mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-03-15 07:29:15 +01:00
INS: Disable power up checks until these are made more reliable and remove some
debugging outputs.
This commit is contained in:
parent
e79e8cdbde
commit
552022250b
@ -88,7 +88,7 @@ void affine_rotate(float scale[3][4], float rotation[3]);
|
||||
void calibration(float result[3], float scale[3][4], float arg[3]);
|
||||
|
||||
extern void PIOS_Board_Init(void);
|
||||
static void panic(uint32_t blinks);
|
||||
void panic(uint32_t blinks);
|
||||
static void print_ekf_binary();
|
||||
void simple_update();
|
||||
|
||||
@ -158,6 +158,7 @@ int main()
|
||||
// Sensors need a second to start
|
||||
PIOS_DELAY_WaitmS(100);
|
||||
|
||||
#if 0
|
||||
// Sensor test
|
||||
if(PIOS_IMU3000_Test() != 0)
|
||||
panic(1);
|
||||
@ -169,8 +170,9 @@ int main()
|
||||
panic(3);
|
||||
|
||||
if(PIOS_BMP085_Test() != 0)
|
||||
panic(4);
|
||||
|
||||
panic(4);
|
||||
#endif
|
||||
|
||||
PIOS_LED_On(LED1);
|
||||
PIOS_LED_Off(LED2);
|
||||
|
||||
@ -340,7 +342,7 @@ static void print_ekf_binary()
|
||||
altitude_data.updated = 0;
|
||||
}
|
||||
|
||||
static void panic(uint32_t blinks)
|
||||
void panic(uint32_t blinks)
|
||||
{
|
||||
int blinked = 0;
|
||||
while(1) {
|
||||
|
@ -386,15 +386,12 @@ static inline void PIOS_BMA180_SPI_Callback()
|
||||
* @brief IRQ Handler
|
||||
*/
|
||||
const static uint8_t pios_bma180_req_buf[7] = {BMA_X_LSB_ADDR | 0x80,0,0,0,0,0};
|
||||
int32_t setup_time;
|
||||
static void PIOS_BMA180_IRQHandler(void)
|
||||
{
|
||||
uint32_t timeval = PIOS_DELAY_GetRaw();
|
||||
// If we can't get the bus then just move on for efficiency
|
||||
if(PIOS_BMA180_ClaimBus() == 0)
|
||||
PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,pios_bma180_req_buf,(uint8_t *) pios_bma180_dmabuf,
|
||||
sizeof(pios_bma180_dmabuf), NULL);
|
||||
setup_time = PIOS_DELAY_DiffuS(timeval);
|
||||
PIOS_BMA180_SPI_Callback();
|
||||
}
|
||||
|
||||
|
@ -303,15 +303,11 @@ int32_t PIOS_BMP085_Test()
|
||||
/**
|
||||
* Handle external line 2 interrupt requests
|
||||
*/
|
||||
uint32_t bmp_eocs = 0;
|
||||
void EXTI2_IRQHandler(void)
|
||||
{
|
||||
if (EXTI_GetITStatus(dev_cfg->eoc_exti.init.EXTI_Line) != RESET) {
|
||||
/* Read the ADC Value */
|
||||
PIOS_BMP085_EOC=1;
|
||||
|
||||
bmp_eocs++;
|
||||
|
||||
/* Clear the EXTI line pending bit */
|
||||
EXTI_ClearITPendingBit(dev_cfg->eoc_exti.init.EXTI_Line);
|
||||
}
|
||||
|
@ -162,8 +162,6 @@ static int32_t PIOS_HMC5883_Config(const struct pios_hmc5883_cfg * cfg)
|
||||
* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
|
||||
* \return 0 for success or -1 for failure
|
||||
*/
|
||||
uint32_t fail = 0;
|
||||
uint32_t succeed = 0;
|
||||
int32_t PIOS_HMC5883_ReadMag(int16_t out[3])
|
||||
{
|
||||
pios_hmc5883_data_ready = false;
|
||||
@ -172,10 +170,8 @@ int32_t PIOS_HMC5883_ReadMag(int16_t out[3])
|
||||
int32_t sensitivity;
|
||||
|
||||
if (PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_XMSB_REG, buffer, 6) != 0) {
|
||||
fail++;
|
||||
return -1;
|
||||
}
|
||||
succeed++;
|
||||
|
||||
switch (CTRLB & 0xE0) {
|
||||
case 0x00:
|
||||
@ -414,13 +410,9 @@ void PIOS_HMC5883_IRQHandler(void)
|
||||
* Soon this will be generic in pios_exti and the BMA180 will register
|
||||
* against it. Right now this is crap!
|
||||
*/
|
||||
uint32_t count = 0;
|
||||
uint32_t count2 = 0;
|
||||
void EXTI9_5_IRQHandler(void)
|
||||
{
|
||||
count++;
|
||||
if (EXTI_GetITStatus(dev_cfg->eoc_exti.init.EXTI_Line) != RESET) {
|
||||
count2++;
|
||||
PIOS_HMC5883_IRQHandler();
|
||||
EXTI_ClearITPendingBit(dev_cfg->eoc_exti.init.EXTI_Line);
|
||||
}
|
||||
|
@ -327,7 +327,6 @@ out:
|
||||
uint32_t imu3000_irq = 0;
|
||||
uint16_t fifo_level;
|
||||
uint8_t fifo_level_data[2];
|
||||
uint32_t imu3000_readtime;
|
||||
uint32_t cb_not_ready = 0;
|
||||
void PIOS_IMU3000_IRQHandler(void)
|
||||
{
|
||||
@ -368,13 +367,11 @@ void PIOS_IMU3000_IRQHandler(void)
|
||||
if(fifo_level < (sizeof(imu3000_read_buffer) + 2))
|
||||
return;
|
||||
|
||||
uint32_t timeval = PIOS_DELAY_GetRaw();
|
||||
imu3000_cb_ready = false;
|
||||
|
||||
// Leave footer in buffer
|
||||
PIOS_IMU3000_Read_Callback(PIOS_IMU3000_FIFO_REG, imu3000_read_buffer, sizeof(imu3000_read_buffer), imu3000_callback);
|
||||
|
||||
imu3000_readtime = PIOS_DELAY_DiffuS(timeval);
|
||||
}
|
||||
}
|
||||
|
||||
|
Loading…
x
Reference in New Issue
Block a user