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Code Issues Releases Activity

Checking ID on ST gyro works

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This commit is contained in:
James Cotton 2012-01-04 23:23:42 -06:00
parent 0fbcf7723d
commit cc47520baa
5 changed files with 15 additions and 14 deletions
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4
flight/Modules/Sensors/sensors.c
View File

@ -244,7 +244,7 @@ static void SensorsTask(void *parameters)
#endif
// Using L3DG20 gyro
#elif defined(PIOS_INCLUDE_L3GD20)
#elif 0 && defined(PIOS_INCLUDE_L3GD20)
struct pios_l3gd20_data gyro;
count = 0;
while((read_good = PIOS_L3GD20_ReadFifo(&gyro)) != 0);
@ -288,7 +288,7 @@ static void SensorsTask(void *parameters)
gyrosData.y = gyros[1] * gyro_scaling;
gyrosData.z = gyros[2] * gyro_scaling;
gyrosData.temperature = 35.0f + ((float) gyro.temperature + 512.0f) / 340.0f;
gyrosData.temperature = PIOS_L3GD20_ReadID();
if (bias_correct_gyro) {
// Apply bias correction to the gyros
GyrosBiasData gyrosBias;

16
flight/PiOS/STM32F4xx/pios_l3gd20.c
View File

@ -247,15 +247,15 @@ float PIOS_L3GD20_GetScale()
*/
uint8_t PIOS_L3GD20_Test(void)
{
/* Verify that ID matches (MPU6050 ID is 0x69) */
int32_t L3GD20_id = PIOS_L3GD20_ReadID();
if(L3GD20_id < 0)
int32_t l3gd20_id = PIOS_L3GD20_ReadID();
if(l3gd20_id < 0)
return -1;
if(L3GD20_id != 0x68);
return -2;
return 0;
uint8_t id = l3gd20_id;
if(id == 0xD4)
return 0;
return -2;
}
/**

2
flight/PiOS/inc/pios_l3gd20.h
View File

@ -62,7 +62,7 @@
#define PIOS_L3GD20_FIFO_CNT_MSB 0x72
#define PIOS_L3GD20_FIFO_CNT_LSB 0x73
#define PIOS_L3GD20_FIFO_REG 0x74
#define PIOS_L3GD20_WHOAMI 0x75
#define PIOS_L3GD20_WHOAMI 0x0F
/* FIFO enable for storing different values */
#define PIOS_L3GD20_FIFO_TEMP_OUT 0x80

2
flight/Revolution/System/inc/pios_config.h
View File

@ -59,7 +59,7 @@
#define PIOS_INCLUDE_HMC5883
//#define PIOS_INCLUDE_MPU6000
//#define PIOS_MPU6000_ACCEL
//#define PIOS_INCLUDE_L3GD20
#define PIOS_INCLUDE_L3GD20
#define PIOS_INCLUDE_MS5611
//#define PIOS_INCLUDE_HCSR04

5
flight/Revolution/System/pios_board.c
View File

@ -1671,17 +1671,18 @@ void PIOS_Board_Init(void) {
PIOS_DELAY_WaitmS(500);
/*
#if defined(PIOS_INCLUDE_MPU6000)
PIOS_MPU6000_Attach(pios_spi_gyro_id);
PIOS_MPU6000_Init(&pios_mpu6000_cfg);
#elif defined(PIOS_INCLUDE_L3GD20)
PIOS_L3GD20_Attach(pios_spi_gyro_id);
PIOS_Assert(PIOS_L3GD20_Test() == 0);
// PIOS_L3GD20_Init(&pios_l3gd20_cfg);
#else
PIOS_Assert(0);
#endif
*/
PIOS_BMA180_Attach(pios_spi_accel_id);
PIOS_BMA180_Init(&pios_bma180_cfg);