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CC mag&baro for OSD, bmp needed some black magic hacking

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This commit is contained in:
Sambas 2012-06-24 21:56:43 +03:00
parent 44a3dad912
commit 79be7613b5
13 changed files with 480 additions and 20 deletions
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41
flight/Modules/Extensions/MagBaro/inc/magbaro.h Normal file
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@ -0,0 +1,41 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AltitudeModule Altitude Module
* @brief Communicate with BMP085 and update @ref AltitudeActual "AltitudeActual UAV Object"
* @{
*
* @file altitude.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Altitude module, reads temperature and pressure from BMP085
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef MAGBARO_H
#define MAGBARO_H
int32_t MagBaroInitialize();
#endif // ALTITUDE_H
/**
* @}
* @}
*/

218
flight/Modules/Extensions/MagBaro/magbaro.c Normal file
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@ -0,0 +1,218 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AltitudeModule Altitude Module
* @brief Communicate with BMP085 and update @ref BaroAltitude "BaroAltitude UAV Object"
* @{
*
* @file altitude.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Altitude module, handles temperature and pressure readings from BMP085
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/**
* Output object: BaroAltitude
*
* This module will periodically update the value of the BaroAltitude object.
*
*/
#include "openpilot.h"
#include "hwsettings.h"
#include "magbaro.h"
#include "baroaltitude.h" // object that will be updated by the module
#include "magnetometer.h"
// Private constants
#define STACK_SIZE_BYTES 620
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
#define UPDATE_PERIOD 50
// Private types
// Private variables
static xTaskHandle taskHandle;
// down sampling variables
#define alt_ds_size 4
static int32_t alt_ds_temp = 0;
static int32_t alt_ds_pres = 0;
static int alt_ds_count = 0;
int32_t mag_test;
static bool magbaroEnabled;
static float mag_bias[3] = {0,0,0};
static float mag_scale[3] = {1,1,1};
// Private functions
static void magbaroTask(void *parameters);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t MagBaroStart()
{
if (magbaroEnabled) {
// Start main task
xTaskCreate(magbaroTask, (signed char *)"MagBaro", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_MAGBARO, taskHandle);
return 0;
}
return -1;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t MagBaroInitialize()
{
#ifdef MODULE_MagBaro_BUILTIN
magbaroEnabled = 1;
#else
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_MAGBARO] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
magbaroEnabled = 1;
} else {
magbaroEnabled = 0;
}
#endif
if(magbaroEnabled)
{
MagnetometerInitialize();
BaroAltitudeInitialize();
// init down-sampling data
alt_ds_temp = 0;
alt_ds_pres = 0;
alt_ds_count = 0;
}
return 0;
}
MODULE_INITCALL(MagBaroInitialize, MagBaroStart)
/**
* Module thread, should not return.
*/
static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
#ifdef PIOS_HMC5883_HAS_GPIOS
.exti_cfg = 0,
#endif
.M_ODR = PIOS_HMC5883_ODR_15,
.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
.Gain = PIOS_HMC5883_GAIN_1_9,
.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
};
static void magbaroTask(void *parameters)
{
BaroAltitudeData data;
portTickType lastSysTime;
#if defined(PIOS_INCLUDE_BMP085)
PIOS_BMP085_Init();
#endif
#if defined(PIOS_INCLUDE_HMC5883)
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
#endif
#if defined(PIOS_INCLUDE_HMC5883)
//mag_test = PIOS_HMC5883_Test();
#else
mag_test = 0;
#endif
// Main task loop
lastSysTime = xTaskGetTickCount();
uint32_t mag_update_time = PIOS_DELAY_GetRaw();
while (1)
{
#if defined(PIOS_INCLUDE_BMP085)
// Update the temperature data
PIOS_BMP085_StartADC(TemperatureConv);
#ifdef PIOS_BMP085_HAS_GPIOS
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
#else
vTaskDelay(5 / portTICK_RATE_MS);
#endif
PIOS_BMP085_ReadADC();
alt_ds_temp += PIOS_BMP085_GetTemperature();
// Update the pressure data
PIOS_BMP085_StartADC(PressureConv);
#ifdef PIOS_BMP085_HAS_GPIOS
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
#else
vTaskDelay(26 / portTICK_RATE_MS);
#endif
PIOS_BMP085_ReadADC();
alt_ds_pres += PIOS_BMP085_GetPressure();
if (++alt_ds_count >= alt_ds_size)
{
alt_ds_count = 0;
// Convert from 1/10ths of degC to degC
data.Temperature = alt_ds_temp / (10.0 * alt_ds_size);
alt_ds_temp = 0;
// Convert from Pa to kPa
data.Pressure = alt_ds_pres / (1000.0f * alt_ds_size);
alt_ds_pres = 0;
// Compute the current altitude (all pressures in kPa)
data.Altitude = 44330.0 * (1.0 - powf((data.Pressure / (BMP085_P0 / 1000.0)), (1.0 / 5.255)));
// Update the AltitudeActual UAVObject
BaroAltitudeSet(&data);
}
#endif
#if defined(PIOS_INCLUDE_HMC5883)
MagnetometerData mag;
if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 100000) {
int16_t values[3];
PIOS_HMC5883_ReadMag(values);
float mags[3] = {(float) values[1] * mag_scale[0] - mag_bias[0],
(float) values[0] * mag_scale[1] - mag_bias[1],
-(float) values[2] * mag_scale[2] - mag_bias[2]};
mag.x = mags[0];
mag.y = mags[1];
mag.z = mags[2];
MagnetometerSet(&mag);
mag_update_time = PIOS_DELAY_GetRaw();
}
#endif
// Delay until it is time to read the next sample
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS);
}
}
/**
* @}
* @}
*/

