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Code Issues Releases Activity

OP-1403 - Update targets

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This commit is contained in:
Alessio Morale 2014-07-19 18:34:24 +02:00
parent 6a3cb7b808
commit d856bbdb50
4 changed files with 29 additions and 10 deletions
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7
flight/modules/Extensions/MagBaro/magbaro.c
View File

@ -65,6 +65,7 @@ static int alt_ds_count = 0;
#endif
#if defined(PIOS_INCLUDE_HMC5X83)
pios_hmc5x83_dev_t mag_handle = 0;
int32_t mag_test;
static float mag_bias[3] = { 0, 0, 0 };
static float mag_scale[3] = { 1, 1, 1 };
@ -151,7 +152,7 @@ static void magbaroTask(__attribute__((unused)) void *parameters)
#if defined(PIOS_INCLUDE_HMC5X83)
MagSensorData mag;
PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, PIOS_I2C_MAIN_ADAPTER, 0);
mag_handle = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, PIOS_I2C_MAIN_ADAPTER, 0);
uint32_t mag_update_time = PIOS_DELAY_GetRaw();
#endif
@ -199,9 +200,9 @@ static void magbaroTask(__attribute__((unused)) void *parameters)
#endif /* if defined(PIOS_INCLUDE_BMP085) */
#if defined(PIOS_INCLUDE_HMC5X83)
if (PIOS_HMC5x83_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 100000) {
if (PIOS_HMC5x83_NewDataAvailable(mag_handle) || PIOS_DELAY_DiffuS(mag_update_time) > 100000) {
int16_t values[3];
PIOS_HMC5x83_ReadMag(values);
PIOS_HMC5x83_ReadMag(mag_handle, values);
float mags[3] = { (float)values[1] * mag_scale[0] - mag_bias[0],
(float)values[0] * mag_scale[1] - mag_bias[1],
-(float)values[2] * mag_scale[2] - mag_bias[2] };

11
flight/modules/Sensors/sensors.c
View File

@ -82,6 +82,11 @@ static xTaskHandle sensorsTaskHandle;
RevoCalibrationData cal;
AccelGyroSettingsData agcal;
#ifdef PIOS_INCLUDE_HMC5X83
#include <pios_hmc5x83.h>
extern pios_hmc5x83_dev_t onboard_mag;
#endif
// These values are initialized by settings but can be updated by the attitude algorithm
static float mag_bias[3] = { 0, 0, 0 };
@ -201,7 +206,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
}
#if defined(PIOS_INCLUDE_HMC5X83)
mag_test = PIOS_HMC5x83_Test();
mag_test = PIOS_HMC5x83_Test(onboard_mag);
#else
mag_test = 0;
#endif
@ -411,9 +416,9 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
#if defined(PIOS_INCLUDE_HMC5X83)
MagSensorData mag;
if (PIOS_HMC5x83_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
if (PIOS_HMC5x83_NewDataAvailable(onboard_mag) || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
int16_t values[3];
PIOS_HMC5x83_ReadMag(values);
PIOS_HMC5x83_ReadMag(onboard_mag, values);
float mags[3] = { (float)values[1] - mag_bias[0],
(float)values[0] - mag_bias[1],
-(float)values[2] - mag_bias[2] };

11
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -57,6 +57,7 @@
*/
#if defined(PIOS_INCLUDE_ADC)
#include "pios_adc_priv.h"
void PIOS_ADC_DMC_irq_handler(void);
void DMA2_Stream4_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler")));
@ -93,8 +94,14 @@ void PIOS_ADC_DMC_irq_handler(void)
#if defined(PIOS_INCLUDE_HMC5X83)
#include "pios_hmc5x83.h"
pios_hmc5x83_dev_t onboard_mag = 0;
bool pios_board_internal_mag_handler()
{
return PIOS_HMC5x83_IRQHandler(onboard_mag);
}
static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
.vector = PIOS_HMC5x83_IRQHandler,
.vector = pios_board_internal_mag_handler,
.line = EXTI_Line7,
.pin = {
.gpio = GPIOB,
@ -946,7 +953,7 @@ void PIOS_Board_Init(void)
#endif
#if defined(PIOS_INCLUDE_HMC5X83)
PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
#endif
#if defined(PIOS_INCLUDE_MS5611)

10
flight/targets/boards/revoproto/firmware/pios_board.c
View File

@ -82,9 +82,15 @@ void PIOS_ADC_DMC_irq_handler(void)
#endif /* if defined(PIOS_INCLUDE_ADC) */
#if defined(PIOS_INCLUDE_HMC5X83)
pios_hmc5x83_dev_t onboard_mag = 0;
bool pios_board_internal_mag_handler()
{
return PIOS_HMC5x83_IRQHandler(onboard_mag);
}
#include "pios_hmc5x83.h"
static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
.vector = PIOS_HMC5x83_IRQHandler,
.vector = pios_board_internal_mag_handler,
.line = EXTI_Line5,
.pin = {
.gpio = GPIOB,
@ -940,7 +946,7 @@ void PIOS_Board_Init(void)
#endif
#if defined(PIOS_INCLUDE_HMC5X83)
PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_pressure_adapter_id, 0);
onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_pressure_adapter_id, 0);
#endif
#if defined(PIOS_INCLUDE_MS5611)