash_accel_id, 0); PIOS_ADXL345_Init(pios_spi_flash_accel_id, 0);
#endif #endif
@ -718,19 +711,16 @@ void PIOS_Board_Init(void) {
// Revision 2 with L3GD20 gyros, start a SPI interface and connect to it // Revision 2 with L3GD20 gyros, start a SPI interface and connect to it
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
#if defined(PIOS_INCLUDE_L3GD20) #if defined(PIOS_INCLUDE_MPU6000)
// Set up the SPI interface to the serial flash // Set up the SPI interface to the serial flash
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) { if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_Assert(0); PIOS_Assert(0);
} }
PIOS_L3GD20_Init(pios_spi_gyro_id, 0, &pios_l3gd20_cfg); PIOS_MPU6000_Attach(pios_spi_gyro_id);
PIOS_Assert(PIOS_L3GD20_Test() == 0); PIOS_MPU6000_Init(&pios_mpu6000_cfg);
#endif /* PIOS_INCLUDE_L3GD20 */ init_test = PIOS_MPU6000_Test();
#endif /* PIOS_INCLUDE_MPU6000 */
#if defined(PIOS_INCLUDE_BMA180)
PIOS_BMA180_Init(pios_spi_flash_accel_id, 0, &pios_bma180_cfg);
PIOS_Assert(PIOS_BMA180_Test() == 0);
#endif /* PIOS_INCLUDE_BMA180 */
break; break;
default: default:
PIOS_Assert(0); PIOS_Assert(0);

167
flight/Modules/Attitude/attitude.c
View File

@ -63,6 +63,7 @@
#define STACK_SIZE_BYTES 540 #define STACK_SIZE_BYTES 540
#define TASK_PRIORITY (tskIDLE_PRIORITY+3) #define TASK_PRIORITY (tskIDLE_PRIORITY+3)
#define SENSOR_PERIOD 2
#define UPDATE_RATE 25.0f #define UPDATE_RATE 25.0f
#define GYRO_NEUTRAL 1665 #define GYRO_NEUTRAL 1665
@ -183,22 +184,21 @@ static void AttitudeTask(void *parameters)
bool cc3d = bdinfo->board_rev == 0x02; bool cc3d = bdinfo->board_rev == 0x02;
if(cc3d) { if(cc3d) {
#if defined(PIOS_INCLUDE_BMA180) #if defined(PIOS_INCLUDE_MPU6000)
accel_test = PIOS_BMA180_Test(); gyro_test = PIOS_MPU6000_Test();
#endif
#if defined(PIOS_INCLUDE_L3GD20)
gyro_test = PIOS_L3GD20_Test();
#endif #endif
} else { } else {
#if defined(PIOS_INCLUDE_ADXL345) #if defined(PIOS_INCLUDE_ADXL345)
accel_test = PIOS_ADXL345_Test(); accel_test = PIOS_ADXL345_Test();
#endif #endif
#if defined(PIOS_INCLUDE_ADC)
// Create queue for passing gyro data, allow 2 back samples in case // Create queue for passing gyro data, allow 2 back samples in case
gyro_queue = xQueueCreate(1, sizeof(float) * 4); gyro_queue = xQueueCreate(1, sizeof(float) * 4);
PIOS_Assert(gyro_queue != NULL); PIOS_Assert(gyro_queue != NULL);
PIOS_ADC_SetQueue(gyro_queue); PIOS_ADC_SetQueue(gyro_queue);
PIOS_ADC_Config((PIOS_ADC_RATE / 1000.0f) * UPDATE_RATE); PIOS_ADC_Config((PIOS_ADC_RATE / 1000.0f) * UPDATE_RATE);
#endif
} }
// Force settings update to make sure rotation loaded // Force settings update to make sure rotation loaded
@ -245,7 +245,6 @@ static void AttitudeTask(void *parameters)
else { else {
// Only update attitude when sensor data is good // Only update attitude when sensor data is good
updateAttitude(&accels, &gyros); updateAttitude(&accels, &gyros);
AccelsSet(&accels);
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE); AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
} }
} }
@ -345,9 +344,8 @@ static int32_t updateSensors(AccelsData * accels, GyrosData * gyros)
// and make it average zero (weakly) // and make it average zero (weakly)
gyro_correct_int[2] += - gyros->z * yawBiasRate; gyro_correct_int[2] += - gyros->z * yawBiasRate;