2
flight/Modules/Osd/osdgen/osdgen.c
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@ -2313,7 +2313,7 @@ int32_t osdgenStart(void)
// Start gps task
vSemaphoreCreateBinary( osdSemaphore);
xTaskCreate(osdgenTask, (signed char *)"OSDGEN", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &osdgenTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, osdgenTaskHandle);
//TaskMonitorAdd(TASKINFO_RUNNING_GPS, osdgenTaskHandle);
return 0;
}

2
flight/Modules/Osd/osdinput/osdinput.c
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@ -85,7 +85,7 @@ int32_t OpOsdStart(void)
{
// Start gps task
xTaskCreate(OpOsdTask, (signed char *)"OSD", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &OpOsdTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, OpOsdTaskHandle);
//TaskMonitorAdd(TASKINFO_RUNNING_GPS, OpOsdTaskHandle);
return 0;
}

66
flight/OSD/Makefile
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@ -48,10 +48,53 @@ endif
FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = Osd/osdgen GPS
# Optional module and driver defaults
USE_CAMERASTAB ?= NO
USE_COMUSBBRIDGE ?= NO
USE_GPS ?= NO
USE_TXPID ?= NO
USE_I2C ?= NO
USE_ALTITUDE ?= NO
TEST_FAULTS ?= NO
USE_MAGBARO ?= NO
# List of optional modules to include
OPTMODULES =
ifeq ($(USE_CAMERASTAB), YES)
OPTMODULES += CameraStab
endif
ifeq ($(USE_COMUSBBRIDGE), YES)
OPTMODULES += ComUsbBridge
endif
ifeq ($(USE_GPS), YES)
OPTMODULES += GPS
endif
ifeq ($(USE_TXPID), YES)
OPTMODULES += TxPID
endif
ifeq ($(USE_ALTITUDE), YES)
ifeq ($(USE_I2C), YES)
OPTMODULES += Altitude
else
$(error "Altitude module (USE_ALTITUDE=YES) requires i2c (USE_I2C=YES)")
endif
endif
ifeq ($(TEST_FAULTS), YES)
OPTMODULES += Fault
endif
ifeq ($(USE_MAGBARO), YES)
ifeq ($(USE_I2C), YES)
OPTMODULES += Extensions/MagBaro
else
$(error "MagBaro module (USE_MAGBARO=YES) requires i2c (USE_I2C=YES)")
endif
endif
# List of mandatory modules to include
MODULES = Osd/osdgen
MODULES += GPS
MODULES += Osd/osdinput
MODULES += Extensions/MagBaro
MODULES += Telemetry
MODULES += FirmwareIAP
@ -94,6 +137,7 @@ OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
# use file-extension c for "c-only"-files
## MODULES
SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
## OPENPILOT CORE:
SRC += ${OPMODULEDIR}/System/systemmod.c
@ -135,8 +179,8 @@ SRC += $(OPUAVSYNTHDIR)/systemsettings.c
#SRC += $(OPUAVSYNTHDIR)/attituderaw.c
