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Code Issues Releases Activity

Got a hint of some data with this code :)

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This commit is contained in:
James Cotton 2011-08-13 07:13:43 -05:00
parent f82e5dde33
commit e7990f5d43
3 changed files with 27 additions and 11 deletions
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2
flight/INS/Makefile
View File

@ -35,7 +35,7 @@ OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES for debugging
DEBUG ?= NO
DEBUG ?= YES
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= YES

32
flight/INS/ins.c
View File

@ -421,15 +421,16 @@ static void panic(int blinks)
{
int blinked = 0;
while(1) {
blinked++;
if(blinked > blinks) {
blinked = 0;
PIOS_DELAY_WaitmS(1000);
}
PIOS_LED_On(LED2);
PIOS_DELAY_WaitmS(200);
PIOS_LED_Off(LED2);
PIOS_DELAY_WaitmS(200);
blinked++;
if(blinked >= blinks) {
blinked = 0;
PIOS_DELAY_WaitmS(1000);
}
}
}
/**
@ -445,6 +446,11 @@ int16_t accel[3];
uint32_t total_conversion_blocks;
int32_t gyro_error;
int16_t gyro[3];
int16_t mag[3];
int32_t pressure;
int main()
{
gps_data.quality = -1;
@ -472,15 +478,25 @@ int main()
if(PIOS_IMU3000_Test() != 0)
panic(1);
if(PIOS_BMA180_Test() != 0)
panic(2);
//if(PIOS_BMA180_Test() != 0)
// panic(2);
if(PIOS_HMC5883_Test() != 0)
panic(3);
if(PIOS_BMP085_Test() != 0)
panic(4);
while(1) {
gyro_error = PIOS_IMU3000_ReadFifo((uint8_t *) gyro, sizeof(gyro));
if(PIOS_HMC5883_NewDataAvailable())
PIOS_HMC5883_ReadMag(mag);
pressure = PIOS_BMP085_GetPressure();
PIOS_DELAY_WaitmS(5);
}
pressure++;
gyro[0]++;
mag[0]++;
// Flash warning light while trying to connect
uint16_t time_val = PIOS_DELAY_GetuS();
uint16_t ms_count = 0;

4
flight/INS/pios_board.c
View File

@ -744,9 +744,9 @@ void PIOS_Board_Init(void) {
}
PIOS_BMA180_Attach(pios_spi_accel_id);
PIOS_BMA180_Init(&pios_bma180_cfg);
PIOS_IMU3000_Init(&pios_imu3000_cfg);
PIOS_BMP085_Init(&pios_bmp085_cfg);
PIOS_IMU3000_Init(&pios_imu3000_cfg);
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
PIOS_BMP085_Init(&pios_bmp085_cfg);
/* Set up the SPI interface to the OP board */