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Code Issues Releases Activity

AHRS: Add interface to get old dump_raw function working for Pip

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2305 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-12-28 17:48:45 +00:00 committed by peabody124
parent c396279a37
commit 7ccdb296ac
4 changed files with 24 additions and 13 deletions
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22
flight/AHRS/ahrs.c
View File

@ -49,7 +49,6 @@
// For debugging the raw sensors // For debugging the raw sensors
//#define DUMP_RAW //#define DUMP_RAW
//#define DUMP_FRIENDLY
//#define DUMP_EKF //#define DUMP_EKF
volatile int8_t ahrs_algorithm; volatile int8_t ahrs_algorithm;
@ -418,29 +417,30 @@ void print_ekf_binary() {}
*/ */
void print_ahrs_raw() void print_ahrs_raw()
{ {
/*int result; int result;
static int previous_conversion = 0; static int previous_conversion = 0;
int16_t * valid_data_buffer;
uint8_t framing[16] = uint8_t framing[16] =
{ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14,
15 }; 15 };
while (ahrs_state != AHRS_DATA_READY) ;
ahrs_state = AHRS_PROCESSING;
get_accel_gyro_data();
valid_data_buffer = AHRS_ADC_GetRawBuffer();
if (total_conversion_blocks != previous_conversion + 1) if (total_conversion_blocks != previous_conversion + 1)
PIOS_LED_On(LED1); // not keeping up PIOS_LED_On(LED1); // not keeping up
else else
PIOS_LED_Off(LED1); PIOS_LED_Off(LED1);
previous_conversion = total_conversion_blocks; previous_conversion = total_conversion_blocks;
downsample_data();
ahrs_state = AHRS_IDLE;;
// Dump raw buffer // Dump raw buffer
result = PIOS_COM_SendBuffer(PIOS_COM_AUX, &framing[0], 16); // framing header result = PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, &framing[0], 16); // framing header
result += PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & total_conversion_blocks, sizeof(total_conversion_blocks)); // dump block number result += PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *) & total_conversion_blocks, sizeof(total_conversion_blocks)); // dump block number
result += result +=
PIOS_COM_SendBuffer(PIOS_COM_AUX, PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX,
(uint8_t *) & valid_data_buffer[0], (uint8_t *) & valid_data_buffer[0],
adc_oversampling * adc_oversampling *
PIOS_ADC_NUM_PINS * PIOS_ADC_NUM_PINS *
@ -449,7 +449,7 @@ void print_ahrs_raw()
PIOS_LED_Off(LED1); PIOS_LED_Off(LED1);
else { else {
PIOS_LED_On(LED1); PIOS_LED_On(LED1);
} */ }
} }
/** /**

8
flight/AHRS/ahrs_adc.c
View File

@ -218,6 +218,14 @@ float * AHRS_ADC_GetBuffer()
return downsampled_buffer; return downsampled_buffer;
} }
/**
* @brief Return the address of the raw data data buffer
*/
int16_t * AHRS_ADC_GetRawBuffer()
{
return (int16_t *) adc_config.valid_data_buffer;
}
/** /**
* @brief Set the fir coefficients. Takes as many samples as the * @brief Set the fir coefficients. Takes as many samples as the
* current filter order plus one (normalization) * current filter order plus one (normalization)

1
flight/AHRS/inc/ahrs_adc.h
View File

@ -48,5 +48,6 @@ void AHRS_ADC_DMA_Handler(void);
void AHRS_ADC_SetCallback(ADCCallback); void AHRS_ADC_SetCallback(ADCCallback);
void AHRS_ADC_SetFIRCoefficients(float * new_filter); void AHRS_ADC_SetFIRCoefficients(float * new_filter);
float * AHRS_ADC_GetBuffer(); float * AHRS_ADC_GetBuffer();
int16_t * AHRS_ADC_GetRawBuffer();
#endif #endif