SRC += $(OPUAVSYNTHDIR)/attitudeactual.c
#SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
#SRC += $(OPUAVSYNTHDIR)/i2cstats.c
#S#RC += $(OPUAVSYNTHDIR)/watchdogstatus.c
SRC += $(OPUAVSYNTHDIR)/i2cstats.c
SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
#SRC += $(OPUAVSYNTHDIR)/telemetrysettings.c
#SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
#SRC += $(OPUAVSYNTHDIR)/mixersettings.c
@ -157,10 +201,13 @@ SRC += $(OPUAVSYNTHDIR)/gpssettings.c
SRC += $(OPUAVSYNTHDIR)/gpsvelocity.c
SRC += $(OPUAVSYNTHDIR)/gpstime.c
SRC += $(OPUAVSYNTHDIR)/osdsettings.c
SRC += $(OPUAVSYNTHDIR)/baroaltitude.c
SRC += $(OPUAVSYNTHDIR)/magnetometer.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_com.c
#SRC += $(PIOSCOMMON)/pios_hmc5843.c
SRC += $(PIOSCOMMON)/pios_bmp085.c
SRC += $(PIOSCOMMON)/pios_hmc5883.c
#SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(PIOSCOMMON)/printf2.c
SRC += $(PIOSCOMMON)/pios_crc.c
@ -228,7 +275,7 @@ EXTRAINCDIRS += $(OPUAVSYNTHDIR)
EXTRAINCDIRS += $(BOOTINC)
EXTRAINCDIRS += $(HWDEFSINC)
EXTRAINCDIRS += ${foreach MOD, ${MODULES}, ${OPMODULEDIR}/${MOD}/inc} ${OPMODULEDIR}/System/inc
EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES}, ${OPMODULEDIR}/${MOD}/inc} ${OPMODULEDIR}/System/inc
# List any extra directories to look for library files here.
# Also add directories where the linker should search for
@ -266,8 +313,8 @@ endif
CFLAGS += $(ARCHFLAGS)
#CFLAGS += -DDIAGNOSTICS
#CFLAGS += -DDIAG_TASKS
CFLAGS += -DDIAGNOSTICS
CFLAGS += -DDIAG_TASKS
# This is not the best place for these. Really should abstract out
# to the board file or something
@ -292,6 +339,9 @@ CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD)
# Declare all non-optional modules as built-in to force inclusion
CDEFS += $(foreach MOD, $(notdir $(MODULES)), -DMODULE_$(MOD)_BUILTIN)
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER

4
flight/OSD/System/inc/pios_config.h
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@ -35,7 +35,7 @@
/* Enable/Disable PiOS Modules */
#define PIOS_INCLUDE_ADC
#define PIOS_INCLUDE_DELAY
//#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_IAP
@ -57,6 +57,8 @@
#define PIOS_INCLUDE_COM_AUX
#define PIOS_INCLUDE_GPS
//#define PIOS_OVERO_SPI
#define PIOS_INCLUDE_BMP085
#define PIOS_INCLUDE_HMC5883
/* Supported receiver interfaces */
//#define PIOS_INCLUDE_RCVR

