mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
Delete the old INS target
This commit is contained in:
James Cotton
parent
c44235494c
commit
fffb6449ac
3
Makefile
3
Makefile
@ -438,9 +438,8 @@ ALL_BOARDS := openpilot ahrs coptercontrol pipxtreme ins revolution
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openpilot_friendly := OpenPilot
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coptercontrol_friendly := CopterControl
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pipxtreme_friendly := PipXtreme
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ins_friendly := INS
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ahrs_friendly := AHRS
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revolution_friendly := REVOLUTION
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revolution_friendly := Revolution
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# Start out assuming that we'll build fw, bl and bu for all boards
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FW_BOARDS := $(ALL_BOARDS)
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@ -1,433 +0,0 @@
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#####
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# Project: OpenPilot INS
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#
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#
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# Makefile for OpenPilot INS project
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#
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# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
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#
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful, but
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# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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# for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#####
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WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
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TOP := $(realpath $(WHEREAMI)/../../)
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include $(TOP)/make/firmware-defs.mk
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include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
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# Target file name (without extension).
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TARGET := fw_$(BOARD_NAME)
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# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
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OUTDIR := $(TOP)/build/$(TARGET)
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# Set developer code and compile options
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# Set to YES for debugging
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DEBUG ?= NO
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# Set to YES when using Code Sourcery toolchain
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CODE_SOURCERY ?= NO
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ifeq ($(CODE_SOURCERY), YES)
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REMOVE_CMD = cs-rm
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else
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REMOVE_CMD = rm
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endif
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FLASH_TOOL = OPENOCD
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# Paths
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INS = ./
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INSINC = $(INS)/inc
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PIOS = ../PiOS
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PIOSINC = $(PIOS)/inc
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FLIGHTLIB = ../Libraries
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FLIGHTLIBINC = ../Libraries/inc
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PIOSSTM32F2XX = $(PIOS)/STM32F2xx
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PIOSCOMMON = $(PIOS)/Common
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PIOSBOARDS = $(PIOS)/Boards
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APPLIBDIR = $(PIOSSTM32F2XX)/Libraries
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STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F2xx_StdPeriph_Driver
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STMSPDSRCDIR = $(STMSPDDIR)/src
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STMSPDINCDIR = $(STMSPDDIR)/inc
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CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
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OPDIR = ../OpenPilot
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OPUAVOBJ = ../UAVObjects
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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OPSYSINC = $(OPDIR)/System/inc
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BOOT = ../Bootloaders/INS
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BOOTINC = $(BOOT)/inc
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OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
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# List C source files here. (C dependencies are automatically generated.)
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# use file-extension c for "c-only"-files
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## INS:
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SRC = ins.c
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SRC += pios_board.c
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SRC += insgps13state.c
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SRC += insgps_helper.c
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
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SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
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SRC += $(FLIGHTLIB)/NMEA.c
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SRC += $(BOOT)/ahrs_spi_program_slave.c
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SRC += $(BOOT)/ahrs_slave_test.c
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SRC += $(BOOT)/ahrs_spi_program.c
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## PIOS Hardware (STM32F2xx)
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SRC += $(PIOSSTM32F2XX)/pios_sys.c
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SRC += $(PIOSSTM32F2XX)/pios_led.c
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SRC += $(PIOSSTM32F2XX)/pios_delay.c
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SRC += $(PIOSSTM32F2XX)/pios_usart.c
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SRC += $(PIOSSTM32F2XX)/pios_irq.c
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SRC += $(PIOSSTM32F2XX)/pios_i2c.c
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#SRC += $(PIOSSTM32F2XX)/pios_debug.c
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#SRC += $(PIOSSTM32F2XX)/pios_gpio.c
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SRC += $(PIOSSTM32F2XX)/pios_spi.c
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#SRC += $(PIOSSTM32F2XX)/pios_exti.c
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SRC += $(PIOSSTM32F2XX)/pios_iap.c
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SRC += $(PIOSSTM32F2XX)/pios_bma180.c
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SRC += $(PIOSSTM32F2XX)/pios_hmc5883.c
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SRC += $(PIOSSTM32F2XX)/pios_bmp085.c
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SRC += $(PIOSSTM32F2XX)/pios_imu3000.c
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_com.c
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SRC += $(PIOSCOMMON)/printf-stdarg.c
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SRC += $(PIOSCOMMON)/pios_bl_helper.c
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## CMSIS for STM32
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SRC += $(CMSISDIR)/core_cm3.c
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SRC += $(CMSISDIR)/system_stm32f4xx.c
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## Used parts of the STM-Library
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SRC += $(STMSPDSRCDIR)/stm32f2xx_adc.c
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SRC += $(STMSPDSRCDIR)/stm32f2xx_crc.c
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SRC += $(STMSPDSRCDIR)/stm32f2xx_dac.c
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SRC += $(STMSPDSRCDIR)/stm32f2xx_dma.c
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SRC += $(STMSPDSRCDIR)/stm32f2xx_exti.c
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SRC += $(STMSPDSRCDIR)/stm32f2xx_flash.c
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SRC += $(STMSPDSRCDIR)/stm32f2xx_gpio.c
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SRC += $(STMSPDSRCDIR)/stm32f2xx_i2c.c
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SRC += $(STMSPDSRCDIR)/stm32f2xx_pwr.c
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SRC += $(STMSPDSRCDIR)/stm32f2xx_rcc.c
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SRC += $(STMSPDSRCDIR)/stm32f2xx_rtc.c
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SRC += $(STMSPDSRCDIR)/stm32f2xx_spi.c
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SRC += $(STMSPDSRCDIR)/stm32f2xx_syscfg.c
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SRC += $(STMSPDSRCDIR)/stm32f2xx_tim.c
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SRC += $(STMSPDSRCDIR)/stm32f2xx_usart.c
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SRC += $(STMSPDSRCDIR)/misc.c
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# List C source files here which must be compiled in ARM-Mode (no -mthumb).
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# use file-extension c for "c-only"-files
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## just for testing, timer.c could be compiled in thumb-mode too
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SRCARM =
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# List C++ source files here.
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# use file-extension .cpp for C++-files (not .C)
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CPPSRC =
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# List C++ source files here which must be compiled in ARM-Mode.
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# use file-extension .cpp for C++-files (not .C)
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#CPPSRCARM = $(TARGET).cpp
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CPPSRCARM =
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# List Assembler source files here.
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# Make them always end in a capital .S. Files ending in a lowercase .s
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# will not be considered source files but generated files (assembler
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# output from the compiler), and will be deleted upon "make clean"!
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# Even though the DOS/Win* filesystem matches both .s and .S the same,
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# it will preserve the spelling of the filenames, and gcc itself does
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# care about how the name is spelled on its command-line.
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ASRC = $(PIOSSTM32F2XX)/startup_stm32f2xx.S
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# List Assembler source files here which must be assembled in ARM-Mode..
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ASRCARM =
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# List any extra directories to look for include files here.
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# Each directory must be seperated by a space.
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EXTRAINCDIRS += $(PIOS)
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EXTRAINCDIRS += $(PIOSINC)
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EXTRAINCDIRS += $(FLIGHTLIBINC)
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EXTRAINCDIRS += $(PIOSSTM32F2XX)
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EXTRAINCDIRS += $(PIOSCOMMON)
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EXTRAINCDIRS += $(PIOSBOARDS)
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EXTRAINCDIRS += $(STMSPDINCDIR)
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EXTRAINCDIRS += $(CMSISDIR)
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EXTRAINCDIRS += $(INSINC)
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EXTRAINCDIRS += $(OPUAVSYNTHDIR)
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EXTRAINCDIRS += $(BOOTINC)
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# List any extra directories to look for library files here.
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# Also add directories where the linker should search for
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# includes from linker-script to the list
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# Each directory must be seperated by a space.
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EXTRA_LIBDIRS =
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# Extra Libraries
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# Each library-name must be seperated by a space.
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# i.e. to link with libxyz.a, libabc.a and libefsl.a:
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# EXTRA_LIBS = xyz abc efsl
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# for newlib-lpc (file: libnewlibc-lpc.a):
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# EXTRA_LIBS = newlib-lpc
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EXTRA_LIBS =
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# Path to Linker-Scripts
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LINKERSCRIPTPATH = $(PIOSSTM32F2XX)
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# Optimization level, can be [0, 1, 2, 3, s].
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# 0 = turn off optimization. s = optimize for size.
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# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
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ifeq ($(DEBUG),YES)
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CFLAGS += -O0
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CFLAGS += -DGENERAL_COV
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else
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CFLAGS += -O0
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endif
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CFLAGS += -mfloat-abi=hard
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# This is not the best place for these. Really should abstract out
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# to the board file or something
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CFLAGS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
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CFLAGS += -DSTM32F2XX
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CFLAGS += -DMEM_SIZE=1024000000
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# Output format. (can be ihex or binary or both)
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# binary to create a load-image in raw-binary format i.e. for SAM-BA,
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# ihex to create a load-image in Intel hex format
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#LOADFORMAT = ihex
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#LOADFORMAT = binary
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LOADFORMAT = both
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# Debugging format.
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DEBUGF = dwarf-2
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# Place project-specific -D (define) and/or
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# -U options for C here.
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CDEFS = -DSTM32F10X_$(MODEL)
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CDEFS += -DUSE_STDPERIPH_DRIVER
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CDEFS += -DUSE_$(BOARD)
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CDEFS += -DIN_AHRS
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# Place project-specific -D and/or -U options for
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# Assembler with preprocessor here.
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#ADEFS = -DUSE_IRQ_ASM_WRAPPER
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ADEFS = -D__ASSEMBLY__
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# Compiler flag to set the C Standard level.
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# c89 - "ANSI" C
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# gnu89 - c89 plus GCC extensions
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# c99 - ISO C99 standard (not yet fully implemented)
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# gnu99 - c99 plus GCC extensions
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CSTANDARD = -std=gnu99
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#-----
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# Compiler flags.
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# -g*: generate debugging information
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# -O*: optimization level
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# -f...: tuning, see GCC manual and avr-libc documentation
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# -Wall...: warning level
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# -Wa,...: tell GCC to pass this to the assembler.
