rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-18 08:54:15 +01:00
Code Issues Releases Activity

Give the BMA180 a dynamically allocated device structure and also make it

Browse Source 
properly bind to a SPI and slave number.  Temporarily reducing spi bus to
slowest possible speed.
This commit is contained in:
James Cotton 2012-01-24 14:38:00 -06:00
parent aec7dd0b00
commit 8c208412c9
6 changed files with 143 additions and 64 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
flight/CopterControl/System/pios_board.c
View File

@ -80,7 +80,7 @@ static const struct pios_exti_cfg pios_exti_bma180_cfg __exti_config = {
.init = {
.GPIO_Pin = GPIO_Pin_13,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_IPU,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.irq = {
@ -102,6 +102,8 @@ static const struct pios_exti_cfg pios_exti_bma180_cfg __exti_config = {
};
static const struct pios_bma180_cfg pios_bma180_cfg = {
.exti_cfg = &pios_exti_bma180_cfg,
.bandwidth = BMA_BW_600HZ,
.range = BMA_RANGE_8G,
};
#endif /* PIOS_INCLUDE_BMA180 */
@ -118,7 +120,7 @@ static const struct pios_exti_cfg pios_exti_l3gd20_cfg __exti_config = {
.init = {
.GPIO_Pin = GPIO_Pin_3,
.GPIO_Speed = GPIO_Speed_10MHz,
.GPIO_Mode = GPIO_Mode_IPU,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.irq = {
@ -690,13 +692,8 @@ void PIOS_Board_Init(void) {
#endif /* PIOS_INCLUDE_L3GD20 */
#if defined(PIOS_INCLUDE_BMA180)
PIOS_BMA180_Attach(pios_spi_flash_accel_id);
PIOS_BMA180_Init(&pios_bma180_cfg);
PIOS_BMA180_Init(pios_spi_flash_accel_id, 0, &pios_bma180_cfg);
#endif /* PIOS_INCLUDE_BMA180 */
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg_cc3d);
#endif /* PIOS_INCLUDE_LED */
break;
default:
PIOS_Assert(0);

3
flight/Modules/Attitude/attitude.c
View File

@ -397,8 +397,9 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
//
// accel_read_good = PIOS_BMA180_ReadFifo(&accel);
// }
if(PIOS_BMA180_ReadAccels(&accel) < 0)
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;

