mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-17 02:52:12 +01:00
Switch the MPU6000 driver to using a FreeRTOS queue. Need to update Revo code
to take advantage of this.
This commit is contained in:
James Cotton
parent
1415728762
commit
a960f3d07e
@ -716,8 +716,7 @@ void PIOS_Board_Init(void) {
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if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
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PIOS_Assert(0);
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}
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PIOS_MPU6000_Attach(pios_spi_gyro_id);
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PIOS_MPU6000_Init(&pios_mpu6000_cfg);
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PIOS_MPU6000_Init(pios_spi_gyro_id,0,&pios_mpu6000_cfg);
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init_test = PIOS_MPU6000_Test();
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#endif /* PIOS_INCLUDE_MPU6000 */
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@ -355,61 +355,29 @@ static int32_t updateSensors(AccelsData * accels, GyrosData * gyros)
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* @param[in] attitudeRaw Populate the UAVO instead of saving right here
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* @return 0 if successfull, -1 if not
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*/
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struct pios_mpu6000_data gyro;
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struct pios_mpu6000_data mpu6000_data;
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static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
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{
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static portTickType lastSysTime;
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uint32_t accel_samples = 0;
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int32_t accel_accum[3] = {0, 0, 0};
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float gyro_scaling = 1;
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float gyro_accum[3] = {0, 0, 0};
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float accel_scaling = 1;
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uint32_t gyro_samples;
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vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
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float accels[3], gyros[3];
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#if defined(PIOS_INCLUDE_MPU6000)
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uint32_t count = 0;
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int32_t read_good = 0;
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int32_t error = false;
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while((read_good = PIOS_MPU6000_ReadFifo(&gyro)) != 0 && !error)
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error = ((xTaskGetTickCount() - lastSysTime) > SENSOR_PERIOD) ? true : error;
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if (error)
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return -1;
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while(read_good == 0) {
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count++;
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gyro_accum[0] += gyro.gyro_x;
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gyro_accum[1] += gyro.gyro_y;
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gyro_accum[2] += gyro.gyro_z;
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accel_accum[0] += gyro.accel_x;
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accel_accum[1] += gyro.accel_y;
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accel_accum[2] += gyro.accel_z;
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read_good = PIOS_MPU6000_ReadFifo(&gyro);
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}
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gyro_samples = count;
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gyro_scaling = PIOS_MPU6000_GetScale();
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xQueueHandle queue = PIOS_MPU6000_GetQueue();
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accel_samples = count;
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accel_scaling = PIOS_MPU6000_GetAccelScale();
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if(xQueueReceive(queue, (void *) &mpu6000_data, SENSOR_PERIOD) == errQUEUE_EMPTY)
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return -1; // Error, no data
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gyros[0] = -mpu6000_data.gyro_y * PIOS_MPU6000_GetScale();
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gyros[1] = -mpu6000_data.gyro_x * PIOS_MPU6000_GetScale();
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gyros[2] = -mpu6000_data.gyro_z * PIOS_MPU6000_GetScale();
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accels[0] = -mpu6000_data.accel_y * PIOS_MPU6000_GetAccelScale();
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accels[1] = -mpu6000_data.accel_x * PIOS_MPU6000_GetAccelScale();
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accels[2] = -mpu6000_data.accel_z * PIOS_MPU6000_GetAccelScale();
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gyrosData->temperature = 35.0f + ((float) mpu6000_data.temperature + 512.0f) / 340.0f;
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accelsData->temperature = 35.0f + ((float) mpu6000_data.temperature + 512.0f) / 340.0f;
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#endif
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// Get temp from last reading
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gyrosData->temperature = 35.0f + ((float) gyro.temperature + 512.0f) / 340.0f;
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accelsData->temperature = 35.0f + ((float) gyro.temperature + 512.0f) / 340.0f;
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// Scale the accels
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float accels[3] = {-(float) accel_accum[1] / accel_samples,
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-(float) accel_accum[0] / accel_samples,
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-(float) accel_accum[2] / accel_samples};
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// Scale the gyros
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float gyros[3] = {-(float) gyro_accum[1] / gyro_samples,
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-(float) gyro_accum[0] / gyro_samples,
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-(float) gyro_accum[2] / gyro_samples};
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if(rotate) {
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// TODO: rotate sensors too so stabilization is well behaved
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@ -424,14 +392,14 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
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gyros[2] = vec_out[2];
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}
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accelsData->x = (accels[0] - accelbias[0]) * accel_scaling;
