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Adding ADC downsampling code
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1296 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124
peabody124
parent
070ce007a0
commit
cc2441d41b
@ -95,7 +95,6 @@ SRC += $(PIOSSTM32F10X)/pios_led.c
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SRC += $(PIOSSTM32F10X)/pios_delay.c
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SRC += $(PIOSSTM32F10X)/pios_usart.c
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SRC += $(PIOSSTM32F10X)/pios_irq.c
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SRC += $(PIOSSTM32F10X)/pios_adc.c
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SRC += $(PIOSSTM32F10X)/pios_i2c.c
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SRC += $(PIOSSTM32F10X)/pios_gpio.c
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SRC += $(PIOSSTM32F10X)/pios_spi.c
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@ -1,9 +1,17 @@
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/**
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******************************************************************************
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* @addtogroup AHRS AHRS Control
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* @brief The AHRS Modules perform
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*
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* @{
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* @addtogroup AHRS_Main
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* @brief Main function which does the hardware dependent stuff
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* @{
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*
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*
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* @file ahrs.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Main AHRS functions
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* @brief INSGPS Test Program
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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@ -29,9 +37,53 @@
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#include "pios_opahrs_proto.h"
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#include "ahrs_fsm.h" /* lfsm_state */
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/* Global Variables */
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/**
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* State of AHRS EKF
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* @arg AHRS_IDLE - waiting for data to be available for filtering
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* @arg AHRS_DATA_READY - Data ready for downsampling and processing
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* @arg AHRS_PROCESSING - Performing update on the available data
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*/
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enum {AHRS_IDLE, AHRS_DATA_READY, AHRS_PROCESSING} ahrs_state;
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/* Local Variables */
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/**
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* @addtogroup AHRS_ADC_Configuration ADC Configuration
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* @{
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* Functions to configure ADC and handle interrupts
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*/
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void AHRS_ADC_Config(int32_t ekf_rate, int32_t adc_oversample);
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void AHRS_ADC_DMA_Handler(void);
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void DMA1_Channel1_IRQHandler() __attribute__ ((alias ("AHRS_ADC_DMA_Handler")));
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/**
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* @}
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*/
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/**
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* @addtogroup AHRS_Definitions
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* @{
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*/
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#define EKF_RATE 50
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#define ADC_OVERSAMPLE 10
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#define ADC_CONTINUOUS_CHANNELS PIOS_ADC_NUM_PINS
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#define PREDICTION_COUNT 4
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// TODO: Define calibration procedure including changes over temperature
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#define VDD 3.3 /* supply voltage for ADC */
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#define FULL_RANGE 4096 /* 12 bit ADC */
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#define ACCEL_RANGE 2 /* adjustable by FS input */
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#define ACCEL_GRAVITY 9.81 /* m s^-1 */
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#define ACCEL_SENSITIVITY ( VDD / 5 )
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#define ACCEL_SCALE ( (VDD / FULL_RANGE) / ACCEL_SENSITIVITY * 2 / ACCEL_RANGE * ACCEL_GRAVITY )
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#define ACCEL_OFFSET -2048
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#define GYRO_SENSITIVITY ( 2.0 / 1000 ) /* V sec deg^-1 */
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#define RAD_PER_DEGREE ( 3.14159 / 180 )
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#define GYRO_SCALE ( (VDD / FULL_RANGE) / GYRO_SENSITIVITY * RAD_PER_DEGREE )
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#define GYRO_OFFSET -1675 /* From data sheet, zero accel output is 1.35 v */
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/**
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* @addtogroup AHRS_Local Local Variables
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* @{
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*/
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struct mag_sensor {
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uint8_t id[4];
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struct {
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@ -45,6 +97,11 @@ struct accel_sensor {
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uint16_t y;
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uint16_t z;
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} raw;
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struct {
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float x;
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float y;
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float z;
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} filtered;
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};
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struct gyro_sensor {
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@ -53,6 +110,11 @@ struct gyro_sensor {
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uint16_t y;
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uint16_t z;
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} raw;
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struct {