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# -adhlns...: create assembler listing
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#
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# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
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CFLAGS += -g$(DEBUGF)
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CFLAGS += -ffast-math
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CFLAGS += -mcpu=$(MCU)
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CFLAGS += $(CDEFS)
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CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
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CFLAGS += -mapcs-frame
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CFLAGS += -fomit-frame-pointer
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ifeq ($(CODE_SOURCERY), YES)
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CFLAGS += -fpromote-loop-indices
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endif
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#CFLAGS += -Wall
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#CFLAGS += -Werror
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CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
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# Compiler flags to generate dependency files:
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CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
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# flags only for C
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#CONLYFLAGS += -Wnested-externs
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CONLYFLAGS += $(CSTANDARD)
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# Assembler flags.
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# -Wa,...: tell GCC to pass this to the assembler.
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# -ahlns: create listing
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ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp
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ASFLAGS += $(ADEFS)
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ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
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ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
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MATH_LIB = -lm
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# Linker flags.
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# -Wl,...: tell GCC to pass this to linker.
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# -Map: create map file
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# --cref: add cross reference to map file
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LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
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LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
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LDFLAGS += -lc
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LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
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LDFLAGS += $(MATH_LIB)
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LDFLAGS += -lc -lgcc
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# Set linker-script name depending on selected submodel name
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LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
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LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
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# Define programs and commands.
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REMOVE = $(REMOVE_CMD) -f
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|
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# List of all source files.
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ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
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# List of all source files without directory and file-extension.
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ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
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|
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# Define all object files.
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ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
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|
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# Define all listing files (used for make clean).
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LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
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# Define all depedency-files (used for make clean).
|
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DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
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|
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# Default target.
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all: gccversion build
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ifeq ($(LOADFORMAT),ihex)
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build: elf hex lss sym
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else
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ifeq ($(LOADFORMAT),binary)
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build: elf bin lss sym
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else
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ifeq ($(LOADFORMAT),both)
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build: elf hex bin lss sym
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else
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$(error "$(MSG_FORMATERROR) $(FORMAT)")
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endif
|
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endif
|
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endif
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|
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# Link: create ELF output file from object files.
|
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$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
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|
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# Assemble: create object files from assembler source files.
|
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$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
|
||||
|
||||
# Assemble: create object files from assembler source files. ARM-only
|
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$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C source files.
|
||||
$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C source files. ARM-only
|
||||
$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C++ source files.
|
||||
$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create object files from C++ source files. ARM-only
|
||||
$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
|
||||
|
||||
# Compile: create assembler files from C source files. ARM/Thumb
|
||||
$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
|
||||
|
||||
# Compile: create assembler files from C source files. ARM only
|
||||
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
|
||||
|
||||
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
|
||||
|
||||
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
|
||||
|
||||
# Add jtag targets (program and wipe)
|
||||
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
|
||||
|
||||
.PHONY: elf lss sym hex bin bino opfw
|
||||
elf: $(OUTDIR)/$(TARGET).elf
|
||||
lss: $(OUTDIR)/$(TARGET).lss
|
||||
sym: $(OUTDIR)/$(TARGET).sym
|
||||
hex: $(OUTDIR)/$(TARGET).hex
|
||||
bin: $(OUTDIR)/$(TARGET).bin
|
||||
bino: $(OUTDIR)/$(TARGET).bin.o
|
||||
opfw: $(OUTDIR)/$(TARGET).opfw
|
||||
|
||||
# Display sizes of sections.
|
||||
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
|
||||
|
||||
# Generate Doxygen documents
|
||||
docs:
|
||||
doxygen $(DOXYGENDIR)/doxygen.cfg
|
||||
|
||||
# Install: install binary file with prefix/suffix into install directory
|
||||
install: $(OUTDIR)/$(TARGET).opfw
|
||||
ifneq ($(INSTALL_DIR),)
|
||||
@echo $(MSG_INSTALLING) $(call toprel, $<)
|
||||
$(V1) mkdir -p $(INSTALL_DIR)
|
||||
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
|
||||
else
|
||||
$(error INSTALL_DIR must be specified for $@)
|
||||
endif
|
||||
|
||||
# Target: clean project.
|
||||
clean: clean_list
|
||||
|
||||
clean_list :
|
||||
@echo $(MSG_CLEANING)
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
|
||||
$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o
|
||||
$(V1) $(REMOVE) $(ALLOBJ)
|
||||
$(V1) $(REMOVE) $(LSTFILES)
|
||||
$(V1) $(REMOVE) $(DEPFILES)
|
||||
$(V1) $(REMOVE) $(SRC:.c=.s)
|
||||
$(V1) $(REMOVE) $(SRCARM:.c=.s)
|
||||
$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