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accelsData->y = (accels[1] - accelbias[1]) * accel_scaling;
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accelsData->z = (accels[2] - accelbias[2]) * accel_scaling;
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accelsData->x = accels[0] - accelbias[0] * ACCEL_SCALE; // Applying arbitrary scale here to match CC v1
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accelsData->y = accels[1] - accelbias[1] * ACCEL_SCALE;
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accelsData->z = accels[2] - accelbias[2] * ACCEL_SCALE;
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AccelsSet(&accelsData);
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gyrosData->x = gyros[0] * gyro_scaling;
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gyrosData->y = gyros[1] * gyro_scaling;
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gyrosData->z = gyros[2] * gyro_scaling;
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gyrosData->x = gyros[0];
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gyrosData->y = gyros[1];
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gyrosData->z = gyros[2];
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if(bias_correct_gyro) {
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// Applying integral component here so it can be seen on the gyros and correct bias
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@ -37,41 +37,93 @@
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#include "fifo_buffer.h"
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/* Global Variables */
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uint32_t pios_spi_gyro;
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/* Local Variables */
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#define DEG_TO_RAD (M_PI / 180.0)
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enum pios_mpu6000_dev_magic {
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PIOS_MPU6000_DEV_MAGIC = 0x9da9b3ed,
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};
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#define PIOS_MPU6000_MAX_DOWNSAMPLE 2
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struct mpu6000_dev {
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uint32_t spi_id;
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uint32_t slave_num;
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xQueueHandle queue;
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const struct pios_mpu6000_cfg * cfg;
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enum pios_mpu6000_dev_magic magic;
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};
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//! Global structure for this device device
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static struct mpu6000_dev * dev;
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volatile bool mpu6000_configured = false;
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//! Private functions
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static struct mpu6000_dev * PIOS_MPU6000_alloc(void);
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static int32_t PIOS_MPU6000_Validate(struct mpu6000_dev * dev);
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static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg);
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static int32_t PIOS_MPU6000_SetReg(uint8_t address, uint8_t buffer);
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static int32_t PIOS_MPU6000_GetReg(uint8_t address);
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#define PIOS_MPU6000_MAX_DOWNSAMPLE 10
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static int16_t pios_mpu6000_buffer[PIOS_MPU6000_MAX_DOWNSAMPLE * sizeof(struct pios_mpu6000_data)];
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static t_fifo_buffer pios_mpu6000_fifo;
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volatile bool mpu6000_configured = false;
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static struct pios_mpu6000_cfg const * cfg;
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#define DEG_TO_RAD (M_PI / 180.0)
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#define GRAV 9.81f
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/**
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* @brief Initialize the MPU6000 3-axis gyro sensor.
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* @return none
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* @brief Allocate a new device
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*/
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void PIOS_MPU6000_Init(const struct pios_mpu6000_cfg * new_cfg)
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static struct mpu6000_dev * PIOS_MPU6000_alloc(void)
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{
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cfg = new_cfg;
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struct mpu6000_dev * mpu6000_dev;
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fifoBuf_init(&pios_mpu6000_fifo, (uint8_t *) pios_mpu6000_buffer, sizeof(pios_mpu6000_buffer));
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mpu6000_dev = (struct mpu6000_dev *)pvPortMalloc(sizeof(*mpu6000_dev));
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if (!mpu6000_dev) return (NULL);
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mpu6000_dev->magic = PIOS_MPU6000_DEV_MAGIC;
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mpu6000_dev->queue = xQueueCreate(PIOS_MPU6000_MAX_DOWNSAMPLE, sizeof(struct pios_mpu6000_data));
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if(mpu6000_dev->queue == NULL) {
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vPortFree(mpu6000_dev);
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return NULL;
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}
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return(mpu6000_dev);
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}
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/**
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* @brief Validate the handle to the spi device
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* @returns 0 for valid device or -1 otherwise
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*/
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static int32_t PIOS_MPU6000_Validate(struct mpu6000_dev * dev)
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{
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if (dev == NULL)
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return -1;
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if (dev->magic != PIOS_MPU6000_DEV_MAGIC)
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return -2;
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if (dev->spi_id == 0)
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return -3;
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return 0;
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}
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/**
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* @brief Initialize the MPU6000 3-axis gyro sensor.
