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Code Issues Releases Activity

LP-72 Get I2CPort working with I2C Aux Mag LP-73

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This commit is contained in:
Cliff Geerdes 2015-11-02 03:07:53 -05:00 committed by Laurent Lalanne
parent afaf33bb67
commit c9b2d4d659
4 changed files with 114 additions and 9 deletions
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9
flight/targets/boards/sparky2/board_hw_defs.c
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@ -1473,12 +1473,13 @@ static const struct pios_tim_clock_cfg tim_12_cfg = {
},
};
#include <pios_servo_priv.h>
#if 1
/**
* Pios servo configuration structures
* Using TIM3, TIM9, TIM2, TIM5
*/
#include <pios_servo_priv.h>
static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
{
.timer = TIM3,
@ -1685,6 +1686,8 @@ static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
.remap = GPIO_AF_TIM12,
},
};
#endif
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT 6
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN_PPM 11
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN 12
@ -1703,6 +1706,8 @@ const struct pios_servo_cfg pios_servo_cfg_out = {
.channels = pios_tim_servoport_all_pins,
.num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT,
};
#if 0
// All servo outputs, servo input ch1 ppm, ch2-6 outputs
const struct pios_servo_cfg pios_servo_cfg_out_in_ppm = {
.tim_oc_init = {
@ -1733,7 +1738,7 @@ const struct pios_servo_cfg pios_servo_cfg_out_in = {
.channels = pios_tim_servoport_all_pins,
.num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN,
};
#endif
/*
* PWM Inputs

4
flight/targets/boards/sparky2/firmware/inc/pios_config.h
View File

@ -84,8 +84,8 @@
/* #define PIOS_INCLUDE_MPU6000 */
/* seems to be completely unused #define PIOS_MPU6000_ACCEL */
/* #define PIOS_INCLUDE_HMC5843 */
/* disable till auxmag is added #define PIOS_INCLUDE_HMC5X83 */
/* disable till auxmag is added #define PIOS_HMC5X83_HAS_GPIOS */
#define PIOS_INCLUDE_HMC5X83
/* Sparky2 5X83s are all external and thus don't have GPIOs #define PIOS_HMC5X83_HAS_GPIOS */
/* #define PIOS_INCLUDE_BMP085 */
#define PIOS_INCLUDE_MS5611
#define PIOS_INCLUDE_MPU9250

