mirror of
https://bitbucket.org/librepilot/librepilot.git
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OP-378: Small changes to get drivers working again. Fix I2C port for IMU3000
and change convention so that 0 is success, < 0 is error.
This commit is contained in:
James Cotton
parent
ab3127a0ea
commit
750097ea73
@ -204,7 +204,7 @@ LINKERSCRIPTPATH = $(PIOSSTM32F10X)
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# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
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ifeq ($(DEBUG),YES)
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CFLAGS += -Os
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CFLAGS += -O0
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CFLAGS += -DGENERAL_COV
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else
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CFLAGS += -Os
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@ -413,11 +413,18 @@ void print_ekf_binary() {}
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extern void PIOS_Board_Init(void);
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static void panic()
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{
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while(1) {
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PIOS_LED_Toggle(LED2);
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PIOS_DELAY_WaitmS(100);
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}
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}
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/**
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* @brief INS Main function
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*/
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int main()
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{
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{
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gps_data.quality = -1;
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uint32_t up_time_real = 0;
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uint32_t up_time = 0;
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@ -433,16 +440,36 @@ int main()
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reset_values();
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PIOS_Board_Init();
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PIOS_LED_Off(LED1);
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PIOS_LED_On(LED2);
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#if defined(PIOS_INCLUDE_HMC5883) && defined(PIOS_INCLUDE_I2C)
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// Get 3 ID bytes
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strcpy((char *)mag_data.id, "ZZZ");
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PIOS_HMC5883_ReadID(mag_data.id);
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#endif
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PIOS_LED_Off(LED1);
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PIOS_LED_Off(LED2);
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while(!AhrsLinkReady()) {
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AhrsPoll();
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}
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// Sensor test
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if(PIOS_IMU3000_Test() == 0)
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panic();
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/*
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if(PIOS_BMA180_Test() == 0)
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panic();
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if(PIOS_HMC5883_Test() == 0)
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panic();
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if(PIOS_BMP085_Test() == 0)
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panic(); */
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//while(!AhrsLinkReady()) {
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// AhrsPoll();
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//}
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/* we didn't connect the callbacks before because we have to wait
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for all data to be up to date before doing anything*/
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@ -538,41 +565,25 @@ int main()
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*/
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bool get_accel_gyro_data()
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{
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// struct pios_bma180_data accel;
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// struct pios_imu3000_data gyro;
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struct pios_bma180_data accel;
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struct pios_imu3000_data gyro;
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//PIOS_BMA180_Read(&accel);
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//PIOS_IMU3000_ReadGyros(&gyro);
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PIOS_BMA180_Read(&accel);
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PIOS_IMU3000_ReadGyros(&gyro);
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accel_data.raw.x=0;
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accel_data.raw.y=0;
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accel_data.raw.z=-9;
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gyro_data.raw.x=0;
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gyro_data.raw.y=0;
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gyro_data.raw.z=0;
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accel_data.filtered.x = 0;
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accel_data.filtered.y = 0;
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accel_data.filtered.z = -9.8;
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gyro_data.filtered.x = 0;
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gyro_data.filtered.y = 0;
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gyro_data.filtered.z = 0;
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/*
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PIOS_BMA180_Read(&accel[1]);
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accel_data.raw.x=accel[1].x;
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accel_data.raw.y=accel[1].y;
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accel_data.raw.z=accel[1].z;
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PIOS_IMU3000_Read(&gyro[1]);
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gyro_data.raw.x=gyro[1].x;
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gyro_data.raw.y=gyro[1].y;
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gyro_data.raw.z=gyro[1].z;
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accel_data.raw.x=accel.x;
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accel_data.raw.y=accel.y;
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accel_data.raw.z=accel.z;
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gyro_data.raw.x=gyro.x;
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gyro_data.raw.y=gyro.y;
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gyro_data.raw.z=gyro.z;
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accel_data.filtered.x = accel.x;
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accel_data.filtered.y = accel.y;
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accel_data.filtered.z = accel.z;
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gyro_data.filtered.x = gyro.x;
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gyro_data.filtered.y = gyro.y;
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gyro_data.filtered.z = gyro.z;
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accel_data.filtered.x = ((float)(accel[0].x + accel[1].x)) / 2;
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accel_data.filtered.y = ((float)(accel[0].y + accel[1].y)) / 2;
