mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
OP-848 Move the handling of the UAVO configuration outside of the PiOS layer
a configuration helper header has been added to eliminate a lot of boilerplate code in *pios_board.c
This commit is contained in:
Alessio Morale
parent
81d056d0d5
commit
4791f690ad
@ -79,6 +79,7 @@ uint32_t pios_usb_rctx_id;
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*/
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#if defined(PIOS_INCLUDE_MPU6000)
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#include "pios_mpu6000.h"
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#include "pios_mpu6000_config.h"
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static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
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.vector = PIOS_MPU6000_IRQHandler,
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.line = EXTI_Line3,
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@ -119,9 +120,9 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
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.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
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.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
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.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
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.accel_range = PIOS_MPU6000_ACCEL_FROM_SETTINGS,
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.gyro_range = PIOS_MPU6000_SCALE_FROM_SETTINGS,
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.filter = PIOS_MPU6000_LOWPASS_FROM_SETTINGS,
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.accel_range = PIOS_MPU6000_ACCEL_8G,
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.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
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.filter = PIOS_MPU6000_LOWPASS_256_HZ,
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.orientation = PIOS_MPU6000_TOP_180DEG
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};
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#endif /* PIOS_INCLUDE_MPU6000 */
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@ -819,6 +820,7 @@ void PIOS_Board_Init(void) {
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PIOS_Assert(0);
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}
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PIOS_MPU6000_Init(pios_spi_gyro_id,0,&pios_mpu6000_cfg);
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PIOS_MPU6000_CONFIG_Configure();
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init_test = PIOS_MPU6000_Test();
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#endif /* PIOS_INCLUDE_MPU6000 */
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@ -31,7 +31,6 @@
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/* Project Includes */
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#include "pios.h"
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#include "mpu6000settings.h"
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#if defined(PIOS_INCLUDE_MPU6000)
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#include "fifo_buffer.h"
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@ -50,6 +49,7 @@ struct mpu6000_dev {
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const struct pios_mpu6000_cfg * cfg;
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enum pios_mpu6000_range gyro_range;
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enum pios_mpu6000_accel_range accel_range;
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enum pios_mpu6000_filter filter;
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enum pios_mpu6000_dev_magic magic;
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};
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@ -64,10 +64,6 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg);
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static int32_t PIOS_MPU6000_SetReg(uint8_t address, uint8_t buffer);
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static int32_t PIOS_MPU6000_GetReg(uint8_t address);
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static uint8_t getGyroRange(enum pios_mpu6000_range range);
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static uint8_t getAccelRange(enum pios_mpu6000_accel_range accel);
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static uint8_t getFilterSetting(enum pios_mpu6000_filter filter);
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#define DEG_TO_RAD (M_PI / 180.0)
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#define GRAV 9.81f
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@ -143,9 +139,6 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
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PIOS_MPU6000_Test();
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//initialize settings for acc/gyro Scale and filter
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Mpu6000SettingsInitialize();
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// Reset chip
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, PIOS_MPU6000_PWRMGMT_IMU_RST) != 0);
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PIOS_DELAY_WaitmS(300);
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@ -173,29 +166,11 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
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// FIFO storage
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#if defined(PIOS_MPU6000_ACCEL)
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// Set the accel range
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dev->accel_range = getAccelRange(cfg->accel_range);
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, dev->accel_range) != 0);
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store | PIOS_MPU6000_ACCEL_OUT) != 0);
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#else
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store) != 0);
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#endif
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// Digital low-pass filter
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uint8_t filterSetting;
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filterSetting = getFilterSetting(cfg->filter);
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// Sample rate divider, chosen upon digital filtering settings
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_SMPLRT_DIV_REG,
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filterSetting == PIOS_MPU6000_LOWPASS_256_HZ ?
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cfg->Smpl_rate_div_no_dlp : cfg->Smpl_rate_div_dlp) != 0);
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, filterSetting) != 0);
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// Gyro range
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dev->gyro_range = getGyroRange(cfg->gyro_range);
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, dev->gyro_range) != 0);
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PIOS_MPU6000_ConfigureRanges(cfg->gyro_range, cfg->accel_range, cfg->filter);
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// Interrupt configuration
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, cfg->User_ctl) != 0) ;
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@ -212,6 +187,42 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
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mpu6000_configured = true;
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}
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/**
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* @brief Configures Gyro, accel and Filter ranges/setings
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* @return 0 if successful, -1 if device has not been initialized
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*/
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int32_t PIOS_MPU6000_ConfigureRanges(
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enum pios_mpu6000_range gyroRange,
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enum pios_mpu6000_accel_range accelRange,
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enum pios_mpu6000_filter filterSetting
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)
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{
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if(dev == NULL)
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return -1;
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PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_256);
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// update filter settings
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, filterSetting) != 0);
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// Sample rate divider, chosen upon digital filtering settings
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_SMPLRT_DIV_REG,
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filterSetting == PIOS_MPU6000_LOWPASS_256_HZ ?