163
flight/PiOS/Common/pios_bma180.c
View File

@ -35,8 +35,28 @@
#include "fifo_buffer.h"
static uint32_t PIOS_SPI_ACCEL;
enum pios_bma180_dev_magic {
PIOS_BMA180_DEV_MAGIC = 0xcbb93755,
};
#define PIOS_BMA180_MAX_DOWNSAMPLE 10
struct bma180_dev {
uint32_t spi_id;
uint32_t slave_num;
int16_t buffer[PIOS_BMA180_MAX_DOWNSAMPLE * sizeof(struct pios_bma180_data)];
t_fifo_buffer fifo;
const struct pios_bma180_cfg * cfg;
enum bma180_bandwidth bandwidth;
enum bma180_range range;
enum pios_bma180_dev_magic magic;
};
//! Global structure for this device device
static struct bma180_dev * dev;
//! Private functions
static struct bma180_dev * PIOS_BMA180_alloc(void);
static int32_t PIOS_BMA180_Validate(struct bma180_dev * dev);
static int32_t PIOS_BMA180_GetReg(uint8_t reg);
static int32_t PIOS_BMA180_SetReg(uint8_t reg, uint8_t data);
static int32_t PIOS_BMA180_SelectBW(enum bma180_bandwidth bw);
@ -44,30 +64,58 @@ static int32_t PIOS_BMA180_SetRange(enum bma180_range range);
static int32_t PIOS_BMA180_Config();
static int32_t PIOS_BMA180_EnableIrq();
#define PIOS_BMA180_MAX_DOWNSAMPLE 10
static int16_t pios_bma180_buffer[PIOS_BMA180_MAX_DOWNSAMPLE * sizeof(struct pios_bma180_data)];
static t_fifo_buffer pios_bma180_fifo;
static const struct pios_bma180_cfg * dev_cfg;
static enum bma180_range range;
#define GRAV 9.81f
/**
* @brief Initialize with good default settings
* @brief Allocate a new device
*/
int32_t PIOS_BMA180_Init(const struct pios_bma180_cfg * cfg)
static struct bma180_dev * PIOS_BMA180_alloc(void)
{
dev_cfg = cfg; // store config before enabling interrupt
struct bma180_dev * bma180_dev;
fifoBuf_init(&pios_bma180_fifo, (uint8_t *) pios_bma180_buffer, sizeof(pios_bma180_buffer));
bma180_dev = (struct bma180_dev *)pvPortMalloc(sizeof(*bma180_dev));
if (!bma180_dev) return (NULL);
PIOS_EXTI_Init(cfg->exti_cfg);
fifoBuf_init(&bma180_dev->fifo, (uint8_t *) bma180_dev->buffer, sizeof(bma180_dev->buffer));
bma180_dev->magic = PIOS_BMA180_DEV_MAGIC;
return(bma180_dev);
}
/**
* @brief Validate the handle to the spi device
* @returns 0 for valid device or -1 otherwise
*/
static int32_t PIOS_BMA180_Validate(struct bma180_dev * dev)
{
if (dev == NULL)
return -1;
if (dev->magic != PIOS_BMA180_DEV_MAGIC)
return -2;
if (dev->spi_id == 0)
return -3;
return 0;
}
/**
* @brief Initialize with good default settings
* @returns 0 for success, -1 for failure
*/
int32_t PIOS_BMA180_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_bma180_cfg * cfg)
{
dev = PIOS_BMA180_alloc();
if(dev == NULL)
return -1;
dev->spi_id = spi_id;
dev->slave_num = slave_num;
dev->cfg = cfg;
if(PIOS_BMA180_Config() < 0)
return -1;
PIOS_DELAY_WaituS(50);
PIOS_EXTI_Init(dev->cfg->exti_cfg);
while(PIOS_BMA180_EnableIrq() != 0);
return 0;
@ -79,10 +127,15 @@ int32_t PIOS_BMA180_Init(const struct pios_bma180_cfg * cfg)
*/
int32_t PIOS_BMA180_ClaimBus()
{
if(PIOS_SPI_ClaimBus(PIOS_SPI_ACCEL) != 0) {
if(PIOS_BMA180_Validate(dev) != 0)
return -1;
if(PIOS_SPI_ClaimBus(dev->spi_id) != 0) {
return -1;
}
PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0,0);
PIOS_SPI_RC_PinSet(dev->spi_id,dev->slave_num,0);
return 0;
}
@ -92,10 +145,14 @@ int32_t PIOS_BMA180_ClaimBus()
*/
int32_t PIOS_BMA180_ClaimBusISR()
{
if(PIOS_SPI_ClaimBusISR(PIOS_SPI_ACCEL) != 0) {
if(PIOS_BMA180_Validate(dev) != 0)
return -1;
if(PIOS_SPI_ClaimBusISR(dev->spi_id) != 0) {
return -1;
}
PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0,0);
PIOS_SPI_RC_PinSet(dev->spi_id,dev->slave_num,0);
return 0;
}
@ -105,8 +162,12 @@ int32_t PIOS_BMA180_ClaimBusISR()
*/
int32_t PIOS_BMA180_ReleaseBus()
{
PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0,1);
return PIOS_SPI_ReleaseBus(PIOS_SPI_ACCEL);
if(PIOS_BMA180_Validate(dev) != 0)
return -1;
PIOS_SPI_RC_PinSet(dev->spi_id,dev->slave_num,1);
return PIOS_SPI_ReleaseBus(dev->spi_id);
}
/**
@ -116,13 +177,16 @@ int32_t PIOS_BMA180_ReleaseBus()
*/
int32_t PIOS_BMA180_GetReg(uint8_t reg)
{
if(PIOS_BMA180_Validate(dev) != 0)
return -1;
uint8_t data;
if(PIOS_BMA180_ClaimBus() != 0)
return -1;
PIOS_SPI_TransferByte(PIOS_SPI_ACCEL,(0x80 | reg) ); // request byte
data = PIOS_SPI_TransferByte(PIOS_SPI_ACCEL,0 ); // receive response
PIOS_SPI_TransferByte(dev->spi_id,(0x80 | reg) ); // request byte
data = PIOS_SPI_TransferByte(dev->spi_id,0 ); // receive response
PIOS_BMA180_ReleaseBus();
return data;
@ -139,8 +203,8 @@ int32_t PIOS_BMA180_SetReg(uint8_t reg, uint8_t data)
if(PIOS_BMA180_ClaimBus() != 0)
return -1;
PIOS_SPI_TransferByte(PIOS_SPI_ACCEL, 0x7f & reg);