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accel_data.filtered.z = ((float)(accel[0].z + accel[1].z)) / 2;
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gyro_data.filtered.x = ((float)(gyro[0].x + gyro[1].x)) / 2;
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gyro_data.filtered.y = ((float)(gyro[0].y + gyro[1].y)) / 2;
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gyro_data.filtered.z = ((float)(gyro[0].z + gyro[1].z)) / 2;
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*/
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return true;
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}
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@ -94,7 +94,7 @@ void blink(int led, int times)
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void test_accel()
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{
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if(PIOS_BMA180_Test())
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if(PIOS_BMA180_Test() == 0)
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blink(LED1, 1);
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else
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blink(LED2, 1);
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@ -103,7 +103,7 @@ void test_accel()
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#if defined (PIOS_INCLUDE_HMC5883)
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void test_mag()
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{
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if(PIOS_HMC5883_Test())
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if(PIOS_HMC5883_Test() == 0)
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blink(LED1, 2);
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else
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blink(LED2, 2);
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@ -113,7 +113,7 @@ void test_mag()
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#if defined (PIOS_INCLUDE_BMP085)
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void test_pressure()
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{
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if(PIOS_BMP085_Test())
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if(PIOS_BMP085_Test() == 0)
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blink(LED1, 3);
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else
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blink(LED2, 3);
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@ -123,7 +123,7 @@ void test_pressure()
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#if defined (PIOS_INCLUDE_IMU3000)
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void test_imu()
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{
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if(PIOS_IMU3000_Test())
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if(PIOS_IMU3000_Test() == 0)
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blink(LED1, 4);
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else
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blink(LED2, 4);
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@ -168,51 +168,6 @@ int main()
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}
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/**
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* @brief Populate fields with initial values
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*/
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void reset_values()
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{
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accel_data.calibration.scale[0][1] = 0;
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accel_data.calibration.scale[1][0] = 0;
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accel_data.calibration.scale[0][2] = 0;
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accel_data.calibration.scale[2][0] = 0;
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accel_data.calibration.scale[1][2] = 0;
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accel_data.calibration.scale[2][1] = 0;
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accel_data.calibration.scale[0][0] = 0.0359;
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accel_data.calibration.scale[1][1] = 0.0359;
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accel_data.calibration.scale[2][2] = 0.0359;
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accel_data.calibration.scale[0][3] = -73.5;
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accel_data.calibration.scale[1][3] = -73.5;
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accel_data.calibration.scale[2][3] = -73.5;
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accel_data.calibration.variance[0] = 1e-4;
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accel_data.calibration.variance[1] = 1e-4;
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accel_data.calibration.variance[2] = 1e-4;
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gyro_data.calibration.scale[0] = -0.014;
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gyro_data.calibration.scale[1] = 0.014;
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gyro_data.calibration.scale[2] = -0.014;
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gyro_data.calibration.bias[0] = -24;
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gyro_data.calibration.bias[1] = -24;
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gyro_data.calibration.bias[2] = -24;
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gyro_data.calibration.variance[0] = 1;
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gyro_data.calibration.variance[1] = 1;
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gyro_data.calibration.variance[2] = 1;
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mag_data.calibration.scale[0] = 1;
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mag_data.calibration.scale[1] = 1;
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mag_data.calibration.scale[2] = 1;
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mag_data.calibration.bias[0] = 0;
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mag_data.calibration.bias[1] = 0;
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mag_data.calibration.bias[2] = 0;
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mag_data.calibration.variance[0] = 50;
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mag_data.calibration.variance[1] = 50;
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mag_data.calibration.variance[2] = 50;
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}
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/**
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* @}
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*/
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@ -204,6 +204,9 @@ extern uint32_t pios_com_aux_id;
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#define PIOS_GPIO_CLKS { PIOS_GPIO_1_GPIO_CLK }
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#define PIOS_GPIO_NUM 1
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//------------------------
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// BMA180
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//------------------------
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#define PIOS_BMA_ENABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0)
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#define PIOS_BMA_DISABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,1)
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@ -187,23 +187,26 @@ uint8_t PIOS_BMA180_Read(struct pios_bma180_data * data)
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/**
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* @brief Test SPI and chip functionality by reading chip ID register
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* @return 0 if test failed, any other value signals test succeeded.
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* @return 0 if success, -1 if failure.
