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Code Issues Releases Activity

IMU3000: Fix a constant that made the sampling rate 1kh instead of 8 internaly.

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No downsample that (in IMU3000) by 8 to get gyros at 1khz.  Well about 256 Hz
nyquist and shouldn't cause substantial issues for EKF.
This commit is contained in:
James Cotton 2011-08-18 13:01:51 -05:00
parent bdb9dc0a54
commit c7034ef8a6
2 changed files with 11 additions and 6 deletions
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9
flight/PiOS/STM32F2xx/pios_imu3000.c
View File

@ -74,9 +74,9 @@ void PIOS_IMU3000_Init(const struct pios_imu3000_cfg * cfg)
PIOS_IMU3000_ConfigTypeDef IMU3000_InitStructure;
IMU3000_InitStructure.Fifo_store = PIOS_IMU3000_FIFO_TEMP_OUT | PIOS_IMU3000_FIFO_GYRO_X_OUT |
PIOS_IMU3000_FIFO_GYRO_Y_OUT | PIOS_IMU3000_FIFO_GYRO_Z_OUT | PIOS_IMU3000_FIFO_FOOTER;
IMU3000_InitStructure.Smpl_rate_div = 8;
IMU3000_InitStructure.Smpl_rate_div = 7; // Clock at 8 khz, downsampled by 8 for 1khz
IMU3000_InitStructure.DigLPF_Scale = PIOS_IMU3000_LOWPASS_256_HZ | PIOS_IMU3000_SCALE_500_DEG;
IMU3000_InitStructure.Interrupt_cfg = PIOS_IMU3000_INT_CLR_ANYRD | PIOS_IMU3000_INT_DATA_RDY;
IMU3000_InitStructure.Interrupt_cfg = 0; //PIOS_IMU3000_INT_CLR_ANYRD | PIOS_IMU3000_INT_DATA_RDY;
IMU3000_InitStructure.User_ctl = PIOS_IMU3000_USERCTL_FIFO_EN;
IMU3000_InitStructure.Pwr_mgmt_clk = PIOS_IMU3000_PWRMGMT_PLL_X_CLK;
PIOS_IMU3000_Config(&IMU3000_InitStructure);
@ -160,6 +160,7 @@ uint8_t fifo_level_data[2];
int16_t footer_flush;
uint8_t imu3000_read_buffer[10]; // Right now using temp,X,Y,Z,fifo
bool first_read = true;
uint32_t imu3000_readtime;
int32_t PIOS_IMU3000_ReadFifo(int16_t * buffer)
{
// Get the number of bytes in the fifo
@ -189,10 +190,14 @@ int32_t PIOS_IMU3000_ReadFifo(int16_t * buffer)
if(fifo_level < (sizeof(imu3000_read_buffer) + 2))
return -1;
uint32_t timeval = PIOS_DELAY_GetRaw();
// Leave footer in buffer
if(PIOS_IMU3000_Read(PIOS_IMU3000_FIFO_REG, imu3000_read_buffer, sizeof(imu3000_read_buffer)) != 0)
return -1;
imu3000_readtime = PIOS_DELAY_DiffuS(timeval);
// First two bytes are left over fifo from last call
buffer[0] = imu3000_read_buffer[4] << 8 | imu3000_read_buffer[5];
buffer[1] = imu3000_read_buffer[6] << 8 | imu3000_read_buffer[7];

8
flight/PiOS/inc/pios_imu3000.h
View File

@ -72,10 +72,10 @@
#define PIOS_IMU3000_FIFO_FOOTER 0x01
/* Gyro full-scale range */
#define PIOS_IMU3000_SCALE_250_DEG 0x00
#define PIOS_IMU3000_SCALE_500_DEG 0x01
#define PIOS_IMU3000_SCALE_1000_DEG 0x02
#define PIOS_IMU3000_SCALE_2000_DEG 0x03
#define PIOS_IMU3000_SCALE_250_DEG (0x00 << 3)
#define PIOS_IMU3000_SCALE_500_DEG (0x01 << 3)
#define PIOS_IMU3000_SCALE_1000_DEG (0x02 << 3)
#define PIOS_IMU3000_SCALE_2000_DEG (0x03 << 3)
/* Digital low-pass filter configuration */
#define PIOS_IMU3000_LOWPASS_256_HZ 0x00