|
||||
$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
|
||||
|
||||
# Create output files directory
|
||||
# all known MS Windows OS define the ComSpec environment variable
|
||||
ifdef ComSpec
|
||||
$(shell md $(subst /,\\,$(OUTDIR)) 2>NUL)
|
||||
else
|
||||
$(shell mkdir -p $(OUTDIR) 2>/dev/null)
|
||||
endif
|
||||
|
||||
# Include the dependency files.
|
||||
ifdef ComSpec
|
||||
-include $(shell md $(subst /,\\,$(OUTDIR))\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
|
||||
else
|
||||
-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
|
||||
endif
|
||||
|
||||
# Listing of phony targets.
|
||||
.PHONY : all build clean clean_list install
|
||||
@ -1,45 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup AHRS AHRS Control
|
||||
* @brief The AHRS Modules perform
|
||||
*
|
||||
* @{
|
||||
* @addtogroup AHRS_TIMER
|
||||
* @brief Sets up a simple timer that can be polled to estimate idle time
|
||||
* @{
|
||||
*
|
||||
*
|
||||
* @file ahrs.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief INSGPS Test Program
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef AHRS_TIMER
|
||||
#define AHRS_TIMER
|
||||
|
||||
#include <pios.h>
|
||||
|
||||
#define TIMER_RATE (8e6 / 128)
|
||||
|
||||
void timer_start();
|
||||
uint32_t timer_count();
|
||||
uint32_t timer_rate();
|
||||
|
||||
#endif
|
||||
@ -1,117 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup INS INS
|
||||
|
||||
* @brief The main INS headers
|
||||
*
|
||||
* @{
|
||||
* @addtogroup INS_Main
|
||||
* @brief INS headers
|
||||
* @{
|
||||
*
|
||||
* @file ins.h
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief INS Headers
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef INS_H
|
||||
#define INS_H
|
||||
|
||||
/* PIOS Includes */
|
||||
#include <pios.h>
|
||||
|
||||
struct mag_sensor {
|
||||
uint8_t id[4];
|
||||
uint8_t updated;
|
||||
struct {
|
||||
int16_t axis[3];
|
||||
} raw;
|
||||
struct {
|
||||
float axis[3];
|
||||
} scaled;
|
||||
struct {
|
||||
float bias[3];
|
||||
float scale[3];
|
||||
float variance[3];
|
||||
} calibration;
|
||||
};
|
||||
|
||||
//! Contains the data from the accelerometer
|
||||
struct accel_sensor {
|
||||
struct {
|
||||
float x;
|
||||
float y;
|
||||
float z;
|
||||
} filtered;
|
||||
struct {
|
||||
float bias[3];
|
||||
float scale[3];
|
||||
float variance[3];
|
||||
} calibration;
|
||||
float temperature;
|
||||
};
|
||||
|
||||
//! Contains the data from the gyro
|
||||
struct gyro_sensor {
|
||||
struct {
|
||||
float x;
|
||||
float y;
|
||||
float z;
|
||||
} filtered;
|
||||
struct {
|
||||
float bias[3];
|
||||
float scale[3];
|
||||
float variance[3];
|
||||
} calibration;
|
||||
float temperature;
|
||||
};
|
||||
|
||||
//! Conains the current estimate of the attitude
|
||||
struct attitude_solution {
|
||||
struct {
|
||||
float q1;
|
||||
float q2;
|
||||
float q3;
|
||||
float q4;
|
||||
} quaternion;
|
||||
};
|
||||
|
||||
//! Contains data from the altitude sensor
|
||||
struct altitude_sensor {
|
||||
float altitude;
|
||||
bool updated;
|
||||
};
|
||||
|
||||
//! Contains data from the GPS (via the SPI link)
|
||||
struct gps_sensor {
|
||||
float NED[3];
|
||||
float heading;
|
||||
float groundspeed;
|
||||
float quality;
|
||||
bool updated;
|
||||
};
|
||||
|
||||
#endif /* INS_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,94 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file ahrs_fsm.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef AHRS_FSM_H
|
||||
#define AHRS_FSM_H
|
||||
|
||||
#include "pios_opahrs_proto.h"
|
||||
|
||||
enum lfsm_state {
|
||||
LFSM_STATE_FAULTED = 0, /* Must be zero so undefined transitions land here */
|
||||
LFSM_STATE_STOPPED,
|
||||
LFSM_STATE_STOPPING,
|
||||
LFSM_STATE_INACTIVE,
|
||||
LFSM_STATE_USER_BUSY,
|
||||
LFSM_STATE_USER_BUSY_RX_PENDING,
|
||||
LFSM_STATE_USER_BUSY_TX_PENDING,
|
||||
LFSM_STATE_USER_BUSY_RXTX_PENDING,
|
||||
LFSM_STATE_USER_RX_PENDING,
|
||||
LFSM_STATE_USER_TX_PENDING,
|
||||
LFSM_STATE_USER_RXTX_PENDING,
|
||||
LFSM_STATE_USER_RX_ACTIVE,
|
||||
LFSM_STATE_USER_TX_ACTIVE,
|
||||
LFSM_STATE_USER_RXTX_ACTIVE,
|
||||
|
||||
LFSM_STATE_NUM_STATES /* Must be last */
|
||||
};
|
||||
|
||||
enum lfsm_event {
|
||||
LFSM_EVENT_INIT_LINK,
|
||||
LFSM_EVENT_STOP,
|
||||
LFSM_EVENT_USER_SET_RX,
|
||||
LFSM_EVENT_USER_SET_TX,
|
||||
LFSM_EVENT_USER_DONE,
|
||||
LFSM_EVENT_RX_LINK,
|
||||
LFSM_EVENT_RX_USER,
|
||||
LFSM_EVENT_RX_UNKNOWN,
|
||||
|
||||
LFSM_EVENT_NUM_EVENTS /* Must be last */
|
||||
};
|
||||
|
||||
struct lfsm_link_stats {
|
||||
uint32_t rx_badcrc;
|
||||
uint32_t rx_badmagic_head;
|
||||
uint32_t rx_badmagic_tail;
|
||||
uint32_t rx_link;
|
||||
uint32_t rx_user;
|
||||
uint32_t tx_user;
|
||||
uint32_t rx_badtype;
|
||||
uint32_t rx_badver;
|
||||
};
|
||||
|
||||
extern void lfsm_init(void);
|
||||
extern void lfsm_inject_event(enum lfsm_event event);
|
||||
|
||||
extern void lfsm_irq_callback(uint8_t crc_ok, uint8_t crc_val);
|
||||
|
||||
extern void lfsm_get_link_stats(struct lfsm_link_stats *stats);
|
||||
extern enum lfsm_state lfsm_get_state(void);
|
||||
|
||||
extern void lfsm_set_link_proto_v0(struct opahrs_msg_v0 *link_tx,
|
||||
struct opahrs_msg_v0 *link_rx);
|
||||
extern void lfsm_user_set_rx_v0(struct opahrs_msg_v0 *user_rx);
|
||||
extern void lfsm_user_set_tx_v0(struct opahrs_msg_v0 *user_tx);
|
||||
|
||||
extern void lfsm_set_link_proto_v1(struct opahrs_msg_v1 *link_tx,
|
||||
struct opahrs_msg_v1 *link_rx);
|
||||
extern void lfsm_user_set_rx_v1(struct opahrs_msg_v1 *user_rx);
|
||||
extern void lfsm_user_set_tx_v1(struct opahrs_msg_v1 *user_tx);
|
||||
|
||||
extern void lfsm_user_done(void);
|
||||
|
||||
#endif /* AHRS_FSM_H */
|
||||
@ -1,93 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup AHRS
|
||||
* @{
|
||||
* @addtogroup INSGPS
|
||||
* @{
|
||||
* @brief INSGPS is a joint attitude and position estimation EKF
|
||||
*
|
||||
* @file insgps.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Include file of the INSGPS exposed functionality.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef INSGPS_H_
|
||||
#define INSGPS_H_
|
||||
|
||||
#include "stdint.h"
|
||||
|
||||
/**
|
||||
* @addtogroup Constants
|
||||
* @{
|
||||
*/
|
||||
#define POS_SENSORS 0x007
|
||||
#define HORIZ_SENSORS 0x018
|
||||
#define VERT_SENSORS 0x020
|
||||
#define MAG_SENSORS 0x1C0
|
||||
#define BARO_SENSOR 0x200
|
||||
|
||||
#define FULL_SENSORS 0x3FF
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
// Exposed Function Prototypes
|
||||
void INSGPSInit();
|
||||
void INSStatePrediction(float gyro_data[3], float accel_data[3], float dT);
|
||||
void INSCovariancePrediction(float dT);
|
||||
void INSCorrection(float mag_data[3], float Pos[3], float Vel[3], float BaroAlt, uint16_t SensorsUsed);
|
||||
|
||||
void INSResetP(float PDiag[13]);
|
||||
void INSSetState(float pos[3], float vel[3], float q[4], float gyro_bias[3], float accel_bias[3]);
|
||||
void INSSetPosVelVar(float PosVar, float VelVar);
|
||||
void INSSetGyroBias(float gyro_bias[3]);
|
||||
void INSSetAccelVar(float accel_var[3]);
|
||||
void INSSetGyroVar(float gyro_var[3]);
|
||||
void INSSetMagNorth(float B[3]);
|
||||
void INSSetMagVar(float scaled_mag_var[3]);
|
||||
void INSPosVelReset(float pos[3], float vel[3]);
|
||||
|
||||
void MagCorrection(float mag_data[3]);
|
||||
void MagVelBaroCorrection(float mag_data[3], float Vel[3], float BaroAlt);
|
||||
void FullCorrection(float mag_data[3], float Pos[3], float Vel[3],
|
||||
float BaroAlt);
|
||||
void GpsBaroCorrection(float Pos[3], float Vel[3], float BaroAlt);
|
||||
void GpsMagCorrection(float mag_data[3], float Pos[3], float Vel[2]);
|
||||
void VelBaroCorrection(float Vel[3], float BaroAlt);
|
||||
|
||||
uint16_t ins_get_num_states();
|
||||
|
||||
// Nav structure containing current solution
|
||||
struct NavStruct {
|
||||
float Pos[3]; // Position in meters and relative to a local NED frame
|
||||
float Vel[3]; // Velocity in meters and in NED
|
||||
float q[4]; // unit quaternion rotation relative to NED
|
||||
float gyro_bias[3];
|
||||
float accel_bias[3];
|
||||
} Nav;
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
|
||||
#endif /* EKF_H_ */
|
||||
@ -1,3 +0,0 @@
|
||||
void ins_init_algorithm();
|
||||
void ins_outdoor_update();
|
||||
void ins_indoor_update();
|
||||
@ -1,69 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup INS INS
|
||||
|
||||
* @brief The INS configuration
|
||||
*
|
||||
* @{
|
||||
* @addtogroup INS_Main
|
||||
* @brief INS configuration
|
||||
* @{
|
||||
*
|
||||
* @file pios_config.h
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief PiOS configuration header.
|
||||
* - Central compile time config for the project.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef PIOS_CONFIG_H
|
||||
#define PIOS_CONFIG_H
|
||||
|
||||
/* Enable/Disable PiOS Modules */
|
||||
#define PIOS_INCLUDE_DELAY
|
||||
#define PIOS_INCLUDE_I2C
|
||||
#define PIOS_INCLUDE_IRQ
|
||||
#define PIOS_INCLUDE_LED
|
||||
#define PIOS_INCLUDE_SPI
|
||||
#define PIOS_INCLUDE_SYS
|
||||