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dev->cfg->Smpl_rate_div_no_dlp : dev->cfg->Smpl_rate_div_dlp) != 0);
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dev->filter = filterSetting;
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// Gyro range
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, gyroRange) != 0);
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dev->gyro_range = gyroRange;
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#if defined(PIOS_MPU6000_ACCEL)
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// Set the accel range
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while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, accelRange) != 0);
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dev->accel_range = accelRange;
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#endif
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PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_16);
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return 0;
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}
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/**
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* @brief Claim the SPI bus for the accel communications and select this chip
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@ -350,7 +361,6 @@ float PIOS_MPU6000_GetScale()
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return 1.0f / 65.5f;
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case PIOS_MPU6000_SCALE_1000_DEG:
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return 1.0f / 32.8f;
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case PIOS_MPU6000_SCALE_FROM_SETTINGS:
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case PIOS_MPU6000_SCALE_2000_DEG:
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return 1.0f / 16.4f;
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}
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@ -365,7 +375,6 @@ float PIOS_MPU6000_GetAccelScale()
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case PIOS_MPU6000_ACCEL_4G:
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return GRAV / 8192.0f;
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case PIOS_MPU6000_ACCEL_8G:
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case PIOS_MPU6000_ACCEL_FROM_SETTINGS:
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return GRAV / 4096.0f;
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case PIOS_MPU6000_ACCEL_16G:
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return GRAV / 2048.0f;
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@ -542,93 +551,6 @@ bool PIOS_MPU6000_IRQHandler(void)
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return xHigherPriorityTaskWoken == pdTRUE;
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}
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/**
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* @brief Return the gyro range setting based on config and/or mpu6000settings.
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* \return the chosen gyro range
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*/
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static uint8_t getGyroRange(enum pios_mpu6000_range gyro)
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{
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// if the setting is overridden by the board config then use the board value
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if (gyro != PIOS_MPU6000_SCALE_FROM_SETTINGS)
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return(uint8_t) gyro;
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uint8_t gyroSettings;
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Mpu6000SettingsGyroScaleGet(&gyroSettings);
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switch (gyroSettings) {
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case MPU6000SETTINGS_GYROSCALE_SCALE_250:
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return PIOS_MPU6000_SCALE_250_DEG;
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case MPU6000SETTINGS_GYROSCALE_SCALE_500:
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return PIOS_MPU6000_SCALE_500_DEG;
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case MPU6000SETTINGS_GYROSCALE_SCALE_1000:
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return PIOS_MPU6000_SCALE_1000_DEG;
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case MPU6000SETTINGS_GYROSCALE_SCALE_2000:
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return PIOS_MPU6000_SCALE_2000_DEG;
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default:
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return PIOS_MPU6000_SCALE_2000_DEG;
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}
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}
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/**
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* @brief Return the accel range setting based on config and/or mpu6000settings.
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* \return the chosen accel range
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*/
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static uint8_t getAccelRange(enum pios_mpu6000_accel_range accel)
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{
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// if the setting is overridden by the board config then use the board value
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if (accel != PIOS_MPU6000_ACCEL_FROM_SETTINGS)
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return (uint8_t) accel;
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uint8_t accelSetting;
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Mpu6000SettingsAccelScaleGet(&accelSetting);
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switch (accelSetting) {
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case MPU6000SETTINGS_ACCELSCALE_SCALE_2G:
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return PIOS_MPU6000_ACCEL_2G;
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case MPU6000SETTINGS_ACCELSCALE_SCALE_4G:
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return PIOS_MPU6000_ACCEL_4G;
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case MPU6000SETTINGS_ACCELSCALE_SCALE_8G:
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return PIOS_MPU6000_ACCEL_8G;
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case MPU6000SETTINGS_ACCELSCALE_SCALE_16G:
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return PIOS_MPU6000_ACCEL_16G;
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default:
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return PIOS_MPU6000_ACCEL_8G;
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}
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}
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/**
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* @brief Return the filter settings based on config and/or mpu6000settings.