53
flight/OSD/System/pios_board.c
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@ -247,6 +247,7 @@ void PIOS_Board_Init(void) {
EventDispatcherInitialize();
UAVObjInitialize();
HwSettingsInitialize();
/* Initialize the alarms library */
AlarmsInitialize();
@ -459,6 +460,58 @@ void PIOS_Board_Init(void) {
#endif /* PIOS_INCLUDE_COM */
/* Configure FlexiPort */
/* uint8_t hwsettings_rv_flexiport;
HwSettingsRV_FlexiPortGet(&hwsettings_rv_flexiport);
switch (hwsettings_rv_flexiport) {
case HWSETTINGS_RV_FLEXIPORT_DISABLED:
break;
case HWSETTINGS_RV_FLEXIPORT_I2C:*/
#if defined(PIOS_INCLUDE_I2C)
{
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_I2C */
/* break;
case HWSETTINGS_RV_FLEXIPORT_DSM2:
case HWSETTINGS_RV_FLEXIPORT_DSMX10BIT:
case HWSETTINGS_RV_FLEXIPORT_DSMX11BIT:
{
enum pios_dsm_proto proto;
switch (hwsettings_rv_flexiport) {
case HWSETTINGS_RV_FLEXIPORT_DSM2:
proto = PIOS_DSM_PROTO_DSM2;
break;
case HWSETTINGS_RV_FLEXIPORT_DSMX10BIT:
proto = PIOS_DSM_PROTO_DSMX10BIT;
break;
case HWSETTINGS_RV_FLEXIPORT_DSMX11BIT:
proto = PIOS_DSM_PROTO_DSMX11BIT;
break;
default:
PIOS_Assert(0);
break;
}
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg,
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
}
break;
case HWSETTINGS_RV_FLEXIPORT_COMAUX:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
break;
case HWSETTINGS_RV_FLEXIPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
}*/
/* hwsettings_rv_flexiport */
#if 1
/* Preconfiguration before using DAC----------------------------------------*/
GPIO_InitTypeDef GPIO_InitStructure;

14
flight/PiOS/Boards/STM32F4xx_OSD.h
View File

@ -267,5 +267,19 @@ extern uint32_t pios_com_telem_usb_id;
#define PIOS_USB_ENABLED 1 /* Should remove all references to this */
#define PIOS_USB_HID_MAX_DEVS 1
//------------------------
// PIOS_I2C
// See also pios_board.c
//------------------------
#define PIOS_I2C_MAX_DEVS 1
extern uint32_t pios_i2c_flexiport_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexiport_adapter_id)
#define PIOS_I2C_ESC_ADAPTER (pios_i2c_flexiport_adapter_id)
#define PIOS_I2C_BMP085_ADAPTER (pios_i2c_flexiport_adapter_id)
//------------------------
// PIOS_BMP085
//------------------------
#define PIOS_BMP085_OVERSAMPLING 3
#endif /* PIOS_BOARD_H */