#define PIOS_INCLUDE_USART
|
||||
#define PIOS_INCLUDE_COM
|
||||
#define PIOS_INCLUDE_COM_AUX
|
||||
#define PIOS_INCLUDE_GPS
|
||||
#define PIOS_INCLUDE_BMA180
|
||||
#define PIOS_INCLUDE_HMC5883
|
||||
#define PIOS_INCLUDE_BMP085
|
||||
#define PIOS_INCLUDE_IMU3000
|
||||
#define PIOS_INCLUDE_GPIO
|
||||
#define PIOS_INCLUDE_EXTI
|
||||
|
||||
#define PIOS_INCLUDE_BMA180
|
||||
|
||||
/* COM Module */
|
||||
#define GPS_BAUDRATE 19200
|
||||
#define AUXUART_ENABLED 0
|
||||
#define AUXUART_BAUDRATE 19200
|
||||
|
||||
#endif /* PIOS_CONFIG_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
903
flight/INS/ins.c
903
flight/INS/ins.c
@ -1,903 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup INS INS
|
||||
|
||||
* @brief The INS Modules perform
|
||||
*
|
||||
* @{
|
||||
* @addtogroup INS_Main
|
||||
* @brief Main function which does the hardware dependent stuff
|
||||
* @{
|
||||
*
|
||||
*
|
||||
* @file ins.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief INSGPS Test Program
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
/*
|
||||
TODO:
|
||||
BMP085 - Pressure
|
||||
IMU3000 interrupt
|
||||
BMA180 interrupt
|
||||
*/
|
||||
|
||||
#define TYPICAL_PERIOD 3300
|
||||
#define timer_rate() 100000
|
||||
#define timer_count() 1
|
||||
/* OpenPilot Includes */
|
||||
#include "ins.h"
|
||||
#include "pios.h"
|
||||
#include "ahrs_spi_comm.h"
|
||||
#include "insgps.h"
|
||||
#include "CoordinateConversions.h"
|
||||
#include "NMEA.h"
|
||||
#include <stdbool.h>
|
||||
#include "fifo_buffer.h"
|
||||
#include "insgps_helper.h"
|
||||
|
||||
#define DEG_TO_RAD (M_PI / 180.0)
|
||||
#define RAD_TO_DEG (180.0 / M_PI)
|
||||
|
||||
#define INSGPS_MAGLEN 1000
|
||||
#define INSGPS_MAGTOL 0.5 /* error in magnetic vector length to use */
|
||||
|
||||
#define GYRO_OOB(x) ((x > (1000 * DEG_TO_RAD)) || (x < (-1000 * DEG_TO_RAD)))
|
||||
#define ACCEL_OOB(x) (((x > 12*9.81) || (x < -12*9.81)))
|
||||
#define ISNAN(x) (x != x)
|
||||
// down-sampled data index
|
||||
|
||||
volatile int8_t ahrs_algorithm;
|
||||
|
||||
/* Data accessors */
|
||||
void get_gps_data();
|
||||
void get_mag_data();
|
||||
void get_baro_data();
|
||||
void get_accel_gyro_data();
|
||||
|
||||
void reset_values();
|
||||
void measure_noise(void);
|
||||
void zero_gyros(bool update_settings);
|
||||
|
||||
/* Communication functions */
|
||||
//void send_calibration(void);
|
||||
void send_attitude(void);
|
||||
void send_velocity(void);
|
||||
void homelocation_callback(AhrsObjHandle obj);
|
||||
//void calibration_callback(AhrsObjHandle obj);
|
||||
void settings_callback(AhrsObjHandle obj);
|
||||
void affine_rotate(float scale[3][4], float rotation[3]);
|
||||
void calibration(float result[3], float scale[3][4], float arg[3]);
|
||||
|
||||
extern void PIOS_Board_Init(void);
|
||||
void panic(uint32_t blinks);
|
||||
static void print_ekf_binary(bool ekf);
|
||||
void simple_update();
|
||||
|
||||
/* Bootloader related functions and var*/
|
||||
void firmwareiapobj_callback(AhrsObjHandle obj);
|
||||
volatile uint8_t reset_count=0;
|
||||
|
||||
/**
|
||||
* @addtogroup INS_Global_Data INS Global Data
|
||||
* @{
|
||||
* Public data. Used by both EKF and the sender
|
||||
*/
|
||||
|
||||
//! Contains the data from the mag sensor chip
|
||||
struct mag_sensor mag_data;
|
||||
|
||||
//! Contains the data from the accelerometer
|
||||
struct accel_sensor accel_data;
|
||||
|
||||
//! Contains the data from the gyro
|
||||
struct gyro_sensor gyro_data;
|
||||
|
||||
//! Conains the current estimate of the attitude
|
||||
struct attitude_solution attitude_data;
|
||||
|
||||
//! Contains data from the altitude sensor
|
||||
struct altitude_sensor altitude_data;
|
||||
|
||||
//! Contains data from the GPS (via the SPI link)
|
||||
struct gps_sensor gps_data;
|
||||
|
||||
static float mag_len = 0;
|
||||
|
||||
typedef enum { INS_IDLE, INS_DATA_READY, INS_PROCESSING } states;
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @brief INS Main function
|
||||
*/
|
||||
|
||||
uint32_t total_conversion_blocks;
|
||||
static bool bias_corrected_raw;
|
||||
|
||||
float pressure, altitude;
|
||||
|
||||
int32_t dr;
|
||||
|
||||
static volatile bool init_algorithm = false;
|
||||
static bool zeroed_gyros = false;
|
||||
int32_t sclk, sclk_prev;
|
||||
int32_t sclk_count;
|
||||
uint32_t loop_time;
|
||||
int main()
|
||||
{
|
||||
// *(volatile unsigned long *)0xE000ED88 |= (0xf << 20);
|
||||
|
||||
PIOS_Board_Init();
|
||||
PIOS_LED_Off(LED1);
|
||||
PIOS_LED_On(LED2);
|
||||
|
||||
// Sensors need a second to start
|
||||
PIOS_DELAY_WaitmS(100);
|
||||
|
||||
ahrs_algorithm = INSSETTINGS_ALGORITHM_SIMPLE;
|
||||
reset_values();
|
||||
gps_data.quality = -1;
|
||||
#if 0
|
||||
// Sensor test
|
||||
if(PIOS_IMU3000_Test() != 0)
|
||||
panic(1);
|
||||
|
||||
if(PIOS_BMA180_Test() != 0)
|
||||
panic(2);
|
||||
|
||||
if(PIOS_HMC5883_Test() != 0)
|
||||
panic(3);
|
||||
|
||||
if(PIOS_BMP085_Test() != 0)
|
||||
panic(4);
|
||||
#endif
|
||||
|
||||
PIOS_LED_On(LED1);
|
||||
PIOS_LED_Off(LED2);
|
||||
|
||||
// Kickstart BMP085 measurements until driver improved
|
||||
PIOS_BMP085_StartADC(TemperatureConv);
|
||||
|
||||
// Flash warning light while trying to connect
|
||||
uint32_t time_val1 = PIOS_DELAY_GetRaw();
|
||||
uint32_t time_val2;
|
||||
uint32_t ms_count = 0;
|
||||
while(!AhrsLinkReady()) {
|
||||
AhrsPoll();
|
||||
if(PIOS_DELAY_DiffuS(time_val1) > 1000) {
|
||||
ms_count += 1;
|
||||
time_val1 = PIOS_DELAY_GetRaw();
|
||||
}
|
||||
if(ms_count > 100) {
|
||||
PIOS_LED_Toggle(LED2);
|
||||
ms_count = 0;
|
||||
}
|
||||
}
|
||||
PIOS_LED_Off(LED2);
|
||||
|
||||
/* we didn't connect the callbacks before because we have to wait
|
||||
for all data to be up to date before doing anything*/
|
||||
InsSettingsConnectCallback(settings_callback);
|
||||
HomeLocationConnectCallback(homelocation_callback);
|
||||
//FirmwareIAPObjConnectCallback(firmwareiapobj_callback);
|
||||
|
||||
for(uint32_t i = 0; i < 200; i++) {
|
||||
get_accel_gyro_data(); // This function blocks till data avilable
|
||||
get_mag_data();
|
||||
get_baro_data();
|
||||
PIOS_DELAY_WaituS(TYPICAL_PERIOD);
|
||||
}
|
||||
|
||||
settings_callback(InsSettingsHandle());
|
||||
ins_init_algorithm();
|
||||
|
||||
/******************* Main EKF loop ****************************/
|
||||
while(1) {
|
||||
AhrsPoll();
|
||||
InsStatusData status;
|
||||
InsStatusGet(&status);
|
||||
|
||||
// Alive signal
|
||||
if ((total_conversion_blocks++ % 100) == 0)
|
||||
PIOS_LED_Toggle(LED1);
|
||||
|
||||
loop_time = PIOS_DELAY_DiffuS(time_val1);
|
||||
time_val1 = PIOS_DELAY_GetRaw();
|
||||
|
||||
get_accel_gyro_data(); // This function blocks till data avilable
|
||||
get_mag_data();
|
||||
get_baro_data();
|
||||
get_gps_data();
|
||||
|
||||
status.IdleTimePerCycle = PIOS_DELAY_DiffuS(time_val1);
|
||||
|
||||
if(ISNAN(accel_data.filtered.x + accel_data.filtered.y + accel_data.filtered.z) ||
|
||||
ISNAN(gyro_data.filtered.x + gyro_data.filtered.y + gyro_data.filtered.z) ||
|
||||
ACCEL_OOB(accel_data.filtered.x) || ACCEL_OOB(accel_data.filtered.y) || ACCEL_OOB(accel_data.filtered.z) ||
|
||||
GYRO_OOB(gyro_data.filtered.x) || GYRO_OOB(gyro_data.filtered.y) || GYRO_OOB(gyro_data.filtered.z)) {
|
||||
// If any values are NaN or huge don't update
|
||||
//TODO: add field to ahrs status to track number of these events
|
||||
continue;
|
||||
}
|
||||
|
||||
if(total_conversion_blocks <= 100 && !zeroed_gyros) {
|
||||
// TODO: Replace this with real init
|
||||
zero_gyros(total_conversion_blocks == 100);
|
||||
if(total_conversion_blocks == 100)
|
||||
zeroed_gyros = true;
|
||||
PIOS_DELAY_WaituS(TYPICAL_PERIOD);
|
||||
|
||||
float zeros[3] = {0,0,0};
|
||||
INSSetGyroBias(zeros);
|
||||
|
||||
continue;
|
||||
}
|
||||
/* If algorithm changed reinit. This could go in callback but wouldn't be synchronous */
|
||||
if (init_algorithm) {
|
||||
ins_init_algorithm();
|
||||
init_algorithm = false;
|
||||
}
|
||||
|
||||
time_val2 = PIOS_DELAY_GetRaw();
|
||||
|
||||
print_ekf_binary(true);
|
||||
|
||||
switch(ahrs_algorithm) {
|
||||
case INSSETTINGS_ALGORITHM_SIMPLE:
|
||||
simple_update();
|
||||
break;
|
||||
case INSSETTINGS_ALGORITHM_INSGPS_OUTDOOR:
|
||||
ins_outdoor_update();
|
||||
break;
|
||||
case INSSETTINGS_ALGORITHM_INSGPS_INDOOR:
|
||||
case INSSETTINGS_ALGORITHM_INSGPS_INDOOR_NOMAG:
|
||||
ins_indoor_update();
|
||||
break;
|
||||
case INSSETTINGS_ALGORITHM_CALIBRATION:
|
||||
measure_noise();
|
||||
break;
|
||||
case INSSETTINGS_ALGORITHM_SENSORRAW:
|
||||
print_ekf_binary(false);
|
||||
// Run at standard rate
|
||||
while(PIOS_DELAY_DiffuS(time_val1) < TYPICAL_PERIOD);
|
||||
break;
|
||||
case INSSETTINGS_ALGORITHM_ZEROGYROS:
|
||||
zero_gyros(false);
|
||||
// Run at standard rate
|
||||
while(PIOS_DELAY_DiffuS(time_val1) < TYPICAL_PERIOD);
|
||||
break;
|
||||
}
|
||||
|
||||
status.RunningTimePerCycle = PIOS_DELAY_DiffuS(time_val2);
|
||||
InsStatusSet(&status);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief Simple update using just mag and accel. Yaw biased and big attitude changes.
