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Code Issues Releases Activity

OP-378: Start working on IRQ driven BMA180 reading and also fixed the mag order

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This commit is contained in:
James Cotton 2011-05-26 13:57:41 -05:00
parent 6e186bab35
commit 9ede84680e
5 changed files with 95 additions and 19 deletions
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13
flight/PiOS/Boards/STM3210E_INS.h
View File

@ -207,8 +207,17 @@ extern uint32_t pios_com_aux_id;
//------------------------
// BMA180
//------------------------
#define PIOS_BMA_ENABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0)
#define PIOS_BMA_DISABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,1)
#define PIOS_BMA180_ENABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0)
#define PIOS_BMA180_DISABLE PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,1)
#define PIOS_BMA180_DRDY_GPIO_PORT GPIOC
#define PIOS_BMA180_DRDY_GPIO_PIN GPIO_Pin_4
#define PIOS_BMA180_DRDY_PORT_SOURCE GPIO_PortSourceGPIOC
#define PIOS_BMA180_DRDY_PIN_SOURCE GPIO_PinSource4
#define PIOS_BMA180_DRDY_CLK RCC_APB2Periph_GPIOC
#define PIOS_BMA180_DRDY_EXTI_LINE EXTI_Line4
#define PIOS_BMA180_DRDY_IRQn EXTI4_IRQn
#define PIOS_BMA180_DRDY_PRIO PIOS_IRQ_PRIO_LOW
//------------------------
// PIOS_HMC5883

76
flight/PiOS/Common/pios_bma180.c
View File

@ -38,6 +38,47 @@ 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(uint8_t bw);
static int32_t PIOS_BMA180_SetRange(uint8_t range);
static int32_t PIOS_BMA180_EnableIrq();
volatile bool pios_bma180_data_ready = false;
/**
* @brief Initialize with good default settings
*/
void PIOS_BMA180_Init()
{
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable DRDY GPIO clock */
RCC_APB2PeriphClockCmd(PIOS_BMA180_DRDY_CLK | RCC_APB2Periph_AFIO, ENABLE);
/* Configure EOC pin as input floating */
GPIO_InitStructure.GPIO_Pin = PIOS_BMA180_DRDY_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(PIOS_BMA180_DRDY_GPIO_PORT, &GPIO_InitStructure);
/* Configure the End Of Conversion (EOC) interrupt */
GPIO_EXTILineConfig(PIOS_BMA180_DRDY_PORT_SOURCE, PIOS_BMA180_DRDY_PIN_SOURCE);
EXTI_InitStructure.EXTI_Line = PIOS_BMA180_DRDY_EXTI_LINE;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Enable and set EOC EXTI Interrupt to the lowest priority */
NVIC_InitStructure.NVIC_IRQChannel = PIOS_BMA180_DRDY_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_BMA180_DRDY_PRIO;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
pios_bma180_data_ready = false;
PIOS_BMA180_SelectBW(BMA_BW_150HZ);
PIOS_BMA180_SetRange(BMA_RANGE_8G);
PIOS_BMA180_EnableIrq();
}
/**
* @brief Claim the SPI bus for the accel communications and select this chip
@ -47,7 +88,7 @@ int32_t PIOS_BMA180_ClaimBus()
{
if(PIOS_SPI_ClaimBus(PIOS_SPI_ACCEL) != 0)
return -1;
PIOS_BMA_ENABLE;
PIOS_BMA180_ENABLE;
return 0;
}
@ -57,7 +98,7 @@ int32_t PIOS_BMA180_ClaimBus()
*/
int32_t PIOS_BMA180_ReleaseBus()
{
PIOS_BMA_DISABLE;
PIOS_BMA180_DISABLE;
return PIOS_SPI_ReleaseBus(PIOS_SPI_ACCEL);
}
@ -128,6 +169,11 @@ static int32_t PIOS_BMA180_SetRange(uint8_t range)
return PIOS_BMA180_SetReg(BMA_RANGE_ADDR, reg);
}
static int32_t PIOS_BMA180_EnableIrq()
{
return PIOS_BMA180_SetReg(BMA_CTRREG3, BMA_NEW_DAT_INT);
}
/**
* @brief Connect to the correct SPI bus
*/
@ -136,17 +182,6 @@ void PIOS_BMA180_Attach(uint32_t spi_id)
PIOS_SPI_ACCEL = spi_id;
}
/**
* @brief Initialize with good default settings
*/
void PIOS_BMA180_Init()
{
if(0){
PIOS_BMA180_SelectBW(BMA_BW_150HZ);
PIOS_BMA180_SetRange(BMA_RANGE_8G);
}
}
/**
* @brief Read a single set of values from the x y z channels
* @param[out] data Int16 array of (x,y,z) sensor values
@ -197,13 +232,16 @@ int32_t PIOS_BMA180_Test()
// Read chip ID then version ID
uint8_t buf[3] = {0x80 | BMA_CHIPID_ADDR, 0, 0};
uint8_t rec[3] = {0,0, 0};
int32_t retval;
if(PIOS_BMA180_ClaimBus() != 0)
return -1;
if(PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,&buf[0],&rec[0],sizeof(buf),NULL) != 0)
return -2;
retval = PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,&buf[0],&rec[0],sizeof(buf),NULL);
PIOS_BMA180_ReleaseBus();
if(retval != 0)
return -2;
int16_t data[3];
if(PIOS_BMA180_ReadAccels(data) != 0)
return -3;
@ -217,6 +255,14 @@ int32_t PIOS_BMA180_Test()
return 0;
}
/**
* @brief IRQ Handler
*/
void PIOS_BMA180_IRQHandler(void)
{
pios_bma180_data_ready = true;
}
/**
* @}
* @}