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* \return the chosen filter settings
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*/
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static uint8_t getFilterSetting(enum pios_mpu6000_filter filter)
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{
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// if the setting is overridden by the board config then use the board value
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if (filter != PIOS_MPU6000_LOWPASS_FROM_SETTINGS)
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return(uint8_t) filter;
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uint8_t filterSetting;
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Mpu6000SettingsFilterSettingGet(&filterSetting);
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switch (filterSetting) {
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case MPU6000SETTINGS_FILTERSETTING_LOWPASS_256_HZ:
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return PIOS_MPU6000_LOWPASS_256_HZ;
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case MPU6000SETTINGS_FILTERSETTING_LOWPASS_188_HZ:
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return PIOS_MPU6000_LOWPASS_188_HZ;
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case MPU6000SETTINGS_FILTERSETTING_LOWPASS_98_HZ:
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return PIOS_MPU6000_LOWPASS_98_HZ;
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case MPU6000SETTINGS_FILTERSETTING_LOWPASS_42_HZ:
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return PIOS_MPU6000_LOWPASS_42_HZ;
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case MPU6000SETTINGS_FILTERSETTING_LOWPASS_20_HZ:
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return PIOS_MPU6000_LOWPASS_20_HZ;
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case MPU6000SETTINGS_FILTERSETTING_LOWPASS_10_HZ:
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return PIOS_MPU6000_LOWPASS_10_HZ;
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case MPU6000SETTINGS_FILTERSETTING_LOWPASS_5_HZ:
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return PIOS_MPU6000_LOWPASS_5_HZ;
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default:
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return PIOS_MPU6000_LOWPASS_256_HZ;
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}
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}
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#endif
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/**
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@ -102,7 +102,6 @@
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#define PIOS_MPU6000_PWRMGMT_STOP_CLK 0X07
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enum pios_mpu6000_range {
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PIOS_MPU6000_SCALE_FROM_SETTINGS = 0xFF,
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PIOS_MPU6000_SCALE_250_DEG = 0x00,
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PIOS_MPU6000_SCALE_500_DEG = 0x08,
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PIOS_MPU6000_SCALE_1000_DEG = 0x10,
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@ -110,7 +109,6 @@ enum pios_mpu6000_range {
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};
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enum pios_mpu6000_filter {
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PIOS_MPU6000_LOWPASS_FROM_SETTINGS = 0xFF,
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PIOS_MPU6000_LOWPASS_256_HZ = 0x00,
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PIOS_MPU6000_LOWPASS_188_HZ = 0x01,
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PIOS_MPU6000_LOWPASS_98_HZ = 0x02,
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@ -121,7 +119,6 @@ enum pios_mpu6000_filter {
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};
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enum pios_mpu6000_accel_range {
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PIOS_MPU6000_ACCEL_FROM_SETTINGS = 0xFF,
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PIOS_MPU6000_ACCEL_2G = 0x00,
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PIOS_MPU6000_ACCEL_4G = 0x08,
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PIOS_MPU6000_ACCEL_8G = 0x10,
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@ -167,6 +164,7 @@ struct pios_mpu6000_cfg {
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/* Public Functions */
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extern int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu6000_cfg * new_cfg);
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extern int32_t PIOS_MPU6000_ConfigureRanges(enum pios_mpu6000_range gyroRange, enum pios_mpu6000_accel_range accelRange,enum pios_mpu6000_filter filterSetting);
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extern xQueueHandle PIOS_MPU6000_GetQueue();
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extern int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * buffer);
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extern int32_t PIOS_MPU6000_ReadID();
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72
flight/PiOS/inc/pios_mpu6000_config.h
Normal file
72
flight/PiOS/inc/pios_mpu6000_config.h
Normal file
@ -0,0 +1,72 @@
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/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_MPU6000 OpenPilot layer configuration utilities
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* @brief provides mpu6000 configuration helpers function
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* @{
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*
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* @file PIOS_MPU6000_CONFIG.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
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* @brief MPU6000 3-axis gyor function headers
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************
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*/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_MPU6000_CONFIG_H
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#define PIOS_MPU6000_CONFIG_H
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#include "mpu6000settings.h"
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#include "pios_mpu6000.h"