|
||||
*/
|
||||
void simple_update() {
|
||||
float q[4];
|
||||
float rpy[3];
|
||||
/***************** SIMPLE ATTITUDE FROM NORTH AND ACCEL ************/
|
||||
/* Very simple computation of the heading and attitude from accel. */
|
||||
rpy[2] = atan2((mag_data.raw.axis[1]), (-1 * mag_data.raw.axis[0])) * RAD_TO_DEG;
|
||||
rpy[1] = atan2(accel_data.filtered.x, accel_data.filtered.z) * RAD_TO_DEG;
|
||||
rpy[0] = atan2(accel_data.filtered.y, accel_data.filtered.z) * RAD_TO_DEG;
|
||||
|
||||
RPY2Quaternion(rpy, q);
|
||||
attitude_data.quaternion.q1 = q[0];
|
||||
attitude_data.quaternion.q2 = q[1];
|
||||
attitude_data.quaternion.q3 = q[2];
|
||||
attitude_data.quaternion.q4 = q[3];
|
||||
send_attitude();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Output all the important inputs and states of the ekf through serial port
|
||||
*/
|
||||
static void print_ekf_binary(bool ekf)
|
||||
{
|
||||
static uint32_t timeval;
|
||||
uint16_t delay;
|
||||
delay = PIOS_DELAY_DiffuS(timeval);
|
||||
timeval = PIOS_DELAY_GetRaw();
|
||||
|
||||
PIOS_DELAY_WaituS(500);
|
||||
|
||||
uint8_t framing[] = { 0xff, 0x00, 0xc3, 0x7d };
|
||||
// Dump raw buffer
|
||||
|
||||
PIOS_COM_SendBuffer(PIOS_COM_AUX, &framing[0], sizeof(framing));
|
||||
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & total_conversion_blocks, sizeof(total_conversion_blocks));
|
||||
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & accel_data.filtered.x, 4*3);
|
||||
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & gyro_data.filtered.x, 4*3);
|
||||
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & mag_data.updated, 1);
|
||||
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & mag_data.scaled.axis, 3*4);
|
||||
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & altitude_data.updated, 1);
|
||||
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & altitude_data.altitude, 4);
|
||||
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) &gyro_data.temperature, 4);
|
||||
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) &accel_data.temperature, 4);
|
||||
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) &delay, 2);
|
||||
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & gps_data, sizeof(gps_data));
|
||||
|
||||
if(ekf)
|
||||
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & Nav, sizeof(Nav)); // X (86:149)
|
||||
else {
|
||||
mag_data.updated = 0;
|
||||
altitude_data.updated = 0;
|
||||
gps_data.updated = 0;
|
||||
}
|
||||
}
|
||||
|
||||
void panic(uint32_t blinks)
|
||||
{
|
||||
int blinked = 0;
|
||||
while(1) {
|
||||
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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get the accel and gyro data from whichever source when available
|
||||
*
|
||||
* This function will act as the HAL for the new INS sensors
|
||||
*/
|
||||
|
||||
uint32_t accel_samples;
|
||||
uint32_t gyro_samples;
|
||||
struct pios_bma180_data accel;
|
||||
struct pios_imu3000_data gyro;
|
||||
AttitudeRawData raw;
|
||||
int32_t accel_accum[3] = {0, 0, 0};
|
||||
int32_t gyro_accum[3] = {0,0,0};
|
||||
float scaling;
|
||||
|
||||
void get_accel_gyro_data()
|
||||
{
|
||||
int32_t read_good;
|
||||
int32_t count;
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
accel_accum[i] = 0;
|
||||
gyro_accum[i] = 0;
|
||||
}
|
||||
accel_samples = 0;
|
||||
gyro_samples = 0;
|
||||
|
||||
// Make sure we get one sample
|
||||
count = 0;
|
||||
while((read_good = PIOS_BMA180_ReadFifo(&accel)) != 0);
|
||||
while(read_good == 0) {
|
||||
count++;
|
||||
|
||||
accel_accum[0] += accel.x;
|
||||
accel_accum[1] += accel.y;
|
||||
accel_accum[2] += accel.z;
|
||||
|
||||
read_good = PIOS_BMA180_ReadFifo(&accel);
|
||||
}
|
||||
accel_samples = count;
|
||||
|
||||
// Make sure we get one sample
|
||||
count = 0;
|
||||
while((read_good = PIOS_IMU3000_ReadFifo(&gyro)) != 0);
|
||||
while(read_good == 0) {
|
||||
count++;
|
||||
|
||||
gyro_accum[0] += gyro.x;
|
||||
gyro_accum[1] += gyro.y;
|
||||
gyro_accum[2] += gyro.z;
|
||||
|
||||
read_good = PIOS_IMU3000_ReadFifo(&gyro);
|
||||
}
|
||||
gyro_samples = count;
|
||||
|
||||
// Not the swaping of channel orders
|
||||
scaling = PIOS_BMA180_GetScale() / accel_samples;
|
||||
accel_data.filtered.x = accel_accum[0] * scaling * accel_data.calibration.scale[0] + accel_data.calibration.bias[0];
|
||||
accel_data.filtered.y = -accel_accum[1] * scaling * accel_data.calibration.scale[1] + accel_data.calibration.bias[1];
|
||||
accel_data.filtered.z = -accel_accum[2] * scaling * accel_data.calibration.scale[2] + accel_data.calibration.bias[2];
|
||||
|
||||
scaling = PIOS_IMU3000_GetScale() / gyro_samples;
|
||||
gyro_data.filtered.x = -((float) gyro_accum[1]) * scaling * gyro_data.calibration.scale[0] + gyro_data.calibration.bias[0];
|
||||
gyro_data.filtered.y = -((float) gyro_accum[0]) * scaling * gyro_data.calibration.scale[1] + gyro_data.calibration.bias[1];
|
||||
gyro_data.filtered.z = -((float) gyro_accum[2]) * scaling * gyro_data.calibration.scale[2] + gyro_data.calibration.bias[2];
|
||||
|
||||
raw.accels[0] = accel_data.filtered.x;
|
||||
raw.accels[1] = accel_data.filtered.y;
|
||||
raw.accels[2] = accel_data.filtered.z;
|
||||
raw.gyros[0] = gyro_data.filtered.x * RAD_TO_DEG;
|
||||
raw.gyros[1] = gyro_data.filtered.y * RAD_TO_DEG;
|
||||
raw.gyros[2] = gyro_data.filtered.z * RAD_TO_DEG;
|
||||
|
||||
// From data sheet 35 deg C corresponds to -13200, and 280 LSB per C
|
||||
gyro_data.temperature = 35.0f + ((float) gyro.temperature + 13200) / 280;
|
||||
// From the data sheet 25 deg C corresponds to 2 and 2 LSB per C
|
||||
accel_data.temperature = 25.0f + ((float) accel.temperature - 2) / 2;
|
||||
|
||||
if (bias_corrected_raw)
|
||||
{
|
||||
raw.gyros[0] -= Nav.gyro_bias[0] * RAD_TO_DEG;
|
||||
raw.gyros[1] -= Nav.gyro_bias[1] * RAD_TO_DEG;
|
||||
raw.gyros[2] -= Nav.gyro_bias[2] * RAD_TO_DEG;
|
||||
|
||||
raw.accels[0] -= Nav.accel_bias[0];
|
||||
raw.accels[1] -= Nav.accel_bias[1];
|
||||
raw.accels[2] -= Nav.accel_bias[2];
|
||||
}
|
||||
|
||||
raw.temperature[ATTITUDERAW_TEMPERATURE_GYRO] = gyro_data.temperature;
|
||||
raw.temperature[ATTITUDERAW_TEMPERATURE_ACCEL] = accel_data.temperature;
|
||||
|
||||
raw.magnetometers[0] = mag_data.scaled.axis[0];
|
||||
raw.magnetometers[1] = mag_data.scaled.axis[1];
|
||||
raw.magnetometers[2] = mag_data.scaled.axis[2];
|
||||
AttitudeRawSet(&raw);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get the mag data from the I2C sensor and load into structure
|
||||
* @return none
|
||||
*
|
||||
* This function also considers if the home location is set and has a valid
|
||||
* magnetic field before updating the mag data to prevent data being used that
|
||||
* cannot be interpreted. In addition the mag data is not used for the first
|
||||
* five seconds to allow the filter to start to converge
|
||||
*/
|
||||
void get_mag_data()
|
||||
{
|
||||
// Get magnetic readings
|
||||
// For now don't use mags until the magnetic field is set AND until 5 seconds
|
||||
// after initialization otherwise it seems to have problems
|
||||
// TODO: Follow up this initialization issue
|
||||
HomeLocationData home;
|
||||
HomeLocationGet(&home);
|
||||
if (PIOS_HMC5883_NewDataAvailable()) {
|
||||
PIOS_HMC5883_ReadMag(mag_data.raw.axis);
|
||||
|
||||
mag_data.scaled.axis[0] = -(mag_data.raw.axis[0] * mag_data.calibration.scale[0]) + mag_data.calibration.bias[0];
|
||||
mag_data.scaled.axis[1] = -(mag_data.raw.axis[1] * mag_data.calibration.scale[1]) + mag_data.calibration.bias[1];
|
||||
mag_data.scaled.axis[2] = -(mag_data.raw.axis[2] * mag_data.calibration.scale[2]) + mag_data.calibration.bias[2];
|
||||
|
||||
mag_data.updated = true;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get the barometer data
|
||||
* @return none
|
||||
*/
|
||||
uint32_t baro_conversions = 0;
|
||||
void get_baro_data()
|
||||
{
|
||||
int32_t retval = PIOS_BMP085_ReadADC();
|
||||
if (retval == 0) { // Conversion completed
|
||||
pressure = PIOS_BMP085_GetPressure();
|
||||
altitude = 44330.0 * (1.0 - powf(pressure / BMP085_P0, (1.0 / 5.255)));
|
||||
|
||||
BaroAltitudeData data;
|
||||
BaroAltitudeGet(&data);
|
||||
data.Altitude = altitude;
|
||||
data.Pressure = pressure / 1000.0f;
|
||||
data.Temperature = PIOS_BMP085_GetTemperature() / 10.0f; // Convert to deg C
|
||||
BaroAltitudeSet(&data);
|
||||
|
||||
if((baro_conversions++) % 2)
|
||||
PIOS_BMP085_StartADC(PressureConv);
|
||||
else
|
||||
PIOS_BMP085_StartADC(TemperatureConv);
|
||||
|
||||
altitude_data.altitude = data.Altitude;
|
||||
altitude_data.updated = true;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Process any data coming in the gps port
|
||||
*/
|
||||
void get_gps_data()
|
||||
{
|
||||
uint8_t c;
|
||||
static bool start_flag = false;
|
||||
static bool found_cr = false;
|
||||
static char gps_rx_buffer[NMEA_MAX_PACKET_LENGTH];
|
||||
static uint32_t rx_count = 0;
|
||||
static uint32_t numChecksumErrors = 0;
|
||||
static uint32_t numParsingErrors = 0;
|
||||
static uint32_t numOverflowErrors = 0;
|
||||
static uint32_t numUpdates = 0;
|
||||
while(PIOS_COM_ReceiveBuffer(pios_com_gps_id, &c, 1, 0) == 1)
|
||||
{
|
||||
// Echo data back out aux port
|
||||
//PIOS_COM_SendBufferNonBlocking(pios_com_aux_id, &c, 1);
|
||||
|
||||
// detect start while acquiring stream
|
||||
if (!start_flag && (c == '$'))
|
||||
{
|
||||
start_flag = true;
|
||||
found_cr = false;
|
||||
rx_count = 0;
|
||||
}
|
||||
else if (!start_flag)
|
||||
continue;
|
||||
|
||||
if (rx_count >= NMEA_MAX_PACKET_LENGTH)
|
||||
{
|
||||
// The buffer is already full and we haven't found a valid NMEA sentence.
|
||||
// Flush the buffer and note the overflow event.