gyros_passed[0] = gyros->x; GyrosSet(gyros);
gyros_passed[1] = gyros->y; AccelsSet(accels);
gyros_passed[2] = gyros->z;
return 0; return 0;
} }
@ -357,110 +355,93 @@ static int32_t updateSensors(AccelsData * accels, GyrosData * gyros)
* @param[in] attitudeRaw Populate the UAVO instead of saving right here * @param[in] attitudeRaw Populate the UAVO instead of saving right here
* @return 0 if successfull, -1 if not * @return 0 if successfull, -1 if not
*/ */
struct pios_bma180_data accel; struct pios_mpu6000_data gyro;
struct pios_l3gd20_data gyro;
static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData) static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
{ {
static portTickType lastSysTime; static portTickType lastSysTime;
uint32_t accel_samples = 0; uint32_t accel_samples = 0;
int32_t accel_accum[3] = {0, 0, 0}; int32_t accel_accum[3] = {0, 0, 0};
float gyro_scaling = 1; float gyro_scaling = 1;
float gyros_accum[3] = {0, 0, 0}; float gyro_accum[3] = {0, 0, 0};
float accel_scaling = 1; float accel_scaling = 1;
uint32_t gyro_samples;
#if defined(PIOS_INCLUDE_L3GD20) vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
xQueueHandle gyro_queue = PIOS_L3GD20_GetQueue();
struct pios_l3gd20_data gyro;
gyro_scaling = PIOS_L3GD20_GetScale();
if(xQueueReceive(gyro_queue, (void *) &gyro, 3) == errQUEUE_EMPTY) { #if defined(PIOS_INCLUDE_MPU6000)
// Unfortunately if the L3GD20 ever misses getting read, then it will not
// trigger more interrupts. In this case we must force a read to kickstart uint32_t count = 0;
// it. int32_t read_good = 0;
PIOS_L3GD20_ReadGyros(&gyro); int32_t error = false;
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
while((read_good = PIOS_MPU6000_ReadFifo(&gyro)) != 0 && !error)
error = ((xTaskGetTickCount() - lastSysTime) > SENSOR_PERIOD) ? true : error;
if (error)
return -1; return -1;
while(read_good == 0) {
count++;
gyro_accum[0] += gyro.gyro_x;
gyro_accum[1] += gyro.gyro_y;
gyro_accum[2] += gyro.gyro_z;
accel_accum[0] += gyro.accel_x;
accel_accum[1] += gyro.accel_y;
accel_accum[2] += gyro.accel_z;
read_good = PIOS_MPU6000_ReadFifo(&gyro);
} }
gyro_samples = count;
gyro_scaling = PIOS_MPU6000_GetScale();
gyrosData->x = gyro.gyro_x * gyro_scaling; accel_samples = count;
gyrosData->y = -gyro.gyro_y * gyro_scaling; accel_scaling = PIOS_MPU6000_GetAccelScale();
gyrosData->z = -gyro.gyro_z * gyro_scaling;
gyrosData->temperature = 0;
GyrosSet(gyrosData);
gyros_accum[0] = gyrosData->x;
gyros_accum[1] = gyrosData->y;
gyros_accum[2] = gyrosData->z;
if(xQueueReceive(gyro_queue, (void * const) &gyro, 3) == errQUEUE_EMPTY) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
return -1;
}
gyrosData->x = gyro.gyro_x * gyro_scaling;
gyrosData->y = -gyro.gyro_y * gyro_scaling;
gyrosData->z = -gyro.gyro_z * gyro_scaling;
gyrosData->temperature = 0;
gyros_accum[0] += gyrosData->x;
gyros_accum[1] += gyrosData->y;
gyros_accum[2] += gyrosData->z;
if(xQueueReceive(gyro_queue, (void * const) &gyro, 3) == errQUEUE_EMPTY) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
return -1;
}
gyrosData->x = gyro.gyro_x * gyro_scaling;
gyrosData->y = -gyro.gyro_y * gyro_scaling;
gyrosData->z = -gyro.gyro_z * gyro_scaling;
gyrosData->temperature = 0;