PIOS_SPI_TransferByte(PIOS_SPI_ACCEL, data);
PIOS_SPI_TransferByte(dev->spi_id, 0x7f & reg);
PIOS_SPI_TransferByte(dev->spi_id, data);
PIOS_BMA180_ReleaseBus();
@ -185,13 +249,16 @@ static int32_t PIOS_BMA180_Config()
PIOS_DELAY_WaituS(20);
if(PIOS_BMA180_Validate(dev) != 0)
return -1;
while(PIOS_BMA180_EnableEeprom() != 0);
while(PIOS_BMA180_SetReg(BMA_RESET, BMA_RESET_CODE) != 0);
while(PIOS_BMA180_SetReg(BMA_OFFSET_LSB1, 0x81) != 0);
while(PIOS_BMA180_SetReg(BMA_GAIN_Y, 0x81) != 0);
while(PIOS_BMA180_SetReg(BMA_CTRREG3, 0xFF) != 0);
while(PIOS_BMA180_SelectBW(BMA_BW_600HZ) != 0);
while(PIOS_BMA180_SetRange(BMA_RANGE_8G) != 0);
while(PIOS_BMA180_SelectBW(dev->cfg->bandwidth) != 0);
while(PIOS_BMA180_SetRange(dev->cfg->range) != 0);
while(PIOS_BMA180_DisableEeprom() != 0);
return 0;
@ -206,6 +273,11 @@ static int32_t PIOS_BMA180_Config()
*/
static int32_t PIOS_BMA180_SelectBW(enum bma180_bandwidth bw)
{
if(PIOS_BMA180_Validate(dev) != 0)
return -1;
dev->bandwidth = bw;
uint8_t reg;
reg = PIOS_BMA180_GetReg(BMA_BW_ADDR);
reg = (reg & ~BMA_BW_MASK) | ((bw << BMA_BW_SHIFT) & BMA_BW_MASK);
@ -220,10 +292,14 @@ static int32_t PIOS_BMA180_SelectBW(enum bma180_bandwidth bw)
*/
static int32_t PIOS_BMA180_SetRange(enum bma180_range new_range)
{
if(PIOS_BMA180_Validate(dev) != 0)
return -1;
uint8_t reg;
range = new_range;
dev->range = new_range;
reg = PIOS_BMA180_GetReg(BMA_RANGE_ADDR);
reg = (reg & ~BMA_RANGE_MASK) | ((range << BMA_RANGE_SHIFT) & BMA_RANGE_MASK);
reg = (reg & ~BMA_RANGE_MASK) | ((dev->range << BMA_RANGE_SHIFT) & BMA_RANGE_MASK);
return PIOS_BMA180_SetReg(BMA_RANGE_ADDR, reg);
}
@ -242,14 +318,6 @@ static int32_t PIOS_BMA180_EnableIrq()
return 0;
}
/**
* @brief Connect to the correct SPI bus
*/
void PIOS_BMA180_Attach(uint32_t spi_id)
{
PIOS_SPI_ACCEL = spi_id;
}
/**
* @brief Read a single set of values from the x y z channels
* @param[out] data Int16 array of (x,y,z) sensor values
@ -266,7 +334,7 @@ int32_t PIOS_BMA180_ReadAccels(struct pios_bma180_data * data)
if(PIOS_BMA180_ClaimBus() != 0)
return -1;
if(PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,&buf[0],&rec[0],7,NULL) != 0)
if(PIOS_SPI_TransferBlock(dev->spi_id,&buf[0],&rec[0],7,NULL) != 0)
return -2;
PIOS_BMA180_ReleaseBus();
@ -287,7 +355,10 @@ int32_t PIOS_BMA180_ReadAccels(struct pios_bma180_data * data)
*/
float PIOS_BMA180_GetScale()
{
switch (range) {
if(PIOS_BMA180_Validate(dev) != 0)
return -1;
switch (dev->cfg->range) {
case BMA_RANGE_1G:
return GRAV / 8192.0f;
case BMA_RANGE_1_5G:
@ -313,10 +384,13 @@ float PIOS_BMA180_GetScale()
*/
int32_t PIOS_BMA180_ReadFifo(struct pios_bma180_data * buffer)
{
if(fifoBuf_getUsed(&pios_bma180_fifo) < sizeof(*buffer))
if(PIOS_BMA180_Validate(dev) != 0)
return -1;
fifoBuf_getData(&pios_bma180_fifo, (uint8_t *) buffer, sizeof(*buffer));
if(fifoBuf_getUsed(&dev->fifo) < sizeof(*buffer))
return -1;
fifoBuf_getData(&dev->fifo, (uint8_t *) buffer, sizeof(*buffer));
return 0;
}
@ -336,7 +410,7 @@ int32_t PIOS_BMA180_Test()
if(PIOS_BMA180_ClaimBus() != 0)
return -1;
retval = PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,&buf[0],&rec[0],sizeof(buf),NULL);
retval = PIOS_SPI_TransferBlock(dev->spi_id,&buf[0],&rec[0],sizeof(buf),NULL);
PIOS_BMA180_ReleaseBus();
if(retval != 0)
@ -358,8 +432,11 @@ int32_t PIOS_BMA180_Test()
/**
* @brief IRQ Handler. Read data from the BMA180 FIFO and push onto a local fifo.
*/
int32_t bma180_irqs = 0;
void PIOS_BMA180_IRQHandler(void)
{
bma180_irqs++;
const static uint8_t pios_bma180_req_buf[7] = {BMA_X_LSB_ADDR | 0x80,0,0,0,0,0};
uint8_t pios_bma180_dmabuf[8];
@ -368,7 +445,7 @@ void PIOS_BMA180_IRQHandler(void)
return; // Something else is using bus, miss this data
}
PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,pios_bma180_req_buf,(uint8_t *) pios_bma180_dmabuf,
PIOS_SPI_TransferBlock(dev->spi_id,pios_bma180_req_buf,(uint8_t *) pios_bma180_dmabuf,
sizeof(pios_bma180_dmabuf), NULL);
// TODO: Make this conversion depend on configuration scale
@ -378,7 +455,7 @@ void PIOS_BMA180_IRQHandler(void)
PIOS_BMA180_ReleaseBus();
// Must not return before releasing bus
if(fifoBuf_getFree(&pios_bma180_fifo) < sizeof(data))
if(fifoBuf_getFree(&dev->fifo) < sizeof(data))
return;
// Bottom two bits indicate new data and are constant zeros. Don't right
@ -391,7 +468,7 @@ void PIOS_BMA180_IRQHandler(void)
data.z /= 4;
data.temperature = pios_bma180_dmabuf[7];
fifoBuf_putData(&pios_bma180_fifo, (uint8_t *) &data, sizeof(data));
fifoBuf_putData(&dev->fifo, (uint8_t *) &data, sizeof(data));
}

