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Code Issues Releases Activity

L3GD20 data now running through IRQ -> FIFO

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This commit is contained in:
James Cotton 2012-01-17 19:36:32 -06:00
parent 35025303cd
commit ce2d0fcbb1
2 changed files with 9 additions and 12 deletions
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12
flight/Modules/Sensors/sensors.c
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@ -247,7 +247,7 @@ static void SensorsTask(void *parameters)
#elif defined(PIOS_INCLUDE_L3GD20)
struct pios_l3gd20_data gyro;
count = 0;
/*while((read_good = PIOS_L3GD20_ReadFifo(&gyro)) != 0);
while((read_good = PIOS_L3GD20_ReadFifo(&gyro)) != 0);
while(read_good == 0) {
count++;
@ -256,14 +256,8 @@ static void SensorsTask(void *parameters)
gyro_accum[2] += gyro.gyro_z;
read_good = PIOS_L3GD20_ReadFifo(&gyro);
} */
PIOS_L3GD20_ReadGyros(&gyro);
gyro_accum[0] = gyro.gyro_x;
gyro_accum[1] = gyro.gyro_y;
gyro_accum[2] = gyro.gyro_z;
count = 1;
}
gyro_samples = count;
gyro_scaling = PIOS_L3GD20_GetScale();

9
flight/PiOS/STM32F4xx/pios_l3gd20.c
View File

@ -77,6 +77,10 @@ void PIOS_L3GD20_Init(const struct pios_l3gd20_cfg * new_cfg)
/* Enable and set EOC EXTI Interrupt to the lowest priority */
NVIC_Init(&cfg->eoc_irq.init);
// An initial read is needed to get it running
struct pios_l3gd20_data data;
PIOS_L3GD20_ReadGyros(&data);
}
@ -315,7 +319,6 @@ uint32_t l3gd20_fifo_full = 0;
void PIOS_L3GD20_IRQHandler(void)
{
/*
struct pios_l3gd20_data data;
PIOS_L3GD20_ReadGyros(&data);
@ -323,11 +326,11 @@ void PIOS_L3GD20_IRQHandler(void)
if(fifoBuf_getFree(&pios_l3gd20_fifo) < sizeof(data)) {
l3gd20_fifo_full++;
return;
return;
}
fifoBuf_putData(&pios_l3gd20_fifo, (uint8_t *) &data, sizeof(data));
*/
l3gd20_irq++;
}