5
flight/PiOS/Common/pios_hmc5883.c
View File

@ -232,6 +232,11 @@ void PIOS_HMC5883_ReadMag(int16_t out[3])
+ buffer[2 * i + 1]) * 1000 / PIOS_HMC5883_Sensitivity_8_1Ga;
break;
}
// Data reads out as X,Z,Y
int16_t temp = out[2];
out[2] = out[1];
out[1] = temp;
}

16
flight/PiOS/STM32F10x/pios_exti.c
View File

@ -87,17 +87,29 @@ void EXTI9_5_IRQHandler(void)
/**
* Handle external line 4 interrupt requests
*/
#if defined(PIOS_INCLUDE_USB)
#if defined(PIOS_INCLUDE_IMU3000)
extern void PIOS_IMU3000_IRQHandler();
#endif
void EXTI4_IRQHandler(void)
{
#if defined(PIOS_INCLUDE_USB)
if (EXTI_GetITStatus(PIOS_USB_DETECT_EXTI_LINE) != RESET) {
/* Clear the EXTI line pending bit */
EXTI_ClearITPendingBit(PIOS_USB_DETECT_EXTI_LINE);
}
}
#endif /* PIOS_INCLUDE_USB */
#if defined (PIOS_INCLUDE_BMA180)
if (EXTI_GetITStatus(PIOS_BMA180_DRDY_EXTI_LINE) != RESET) {
PIOS_BMA180_IRQHandler();
EXTI_ClearITPendingBit(PIOS_BMA180_DRDY_EXTI_LINE);
}
#endif
}
#if defined(PIOS_INCLUDE_IMU3000)
extern void PIOS_IMU3000_IRQHandler();
#endif
void EXTI1_IRQHandler(void)
{
#if defined(PIOS_INCLUDE_IMU3000)

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

@ -42,6 +42,7 @@
#define BMA_WE_ADDR 0x0D
#define BMA_BW_ADDR 0x20
#define BMA_RANGE_ADDR 0x35
#define BMA_CTRREG3 0x21
/* Accel range */
#define BMA_RANGE_MASK 0x0E
@ -68,6 +69,8 @@
#define BMA_BW_HP1HZ 0x08 // High-pass, 1Hz
#define BMA_BW_BP0_300HZ 0x09 // Band-pass, 0.3Hz-300Hz
#define BMA_NEW_DAT_INT 0x02
struct pios_bma180_data {
int16_t x;
int16_t y;
@ -79,6 +82,7 @@ void PIOS_BMA180_Attach(uint32_t spi_id);
void PIOS_BMA180_Init();
int32_t PIOS_BMA180_ReadAccels(int16_t * data);
int32_t PIOS_BMA180_Test();
void PIOS_BMA180_IRQHandler(void);
#endif /* PIOS_BMA180_H */