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*
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*/
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uint8_t PIOS_BMA180_Test()
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{
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uint8_t data = 0;
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uint8_t pass = 0;
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PIOS_BMA180_ClaimBus();
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data = PIOS_SPI_TransferByte(PIOS_SPI_ACCEL,(0x80 | BMA_CHIPID_ADDR) );
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data &= 0x07;
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if(0x03 == data)
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pass = 1;
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data = PIOS_SPI_TransferByte(PIOS_SPI_ACCEL,(0x80 | BMA_VERSION_ADDR) );
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if(0x12 == data)
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pass = 1 && pass; // Only passes if first and second test passS
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// Read chip ID then version ID
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uint8_t buf[3] = {0x80 | BMA_CHIPID_ADDR, 0, 0};
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uint8_t rec[3] = {0,0, 0};
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PIOS_BMA180_ClaimBus();
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PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,&buf[0],&rec[0],sizeof(buf),NULL);
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PIOS_BMA180_ReleaseBus();
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return pass;
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if((rec[1] & 0x07) != 0x3)
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return -1;
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if(rec[2] != 0x12)
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return -1;
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return 0;
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}
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/**
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@ -322,18 +322,15 @@ static bool PIOS_HMC5883_Write(uint8_t address, uint8_t buffer)
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/**
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* @brief Run self-test operation. Do not call this during operational use!!
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* \return 0 if test failed
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* \return non-zero value if test succeeded
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* \return 0 if success, -1 if test failed
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*/
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int32_t PIOS_HMC5883_Test(void)
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{
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/* Verify that ID matches (HMC5883 ID is null-terminated ASCII string "H43") */
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char id[4];
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PIOS_HMC5883_ReadID((uint8_t *)id);
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if(!strncmp("H43\0",id,4))
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return 0;
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else
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return 1;
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if(strncmp("H43\0",id,4) != 0) // match H43
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return -1;
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int32_t passed = 1;
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uint8_t registers[3] = {0,0,0};
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@ -50,8 +50,8 @@ typedef struct {
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/* Local Variables */
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static void PIOS_IMU3000_Config(PIOS_IMU3000_ConfigTypeDef * IMU3000_Config_Struct);
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static bool PIOS_IMU3000_Read(uint8_t address, uint8_t * buffer, uint8_t len);
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static bool PIOS_IMU3000_Write(uint8_t address, uint8_t buffer);
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static int32_t PIOS_IMU3000_Read(uint8_t address, uint8_t * buffer, uint8_t len);
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static int32_t PIOS_IMU3000_Write(uint8_t address, uint8_t buffer);
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/**
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* @brief Initialize the IMU3000 3-axis gyro sensor.
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@ -109,22 +109,22 @@ static void PIOS_IMU3000_Config(PIOS_IMU3000_ConfigTypeDef * IMU3000_Config_Stru
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// TODO: Add checks against current config so we only update what has changed
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// FIFO storage
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while (!PIOS_IMU3000_Write(PIOS_IMU3000_FIFO_EN_REG, IMU3000_Config_Struct->Fifo_store)) ;
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while (PIOS_IMU3000_Write(PIOS_IMU3000_FIFO_EN_REG, IMU3000_Config_Struct->Fifo_store) != 0);
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// Sample rate divider
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while (!PIOS_IMU3000_Write(PIOS_IMU3000_SMPLRT_DIV_REG, IMU3000_Config_Struct->Smpl_rate_div)) ;
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while (PIOS_IMU3000_Write(PIOS_IMU3000_SMPLRT_DIV_REG, IMU3000_Config_Struct->Smpl_rate_div) != 0) ;
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// Digital low-pass filter and scale
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while (!PIOS_IMU3000_Write(PIOS_IMU3000_DLPF_CFG_REG, IMU3000_Config_Struct->DigLPF_Scale)) ;
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while (PIOS_IMU3000_Write(PIOS_IMU3000_DLPF_CFG_REG, IMU3000_Config_Struct->DigLPF_Scale) != 0) ;
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// Interrupt configuration
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while (!PIOS_IMU3000_Write(PIOS_IMU3000_INT_CFG_REG, IMU3000_Config_Struct->Interrupt_cfg)) ;
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while (PIOS_IMU3000_Write(PIOS_IMU3000_INT_CFG_REG, IMU3000_Config_Struct->Interrupt_cfg) != 0) ;
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// Interrupt configuration
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while (!PIOS_IMU3000_Write(PIOS_IMU3000_USER_CTRL_REG, IMU3000_Config_Struct->User_ctl)) ;
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while (PIOS_IMU3000_Write(PIOS_IMU3000_USER_CTRL_REG, IMU3000_Config_Struct->User_ctl) != 0) ;
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// Interrupt configuration
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while (!PIOS_IMU3000_Write(PIOS_IMU3000_PWR_MGMT_REG, IMU3000_Config_Struct->Pwr_mgmt_clk)) ;