|
||||
start_flag = false;
|
||||
found_cr = false;
|
||||
rx_count = 0;
|
||||
numOverflowErrors++;
|
||||
}
|
||||
else
|
||||
{
|
||||
gps_rx_buffer[rx_count] = c;
|
||||
rx_count++;
|
||||
}
|
||||
|
||||
// look for ending '\r\n' sequence
|
||||
if (!found_cr && (c == '\r') )
|
||||
found_cr = true;
|
||||
else if (found_cr && (c != '\n') )
|
||||
found_cr = false; // false end flag
|
||||
else if (found_cr && (c == '\n') )
|
||||
{
|
||||
// The NMEA functions require a zero-terminated string
|
||||
// As we detected \r\n, the string as for sure 2 bytes long, we will also strip the \r\n
|
||||
gps_rx_buffer[rx_count-2] = 0;
|
||||
|
||||
// prepare to parse next sentence
|
||||
start_flag = false;
|
||||
found_cr = false;
|
||||
rx_count = 0;
|
||||
// Our rxBuffer must look like this now:
|
||||
// [0] = '$'
|
||||
// ... = zero or more bytes of sentence payload
|
||||
// [end_pos - 1] = '\r'
|
||||
// [end_pos] = '\n'
|
||||
//
|
||||
// Prepare to consume the sentence from the buffer
|
||||
|
||||
// Validate the checksum over the sentence
|
||||
if (!NMEA_checksum(&gps_rx_buffer[1]))
|
||||
{ // Invalid checksum. May indicate dropped characters on Rx.
|
||||
//PIOS_DEBUG_PinHigh(2);
|
||||
++numChecksumErrors;
|
||||
//PIOS_DEBUG_PinLow(2);
|
||||
}
|
||||
else
|
||||
{ // Valid checksum, use this packet to update the GPS position
|
||||
if (!NMEA_update_position(&gps_rx_buffer[1])) {
|
||||
//PIOS_DEBUG_PinHigh(2);
|
||||
++numParsingErrors;
|
||||
//PIOS_DEBUG_PinLow(2);
|
||||
}
|
||||
else {
|
||||
++numUpdates;
|
||||
|
||||
GPSPositionData pos;
|
||||
GPSPositionGet(&pos);
|
||||
HomeLocationData home;
|
||||
HomeLocationGet(&home);
|
||||
|
||||
// convert from cm back to meters
|
||||
double LLA[3] = {(double) pos.Latitude / 1e7, (double) pos.Longitude / 1e7, (double) (pos.GeoidSeparation + pos.Altitude)};
|
||||
// put in local NED frame
|
||||
double ECEF[3] = {(double) (home.ECEF[0] / 100), (double) (home.ECEF[1] / 100), (double) (home.ECEF[2] / 100)};
|
||||
LLA2Base(LLA, ECEF, (float (*)[3]) home.RNE, gps_data.NED);
|
||||
|
||||
gps_data.heading = pos.Heading;
|
||||
gps_data.groundspeed = pos.Groundspeed;
|
||||
gps_data.quality = pos.Satellites;
|
||||
gps_data.updated = true;
|
||||
|
||||
const uint32_t INSGPS_GPS_MINSAT = 6;
|
||||
const float INSGPS_GPS_MINPDOP = 4;
|
||||
|
||||
// if poor don't use this update
|
||||
if((ahrs_algorithm != INSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) ||
|
||||
(pos.Satellites < INSGPS_GPS_MINSAT) ||
|
||||
(pos.PDOP >= INSGPS_GPS_MINPDOP) ||
|
||||
(home.Set == HOMELOCATION_SET_FALSE) ||
|
||||
((home.ECEF[0] == 0) && (home.ECEF[1] == 0) && (home.ECEF[2] == 0)))
|
||||
{
|
||||
gps_data.updated = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Assumes board is not moving computes biases and variances of sensors
|
||||
* @returns None
|
||||
*
|
||||
* All data is stored in global structures. This function should be called from OP when
|
||||
* aircraft is in stable state and then the data stored to SD card.
|
||||
*
|
||||
* After this function the bias for each sensor will be the mean value. This doesn't make
|
||||
* sense for the z accel so make sure 6 point calibration is also run and those values set
|
||||
* after these read.
|
||||
*/
|
||||
#define NMEAN 500
|
||||
#define NVAR 1000
|
||||
#define CHANNELS 6
|
||||
static uint32_t calibrate_count = 0;
|
||||
float f_means[CHANNELS];
|
||||
float f_var[CHANNELS] = {0, 0, 0, 0, 0, 0};
|
||||
void measure_noise()
|
||||
{
|
||||
uint32_t i;
|
||||
|
||||
float data[CHANNELS] = {accel_data.filtered.x,
|
||||
accel_data.filtered.y,
|
||||
accel_data.filtered.z,
|
||||
gyro_data.filtered.x,
|
||||
gyro_data.filtered.y,
|
||||
gyro_data.filtered.z
|
||||
};
|
||||
|
||||
// First step, zero all sufficient statistics
|
||||
if(calibrate_count == 0) {
|
||||
for (i = 0; i < CHANNELS; i++) {
|
||||
f_means[i] = 0;
|
||||
f_var[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// Accumulate for an estimate of mean
|
||||
if(calibrate_count < NMEAN)
|
||||
for (i = 0; i < CHANNELS; i++)
|
||||
f_means[i] += data[i];
|
||||
|
||||
if(calibrate_count == NMEAN)
|
||||
for (i = 0; i < CHANNELS; i++)
|
||||
f_means[i] /= (float) NMEAN;
|
||||
|
||||
// Accumulate for estimate of variance. This needs to be done
|
||||
// sequentially because storing second moment would go out of
|
||||
// float precision
|
||||
if(calibrate_count >= NMEAN && calibrate_count < (NMEAN + NVAR))
|
||||
for (i = 0; i < CHANNELS; i++)
|
||||
f_var[i] += pow(f_means[i] - data[i],2);
|
||||
|
||||
if(calibrate_count == (NMEAN + NVAR)) {
|
||||
for (i = 0; i < CHANNELS; i++)
|
||||
f_var[i] /= (float) (NVAR - 1);
|
||||
|
||||
calibrate_count = 0;
|
||||
|
||||
InsSettingsData settings;
|
||||
InsSettingsGet(&settings);
|
||||
|
||||
settings.Algorithm = INSSETTINGS_ALGORITHM_NONE;
|
||||
settings.accel_var[0] = f_var[0];
|
||||
settings.accel_var[1] = f_var[1];
|
||||
settings.accel_var[2] = f_var[2];
|
||||
settings.gyro_var[0] = f_var[3];
|
||||
settings.gyro_var[1] = f_var[4];
|
||||
settings.gyro_var[2] = f_var[5];
|
||||
|
||||
InsSettingsSet(&settings);
|
||||
settings_callback(InsSettingsHandle());
|
||||
} else {
|
||||
PIOS_DELAY_WaituS(TYPICAL_PERIOD);
|
||||
calibrate_count++;
|
||||
}
|
||||
}
|
||||
|
||||
void zero_gyros(bool update_settings)
|
||||
{
|
||||
const float rate = 1e-2;
|
||||
gyro_data.calibration.bias[0] += -gyro_data.filtered.x * rate;
|
||||
gyro_data.calibration.bias[1] += -gyro_data.filtered.y * rate;
|
||||
gyro_data.calibration.bias[2] += -gyro_data.filtered.z * rate;
|
||||
|
||||
if(update_settings) {
|
||||
InsSettingsData settings;
|
||||
InsSettingsGet(&settings);
|
||||
settings.gyro_bias[INSSETTINGS_GYRO_BIAS_X] = gyro_data.calibration.bias[0];
|
||||
settings.gyro_bias[INSSETTINGS_GYRO_BIAS_Y] = gyro_data.calibration.bias[1];
|
||||
settings.gyro_bias[INSSETTINGS_GYRO_BIAS_Z] = gyro_data.calibration.bias[2];
|
||||
InsSettingsSet(&settings);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Populate fields with initial values
|
||||
*/
|
||||
void reset_values()
|
||||
{
|
||||
accel_data.calibration.scale[0] = 1;
|
||||
accel_data.calibration.scale[1] = 1;
|
||||
accel_data.calibration.scale[2] = 1;
|
||||
accel_data.calibration.bias[0] = 0;
|
||||
accel_data.calibration.bias[1] = 0;
|
||||
accel_data.calibration.bias[2] = 0;
|
||||
accel_data.calibration.variance[0] = 1;
|
||||
accel_data.calibration.variance[1] = 1;
|
||||
accel_data.calibration.variance[2] = 1;
|
||||
|
||||
gyro_data.calibration.scale[0] = 1;
|
||||
gyro_data.calibration.scale[1] = 1;
|
||||
gyro_data.calibration.scale[2] = 1;
|
||||
gyro_data.calibration.bias[0] = 0;
|
||||
gyro_data.calibration.bias[1] = 0;
|
||||
gyro_data.calibration.bias[2] = 0;
|
||||
gyro_data.calibration.variance[0] = 1;
|
||||
gyro_data.calibration.variance[1] = 1;
|
||||
gyro_data.calibration.variance[2] = 1;
|
||||
|
||||
mag_data.calibration.scale[0] = 1;
|
||||
mag_data.calibration.scale[1] = 1;
|
||||
mag_data.calibration.scale[2] = 1;
|
||||
mag_data.calibration.bias[0] = 0;
|
||||
mag_data.calibration.bias[1] = 0;
|
||||
mag_data.calibration.bias[2] = 0;
|
||||
mag_data.calibration.variance[0] = 50;
|
||||
mag_data.calibration.variance[1] = 50;