16
flight/PiOS/Common/pios_bmp085.c
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@ -141,8 +141,8 @@ void PIOS_BMP085_Init(void)
/* Read all 22 bytes of calibration data in one transfer, this is a very optimized way of doing things */
uint8_t Data[BMP085_CALIB_LEN];
while (!PIOS_BMP085_Read(BMP085_CALIB_ADDR, Data, BMP085_CALIB_LEN))
continue;
PIOS_BMP085_Read(BMP085_CALIB_ADDR, Data, BMP085_CALIB_LEN);
// continue;
/* Parameters AC1-AC6 */
CalibData.AC1 = (Data[0] << 8) | Data[1];
@ -171,10 +171,10 @@ void PIOS_BMP085_StartADC(ConversionTypeTypeDef Type)
{
/* Start the conversion */
if (Type == TemperatureConv) {
while (!PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_TEMP_ADDR))
while (PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_TEMP_ADDR) != 0)
continue;
} else if (Type == PressureConv) {
while (!PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_PRES_ADDR))
while (PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_PRES_ADDR) != 0)
continue;
}
@ -196,8 +196,8 @@ void PIOS_BMP085_ReadADC(void)
/* Read and store the 16bit result */
if (CurrentRead == TemperatureConv) {
/* Read the temperature conversion */
while (!PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 2))
continue;
PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 2);
// continue;
RawTemperature = ((Data[0] << 8) | Data[1]);
X1 = (RawTemperature - CalibData.AC6) * CalibData.AC5 >> 15;
@ -206,8 +206,8 @@ void PIOS_BMP085_ReadADC(void)
Temperature = (B5 + 8) >> 4;
} else {
/* Read the pressure conversion */
while (!PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 3))
continue;
PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 3);
// continue;
RawPressure = ((Data[0] << 16) | (Data[1] << 8) | Data[2]) >> (8 - BMP085_OVERSAMPLING);
B6 = B5 - 4000;

4
flight/PiOS/Common/pios_hmc5883.c
View File

@ -54,8 +54,10 @@ void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg * cfg)
{
dev_cfg = cfg; // store config before enabling interrupt
#ifdef PIOS_HMC5883_HAS_GPIOS
PIOS_EXTI_Init(cfg->exti_cfg);
#endif
int32_t val = PIOS_HMC5883_Config(cfg);
PIOS_Assert(val == 0);

2
flight/PiOS/inc/pios_hmc5883.h
View File

@ -93,7 +93,9 @@
struct pios_hmc5883_cfg {
#ifdef PIOS_HMC5883_HAS_GPIOS
const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
#endif
uint8_t M_ODR; /* OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
uint8_t Meas_Conf; /* Measurement Configuration,: Normal, positive bias, or negative bias --> here below the relative define */
uint8_t Gain; /* Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */

1
flight/Revolution/System/inc/pios_config.h
View File

@ -59,6 +59,7 @@
/* Select the sensors to include */
#define PIOS_INCLUDE_BMA180
#define PIOS_INCLUDE_HMC5883
#define PIOS_HMC5883_HAS_GPIOS
#define PIOS_INCLUDE_MPU6000
#define PIOS_MPU6000_ACCEL
#define PIOS_INCLUDE_L3GD20

77
flight/board_hw_defs/osd/board_hw_defs.c
View File

@ -223,6 +223,83 @@ static const struct pios_usart_cfg pios_usart_telem_main_cfg = {
#endif /* PIOS_INCLUDE_COM */
#if defined(PIOS_INCLUDE_I2C)
#include <pios_i2c_priv.h>
/*
* I2C Adapters
*/
void PIOS_I2C_flexiport_adapter_ev_irq_handler(void);
void PIOS_I2C_flexiport_adapter_er_irq_handler(void);
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_ev_irq_handler")));
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexiport_adapter_er_irq_handler")));
static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = {
.regs = I2C2,
.remap = GPIO_AF_I2C2,
.init = {
.I2C_Mode = I2C_Mode_I2C,
.I2C_OwnAddress1 = 0,
.I2C_Ack = I2C_Ack_Enable,
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
.I2C_DutyCycle = I2C_DutyCycle_2,
.I2C_ClockSpeed = 400000, /* bits/s */
},
.transfer_timeout_ms = 50,
.scl = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.sda = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.event = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_EV_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.error = {
.flags = 0, /* FIXME: check this */
.init = {
.NVIC_IRQChannel = I2C2_ER_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
};
uint32_t pios_i2c_flexiport_adapter_id;
void PIOS_I2C_flexiport_adapter_ev_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexiport_adapter_id);
}
void PIOS_I2C_flexiport_adapter_er_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexiport_adapter_id);
}
#endif
#if defined(PIOS_INCLUDE_RTC)
/*