GyrosSet(gyrosData);
gyros_accum[0] += gyrosData->x;
gyros_accum[1] += gyrosData->y;
gyros_accum[2] += gyrosData->z;
gyros_passed[0] = gyros_accum[0] / 3;
gyros_passed[1] = gyros_accum[1] / 3;
gyros_passed[2] = gyros_accum[2] / 3;
#endif #endif
// Get temp from last reading
gyrosData->temperature = 35.0f + ((float) gyro.temperature + 512.0f) / 340.0f;
accelsData->temperature = 35.0f + ((float) gyro.temperature + 512.0f) / 340.0f;
#if defined(PIOS_INCLUDE_BMA180) // Scale the accels
struct pios_bma180_data accel; float accels[3] = {-(float) accel_accum[1] / accel_samples,
accel_samples = 0; -(float) accel_accum[0] / accel_samples,
bool error = false; -(float) accel_accum[2] / accel_samples};
int32_t accel_read_good;
while((accel_read_good = PIOS_BMA180_ReadFifo(&accel)) != 0 && !error) // Scale the gyros
error = ((xTaskGetTickCount() - lastSysTime) > 5) ? true : error; float gyros[3] = {-(float) gyro_accum[1] / gyro_samples,
if (error) { -(float) gyro_accum[0] / gyro_samples,
// Unfortunately if the BMA180 ever misses getting read, then it will not -(float) gyro_accum[2] / gyro_samples};
// trigger more interrupts. In this case we must force a read to kickstart
// it. if(rotate) {
PIOS_BMA180_ReadAccels(&accel); // TODO: rotate sensors too so stabilization is well behaved
lastSysTime = xTaskGetTickCount(); float vec_out[3];
return -1; rot_mult(R, accels, vec_out);
accels[0] = vec_out[0];
accels[1] = vec_out[1];
accels[2] = vec_out[2];
rot_mult(R, gyros, vec_out);
gyros[0] = vec_out[0];
gyros[1] = vec_out[1];
gyros[2] = vec_out[2];
} }
while(accel_read_good == 0) {
accel_samples++;
accel_accum[0] += accel.x;
accel_accum[1] += accel.y;
accel_accum[2] += accel.z;
accel_read_good = PIOS_BMA180_ReadFifo(&accel);
}
accel_scaling = PIOS_BMA180_GetScale();
#endif
float accels[3] = {(float) -accel_accum[1] / accel_samples, (float) -accel_accum[0] / accel_samples, -(float) accel_accum[2] / accel_samples};
accelsData->x = (accels[0] - accelbias[0]) * accel_scaling; accelsData->x = (accels[0] - accelbias[0]) * accel_scaling;
accelsData->y = (accels[1] - accelbias[1]) * accel_scaling; accelsData->y = (accels[1] - accelbias[1]) * accel_scaling;
accelsData->z = (accels[2] - accelbias[2]) * accel_scaling; accelsData->z = (accels[2] - accelbias[2]) * accel_scaling;
AccelsSet(&accelsData);
lastSysTime = xTaskGetTickCount(); gyrosData->x = gyros[0] * gyro_scaling;
gyrosData->y = gyros[1] * gyro_scaling;
gyrosData->z = gyros[2] * gyro_scaling;
if(bias_correct_gyro) {
// Applying integral component here so it can be seen on the gyros and correct bias
gyrosData->x += gyro_correct_int[0];
gyrosData->y += gyro_correct_int[1];
gyrosData->z += gyro_correct_int[2];
}
GyrosSet(gyrosData);
AccelsSet(accelsData);
return 0; return 0;
} }
@ -475,7 +456,7 @@ static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
lastSysTime = thisSysTime; lastSysTime = thisSysTime;
// Bad practice to assume structure order, but saves memory // Bad practice to assume structure order, but saves memory
float * gyros = gyros_passed; float * gyros = &gyrosData->x;
float * accels = &accelsData->x; float * accels = &accelsData->x;
float grot[3]; float grot[3];

11
flight/PiOS/Common/pios_mpu6000.c
View File