|
||||
mag_data.calibration.variance[2] = 50;
|
||||
|
||||
ahrs_algorithm = INSSETTINGS_ALGORITHM_NONE;
|
||||
}
|
||||
|
||||
void send_attitude(void)
|
||||
{
|
||||
AttitudeActualData attitude;
|
||||
AttitudeActualGet(&attitude);
|
||||
attitude.q1 = attitude_data.quaternion.q1;
|
||||
attitude.q2 = attitude_data.quaternion.q2;
|
||||
attitude.q3 = attitude_data.quaternion.q3;
|
||||
attitude.q4 = attitude_data.quaternion.q4;
|
||||
float rpy[3];
|
||||
Quaternion2RPY(&attitude_data.quaternion.q1, rpy);
|
||||
attitude.Roll = rpy[0];
|
||||
attitude.Pitch = rpy[1];
|
||||
attitude.Yaw = rpy[2];
|
||||
AttitudeActualSet(&attitude);
|
||||
}
|
||||
|
||||
void send_velocity(void)
|
||||
{
|
||||
VelocityActualData velocityActual;
|
||||
VelocityActualGet(&velocityActual);
|
||||
|
||||
// convert into cm
|
||||
velocityActual.North = Nav.Vel[0] * 100;
|
||||
velocityActual.East = Nav.Vel[1] * 100;
|
||||
velocityActual.Down = Nav.Vel[2] * 100;
|
||||
|
||||
VelocityActualSet(&velocityActual);
|
||||
}
|
||||
|
||||
int callback_count = 0;
|
||||
void settings_callback(AhrsObjHandle obj)
|
||||
{
|
||||
callback_count ++;
|
||||
InsSettingsData settings;
|
||||
InsSettingsGet(&settings);
|
||||
|
||||
init_algorithm = ahrs_algorithm != settings.Algorithm;
|
||||
ahrs_algorithm = settings.Algorithm;
|
||||
bias_corrected_raw = settings.BiasCorrectedRaw == INSSETTINGS_BIASCORRECTEDRAW_TRUE;
|
||||
|
||||
accel_data.calibration.scale[0] = settings.accel_scale[INSSETTINGS_ACCEL_SCALE_X];
|
||||
accel_data.calibration.scale[1] = settings.accel_scale[INSSETTINGS_ACCEL_SCALE_Y];
|
||||
accel_data.calibration.scale[2] = settings.accel_scale[INSSETTINGS_ACCEL_SCALE_Z];
|
||||
accel_data.calibration.bias[0] = settings.accel_bias[INSSETTINGS_ACCEL_BIAS_X];
|
||||
accel_data.calibration.bias[1] = settings.accel_bias[INSSETTINGS_ACCEL_BIAS_Y];
|
||||
accel_data.calibration.bias[2] = settings.accel_bias[INSSETTINGS_ACCEL_BIAS_Z];
|
||||
accel_data.calibration.variance[0] = settings.accel_var[INSSETTINGS_ACCEL_VAR_X];
|
||||
accel_data.calibration.variance[1] = settings.accel_var[INSSETTINGS_ACCEL_VAR_Y];
|
||||
accel_data.calibration.variance[2] = settings.accel_var[INSSETTINGS_ACCEL_VAR_Z];
|
||||
|
||||
gyro_data.calibration.scale[0] = settings.gyro_scale[INSSETTINGS_GYRO_SCALE_X];
|
||||
gyro_data.calibration.scale[1] = settings.gyro_scale[INSSETTINGS_GYRO_SCALE_Y];
|
||||
gyro_data.calibration.scale[2] = settings.gyro_scale[INSSETTINGS_GYRO_SCALE_Z];
|
||||
gyro_data.calibration.bias[0] = settings.gyro_bias[INSSETTINGS_GYRO_BIAS_X];
|
||||
gyro_data.calibration.bias[1] = settings.gyro_bias[INSSETTINGS_GYRO_BIAS_Y];
|
||||
gyro_data.calibration.bias[2] = settings.gyro_bias[INSSETTINGS_GYRO_BIAS_Z];
|
||||
gyro_data.calibration.variance[0] = settings.gyro_var[INSSETTINGS_GYRO_VAR_X];
|
||||
gyro_data.calibration.variance[1] = settings.gyro_var[INSSETTINGS_GYRO_VAR_Y];
|
||||
gyro_data.calibration.variance[2] = settings.gyro_var[INSSETTINGS_GYRO_VAR_Z];
|
||||
|
||||
mag_data.calibration.scale[0] = settings.mag_scale[INSSETTINGS_MAG_SCALE_X];
|
||||
mag_data.calibration.scale[1] = settings.mag_scale[INSSETTINGS_MAG_SCALE_Y];
|
||||
mag_data.calibration.scale[2] = settings.mag_scale[INSSETTINGS_MAG_SCALE_Z];
|
||||
mag_data.calibration.bias[0] = settings.mag_bias[INSSETTINGS_MAG_BIAS_X];
|
||||
mag_data.calibration.bias[1] = settings.mag_bias[INSSETTINGS_MAG_BIAS_Y];
|
||||
mag_data.calibration.bias[2] = settings.mag_bias[INSSETTINGS_MAG_BIAS_Z];
|
||||
mag_data.calibration.variance[0] = settings.mag_var[INSSETTINGS_MAG_VAR_X];
|
||||
mag_data.calibration.variance[1] = settings.mag_var[INSSETTINGS_MAG_VAR_Y];
|
||||
mag_data.calibration.variance[2] = settings.mag_var[INSSETTINGS_MAG_VAR_Z];
|
||||
}
|
||||
|
||||
void homelocation_callback(AhrsObjHandle obj)
|
||||
{
|
||||
HomeLocationData data;
|
||||
HomeLocationGet(&data);
|
||||
|
||||
mag_len = sqrt(pow(data.Be[0],2) + pow(data.Be[1],2) + pow(data.Be[2],2));
|
||||
float Be[3] = {data.Be[0] / mag_len, data.Be[1] / mag_len, data.Be[2] / mag_len};
|
||||
|
||||
INSSetMagNorth(Be);
|
||||
|
||||
init_algorithm = true;
|
||||
}
|
||||
|
||||
void firmwareiapobj_callback(AhrsObjHandle obj)
|
||||
{
|
||||
#if 0
|
||||
const struct pios_board_info * bdinfo = &pios_board_info_blob;
|
||||
|
||||
FirmwareIAPObjData firmwareIAPObj;
|
||||
FirmwareIAPObjGet(&firmwareIAPObj);
|
||||
if(firmwareIAPObj.ArmReset==0)
|
||||
reset_count=0;
|
||||
if(firmwareIAPObj.ArmReset==1)
|
||||
{
|
||||
|
||||
if((firmwareIAPObj.BoardType==bdinfo->board_type) || (firmwareIAPObj.BoardType==0xFF))
|
||||
{
|
||||
|
||||
++reset_count;
|
||||
if(reset_count>2)
|
||||
{
|
||||
PIOS_IAP_SetRequest1();
|
||||
PIOS_IAP_SetRequest2();
|
||||
PIOS_SYS_Reset();
|
||||
}
|
||||
}
|
||||
}
|
||||
else if(firmwareIAPObj.BoardType==bdinfo->board_type && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc())
|
||||
{
|
||||
PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,bdinfo->desc_size);
|
||||
firmwareIAPObj.crc=PIOS_BL_HELPER_CRC_Memory_Calc();
|
||||
firmwareIAPObj.BoardRevision=bdinfo->board_rev;
|
||||
FirmwareIAPObjSet(&firmwareIAPObj);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
@ -1,1660 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup AHRS
|
||||
* @{
|
||||
* @addtogroup INSGPS
|
||||
* @{
|
||||
* @brief INSGPS is a joint attitude and position estimation EKF
|
||||
*
|
||||
* @file insgps.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief An INS/GPS algorithm implemented with an EKF.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "insgps.h"
|
||||
#include <math.h>
|
||||
#include <stdint.h>
|
||||
|
||||
// constants/macros/typdefs
|
||||
#define NUMX 13 // number of states, X is the state vector
|
||||
#define NUMW 9 // number of plant noise inputs, w is disturbance noise vector
|
||||
#define NUMV 10 // number of measurements, v is the measurement noise vector
|
||||
#define NUMU 6 // number of deterministic inputs, U is the input vector
|
||||
|
||||
#if defined(GENERAL_COV)
|
||||
// This might trick people so I have a note here. There is a slower but bigger version of the
|
||||
// code here but won't fit when debugging disabled (requires -Os)
|
||||
#define COVARIANCE_PREDICTION_GENERAL
|
||||
#endif
|
||||
|
||||
// Private functions
|
||||
void CovariancePrediction(float F[NUMX][NUMX], float G[NUMX][NUMW],
|
||||
float Q[NUMW], float dT, float P[NUMX][NUMX]);
|
||||
void SerialUpdate(float H[NUMV][NUMX], float R[NUMV], float Z[NUMV],
|
||||
float Y[NUMV], float P[NUMX][NUMX], float X[NUMX],
|
||||
uint16_t SensorsUsed);
|
||||
void RungeKutta(float X[NUMX], float U[NUMU], float dT);
|
||||
void StateEq(float X[NUMX], float U[NUMU], float Xdot[NUMX]);
|
||||
void LinearizeFG(float X[NUMX], float U[NUMU], float F[NUMX][NUMX],
|
||||
float G[NUMX][NUMW]);
|
||||
void MeasurementEq(float X[NUMX], float Be[3], float Y[NUMV]);
|
||||
void LinearizeH(float X[NUMX], float Be[3], float H[NUMV][NUMX]);
|
||||
|
||||
// Private variables
|
||||
float F[NUMX][NUMX], G[NUMX][NUMW], H[NUMV][NUMX]; // linearized system matrices
|
||||
// global to init to zero and maintain zero elements
|
||||
float Be[3]; // local magnetic unit vector in NED frame
|
||||
float P[NUMX][NUMX], X[NUMX]; // covariance matrix and state vector