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float x;
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float y;
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float z;
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} filtered;
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struct {
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uint16_t xy;
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uint16_t z;
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@ -73,6 +135,9 @@ struct attitude_solution {
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float yaw;
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} euler;
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};
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/**
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* @}
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*/
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struct altitude_sensor {
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float altitude;
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@ -102,9 +167,25 @@ static struct attitude_solution attitude_data = {
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/* Function Prototypes */
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void process_spi_request(void);
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void downsample_data();
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/**
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* AHRS Main function
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* @addtogroup AHRS_Global_Data AHRS Global Data
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* @{
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* Public data. Used by both EKF and the sender
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*/
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int16_t fir_coeffs[ADC_OVERSAMPLE+1]; // FIR filter coefficients
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int16_t raw_data_buffer[ADC_CONTINUOUS_CHANNELS * ADC_OVERSAMPLE * 2]; // Double buffer that DMA just used
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int16_t * valid_data_buffer; // Swapped by interrupt handler to achieve double buffering
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uint32_t ekf_too_slow = 0;
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uint32_t total_conversion_blocks = 0;
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/**
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* @}
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*/
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/**
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* @brief AHRS Main function
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*/
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int main()
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{
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@ -118,7 +199,7 @@ int main()
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PIOS_COM_Init();
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/* ADC system */
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PIOS_ADC_Init();
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AHRS_ADC_Config(EKF_RATE, ADC_OVERSAMPLE);
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/* Magnetic sensor system */
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PIOS_I2C_Init();
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@ -158,22 +239,25 @@ int main()
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// Get magnetic readings
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PIOS_HMC5843_ReadMag(mag_data.raw.axis);
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// Test ADC
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accel_data.raw.x = PIOS_ADC_PinGet(4);
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accel_data.raw.y = PIOS_ADC_PinGet(2);
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accel_data.raw.z = PIOS_ADC_PinGet(0);
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gyro_data.raw.x = PIOS_ADC_PinGet(1);
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gyro_data.raw.y = PIOS_ADC_PinGet(3);
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gyro_data.raw.z = PIOS_ADC_PinGet(5);
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/* Turn this on when the temperature ADCs are configured */
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gyro_data.temp.xy = PIOS_ADC_PinGet(6);
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gyro_data.temp.z = PIOS_ADC_PinGet(7);
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//PIOS_COM_SendFormattedString(PIOS_COM_AUX, "ADC Values: %d,%d,%d,%d,%d,%d\r\n", PIOS_ADC_PinGet(0), PIOS_ADC_PinGet(1), PIOS_ADC_PinGet(2), PIOS_ADC_PinGet(3), PIOS_ADC_PinGet(4), PIOS_ADC_PinGet(5));
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// Delay for valid data
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while( ahrs_state != AHRS_DATA_READY );
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ahrs_state = AHRS_PROCESSING;
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downsample_data();
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// Hacky - grab one sample from buffer to populate this. Need to send back
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// all raw data if it's happening
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accel_data.raw.x = valid_data_buffer[0];
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accel_data.raw.y = valid_data_buffer[2];
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accel_data.raw.z = valid_data_buffer[4];
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gyro_data.raw.x = valid_data_buffer[1];
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gyro_data.raw.y = valid_data_buffer[3];
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gyro_data.raw.z = valid_data_buffer[5];
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gyro_data.temp.xy = valid_data_buffer[6];
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gyro_data.temp.z = valid_data_buffer[7];
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/* Simulate a rotating airframe */
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attitude_data.quaternion.q1 += .001;
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attitude_data.quaternion.q2 += .002;
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@ -196,6 +280,58 @@ int main()
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return 0;
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}
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/**
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* @brief Downsample the analog data
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* @return none
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*
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* Tried to make as much of the filtering fixed point when possible. Need to account
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* for offset for each sample before the multiplication if filter not a boxcar. Could
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* precompute fixed offset as sum[fir_coeffs[i]] * ACCEL_OFFSET. Puts data into global
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* data structures @ref accel_data and @ref gyro_data.
