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Code Issues Releases Activity

REVONANO - Fix gyro spi config and include MPU9250 support

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This commit is contained in:
Alessio Morale 2015-05-18 21:28:26 +02:00
parent 66b06e4c9a
commit 4a7d81ed01
5 changed files with 42 additions and 35 deletions
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6
flight/targets/boards/revonano/board_hw_defs.c
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@ -136,7 +136,7 @@ static const struct pios_spi_cfg pios_spi_gyro_cfg = {
.irq = {
.flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0),
.init = {
.NVIC_IRQChannel = DMA1_Stream3_IRQn,
.NVIC_IRQChannel = DMA1_Stream4_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
@ -147,7 +147,7 @@ static const struct pios_spi_cfg pios_spi_gyro_cfg = {
.channel = DMA1_Stream3,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
.DMA_DIR = DMA_DIR_PeripheralToMemory,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
@ -165,7 +165,7 @@ static const struct pios_spi_cfg pios_spi_gyro_cfg = {
.channel = DMA1_Stream4,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR),
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,

2
flight/targets/boards/revonano/firmware/Makefile
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@ -27,7 +27,7 @@ include $(ROOT_DIR)/make/firmware-defs.mk
USE_DSP_LIB ?= NO
# List of mandatory modules to include
#MODULES += Sensors
MODULES += Sensors
#MODULES += StateEstimation
MODULES += Altitude/revolution
#MODULES += Airspeed

2
flight/targets/boards/revonano/firmware/UAVObjects.inc
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@ -114,7 +114,7 @@ UAVOBJSRCFILENAMES += waypoint
UAVOBJSRCFILENAMES += waypointactive
UAVOBJSRCFILENAMES += poilocation
UAVOBJSRCFILENAMES += poilearnsettings
UAVOBJSRCFILENAMES += mpu6000settings
UAVOBJSRCFILENAMES += mpu9250settings
UAVOBJSRCFILENAMES += txpidsettings
UAVOBJSRCFILENAMES += takeofflocation
UAVOBJSRCFILENAMES += perfcounter

3
flight/targets/boards/revonano/firmware/inc/pios_config.h
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@ -91,6 +91,9 @@
// #define PIOS_INCLUDE_MPXV
// #define PIOS_INCLUDE_ETASV3
// #define PIOS_INCLUDE_MS4525DO
#define PIOS_INCLUDE_MPU9250
#define PIOS_MPU9250_ACCEL
#define PIOS_MPU9250_MAG
#define PIOS_SENSOR_RATE 500.0f

64
flight/targets/boards/revonano/firmware/pios_board.c
View File

@ -103,18 +103,18 @@ static const struct pios_ms5611_cfg pios_ms5611_cfg = {
#endif /* PIOS_INCLUDE_MS5611 */
/**
* Configuration for the MPU6000 chip
* Configuration for the MPU9250 chip
*/
#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_Line4,
#if defined(PIOS_INCLUDE_MPU9250)
#include "pios_mpu9250.h"
#include "pios_mpu9250_config.h"
static const struct pios_exti_cfg pios_exti_mpu9250_cfg __exti_config = {
.vector = PIOS_MPU9250_IRQHandler,
.line = EXTI_Line15,
.pin = {
.gpio = GPIOC,
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_4,
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
@ -123,7 +123,7 @@ static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI4_IRQn,
.NVIC_IRQChannel = EXTI15_10_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
@ -131,7 +131,7 @@ static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line4, // matches above GPIO pin
.EXTI_Line = EXTI_Line15, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising,
.EXTI_LineCmd = ENABLE,
@ -139,23 +139,27 @@ static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
},
};
static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
.exti_cfg = &pios_exti_mpu6000_cfg,
.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 12 for 666Hz
.Smpl_rate_div_no_dlp = 11,
// with dlp on output rate is 500Hz
.Smpl_rate_div_dlp = 1,
.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
.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_8G,
.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
.filter = PIOS_MPU6000_LOWPASS_256_HZ,
.orientation = PIOS_MPU6000_TOP_180DEG
static const struct pios_mpu9250_cfg pios_mpu9250_cfg = {
.exti_cfg = &pios_exti_mpu9250_cfg,
.Fifo_store = PIOS_MPU9250_FIFO_TEMP_OUT | PIOS_MPU9250_FIFO_GYRO_X_OUT | PIOS_MPU9250_FIFO_GYRO_Y_OUT | PIOS_MPU9250_FIFO_GYRO_Z_OUT,
// Clock at 8 khz
.Smpl_rate_div_no_dlp = 0,
// with dlp on output rate is 1000Hz
.Smpl_rate_div_dlp = 0,
.interrupt_cfg = PIOS_MPU9250_INT_CLR_ANYRD | PIOS_MPU9250_INT_LATCH_EN,
.interrupt_en = PIOS_MPU9250_INTEN_DATA_RDY,
.User_ctl = PIOS_MPU9250_USERCTL_DIS_I2C | PIOS_MPU9250_USERCTL_I2C_MST_EN,
.Pwr_mgmt_clk = PIOS_MPU9250_PWRMGMT_PLL_X_CLK,
.accel_range = PIOS_MPU9250_ACCEL_8G,
.gyro_range = PIOS_MPU9250_SCALE_2000_DEG,
.filter = PIOS_MPU9250_LOWPASS_256_HZ,
.orientation = PIOS_MPU9250_TOP_180DEG,
.fast_prescaler = PIOS_SPI_PRESCALER_64,
.std_prescaler = PIOS_SPI_PRESCALER_64,
.max_downsample = 16,
};
#endif /* PIOS_INCLUDE_MPU6000 */
#endif /* PIOS_INCLUDE_MPU9250 */
/* One slot per selectable receiver group.
* eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
@ -737,9 +741,9 @@ void PIOS_Board_Init(void)
PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_pressure_adapter_id);
#endif
#if defined(PIOS_INCLUDE_MPU6000)
PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
PIOS_MPU6000_CONFIG_Configure();
#if defined(PIOS_INCLUDE_MPU9250)
PIOS_MPU9250_Init(pios_spi_gyro_id, 0, &pios_mpu9250_cfg);
PIOS_MPU9250_CONFIG_Configure();
#endif
#ifdef PIOS_INCLUDE_WS2811