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* @return 0 for success, -1 for failure
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*/
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int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu6000_cfg * cfg)
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{
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dev = PIOS_MPU6000_alloc();
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if(dev == NULL)
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return -1;
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dev->spi_id = spi_id;
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dev->slave_num = slave_num;
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dev->cfg = cfg;
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/* Configure the MPU6000 Sensor */
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PIOS_SPI_SetClockSpeed(pios_spi_gyro, PIOS_SPI_PRESCALER_256);
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PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_256);
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PIOS_MPU6000_Config(cfg);
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PIOS_SPI_SetClockSpeed(pios_spi_gyro, PIOS_SPI_PRESCALER_16);
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PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_16);
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/* Set up EXTI line */
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PIOS_EXTI_Init(cfg->exti_cfg);
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return 0;
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}
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/**
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@ -138,13 +190,17 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
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/**
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* @brief Claim the SPI bus for the accel communications and select this chip
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* @return 0 if successful, -1 if unable to claim bus
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* @return 0 if successful, -1 for invalid device, -2 if unable to claim bus
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*/
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int32_t PIOS_MPU6000_ClaimBus()
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{
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if(PIOS_SPI_ClaimBus(pios_spi_gyro) != 0)
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if(PIOS_MPU6000_Validate(dev) != 0)
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return -1;
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PIOS_SPI_RC_PinSet(pios_spi_gyro,0,0);
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if(PIOS_SPI_ClaimBus(dev->spi_id) != 0)
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return -2;
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PIOS_SPI_RC_PinSet(dev->spi_id,dev->slave_num,0);
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return 0;
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}
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@ -154,16 +210,12 @@ int32_t PIOS_MPU6000_ClaimBus()
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*/
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int32_t PIOS_MPU6000_ReleaseBus()
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{
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PIOS_SPI_RC_PinSet(pios_spi_gyro,0,1);
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return PIOS_SPI_ReleaseBus(pios_spi_gyro);
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}
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/**
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* @brief Connect to the correct SPI bus
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*/
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void PIOS_MPU6000_Attach(uint32_t spi_id)
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{
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pios_spi_gyro = spi_id;
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if(PIOS_MPU6000_Validate(dev) != 0)
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return -1;
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PIOS_SPI_RC_PinSet(dev->spi_id,dev->slave_num,1);
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return PIOS_SPI_ReleaseBus(dev->spi_id);
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}
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/**
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@ -178,8 +230,8 @@ static int32_t PIOS_MPU6000_GetReg(uint8_t reg)
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if(PIOS_MPU6000_ClaimBus() != 0)
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return -1;
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PIOS_SPI_TransferByte(pios_spi_gyro,(0x80 | reg) ); // request byte
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data = PIOS_SPI_TransferByte(pios_spi_gyro,0 ); // receive response
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PIOS_SPI_TransferByte(dev->spi_id,(0x80 | reg) ); // request byte
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data = PIOS_SPI_TransferByte(dev->spi_id,0 ); // receive response
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PIOS_MPU6000_ReleaseBus();
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return data;
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@ -198,12 +250,12 @@ static int32_t PIOS_MPU6000_SetReg(uint8_t reg, uint8_t data)
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if(PIOS_MPU6000_ClaimBus() != 0)
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return -1;
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if(PIOS_SPI_TransferByte(pios_spi_gyro, 0x7f & reg) != 0) {
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if(PIOS_SPI_TransferByte(dev->spi_id, 0x7f & reg) != 0) {
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PIOS_MPU6000_ReleaseBus();
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return -2;
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}
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if(PIOS_SPI_TransferByte(pios_spi_gyro, data) != 0) {
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if(PIOS_SPI_TransferByte(dev->spi_id, data) != 0) {
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PIOS_MPU6000_ReleaseBus();
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return -3;
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}
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@ -226,7 +278,7 @@ int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * data)
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if(PIOS_MPU6000_ClaimBus() != 0)
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return -1;
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if(PIOS_SPI_TransferBlock(pios_spi_gyro, &buf[0], &rec[0], sizeof(buf), NULL) < 0)
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if(PIOS_SPI_TransferBlock(dev->spi_id, &buf[0], &rec[0], sizeof(buf), NULL) < 0)
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return -2;
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PIOS_MPU6000_ReleaseBus();
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@ -251,28 +303,21 @@ int32_t PIOS_MPU6000_ReadID()
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}
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/**
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* \brief Reads the data from the MPU6000 FIFO
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* \param[out] buffer destination buffer
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* \param[in] len maximum number of bytes which should be read
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* \note This returns the data as X, Y, Z the temperature