108
flight/targets/boards/sparky2/firmware/pios_board.c
View File

@ -38,6 +38,7 @@
#include <pios_ws2811.h>
#include <sanitycheck.h>
#include <actuatorsettings.h>
#include <auxmagsettings.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
@ -96,11 +97,14 @@ void PIOS_ADC_DMC_irq_handler(void)
#if defined(PIOS_INCLUDE_HMC5X83)
#include "pios_hmc5x83.h"
pios_hmc5x83_dev_t i2c_port_mag = 0;
pios_hmc5x83_dev_t flexi_port_mag = 0;
#if 0
bool pios_board_internal_mag_handler()
{
return PIOS_HMC5x83_IRQHandler(i2c_port_mag);
}
static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
.vector = pios_board_internal_mag_handler,
.line = EXTI_Line7,
@ -131,9 +135,16 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
},
},
};
#endif
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
#if 0
.exti_cfg = &pios_exti_hmc5x83_cfg,
#else
#ifdef PIOS_HMC5X83_HAS_GPIOS
.exti_cfg = NULL,
#endif /* PIOS_HMC5X83_HAS_GPIOS */
#endif /* 0 */
.M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
@ -466,6 +477,7 @@ void PIOS_Board_Init(void)
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWSETTINGS_RM_FLEXIPORT_I2C:
#if 0
#if defined(PIOS_INCLUDE_I2C)
{
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
@ -473,6 +485,44 @@ void PIOS_Board_Init(void)
}
}
#endif /* PIOS_INCLUDE_I2C */
#else
#if defined(PIOS_INCLUDE_I2C)
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0);
}
PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init(), so I copied it here too
#ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe
// leave this here even if PIOS_INCLUDE_HMC5X83 is undefined
// to avoid making something else fail when HMC5X83 is removed
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_WDG */
#if defined(PIOS_INCLUDE_HMC5X83)
// get auxmag type
AuxMagSettingsTypeOptions option;
AuxMagSettingsInitialize();
AuxMagSettingsTypeGet(&option);
// if the aux mag type is FlexiPort then set it up
if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
// attach the 5x83 mag to the previously inited I2C2
flexi_port_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_flexiport_adapter_id, 0);
#ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_WDG */
// add this sensor to the sensor task's list
// be careful that you don't register a slow, unimportant sensor after registering the fastest sensor
// and before registering some other fast and important sensor
// as that would cause delay and time jitter for the second fast sensor
PIOS_HMC5x83_Register(flexi_port_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
// mag alarm is cleared later, so use I2C
AlarmsSet(SYSTEMALARMS_ALARM_I2C, (flexi_port_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
}
#endif /* PIOS_INCLUDE_HMC5X83 */
#endif /* PIOS_INCLUDE_I2C */
#endif /* 0 */
break;
case HWSETTINGS_RM_FLEXIPORT_GPS:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
@ -807,11 +857,12 @@ void PIOS_Board_Init(void)
OPLinkStatusSet(&oplinkStatus);
#endif /* PIOS_INCLUDE_RFM22B */
#if 1
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PWM)
const struct pios_servo_cfg *pios_servo_cfg;
// default to servo outputs only
pios_servo_cfg = &pios_servo_cfg_out;
#endif
#endif
/* Configure the receiver port*/
@ -892,11 +943,13 @@ void PIOS_Board_Init(void)
}
#endif /* PIOS_INCLUDE_OPLINKRCVR */
#if 1
#ifndef PIOS_ENABLE_DEBUG_PINS
// pios_servo_cfg points to the correct configuration based on input port settings
PIOS_Servo_Init(pios_servo_cfg);
#else
PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
#endif
#endif
// Disable GPIO_A8 Pullup to prevent wrong results on battery voltage readout
@ -920,20 +973,67 @@ void PIOS_Board_Init(void)
PIOS_MPU9250_MagRegister();
#endif
#if 0
#ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe
// leave this here even if PIOS_INCLUDE_HMC5X83 is undefined
// to avoid making something else fail when HMC5X83 is removed
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_WDG */
#if defined(PIOS_INCLUDE_HMC5X83)
// on board mag is in the MPU9250
// this hmc5x83 mag is an external mag
i2c_port_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
#ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe
PIOS_WDG_Clear();
PIOS_HMC5x83_Register(i2c_port_mag);
#endif
#endif /* PIOS_INCLUDE_WDG */
PIOS_HMC5x83_Register(i2c_port_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
#endif /* PIOS_INCLUDE_HMC5X83 */
#else
#if defined(PIOS_INCLUDE_I2C)
#ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe
// leave this here even if PIOS_INCLUDE_HMC5X83 is undefined
// to avoid making something else fail when HMC5X83 is removed
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_WDG */
#if defined(PIOS_INCLUDE_HMC5X83)
// get auxmag type
AuxMagSettingsTypeOptions option;
AuxMagSettingsInitialize();
AuxMagSettingsTypeGet(&option);
// if the aux mag type is FlexiPort then set it up
if (option == AUXMAGSETTINGS_TYPE_I2C) {
// attach the 5x83 mag to the previously inited I2C2
i2c_port_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
#ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_WDG */
// add this sensor to the sensor task's list
// be careful that you don't register a slow, unimportant sensor after registering the fastest sensor
// and before registering some other fast and important sensor
// as that would cause delay and time jitter for the second fast sensor
PIOS_HMC5x83_Register(i2c_port_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
// mag alarm is cleared later, so use I2C
AlarmsSet(SYSTEMALARMS_ALARM_I2C, (i2c_port_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
}
#endif /* PIOS_INCLUDE_HMC5X83 */
#endif /* PIOS_INCLUDE_I2C */
#endif /* 0 */
#if defined(PIOS_INCLUDE_MS5611)
PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id);
PIOS_MS5611_Register();
#endif
#endif /* PIOS_INCLUDE_MS5611 */
#ifdef PIOS_INCLUDE_WS2811
#include <pios_ws2811.h>

2
shared/uavobjectdefinition/auxmagsettings.xml
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@ -6,7 +6,7 @@
defaultvalue="1,0,0,0,1,0,0,0,1"/>
<field name="MagBiasNullingRate" units="" type="float" elements="1" defaultvalue="0"/>
<field name="BoardRotation" units="deg" type="int16" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
<field name="Type" units="" type="enum" elements="1" options="GPSV9,Flexi,I2C,DJI" defaultvalue="GPSV9"/>
<field name="Type" units="" type="enum" elements="1" options="GPSV9,Ext,Flexi,I2C,DJI" defaultvalue="GPSV9"/>
<field name="Usage" units="" type="enum" elements="1" options="Both,OnboardOnly,AuxOnly" defaultvalue="Both"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>