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Code Issues Releases Activity

AHRS: Changing AHRS to use a DMA double buffering scheme with continuous samping for the analog data, then a simple fixed point FIR/decimate function. Currently all the oversampling parameters are hard coded as definitions, but will be updated to be configurable via settings.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1297 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-08-15 04:09:01 +00:00 committed by peabody124
parent cc2441d41b
commit 3f408ad655
2 changed files with 8 additions and 13 deletions
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8
flight/AHRS/ahrs.c
View File

@ -222,6 +222,12 @@ int main()
lfsm_init();
ahrs_state = AHRS_IDLE;;
/* Use simple averaging filter for now */
for (int i = 0; i < ADC_OVERSAMPLE; i++)
fir_coeffs[i] = 1;
fir_coeffs[ADC_OVERSAMPLE] = ADC_OVERSAMPLE;
// Main loop
while (1) {
uint8_t loop_ctr;
@ -258,6 +264,8 @@ int main()
gyro_data.temp.xy = valid_data_buffer[6];
gyro_data.temp.z = valid_data_buffer[7];
ahrs_state = AHRS_IDLE;
/* Simulate a rotating airframe */
attitude_data.quaternion.q1 += .001;
attitude_data.quaternion.q2 += .002;

13
flight/AHRS/inc/pios_board.h
View File

@ -152,11 +152,7 @@ TIM8 | | | |
#define PIOS_ADC_PIN3_ADC ADC1
#define PIOS_ADC_PIN3_ADC_NUMBER 3
<<<<<<< HEAD
#define PIOS_ADC_PIN4_GPIO_PORT GPIOA // PA6 (XY Temp)
=======
#define PIOS_ADC_PIN4_GPIO_PORT GPIOA // PA6 (Temp_XY)
>>>>>>> Adding ADC downsampling code
#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_6 // ADC12_IN6
#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_6
#define PIOS_ADC_PIN4_ADC ADC1
@ -180,24 +176,15 @@ TIM8 | | | |
#define PIOS_ADC_PIN7_ADC ADC2
#define PIOS_ADC_PIN7_ADC_NUMBER 3
<<<<<<< HEAD
#define PIOS_ADC_PIN8_GPIO_PORT GPIOB // PA7 (Gyro Z)
#define PIOS_ADC_PIN8_GPIO_PIN GPIO_Pin_1 // ADC12_IN7
=======
#define PIOS_ADC_PIN8_GPIO_PORT GPIOB // PB1 (Z Temp)
#define PIOS_ADC_PIN8_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
>>>>>>> Adding ADC downsampling code
#define PIOS_ADC_PIN8_GPIO_CHANNEL ADC_Channel_9
#define PIOS_ADC_PIN8_ADC ADC2
#define PIOS_ADC_PIN8_ADC_NUMBER 4
#define PIOS_ADC_NUM_PINS 8
<<<<<<< HEAD
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT, PIOS_ADC_PIN7_GPIO_PORT, PIOS_ADC_PIN7_GPIO_PORT }
=======
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT, PIOS_ADC_PIN7_GPIO_PORT, PIOS_ADC_PIN8_GPIO_PORT }
>>>>>>> Adding ADC downsampling code
#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN, PIOS_ADC_PIN7_GPIO_PIN, PIOS_ADC_PIN8_GPIO_PIN }
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL, PIOS_ADC_PIN7_GPIO_CHANNEL, PIOS_ADC_PIN8_GPIO_CHANNEL }
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC, PIOS_ADC_PIN7_ADC, PIOS_ADC_PIN8_ADC }