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while (PIOS_IMU3000_Write(PIOS_IMU3000_PWR_MGMT_REG, IMU3000_Config_Struct->Pwr_mgmt_clk) != 0) ;
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}
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/**
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@ -140,12 +140,13 @@ uint8_t PIOS_IMU3000_ReadGyros(struct pios_imu3000_data * data)
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/**
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* @brief Read the identification bytes from the IMU3000 sensor
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* \return ID read from IMU3000
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* \return ID read from IMU3000 or -1 if failure
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*/
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uint8_t PIOS_IMU3000_ReadID()
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int32_t PIOS_IMU3000_ReadID()
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{
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uint8_t id;
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while (!PIOS_IMU3000_Read(0x00, &id, 1)) ;
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if(PIOS_IMU3000_Read(0x00, &id, 1) != 0)
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return -1;
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return id;
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}
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@ -158,7 +159,7 @@ uint8_t PIOS_IMU3000_ReadID()
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* \return -1 if error during I2C transfer
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* \return -4 if invalid length
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*/
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static bool PIOS_IMU3000_Read(uint8_t address, uint8_t * buffer, uint8_t len)
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static int32_t PIOS_IMU3000_Read(uint8_t address, uint8_t * buffer, uint8_t len)
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{
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uint8_t addr_buffer[] = {
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address,
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@ -182,7 +183,7 @@ static bool PIOS_IMU3000_Read(uint8_t address, uint8_t * buffer, uint8_t len)
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}
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};
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return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
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return PIOS_I2C_Transfer(PIOS_I2C_GYRO_ADAPTER, txn_list, NELEMENTS(txn_list)) ? 0 : -1;
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}
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/**
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@ -192,7 +193,7 @@ static bool PIOS_IMU3000_Read(uint8_t address, uint8_t * buffer, uint8_t len)
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* \return 0 if operation was successful
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* \return -1 if error during I2C transfer
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*/
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static bool PIOS_IMU3000_Write(uint8_t address, uint8_t buffer)
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static int32_t PIOS_IMU3000_Write(uint8_t address, uint8_t buffer)
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{
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uint8_t data[] = {
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address,
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@ -210,7 +211,7 @@ static bool PIOS_IMU3000_Write(uint8_t address, uint8_t buffer)
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,
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};
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return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
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return PIOS_I2C_Transfer(PIOS_I2C_GYRO_ADAPTER, txn_list, NELEMENTS(txn_list)) ? 0 : -1;
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}
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/**
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@ -221,7 +222,15 @@ static bool PIOS_IMU3000_Write(uint8_t address, uint8_t buffer)
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uint8_t PIOS_IMU3000_Test(void)
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{
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/* Verify that ID matches (IMU3000 ID is 0x69) */
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return ( !(0x69 ^ PIOS_IMU3000_ReadID()) );
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int32_t id = 0;
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id = PIOS_IMU3000_ReadID();
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if(id < 0)
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return -1;
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if(id != PIOS_IMU3000_I2C_ADDR)
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return -2;
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return 0;
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}
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/**
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@ -120,7 +120,7 @@ struct pios_imu3000_data {
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extern void PIOS_IMU3000_Init(void);
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extern bool PIOS_IMU3000_NewDataAvailable(void);
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extern uint8_t PIOS_IMU3000_ReadGyros(struct pios_imu3000_data * data);
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extern uint8_t PIOS_IMU3000_ReadID();
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extern int32_t PIOS_IMU3000_ReadID();
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extern uint8_t PIOS_IMU3000_Test();
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#endif /* PIOS_IMU3000_H */
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@ -143,6 +143,22 @@
|
||||
659885AD138450D2006777AA /* link_STM3210E_INS_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM3210E_INS_sections.ld; sourceTree = "<group>"; };
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||||
659885AE138450D2006777AA /* link_STM3210E_INS_BL_sections.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM3210E_INS_BL_sections.ld; sourceTree = "<group>"; };
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||||
659885AF138450D2006777AA /* link_STM3210E_INS_memory.ld */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = link_STM3210E_INS_memory.ld; sourceTree = "<group>"; };
|
||||
659885CF13845855006777AA /* pios_imu3000.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_imu3000.c; sourceTree = "<group>"; };
|
||||
659885D013845855006777AA /* pios_hmc5883.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_hmc5883.c; sourceTree = "<group>"; };
|
||||
659885D113845855006777AA /* pios_bma180.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_bma180.c; sourceTree = "<group>"; };