6
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -10,6 +10,8 @@
65003B2D1212499100C183DD /* watchdog.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = watchdog.h; sourceTree = "<group>"; }; 65003B2D1212499100C183DD /* watchdog.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = watchdog.h; sourceTree = "<group>"; };
65003B2E1212499100C183DD /* watchdog.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = watchdog.c; sourceTree = "<group>"; }; 65003B2E1212499100C183DD /* watchdog.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = watchdog.c; sourceTree = "<group>"; };
65003B31121249CA00C183DD /* pios_wdg.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_wdg.c; sourceTree = "<group>"; }; 65003B31121249CA00C183DD /* pios_wdg.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_wdg.c; sourceTree = "<group>"; };
6502584212CA4D2600583CDF /* insgps13state.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = insgps13state.c; path = ../../AHRS/insgps13state.c; sourceTree = SOURCE_ROOT; };
6509C7E912CA57DC002E5DC2 /* insgps16state.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = insgps16state.c; path = ../../AHRS/insgps16state.c; sourceTree = SOURCE_ROOT; };
651913371256C5240039C0A3 /* ahrs_comm_objects.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_comm_objects.c; sourceTree = "<group>"; }; 651913371256C5240039C0A3 /* ahrs_comm_objects.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_comm_objects.c; sourceTree = "<group>"; };
651913381256C5240039C0A3 /* ahrs_spi_comm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_spi_comm.c; sourceTree = "<group>"; }; 651913381256C5240039C0A3 /* ahrs_spi_comm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_spi_comm.c; sourceTree = "<group>"; };
6519133A1256C52B0039C0A3 /* ahrs_comm_objects.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_comm_objects.h; sourceTree = "<group>"; }; 6519133A1256C52B0039C0A3 /* ahrs_comm_objects.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_comm_objects.h; sourceTree = "<group>"; };
@ -36,7 +38,6 @@
65322D77122897210046CD7C /* MagOrAccelSensorCal.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = MagOrAccelSensorCal.c; path = ../../AHRS/MagOrAccelSensorCal.c; sourceTree = SOURCE_ROOT; }; 65322D77122897210046CD7C /* MagOrAccelSensorCal.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = MagOrAccelSensorCal.c; path = ../../AHRS/MagOrAccelSensorCal.c; sourceTree = SOURCE_ROOT; };
65345C871288668B00A5E4E8 /* guidancesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = guidancesettings.xml; sourceTree = "<group>"; }; 65345C871288668B00A5E4E8 /* guidancesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = guidancesettings.xml; sourceTree = "<group>"; };
65408AA812BB1648004DACC5 /* i2cstats.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = i2cstats.xml; sourceTree = "<group>"; }; 65408AA812BB1648004DACC5 /* i2cstats.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = i2cstats.xml; sourceTree = "<group>"; };
654330231218E9780063F913 /* insgps.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = insgps.c; path = ../../AHRS/insgps.c; sourceTree = SOURCE_ROOT; };
6543304F121980300063F913 /* insgps.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = insgps.h; sourceTree = "<group>"; }; 6543304F121980300063F913 /* insgps.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = insgps.h; sourceTree = "<group>"; };
654612D812B5E9A900B719D0 /* pios_iap.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_iap.c; sourceTree = "<group>"; }; 654612D812B5E9A900B719D0 /* pios_iap.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_iap.c; sourceTree = "<group>"; };
6549E0D21279B3C800C5476F /* fifo_buffer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = fifo_buffer.c; sourceTree = "<group>"; }; 6549E0D21279B3C800C5476F /* fifo_buffer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = fifo_buffer.c; sourceTree = "<group>"; };
@ -6808,8 +6809,9 @@
65B7E6AC120DF1CD000C1123 /* AHRS */ = { 65B7E6AC120DF1CD000C1123 /* AHRS */ = {
isa = PBXGroup; isa = PBXGroup;
children = ( children = (
6509C7E912CA57DC002E5DC2 /* insgps16state.c */,
6502584212CA4D2600583CDF /* insgps13state.c */,
65322D77122897210046CD7C /* MagOrAccelSensorCal.c */, 65322D77122897210046CD7C /* MagOrAccelSensorCal.c */,
654330231218E9780063F913 /* insgps.c */,
65FC65BE123F209400B04F74 /* ahrs_adc.c */, 65FC65BE123F209400B04F74 /* ahrs_adc.c */,
65FC66AA123F30F100B04F74 /* ahrs_timer.c */, 65FC66AA123F30F100B04F74 /* ahrs_timer.c */,
65B7E6AE120DF1E2000C1123 /* ahrs.c */, 65B7E6AE120DF1E2000C1123 /* ahrs.c */,