4
flight/PiOS/inc/pios_bma180.h
View File

@ -92,10 +92,12 @@ struct pios_bma180_data {
struct pios_bma180_cfg {
const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
enum bma180_bandwidth bandwidth;
enum bma180_range range;
};
/* Public Functions */
extern int32_t PIOS_BMA180_Init(const struct pios_bma180_cfg * cfg);
extern int32_t PIOS_BMA180_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_bma180_cfg * cfg);
extern void PIOS_BMA180_Attach(uint32_t spi_id);
extern float PIOS_BMA180_GetScale();
extern int32_t PIOS_BMA180_ReadFifo(struct pios_bma180_data * buffer);

9
flight/Revolution/System/pios_board.c
View File

@ -1484,6 +1484,8 @@ static const struct pios_exti_cfg pios_exti_bma180_cfg __exti_config = {
};
static const struct pios_bma180_cfg pios_bma180_cfg = {
.exti_cfg = &pios_exti_bma180_cfg,
.bandwidth = BMA_BW_600HZ,
.range = BMA_RANGE_8G,
};
#endif /* PIOS_INCLUDE_BMA180 */
@ -1599,9 +1601,6 @@ void PIOS_Board_Init(void) {
PIOS_DEBUG_Assert(0);
}
PIOS_BMA180_Attach(pios_spi_accel_id);
PIOS_BMA180_Init(&pios_bma180_cfg);
/* Set up the SPI interface to the gyro */
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_DEBUG_Assert(0);
@ -1760,7 +1759,9 @@ void PIOS_Board_Init(void) {
PIOS_DELAY_WaitmS(500);
#if defined(PIOS_INCLUDE_BMA180)
PIOS_BMA180_Init(pios_spi_accel_id, 0, &pios_bma180_cfg);
#endif
#if defined(PIOS_INCLUDE_MPU6000)
PIOS_MPU6000_Attach(pios_spi_gyro_id);
PIOS_MPU6000_Init(&pios_mpu6000_cfg);

7
flight/board_hw_defs/coptercontrol/board_hw_defs.c
View File

@ -88,8 +88,9 @@ static const struct pios_spi_cfg pios_spi_gyro_cfg = {
.SPI_CRCPolynomial = 7,
.SPI_CPOL = SPI_CPOL_High,
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8, /* 10 Mhz */
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256, /* 10 Mhz */
},
.use_crc = false,
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
@ -194,9 +195,9 @@ 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_2,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256,
},
.use_crc = FALSE,
.use_crc = false,
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,