@ -45,7 +45,7 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg);
static int32_t PIOS_MPU6000_SetReg(uint8_t address, uint8_t buffer); static int32_t PIOS_MPU6000_SetReg(uint8_t address, uint8_t buffer);
static int32_t PIOS_MPU6000_GetReg(uint8_t address); static int32_t PIOS_MPU6000_GetReg(uint8_t address);
#define PIOS_MPU6000_MAX_DOWNSAMPLE 100 #define PIOS_MPU6000_MAX_DOWNSAMPLE 10
static int16_t pios_mpu6000_buffer[PIOS_MPU6000_MAX_DOWNSAMPLE * sizeof(struct pios_mpu6000_data)]; static int16_t pios_mpu6000_buffer[PIOS_MPU6000_MAX_DOWNSAMPLE * sizeof(struct pios_mpu6000_data)];
static t_fifo_buffer pios_mpu6000_fifo; static t_fifo_buffer pios_mpu6000_fifo;
@ -66,9 +66,9 @@ 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)); fifoBuf_init(&pios_mpu6000_fifo, (uint8_t *) pios_mpu6000_buffer, sizeof(pios_mpu6000_buffer));
/* Configure the MPU6000 Sensor */ /* Configure the MPU6000 Sensor */
PIOS_SPI_SetPrescalar(pios_spi_gyro, SPI_BaudRatePrescaler_256); PIOS_SPI_SetClockSpeed(pios_spi_gyro, PIOS_SPI_PRESCALER_256);
PIOS_MPU6000_Config(cfg); PIOS_MPU6000_Config(cfg);
PIOS_SPI_SetPrescalar(pios_spi_gyro, SPI_BaudRatePrescaler_8); PIOS_SPI_SetClockSpeed(pios_spi_gyro, PIOS_SPI_PRESCALER_16);
/* Set up EXTI line */ /* Set up EXTI line */
PIOS_EXTI_Init(cfg->exti_cfg); PIOS_EXTI_Init(cfg->exti_cfg);
@ -295,10 +295,11 @@ float PIOS_MPU6000_GetAccelScale()
* \return 0 if test succeeded * \return 0 if test succeeded
* \return non-zero value if test succeeded * \return non-zero value if test succeeded
*/ */
int32_t mpu6000_id;
uint8_t PIOS_MPU6000_Test(void) uint8_t PIOS_MPU6000_Test(void)
{ {
/* Verify that ID matches (MPU6000 ID is 0x69) */ /* Verify that ID matches (MPU6000 ID is 0x69) */
int32_t mpu6000_id = PIOS_MPU6000_ReadID(); mpu6000_id = PIOS_MPU6000_ReadID();
if(mpu6000_id < 0) if(mpu6000_id < 0)
return -1; return -1;
@ -395,8 +396,6 @@ void PIOS_MPU6000_IRQHandler(void)
PIOS_MPU6000_ReleaseBus(); PIOS_MPU6000_ReleaseBus();
struct pios_mpu6000_data data;
if(fifoBuf_getFree(&pios_mpu6000_fifo) < sizeof(data)) { if(fifoBuf_getFree(&pios_mpu6000_fifo) < sizeof(data)) {
mpu6000_fifo_full++; mpu6000_fifo_full++;
return; return;

4
flight/board_hw_defs/coptercontrol/board_hw_defs.c
View File

@ -88,7 +88,7 @@ static const struct pios_spi_cfg pios_spi_gyro_cfg = {
.SPI_CRCPolynomial = 7, .SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High, .SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge, .SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8, /* 10 Mhz */ .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16, /* 10 Mhz */
}, },
.use_crc = false, .use_crc = false,
.dma = { .dma = {
@ -390,6 +390,7 @@ void PIOS_SPI_flash_accel_irq_handler(void)
/* /*
* ADC system * ADC system
*/ */
#if defined(PIOS_INCLUDE_ADC)
#include "pios_adc_priv.h" #include "pios_adc_priv.h"
extern void PIOS_ADC_handler(void); extern void PIOS_ADC_handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler"))); void DMA1_Channel1_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
@ -437,6 +438,7 @@ uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);
void PIOS_ADC_handler() { void PIOS_ADC_handler() {
PIOS_ADC_DMA_Handler(); PIOS_ADC_DMA_Handler();
} }
#endif
#include "pios_tim_priv.h" #include "pios_tim_priv.h"