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#define PIOS_MPU6000_CONFIG_MAP_GYROSCALE(x) (x == MPU6000SETTINGS_GYROSCALE_SCALE_250 ? PIOS_MPU6000_SCALE_250_DEG : \
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x == MPU6000SETTINGS_GYROSCALE_SCALE_500 ? PIOS_MPU6000_SCALE_500_DEG : \
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x == MPU6000SETTINGS_GYROSCALE_SCALE_1000 ? PIOS_MPU6000_SCALE_1000_DEG : \
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PIOS_MPU6000_SCALE_2000_DEG)
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#define PIOS_MPU6000_CONFIG_MAP_ACCELSCALE(x) (x == MPU6000SETTINGS_ACCELSCALE_SCALE_2G ? PIOS_MPU6000_ACCEL_2G : \
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x == MPU6000SETTINGS_ACCELSCALE_SCALE_4G ? PIOS_MPU6000_ACCEL_4G : \
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x == MPU6000SETTINGS_ACCELSCALE_SCALE_16G ? PIOS_MPU6000_ACCEL_16G : \
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PIOS_MPU6000_ACCEL_8G)
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#define PIOS_MPU6000_CONFIG_MAP_FILTERSETTING(x) (x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_188_HZ ? PIOS_MPU6000_LOWPASS_188_HZ : \
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x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_98_HZ ? PIOS_MPU6000_LOWPASS_98_HZ : \
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x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_42_HZ ? PIOS_MPU6000_LOWPASS_42_HZ : \
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x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_20_HZ ? PIOS_MPU6000_LOWPASS_20_HZ : \
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x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_10_HZ ? PIOS_MPU6000_LOWPASS_10_HZ : \
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x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_5_HZ ? PIOS_MPU6000_LOWPASS_5_HZ : \
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PIOS_MPU6000_LOWPASS_256_HZ)
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/**
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* @brief Updates MPU6000 config based on Mpu6000Settings UAVO
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* @returns 0 if succeed or -1 otherwise
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*/
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int32_t PIOS_MPU6000_CONFIG_Configure()
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{
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Mpu6000SettingsInitialize();
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Mpu6000SettingsData mpu6000settings;
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Mpu6000SettingsGet(&mpu6000settings);
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return PIOS_MPU6000_ConfigureRanges(
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PIOS_MPU6000_CONFIG_MAP_GYROSCALE (mpu6000settings.GyroScale),
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PIOS_MPU6000_CONFIG_MAP_ACCELSCALE(mpu6000settings.AccelScale),
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PIOS_MPU6000_CONFIG_MAP_FILTERSETTING(mpu6000settings.FilterSetting)
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);
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}
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#endif /* PIOS_MPU6000_CONFIG_H */
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@ -141,6 +141,7 @@ static const struct pios_ms5611_cfg pios_ms5611_cfg = {
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*/
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#if defined(PIOS_INCLUDE_MPU6000)
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#include "pios_mpu6000.h"
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#include "pios_mpu6000_config.h"
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static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
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.vector = PIOS_MPU6000_IRQHandler,
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.line = EXTI_Line4,
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@ -183,9 +184,9 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
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.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
|
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.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
|
||||
.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
|
||||
.accel_range = PIOS_MPU6000_ACCEL_FROM_SETTINGS,
|
||||
.gyro_range = PIOS_MPU6000_SCALE_FROM_SETTINGS,
|
||||
.filter = PIOS_MPU6000_LOWPASS_FROM_SETTINGS,
|
||||
.accel_range = PIOS_MPU6000_ACCEL_8G,
|
||||
.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
|
||||
.filter = PIOS_MPU6000_LOWPASS_256_HZ,
|
||||
.orientation = PIOS_MPU6000_TOP_180DEG
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_MPU6000 */
|
||||
@ -732,6 +733,7 @@ void PIOS_Board_Init(void) {
|
||||
|
||||
#if defined(PIOS_INCLUDE_MPU6000)
|
||||
PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg);
|
||||
PIOS_MPU6000_CONFIG_Configure();
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
@ -182,6 +182,7 @@ static const struct pios_bma180_cfg pios_bma180_cfg = {
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_MPU6000)
|
||||
#include "pios_mpu6000.h"
|
||||
#include "pios_mpu6000_config.h"
|
||||
static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
|
||||
.vector = PIOS_MPU6000_IRQHandler,
|
||||
.line = EXTI_Line8,
|
||||
@ -224,9 +225,9 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
|
||||
.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
|
||||
.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
|
||||
.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
|
||||
.accel_range = PIOS_MPU6000_ACCEL_FROM_SETTINGS,
|
||||
.gyro_range = PIOS_MPU6000_SCALE_FROM_SETTINGS,
|
||||
.filter = PIOS_MPU6000_LOWPASS_FROM_SETTINGS,
|
||||
.accel_range = PIOS_MPU6000_ACCEL_8G,
|
||||
.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
|
||||
.filter = PIOS_MPU6000_LOWPASS_256_HZ,
|
||||
.orientation = PIOS_MPU6000_TOP_0DEG
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_MPU6000 */
|
||||
@ -874,6 +875,7 @@ void PIOS_Board_Init(void) {
|
||||
case 0x02:
|
||||
#if defined(PIOS_INCLUDE_MPU6000)
|
||||
PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg);
|
||||
PIOS_MPU6000_CONFIG_Configure();
|
||||
#endif
|
||||
break;
|
||||
default:
|
||||
|
||||
Loading…
Reference in New Issue
Block a user