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Code Issues Releases Activity

Revolution: Configure clocks correctly

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This commit is contained in:
James Cotton 2011-11-03 20:12:34 -05:00
parent a2015a4f8d
commit c0f16d2f44
8 changed files with 153 additions and 380 deletions
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10
flight/PiOS/STM32F4xx/Libraries/CMSIS2/Device/ST/STM32F4xx/Source/system_stm32f4xx.c
View File

@ -56,11 +56,11 @@
*-----------------------------------------------------------------------------
* APB2 Prescaler | 2
*-----------------------------------------------------------------------------
* HSE Frequency(Hz) | 25000000
* HSE Frequency(Hz) | 8000000
*-----------------------------------------------------------------------------
* PLL_M | 25
* PLL_M | 10
*-----------------------------------------------------------------------------
* PLL_N | 336
* PLL_N | 420
*-----------------------------------------------------------------------------
* PLL_P | 2
*-----------------------------------------------------------------------------
@ -146,8 +146,8 @@
/************************* PLL Parameters *************************************/
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */
#define PLL_M 25
#define PLL_N 336
#define PLL_M 10
#define PLL_N 420
/* SYSCLK = PLL_VCO / PLL_P */
#define PLL_P 2

167
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -261,12 +261,6 @@
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@ -416,6 +410,23 @@
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@ -3508,6 +3519,7 @@
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children = (
65904F1614632C1700FD9482 /* make */,
65C35E4E12EFB2F3004811C2 /* shared */,
65173C9F12EBFD1700D6A7CB /* Makefile */,
657CEEB5121DBC49007A1FBE /* flight */,
@ -4270,8 +4282,6 @@
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65904E40146128A500FD9482 /* .Makefile.swp */,
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65904E47146128A500FD9482 /* ins.c */,
65904E48146128A500FD9482 /* insgps13state.c */,
65904E49146128A500FD9482 /* insgps16state.c */,
@ -4285,18 +4295,6 @@
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sourceTree = "<group>";
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@ -4772,6 +4770,135 @@
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4
flight/Revolution/Makefile
View File

@ -245,7 +245,6 @@ CFLAGS += -DDIAGNOSTICS
# This is not the best place for these. Really should abstract out
# to the board file or something
CFLAGS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
CFLAGS += -DSTM32F4XX
CFLAGS += -DMEM_SIZE=1024000000
@ -261,11 +260,10 @@ DEBUGF = dwarf-2
# Place project-specific -D (define) and/or
# -U options for C here.
CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DSTM32F10X_$(MODEL)
CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD)
CDEFS += -DIN_AHRS
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.

45
flight/Revolution/inc/ahrs_timer.h
View File

@ -1,45 +0,0 @@
/**
******************************************************************************
* @addtogroup AHRS AHRS Control
* @brief The AHRS Modules perform
*
* @{
* @addtogroup AHRS_TIMER
* @brief Sets up a simple timer that can be polled to estimate idle time
* @{
*
*
* @file ahrs.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief INSGPS Test Program
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef AHRS_TIMER
#define AHRS_TIMER
#include <pios.h>
#define TIMER_RATE (8e6 / 128)
void timer_start();
uint32_t timer_count();
uint32_t timer_rate();
#endif

117
flight/Revolution/inc/ins.h
View File

@ -1,117 +0,0 @@
/**
******************************************************************************
* @addtogroup INS INS
* @brief The main INS headers
*
* @{
* @addtogroup INS_Main
* @brief INS headers
* @{
*
* @file ins.h
* @author David "Buzz" Carlson (buzz@chebuzz.com)
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief INS Headers
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef INS_H
#define INS_H
/* PIOS Includes */
#include <pios.h>
struct mag_sensor {
uint8_t id[4];
uint8_t updated;
struct {
int16_t axis[3];
} raw;
struct {
float axis[3];
} scaled;
struct {
float bias[3];
float scale[3];
float variance[3];
} calibration;
};
//! Contains the data from the accelerometer
struct accel_sensor {
struct {
float x;
float y;
float z;
} filtered;
struct {
float bias[3];
float scale[3];
float variance[3];
} calibration;
float temperature;
};
//! Contains the data from the gyro
struct gyro_sensor {
struct {
float x;
float y;
float z;
} filtered;
struct {
float bias[3];
float scale[3];
float variance[3];
} calibration;
float temperature;
};
//! Conains the current estimate of the attitude
struct attitude_solution {
struct {
float q1;
float q2;
float q3;
float q4;
} quaternion;
};
//! Contains data from the altitude sensor
struct altitude_sensor {
float altitude;
bool updated;
};
//! Contains data from the GPS (via the SPI link)
struct gps_sensor {
float NED[3];
float heading;
float groundspeed;
float quality;
bool updated;
};
#endif /* INS_H */
/**
* @}
* @}
*/

