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Code Issues Releases Activity

Make the BMA180 sensor system acquire from the queue. Correct the orientation

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and speed it up to 10 MHz communications.
This commit is contained in:
James Cotton 2012-01-24 14:42:04 -06:00
parent 8c208412c9
commit 5efbfb02fa
3 changed files with 25 additions and 32 deletions
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54
flight/Modules/Attitude/attitude.c
View File

@ -371,39 +371,31 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
float accel_scaling = 1;
#if defined(PIOS_INCLUDE_BMA180)
// accel_samples = 0;
// bool error = false;
// int32_t accel_read_good;
accel_samples = 0;
bool error = false;
int32_t accel_read_good;
while((accel_read_good = PIOS_BMA180_ReadFifo(&accel)) != 0 && !error)
error = ((xTaskGetTickCount() - lastSysTime) > 5) ? true : error;
if (error) {
// Unfortunately if the BMA180 ever misses getting read, then it will not
// trigger more interrupts. In this case we must force a read to kickstart
// it.
struct pios_bma180_data data;
PIOS_BMA180_ReadAccels(&data);
lastSysTime = xTaskGetTickCount();
//
// while((accel_read_good = PIOS_BMA180_ReadFifo(&accel)) != 0 && !error)
// error = ((xTaskGetTickCount() - lastSysTime) > 5) ? true : error;
// if (error) {
// // Unfortunately if the BMA180 ever misses getting read, then it will not
// // trigger more interrupts. In this case we must force a read to kickstarts
// // it.
// struct pios_bma180_data data;
// PIOS_BMA180_ReadAccels(&data);
// lastSysTime = xTaskGetTickCount();
//
// return -1;
// }
// while(accel_read_good == 0) {
// accel_samples++;
//
// accel_accum[0] += accel.x;
// accel_accum[1] += accel.y;
// accel_accum[2] += accel.z;
//
// accel_read_good = PIOS_BMA180_ReadFifo(&accel);
// }
if(PIOS_BMA180_Test() < 0)
return -1;
PIOS_BMA180_ReadAccels(&accel);
accel_accum[0] += accel.x;
accel_accum[1] += accel.y;
accel_accum[2] += accel.z;
accel_samples = 1;
}
while(accel_read_good == 0) {
accel_samples++;
accel_accum[0] += -accel.x;
accel_accum[1] += -accel.y;
accel_accum[2] += accel.z;
accel_read_good = PIOS_BMA180_ReadFifo(&accel);
}
accel_scaling = PIOS_BMA180_GetScale();
#endif

1
flight/PiOS/Common/pios_bma180.c
View File

@ -96,6 +96,7 @@ static int32_t PIOS_BMA180_Validate(struct bma180_dev * dev)
return -3;
return 0;
}
/**
* @brief Initialize with good default settings
* @returns 0 for success, -1 for failure

2
flight/board_hw_defs/coptercontrol/board_hw_defs.c
View File

@ -195,7 +195,7 @@ static const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
},
.use_crc = false,
.dma = {