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*/
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void downsample_data()
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{
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int32_t accel_raw[3], gyro_raw[3];
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uint16_t i;
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// Get the X data. Fifth byte in. Convert to m/s
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accel_raw[0] = 0;
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for( i = 0; i < ADC_OVERSAMPLE; i++ )
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accel_raw[0] = accel_raw[0] + ( valid_data_buffer[0 + (i-1) * ADC_CONTINUOUS_CHANNELS] + ACCEL_OFFSET ) * fir_coeffs[i];
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accel_data.filtered.x = (float) accel_raw[0] / (float) fir_coeffs[ADC_OVERSAMPLE] * ACCEL_SCALE;
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// Get the Y data. Third byte in. Convert to m/s
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accel_raw[1] = 0;
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for( i = 0; i < ADC_OVERSAMPLE; i++ )
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accel_raw[1] = accel_raw[1] + ( valid_data_buffer[2 + (i-1) * ADC_CONTINUOUS_CHANNELS] + ACCEL_OFFSET ) * fir_coeffs[i];
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accel_data.filtered.y = (float) accel_raw[1] / (float) fir_coeffs[ADC_OVERSAMPLE] * ACCEL_SCALE;
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// Get the Z data. Third byte in. Convert to m/s
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accel_raw[2] = 0;
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for( i = 0; i < ADC_OVERSAMPLE; i++ )
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accel_raw[2] = accel_raw[2] + ( valid_data_buffer[4 + (i-1) * ADC_CONTINUOUS_CHANNELS] + ACCEL_OFFSET ) * fir_coeffs[i];
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accel_data.filtered.z = (float) accel_raw[2] / (float) fir_coeffs[ADC_OVERSAMPLE] * ACCEL_SCALE;
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// Get the X gyro data. Seventh byte in. Convert to deg/s.
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gyro_raw[0] = 0;
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for( i = 0; i < ADC_OVERSAMPLE; i++ )
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gyro_raw[0] += gyro_raw[0] + ( valid_data_buffer[1 + (i-1) * ADC_CONTINUOUS_CHANNELS] + GYRO_OFFSET ) * fir_coeffs[i];
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gyro_data.filtered.x = (float) gyro_raw[0] / (float) fir_coeffs[ADC_OVERSAMPLE] * GYRO_SCALE;
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// Get the Y gyro data. Second byte in. Convert to deg/s.
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gyro_raw[1] = 0;
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for( i = 0; i < ADC_OVERSAMPLE; i++ )
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gyro_raw[1] += gyro_raw[1] + ( valid_data_buffer[3 + (i-1) * ADC_CONTINUOUS_CHANNELS] + GYRO_OFFSET ) * fir_coeffs[i];
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gyro_data.filtered.y = (float) gyro_raw[1] / (float) fir_coeffs[ADC_OVERSAMPLE] * GYRO_SCALE;
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// Get the Z gyro data. Fifth byte in. Convert to deg/s.