94
flight/Revolution/inc/ins_fsm.h
View File

@ -1,94 +0,0 @@
/**
******************************************************************************
*
* @file ahrs_fsm.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef AHRS_FSM_H
#define AHRS_FSM_H
#include "pios_opahrs_proto.h"
enum lfsm_state {
LFSM_STATE_FAULTED = 0, /* Must be zero so undefined transitions land here */
LFSM_STATE_STOPPED,
LFSM_STATE_STOPPING,
LFSM_STATE_INACTIVE,
LFSM_STATE_USER_BUSY,
LFSM_STATE_USER_BUSY_RX_PENDING,
LFSM_STATE_USER_BUSY_TX_PENDING,
LFSM_STATE_USER_BUSY_RXTX_PENDING,
LFSM_STATE_USER_RX_PENDING,
LFSM_STATE_USER_TX_PENDING,
LFSM_STATE_USER_RXTX_PENDING,
LFSM_STATE_USER_RX_ACTIVE,
LFSM_STATE_USER_TX_ACTIVE,
LFSM_STATE_USER_RXTX_ACTIVE,
LFSM_STATE_NUM_STATES /* Must be last */
};
enum lfsm_event {
LFSM_EVENT_INIT_LINK,
LFSM_EVENT_STOP,
LFSM_EVENT_USER_SET_RX,
LFSM_EVENT_USER_SET_TX,
LFSM_EVENT_USER_DONE,
LFSM_EVENT_RX_LINK,
LFSM_EVENT_RX_USER,
LFSM_EVENT_RX_UNKNOWN,
LFSM_EVENT_NUM_EVENTS /* Must be last */
};
struct lfsm_link_stats {
uint32_t rx_badcrc;
uint32_t rx_badmagic_head;
uint32_t rx_badmagic_tail;
uint32_t rx_link;
uint32_t rx_user;
uint32_t tx_user;
uint32_t rx_badtype;
uint32_t rx_badver;
};
extern void lfsm_init(void);
extern void lfsm_inject_event(enum lfsm_event event);
extern void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val);
extern void lfsm_get_link_stats(struct lfsm_link_stats *stats);
extern enum lfsm_state lfsm_get_state(void);
extern void lfsm_set_link_proto_v0(struct opahrs_msg_v0 *link_tx,
struct opahrs_msg_v0 *link_rx);
extern void lfsm_user_set_rx_v0(struct opahrs_msg_v0 *user_rx);
extern void lfsm_user_set_tx_v0(struct opahrs_msg_v0 *user_tx);
extern void lfsm_set_link_proto_v1(struct opahrs_msg_v1 *link_tx,
struct opahrs_msg_v1 *link_rx);
extern void lfsm_user_set_rx_v1(struct opahrs_msg_v1 *user_rx);
extern void lfsm_user_set_tx_v1(struct opahrs_msg_v1 *user_tx);
extern void lfsm_user_done(void);
#endif /* AHRS_FSM_H */

93
flight/Revolution/inc/insgps.h
View File

@ -1,93 +0,0 @@
/**
******************************************************************************
* @addtogroup AHRS
* @{
* @addtogroup INSGPS
* @{
* @brief INSGPS is a joint attitude and position estimation EKF
*
* @file insgps.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the INSGPS exposed functionality.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef INSGPS_H_
#define INSGPS_H_
#include "stdint.h"
/**
* @addtogroup Constants
* @{
*/
#define POS_SENSORS 0x007
#define HORIZ_SENSORS 0x018
#define VERT_SENSORS 0x020
#define MAG_SENSORS 0x1C0
#define BARO_SENSOR 0x200
#define FULL_SENSORS 0x3FF
/**
* @}
*/
// Exposed Function Prototypes
void INSGPSInit();
void INSStatePrediction(float gyro_data[3], float accel_data[3], float dT);
void INSCovariancePrediction(float dT);
void INSCorrection(float mag_data[3], float Pos[3], float Vel[3], float BaroAlt, uint16_t SensorsUsed);
void INSResetP(float PDiag[13]);
void INSSetState(float pos[3], float vel[3], float q[4], float gyro_bias[3], float accel_bias[3]);
void INSSetPosVelVar(float PosVar, float VelVar);
void INSSetGyroBias(float gyro_bias[3]);
void INSSetAccelVar(float accel_var[3]);
void INSSetGyroVar(float gyro_var[3]);
void INSSetMagNorth(float B[3]);
void INSSetMagVar(float scaled_mag_var[3]);
void INSPosVelReset(float pos[3], float vel[3]);
void MagCorrection(float mag_data[3]);
void MagVelBaroCorrection(float mag_data[3], float Vel[3], float BaroAlt);
void FullCorrection(float mag_data[3], float Pos[3], float Vel[3],
float BaroAlt);
void GpsBaroCorrection(float Pos[3], float Vel[3], float BaroAlt);
void GpsMagCorrection(float mag_data[3], float Pos[3], float Vel[2]);
void VelBaroCorrection(float Vel[3], float BaroAlt);
uint16_t ins_get_num_states();
// Nav structure containing current solution
struct NavStruct {
float Pos[3]; // Position in meters and relative to a local NED frame
float Vel[3]; // Velocity in meters and in NED
float q[4]; // unit quaternion rotation relative to NED
float gyro_bias[3];
float accel_bias[3];
} Nav;
/**
* @}
* @}
*/
#endif /* EKF_H_ */

3
flight/Revolution/inc/insgps_helper.h
View File

@ -1,3 +0,0 @@
void ins_init_algorithm();
void ins_outdoor_update();
void ins_indoor_update();