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* \return number of bytes transferred if operation was successful
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* \return -1 if error during I2C transfer
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* \brief Reads the queue handle
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* \return Handle to the queue or null if invalid device
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*/
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int32_t PIOS_MPU6000_ReadFifo(struct pios_mpu6000_data * buffer)
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xQueueHandle PIOS_MPU6000_GetQueue()
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{
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if(fifoBuf_getUsed(&pios_mpu6000_fifo) < sizeof(*buffer))
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return -1;
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fifoBuf_getData(&pios_mpu6000_fifo, (uint8_t *) buffer, sizeof(*buffer));
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if(PIOS_MPU6000_Validate(dev) != 0)
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return (xQueueHandle) NULL;
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return 0;
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return dev->queue;
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}
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float PIOS_MPU6000_GetScale()
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{
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switch (cfg->gyro_range) {
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switch (dev->cfg->gyro_range) {
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case PIOS_MPU6000_SCALE_250_DEG:
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return 1.0f / 131.0f;
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case PIOS_MPU6000_SCALE_500_DEG:
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@ -322,7 +367,7 @@ static int32_t PIOS_MPU6000_FifoDepth(void)
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if(PIOS_MPU6000_ClaimBus() != 0)
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return -1;
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if(PIOS_SPI_TransferBlock(pios_spi_gyro, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
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if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
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PIOS_MPU6000_ReleaseBus();
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return -1;
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}
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@ -337,7 +382,7 @@ static int32_t PIOS_MPU6000_FifoDepth(void)
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*/
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uint32_t mpu6000_irq = 0;
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int32_t mpu6000_count;
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uint32_t mpu6000_fifo_full = 0;
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uint32_t mpu6000_fifo_backup = 0;
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uint8_t mpu6000_last_read_count = 0;
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uint32_t mpu6000_fails = 0;
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@ -365,7 +410,7 @@ void PIOS_MPU6000_IRQHandler(void)
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uint8_t mpu6000_send_buf[1+sizeof(struct pios_mpu6000_data)] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
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uint8_t mpu6000_rec_buf[1+sizeof(struct pios_mpu6000_data)];
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if(PIOS_SPI_TransferBlock(pios_spi_gyro, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
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if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
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PIOS_MPU6000_ReleaseBus();
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mpu6000_fails++;
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return;
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@ -375,32 +420,22 @@ void PIOS_MPU6000_IRQHandler(void)
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struct pios_mpu6000_data data;
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if(fifoBuf_getFree(&pios_mpu6000_fifo) < sizeof(data)) {
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mpu6000_fifo_full++;
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return;
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}
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// In the case where extras samples backed up grabbed an extra
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if (mpu6000_count >= (sizeof(data) * 2)) {
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mpu6000_fifo_backup++;
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if(PIOS_MPU6000_ClaimBus() != 0)
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return;
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uint8_t mpu6000_send_buf[1+sizeof(struct pios_mpu6000_data)] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
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uint8_t mpu6000_rec_buf[1+sizeof(struct pios_mpu6000_data)];
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if(PIOS_SPI_TransferBlock(pios_spi_gyro, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
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if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
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PIOS_MPU6000_ReleaseBus();
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mpu6000_fails++;
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return;
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}
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PIOS_MPU6000_ReleaseBus();
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if(fifoBuf_getFree(&pios_mpu6000_fifo) < sizeof(data)) {
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mpu6000_fifo_full++;
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return;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#if defined(PIOS_MPU6000_ACCEL)
|
||||
@ -418,7 +453,8 @@ void PIOS_MPU6000_IRQHandler(void)
|
||||
data.gyro_z = mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8];
|
||||
#endif
|
||||
|
||||
fifoBuf_putData(&pios_mpu6000_fifo, (uint8_t *) &data, sizeof(data));
|
||||
xQueueSend(dev->queue, (void *) &data, 0);
|
||||
|
||||
mpu6000_irq++;
|
||||
|
||||
mpu6000_time_us = PIOS_DELAY_DiffuS(timeval);
|
||||
|
||||
@ -538,6 +538,16 @@ int32_t PIOS_SPI_Busy(uint32_t spi_id)
|
||||
return(0);
|
||||
}
|
||||
|
||||
void PIOS_SPI_SetPrescalar(uint32_t spi_id, uint32_t prescaler)
|
||||
{
|
||||
struct pios_spi_dev * spi_dev = (struct pios_spi_dev *)spi_id;
|
||||
|
||||
bool valid = PIOS_SPI_validate(spi_dev);
|
||||
PIOS_Assert(valid);
|
||||
PIOS_Assert(IS_SPI_BAUDRATE_PRESCALER(prescaler));
|
||||
|
||||
spi_dev->cfg->regs->CR1 = (spi_dev->cfg->regs->CR1 & ~0x0038) | prescaler;
|
||||
}
|
||||
|
||||
void PIOS_SPI_IRQ_Handler(uint32_t spi_id)
|
||||
{
|
||||
|
||||
@ -141,9 +141,8 @@ struct pios_mpu6000_cfg {
|
||||
};
|
||||
|
||||
/* Public Functions */
|
||||
extern void PIOS_MPU6000_Init(const struct pios_mpu6000_cfg * cfg);
|
||||
extern void PIOS_MPU6000_Attach(uint32_t spi_id);
|
||||
extern int32_t PIOS_MPU6000_ReadFifo(struct pios_mpu6000_data * buffer);
|
||||
extern int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu6000_cfg * new_cfg);
|
||||
extern xQueueHandle PIOS_MPU6000_GetQueue();
|
||||
extern int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * buffer);
|
||||
extern int32_t PIOS_MPU6000_ReadID();
|
||||
extern uint8_t PIOS_MPU6000_Test();
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user