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gyro_raw[2] = 0;
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for( i = 0; i < ADC_OVERSAMPLE; i++ )
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gyro_raw[2] += gyro_raw[2] + ( valid_data_buffer[5 + (i-1) * ADC_CONTINUOUS_CHANNELS] + GYRO_OFFSET ) * fir_coeffs[i];
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gyro_data.filtered.z = (float) gyro_raw[2] / (float) fir_coeffs[ADC_OVERSAMPLE] * GYRO_SCALE;
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}
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void dump_spi_message(uint8_t port, const char * prefix, uint8_t * data, uint32_t len)
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{
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@ -322,3 +458,156 @@ void process_spi_request(void)
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lfsm_user_done ();
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}
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/**
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* ADC Configuration local variabels
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*/
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/* Local Variables */
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static GPIO_TypeDef* ADC_GPIO_PORT[PIOS_ADC_NUM_PINS] = PIOS_ADC_PORTS;
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static const uint32_t ADC_GPIO_PIN[PIOS_ADC_NUM_PINS] = PIOS_ADC_PINS;
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static const uint32_t ADC_CHANNEL[PIOS_ADC_NUM_PINS] = PIOS_ADC_CHANNELS;
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static ADC_TypeDef* ADC_MAPPING[PIOS_ADC_NUM_PINS] = PIOS_ADC_MAPPING;
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static const uint32_t ADC_CHANNEL_MAPPING[PIOS_ADC_NUM_PINS] = PIOS_ADC_CHANNEL_MAPPING;
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/**
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* Initialise the ADC Peripheral
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* @params ekf_rate
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*/
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void AHRS_ADC_Config(int32_t ekf_rate, int32_t adc_oversample)
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{
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int32_t i;
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/* Setup analog pins */
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
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/* Enable each ADC pin in the array */
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for(i = 0; i < PIOS_ADC_NUM_PINS; i++) {
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GPIO_InitStructure.GPIO_Pin = ADC_GPIO_PIN[i];
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GPIO_Init(ADC_GPIO_PORT[i], &GPIO_InitStructure);
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}
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/* Enable ADC clocks */
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PIOS_ADC_CLOCK_FUNCTION;
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/* Map channels to conversion slots depending on the channel selection mask */
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for(i = 0; i < PIOS_ADC_NUM_PINS; i++) {
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ADC_RegularChannelConfig(ADC_MAPPING[i], ADC_CHANNEL[i], ADC_CHANNEL_MAPPING[i], PIOS_ADC_SAMPLE_TIME);
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}
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#if (PIOS_ADC_USE_TEMP_SENSOR)
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ADC_TempSensorVrefintCmd(ENABLE);
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ADC_RegularChannelConfig(PIOS_ADC_TEMP_SENSOR_ADC, ADC_Channel_14, PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL, PIOS_ADC_SAMPLE_TIME);
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#endif
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// TODO: update ADC to continuous sampling, configure the sampling rate
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/* Configure ADCs */
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ADC_InitTypeDef ADC_InitStructure;
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ADC_StructInit(&ADC_InitStructure);
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ADC_InitStructure.ADC_Mode = ADC_Mode_RegSimult;
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ADC_InitStructure.ADC_ScanConvMode = ENABLE;
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ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
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ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
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ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
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ADC_InitStructure.ADC_NbrOfChannel = 4; //((PIOS_ADC_NUM_CHANNELS + 1) >> 1);
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ADC_Init(ADC1, &ADC_InitStructure);
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#if (PIOS_ADC_USE_ADC2)
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ADC_Init(ADC2, &ADC_InitStructure);
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/* Enable ADC2 external trigger conversion (to synch with ADC1) */
