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Code Issues Releases Activity

Add ability to change the SPI bus runs at

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This commit is contained in:
James Cotton 2011-12-29 00:06:26 -06:00
parent bf98630851
commit c080080810
5 changed files with 18 additions and 5 deletions
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3
flight/PiOS/STM32F4xx/pios_mpu6000.c
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@ -62,8 +62,9 @@ void PIOS_MPU6000_Init(const struct pios_mpu6000_cfg * new_cfg)
fifoBuf_init(&pios_mpu6000_fifo, (uint8_t *) pios_mpu6000_buffer, sizeof(pios_mpu6000_buffer)); fifoBuf_init(&pios_mpu6000_fifo, (uint8_t *) pios_mpu6000_buffer, sizeof(pios_mpu6000_buffer));
/* Configure the MPU6050 Sensor */ /* Configure the MPU6050 Sensor */
PIOS_SPI_SetPrescalar(pios_spi_gyro, SPI_BaudRatePrescaler_256);
PIOS_MPU6000_Config(cfg); PIOS_MPU6000_Config(cfg);
PIOS_MPU6000_Config(cfg); PIOS_SPI_SetPrescalar(pios_spi_gyro, SPI_BaudRatePrescaler_8);
/* Configure EOC pin as input floating */ /* Configure EOC pin as input floating */
GPIO_Init(cfg->drdy.gpio, &cfg->drdy.init); GPIO_Init(cfg->drdy.gpio, &cfg->drdy.init);

11
flight/PiOS/STM32F4xx/pios_spi.c
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@ -582,6 +582,17 @@ int32_t PIOS_SPI_Busy(uint32_t spi_id)
return(0); 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) void PIOS_SPI_IRQ_Handler(uint32_t spi_id)
{ {

1
flight/PiOS/inc/pios_spi.h
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@ -56,6 +56,7 @@ extern int32_t PIOS_SPI_Busy(uint32_t spi_id);
extern int32_t PIOS_SPI_ClaimBus(uint32_t spi_id); extern int32_t PIOS_SPI_ClaimBus(uint32_t spi_id);
extern int32_t PIOS_SPI_ReleaseBus(uint32_t spi_id); extern int32_t PIOS_SPI_ReleaseBus(uint32_t spi_id);
extern void PIOS_SPI_IRQ_Handler(uint32_t spi_id); extern void PIOS_SPI_IRQ_Handler(uint32_t spi_id);
extern void PIOS_SPI_SetPrescalar(uint32_t spi_id, uint32_t prescalar);
#endif /* PIOS_SPI_H */ #endif /* PIOS_SPI_H */

2
flight/Revolution/System/pios_board.c
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@ -280,7 +280,7 @@ void PIOS_SPI_gyro_irq_handler(void)
/* SPI3 Interface /* SPI3 Interface
* - Used for gyro communications * - Used for flash communications
*/ */
void PIOS_SPI_flash_irq_handler(void); void PIOS_SPI_flash_irq_handler(void);
void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler"))); void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_flash_irq_handler")));

6
shared/uavobjectdefinition/accels.xml
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@ -1,9 +1,9 @@
<xml> <xml>
<object name="Accels" singleinstance="true" settings="false"> <object name="Accels" singleinstance="true" settings="false">
<description>The accel data.</description> <description>The accel data.</description>
<field name="x" units="deg/s" type="float" elements="1"/> <field name="x" units="m/s^2" type="float" elements="1"/>
<field name="y" units="deg/s" type="float" elements="1"/> <field name="y" units="m/s^2" type="float" elements="1"/>
<field name="z" units="deg/s" type="float" elements="1"/> <field name="z" units="m/s^2" type="float" elements="1"/>
<field name="temperature" units="deg C" type="float" elements="1"/> <field name="temperature" units="deg C" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>