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||||
659885D213845855006777AA /* pios_bl_helper.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_bl_helper.c; sourceTree = "<group>"; };
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||||
659885D313845855006777AA /* pios_i2c_esc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_i2c_esc.c; sourceTree = "<group>"; };
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||||
659885D413845855006777AA /* pios_hcsr04.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_hcsr04.c; sourceTree = "<group>"; };
|
||||
65988600138467D4006777AA /* pios_imu3000.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_imu3000.h; sourceTree = "<group>"; };
|
||||
65988601138467D4006777AA /* pios_ppm_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_ppm_priv.h; sourceTree = "<group>"; };
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||||
65988602138467D4006777AA /* pios_hmc5883.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_hmc5883.h; sourceTree = "<group>"; };
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||||
65988603138467D4006777AA /* pios_bma180.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_bma180.h; sourceTree = "<group>"; };
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||||
65988604138467D4006777AA /* pios_bl_helper.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_bl_helper.h; sourceTree = "<group>"; };
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65988605138467D4006777AA /* pios_spektrum_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_spektrum_priv.h; sourceTree = "<group>"; };
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||||
65988606138467D4006777AA /* pios_initcall.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_initcall.h; sourceTree = "<group>"; };
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65988607138467D4006777AA /* pios_iap.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_iap.h; sourceTree = "<group>"; };
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65988608138467D4006777AA /* pios_i2c_esc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_i2c_esc.h; sourceTree = "<group>"; };
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65988609138467D4006777AA /* pios_hcsr04.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_hcsr04.h; sourceTree = "<group>"; };
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659ED317122226B60011010E /* ahrssettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrssettings.xml; sourceTree = "<group>"; };
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65B35D7F121C261E003EAD18 /* bin.pro */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = bin.pro; sourceTree = "<group>"; };
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65B35D80121C261E003EAD18 /* openpilotgcs */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.script.sh; path = openpilotgcs; sourceTree = "<group>"; };
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||||
@ -7750,17 +7766,23 @@
|
||||
65E8F03011EFF25C00BBF654 /* Common */ = {
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||||
isa = PBXGroup;
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children = (
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654612D812B5E9A900B719D0 /* pios_iap.c */,
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6528CCB412E406B800CF5144 /* pios_adxl345.c */,
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||||
659885D213845855006777AA /* pios_bl_helper.c */,
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||||
659885D113845855006777AA /* pios_bma180.c */,
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||||
65E8F03111EFF25C00BBF654 /* pios_bmp085.c */,
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||||
65E8F03211EFF25C00BBF654 /* pios_com.c */,
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||||
6512D60712ED4CB8008175E5 /* pios_flash_w25x.c */,
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||||
65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */,
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||||
65E8F03311EFF25C00BBF654 /* pios_hmc5843.c */,
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659885D013845855006777AA /* pios_hmc5883.c */,
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659885D413845855006777AA /* pios_hcsr04.c */,
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659885CF13845855006777AA /* pios_imu3000.c */,
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659885D313845855006777AA /* pios_i2c_esc.c */,
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654612D812B5E9A900B719D0 /* pios_iap.c */,
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65E8F03411EFF25C00BBF654 /* pios_opahrs.c */,
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65E8F03511EFF25C00BBF654 /* pios_opahrs_proto.c */,
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||||
65E8F03611EFF25C00BBF654 /* pios_sdcard.c */,
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||||
65E8F03711EFF25C00BBF654 /* printf-stdarg.c */,
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||||
6528CCB412E406B800CF5144 /* pios_adxl345.c */,
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6512D60712ED4CB8008175E5 /* pios_flash_w25x.c */,
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65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */,
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||||
);
|
||||
name = Common;
|
||||
path = ../../PiOS/Common;
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||||
@ -7769,6 +7791,16 @@
|
||||
65E8F03811EFF25C00BBF654 /* inc */ = {
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isa = PBXGroup;
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children = (
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65988600138467D4006777AA /* pios_imu3000.h */,
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65988601138467D4006777AA /* pios_ppm_priv.h */,
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65988602138467D4006777AA /* pios_hmc5883.h */,
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65988603138467D4006777AA /* pios_bma180.h */,
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65988604138467D4006777AA /* pios_bl_helper.h */,
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65988605138467D4006777AA /* pios_spektrum_priv.h */,
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65988606138467D4006777AA /* pios_initcall.h */,
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||||
65988607138467D4006777AA /* pios_iap.h */,
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65988608138467D4006777AA /* pios_i2c_esc.h */,
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65988609138467D4006777AA /* pios_hcsr04.h */,
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6528CCE212E40F6700CF5144 /* pios_adxl345.h */,
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6512D60512ED4CA2008175E5 /* pios_flash_w25x.h */,
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||||
6526645B122DF972006F9A3C /* pios_wdg.h */,
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||||
|
||||
Loading…
Reference in New Issue
Block a user