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ADC_ExternalTrigConvCmd(ADC2, ENABLE);
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#endif
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//RCC_ADCCLKConfig(PIOS_ADC_ADCCLK);
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/* Enable ADC1->DMA request */
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ADC_DMACmd(ADC1, ENABLE);
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/* ADC1 calibration */
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ADC_Cmd(ADC1, ENABLE);
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ADC_ResetCalibration(ADC1);
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while(ADC_GetResetCalibrationStatus(ADC1));
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ADC_StartCalibration(ADC1);
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while(ADC_GetCalibrationStatus(ADC1));
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#if (PIOS_ADC_USE_ADC2)
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/* ADC2 calibration */
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ADC_Cmd(ADC2, ENABLE);
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ADC_ResetCalibration(ADC2);
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while(ADC_GetResetCalibrationStatus(ADC2));
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ADC_StartCalibration(ADC2);
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while(ADC_GetCalibrationStatus(ADC2));
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#endif
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/* Enable DMA1 clock */
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
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/* Configure DMA1 channel 1 to fetch data from ADC result register */
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DMA_InitTypeDef DMA_InitStructure;
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DMA_StructInit(&DMA_InitStructure);
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DMA_DeInit(DMA1_Channel1);
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DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR;
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DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&raw_data_buffer[0];
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DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
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/* We are double buffering half words from the ADC. Make buffer appropriately sized */
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DMA_InitStructure.DMA_BufferSize = (ADC_CONTINUOUS_CHANNELS * ADC_OVERSAMPLE * 2) >> 1;
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
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/* Note: We read ADC1 and ADC2 in parallel making a word read, also hence the half buffer size */
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
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DMA_InitStructure.DMA_Priority = DMA_Priority_High;
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DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
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DMA_Init(DMA1_Channel1, &DMA_InitStructure);
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DMA_Cmd(DMA1_Channel1, ENABLE);
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/* Trigger interrupt when for half conversions too to indicate double buffer */
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DMA_ITConfig(DMA1_Channel1, DMA_IT_TC, ENABLE);
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DMA_ITConfig(DMA1_Channel1, DMA_IT_HT, ENABLE);
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/* Configure and enable DMA interrupt */
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel1_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_ADC_IRQ_PRIO;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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/* Finally start initial conversion */
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ADC_SoftwareStartConvCmd(ADC1, ENABLE);
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}
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void AHRS_ADC_DMA_Handler(void)
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{
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if ( ahrs_state == AHRS_IDLE )
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{
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// Ideally this would have a mutex, but I think we can avoid it (and don't have RTOS features)
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if( DMA_GetFlagStatus( DMA1_IT_TC1 ) ) // whole double buffer filled
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valid_data_buffer = &raw_data_buffer[ ADC_CONTINUOUS_CHANNELS * ADC_OVERSAMPLE ];
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else if ( DMA_GetFlagStatus(DMA1_IT_HT1) )
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valid_data_buffer = &raw_data_buffer[0];
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else {
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// lets cause a seg fault and catch whatever is going on
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valid_data_buffer = 0;
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}
