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Code Issues Releases Activity

INS: Disable power up checks until these are made more reliable and remove some

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debugging outputs.
This commit is contained in:
James Cotton 2011-09-08 21:42:16 -05:00
parent e79e8cdbde
commit 552022250b
5 changed files with 6 additions and 22 deletions
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10
flight/INS/ins.c
View File

@ -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) {

3
flight/PiOS/STM32F2xx/pios_bma180.c
View File

@ -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();
}

4
flight/PiOS/STM32F2xx/pios_bmp085.c
View File

@ -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);
}

8
flight/PiOS/STM32F2xx/pios_hmc5883.c
View File

@ -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);
}

3
flight/PiOS/STM32F2xx/pios_imu3000.c
View File

@ -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);
}
}