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ahrs_state = AHRS_DATA_READY;
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}
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else {
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// Track how many times an interrupt occurred before EKF finished processing
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ekf_too_slow++;
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}
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total_conversion_blocks++;
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||||
// Clear all interrupt from DMA 1 - regardless if buffer swapped
|
||||
DMA_ClearFlag( DMA1_IT_GL1 );
|
||||
|
||||
}
|
||||
|
||||
@ -134,9 +134,9 @@ TIM8 | | | |
|
||||
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
|
||||
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
|
||||
|
||||
#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA0 (Accel Z)
|
||||
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_0 // ADC12_IN0
|
||||
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_0
|
||||
#define PIOS_ADC_PIN1_GPIO_PORT GPIOA // PA2 (Accel X)
|
||||
#define PIOS_ADC_PIN1_GPIO_PIN GPIO_Pin_2 // ADC12_IN2
|
||||
#define PIOS_ADC_PIN1_GPIO_CHANNEL ADC_Channel_2
|
||||
#define PIOS_ADC_PIN1_ADC ADC1
|
||||
#define PIOS_ADC_PIN1_ADC_NUMBER 1
|
||||
|
||||
@ -146,13 +146,17 @@ TIM8 | | | |
|
||||
#define PIOS_ADC_PIN2_ADC ADC1
|
||||
#define PIOS_ADC_PIN2_ADC_NUMBER 2
|
||||
|
||||
#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA1 (Accel X)
|
||||
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_2 // ADC12_IN2
|
||||
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_2
|
||||
#define PIOS_ADC_PIN3_GPIO_PORT GPIOA // PA0 (Accel Z)
|
||||
#define PIOS_ADC_PIN3_GPIO_PIN GPIO_Pin_0 // ADC12_IN0
|
||||
#define PIOS_ADC_PIN3_GPIO_CHANNEL ADC_Channel_0
|
||||
#define PIOS_ADC_PIN3_ADC ADC1
|
||||
#define PIOS_ADC_PIN3_ADC_NUMBER 3
|
||||
|
||||
<<<<<<< HEAD
|
||||
#define PIOS_ADC_PIN4_GPIO_PORT GPIOA // PA6 (XY Temp)
|
||||
=======
|
||||
#define PIOS_ADC_PIN4_GPIO_PORT GPIOA // PA6 (Temp_XY)
|
||||
>>>>>>> Adding ADC downsampling code
|
||||
#define PIOS_ADC_PIN4_GPIO_PIN GPIO_Pin_6 // ADC12_IN6
|
||||
#define PIOS_ADC_PIN4_GPIO_CHANNEL ADC_Channel_6
|
||||
#define PIOS_ADC_PIN4_ADC ADC1
|
||||
@ -176,15 +180,24 @@ TIM8 | | | |
|
||||
#define PIOS_ADC_PIN7_ADC ADC2
|
||||
#define PIOS_ADC_PIN7_ADC_NUMBER 3
|
||||
|
||||
<<<<<<< HEAD
|
||||
#define PIOS_ADC_PIN8_GPIO_PORT GPIOB // PA7 (Gyro Z)
|
||||
#define PIOS_ADC_PIN8_GPIO_PIN GPIO_Pin_1 // ADC12_IN7
|
||||
=======
|
||||
#define PIOS_ADC_PIN8_GPIO_PORT GPIOB // PB1 (Z Temp)
|
||||
#define PIOS_ADC_PIN8_GPIO_PIN GPIO_Pin_1 // ADC12_IN9
|
||||
>>>>>>> Adding ADC downsampling code
|
||||
#define PIOS_ADC_PIN8_GPIO_CHANNEL ADC_Channel_9
|
||||
#define PIOS_ADC_PIN8_ADC ADC2
|
||||
#define PIOS_ADC_PIN8_ADC_NUMBER 4
|
||||
|
||||
#define PIOS_ADC_NUM_PINS 8
|
||||
|
||||
<<<<<<< HEAD
|
||||
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT, PIOS_ADC_PIN7_GPIO_PORT, PIOS_ADC_PIN7_GPIO_PORT }
|
||||
=======
|
||||
#define PIOS_ADC_PORTS { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT, PIOS_ADC_PIN4_GPIO_PORT, PIOS_ADC_PIN5_GPIO_PORT, PIOS_ADC_PIN6_GPIO_PORT, PIOS_ADC_PIN7_GPIO_PORT, PIOS_ADC_PIN8_GPIO_PORT }
|
||||
>>>>>>> Adding ADC downsampling code
|
||||
#define PIOS_ADC_PINS { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN, PIOS_ADC_PIN4_GPIO_PIN, PIOS_ADC_PIN5_GPIO_PIN, PIOS_ADC_PIN6_GPIO_PIN, PIOS_ADC_PIN7_GPIO_PIN, PIOS_ADC_PIN8_GPIO_PIN }
|
||||
#define PIOS_ADC_CHANNELS { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL, PIOS_ADC_PIN4_GPIO_CHANNEL, PIOS_ADC_PIN5_GPIO_CHANNEL, PIOS_ADC_PIN6_GPIO_CHANNEL, PIOS_ADC_PIN7_GPIO_CHANNEL, PIOS_ADC_PIN8_GPIO_CHANNEL }
|
||||
#define PIOS_ADC_MAPPING { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC, PIOS_ADC_PIN4_ADC, PIOS_ADC_PIN5_ADC, PIOS_ADC_PIN6_ADC, PIOS_ADC_PIN7_ADC, PIOS_ADC_PIN8_ADC }
|
||||
@ -194,17 +207,18 @@ TIM8 | | | |
|
||||
#define PIOS_ADC_USE_ADC2 1
|
||||
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
|
||||
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
|
||||
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
|
||||
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
|
||||
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
|
||||
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
|
||||
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
|
||||
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
|
||||
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
|
||||
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
|
||||
#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
|
||||
/* Sample time: */
|
||||
/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
|
||||
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
|
||||
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
|
||||
/* Sample time: */
|
||||
/* With an ADCCLK = 14 MHz and a sampling time of 293.5 cycles: */
|
||||
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
|
||||
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
|
||||
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_HIGH
|
||||
|
||||
|
||||
//-------------------------
|
||||
// GPIO
|
||||
//-------------------------
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user