|
||||
float Q[NUMW], R[NUMV]; // input noise and measurement noise variances
|
||||
float K[NUMX][NUMV]; // feedback gain matrix
|
||||
|
||||
// ************* Exposed Functions ****************
|
||||
// *************************************************
|
||||
|
||||
uint16_t ins_get_num_states()
|
||||
{
|
||||
return NUMX;
|
||||
}
|
||||
|
||||
void INSGPSInit() //pretty much just a place holder for now
|
||||
{
|
||||
Be[0] = 1;
|
||||
Be[1] = 0;
|
||||
Be[2] = 0; // local magnetic unit vector
|
||||
|
||||
for (int i = 0; i < NUMX; i++) {
|
||||
for (int j = 0; j < NUMX; j++) {
|
||||
P[i][j] = 0; // zero all terms
|
||||
F[i][j] = 0;
|
||||
}
|
||||
|
||||
for (int j = 0; j < NUMW; j++)
|
||||
G[i][j] = 0;
|
||||
|
||||
for (int j = 0; j < NUMV; j++) {
|
||||
H[j][i] = 0;
|
||||
K[i][j] = 0;
|
||||
}
|
||||
|
||||
X[i] = 0;
|
||||
}
|
||||
for (int i = 0; i < NUMW; i++)
|
||||
Q[i] = 0;
|
||||
for (int i = 0; i < NUMV; i++)
|
||||
R[i] = 0;
|
||||
|
||||
|
||||
P[0][0] = P[1][1] = P[2][2] = 25; // initial position variance (m^2)
|
||||
P[3][3] = P[4][4] = P[5][5] = 5; // initial velocity variance (m/s)^2
|
||||
P[6][6] = P[7][7] = P[8][8] = P[9][9] = 1e-5; // initial quaternion variance
|
||||
P[10][10] = P[11][11] = P[12][12] = 1e-9; // initial gyro bias variance (rad/s)^2
|
||||
|
||||
X[0] = X[1] = X[2] = X[3] = X[4] = X[5] = 0; // initial pos and vel (m)
|
||||
X[6] = 1;
|
||||
X[7] = X[8] = X[9] = 0; // initial quaternion (level and North) (m/s)
|
||||
X[10] = X[11] = X[12] = 0; // initial gyro bias (rad/s)
|
||||
|
||||
Q[0] = Q[1] = Q[2] = 50e-8; // gyro noise variance (rad/s)^2
|
||||
Q[3] = Q[4] = Q[5] = 0.01; // accelerometer noise variance (m/s^2)^2
|
||||
Q[6] = Q[7] = Q[8] = 2e-15; // gyro bias random walk variance (rad/s^2)^2
|
||||
|
||||
R[0] = R[1] = 0.004; // High freq GPS horizontal position noise variance (m^2)
|
||||
R[2] = 0.036; // High freq GPS vertical position noise variance (m^2)
|
||||
R[3] = R[4] = 0.004; // High freq GPS horizontal velocity noise variance (m/s)^2
|
||||
R[5] = 100; // High freq GPS vertical velocity noise variance (m/s)^2
|
||||
R[6] = R[7] = R[8] = 0.005; // magnetometer unit vector noise variance
|
||||
R[9] = .05; // High freq altimeter noise variance (m^2)
|
||||
}
|
||||
|
||||
void INSResetP(float PDiag[NUMX])
|
||||
{
|
||||
uint8_t i,j;
|
||||
|
||||
// if PDiag[i] nonzero then clear row and column and set diagonal element
|
||||
for (i=0;i<NUMX;i++){
|
||||
if (PDiag != 0){
|
||||
for (j=0;j<NUMX;j++)
|
||||
P[i][j]=P[j][i]=0;
|
||||
P[i][i]=PDiag[i];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void INSSetState(float pos[3], float vel[3], float q[4], float gyro_bias[3], float accel_bias[3])
|
||||
{
|
||||
/* Note: accel_bias not used in 13 state INS */
|
||||
X[0] = pos[0];
|
||||
X[1] = pos[1];
|
||||
X[2] = pos[2];
|
||||
X[3] = vel[0];
|
||||
X[4] = vel[1];
|
||||
X[5] = vel[2];
|
||||
X[6] = q[0];
|
||||
X[7] = q[1];
|
||||
X[8] = q[2];
|
||||
X[9] = q[3];
|
||||
X[10] = gyro_bias[0];
|
||||
X[11] = gyro_bias[1];
|
||||
X[12] = gyro_bias[2];
|
||||
}
|
||||
|
||||
void INSPosVelReset(float pos[3], float vel[3])
|
||||
{
|
||||
for (int i = 0; i < 6; i++) {
|
||||
for(int j = i; j < NUMX; j++) {
|
||||
P[i][j] = 0; // zero the first 6 rows and columns
|
||||
P[j][i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
P[0][0] = P[1][1] = P[2][2] = 25; // initial position variance (m^2)
|
||||
P[3][3] = P[4][4] = P[5][5] = 5; // initial velocity variance (m/s)^2
|
||||
|
||||
X[0] = pos[0];
|
||||
X[1] = pos[1];
|
||||
X[2] = pos[2];
|
||||
X[3] = vel[0];
|
||||
X[4] = vel[1];
|
||||
X[5] = vel[2];
|
||||
}
|
||||
|
||||
void INSSetPosVelVar(float PosVar, float VelVar)
|
||||
{
|
||||
R[0] = PosVar;
|
||||
R[1] = PosVar;
|
||||
R[2] = PosVar;
|
||||
R[3] = VelVar;
|
||||
R[4] = VelVar;
|
||||
// R[5] = PosVar; // Don't change vertical velocity, not measured
|
||||
}
|
||||
|
||||
void INSSetGyroBias(float gyro_bias[3])
|
||||
{
|
||||
X[10] = gyro_bias[0];
|
||||
X[11] = gyro_bias[1];
|
||||
X[12] = gyro_bias[2];
|
||||
}
|
||||
|
||||
void INSSetAccelVar(float accel_var[3])
|
||||
{
|
||||
Q[3] = accel_var[0];
|
||||
Q[4] = accel_var[1];
|
||||
Q[5] = accel_var[2];
|
||||
}
|
||||
|
||||
void INSSetGyroVar(float gyro_var[3])
|
||||
{
|
||||
Q[0] = gyro_var[0];
|
||||
Q[1] = gyro_var[1];
|
||||
Q[2] = gyro_var[2];
|
||||
}
|
||||
|
||||
void INSSetMagVar(float scaled_mag_var[3])
|
||||
{
|
||||
R[6] = scaled_mag_var[0];
|
||||
R[7] = scaled_mag_var[1];
|
||||
R[8] = scaled_mag_var[2];
|
||||
}
|
||||
|
||||
void INSSetMagNorth(float B[3])
|
||||
{
|
||||
Be[0] = B[0];
|
||||
Be[1] = B[1];
|
||||
Be[2] = B[2];
|
||||
}
|
||||
|
||||
void INSStatePrediction(float gyro_data[3], float accel_data[3], float dT)
|
||||
{
|
||||
float U[6];
|
||||
float qmag;
|
||||
|
||||
// rate gyro inputs in units of rad/s
|
||||
U[0] = gyro_data[0];
|
||||
U[1] = gyro_data[1];
|
||||
U[2] = gyro_data[2];
|
||||
|
||||
// accelerometer inputs in units of m/s
|
||||
U[3] = accel_data[0];
|
||||
U[4] = accel_data[1];
|
||||
U[5] = accel_data[2];
|
||||
|
||||
// EKF prediction step
|
||||
LinearizeFG(X, U, F, G);
|
||||
RungeKutta(X, U, dT);
|
||||
qmag = sqrt(X[6] * X[6] + X[7] * X[7] + X[8] * X[8] + X[9] * X[9]);
|
||||
X[6] /= qmag;
|
||||
X[7] /= qmag;
|
||||
X[8] /= qmag;
|
||||
X[9] /= qmag;
|
||||
//CovariancePrediction(F,G,Q,dT,P);
|
||||
|
||||
// Update Nav solution structure
|
||||
Nav.Pos[0] = X[0];
|
||||
Nav.Pos[1] = X[1];
|
||||
Nav.Pos[2] = X[2];
|
||||
Nav.Vel[0] = X[3];
|
||||
Nav.Vel[1] = X[4];
|
||||
Nav.Vel[2] = X[5];
|
||||
Nav.q[0] = X[6];
|
||||
Nav.q[1] = X[7];
|
||||
Nav.q[2] = X[8];
|
||||
Nav.q[3] = X[9];
|
||||
Nav.gyro_bias[0] = X[10];
|
||||
Nav.gyro_bias[1] = X[11];
|
||||
Nav.gyro_bias[2] = X[12];
|
||||
}
|
||||
|
||||
void INSCovariancePrediction(float dT)
|
||||
{
|
||||
CovariancePrediction(F, G, Q, dT, P);
|
||||
}
|
||||
|
||||
float zeros[3] = { 0, 0, 0 };
|
||||
|
||||
void MagCorrection(float mag_data[3])
|
||||
{
|
||||
INSCorrection(mag_data, zeros, zeros, zeros[0], MAG_SENSORS);
|
||||
}
|
||||
|
||||
void MagVelBaroCorrection(float mag_data[3], float Vel[3], float BaroAlt)
|
||||
{
|
||||
INSCorrection(mag_data, zeros, Vel, BaroAlt,
|
||||
MAG_SENSORS | HORIZ_SENSORS | VERT_SENSORS |
|
||||
BARO_SENSOR);
|
||||
}
|
||||
|
||||
void GpsBaroCorrection(float Pos[3], float Vel[3], float BaroAlt)
|
||||
{
|
||||
INSCorrection(zeros, Pos, Vel, BaroAlt,
|
||||
HORIZ_SENSORS | VERT_SENSORS | BARO_SENSOR);
|
||||
}
|
||||
|
||||
void FullCorrection(float mag_data[3], float Pos[3], float Vel[3],
|
||||
float BaroAlt)
|
||||
{
|
||||
INSCorrection(mag_data, Pos, Vel, BaroAlt, FULL_SENSORS);
|
||||
}
|
||||
|
||||
void GpsMagCorrection(float mag_data[3], float Pos[3], float Vel[3])
|
||||
{
|
||||
INSCorrection(mag_data, Pos, Vel, zeros[0],
|
||||
POS_SENSORS | HORIZ_SENSORS | MAG_SENSORS);
|
||||
}
|
||||
|
||||
void VelBaroCorrection(float Vel[3], float BaroAlt)
|
||||
{
|
||||
INSCorrection(zeros, zeros, Vel, BaroAlt,
|
||||
HORIZ_SENSORS | VERT_SENSORS | BARO_SENSOR);
|
||||
}
|
||||
|
||||
void INSCorrection(float mag_data[3], float Pos[3], float Vel[3],
|
||||
float BaroAlt, uint16_t SensorsUsed)
|
||||
{
|
||||
float Z[10], Y[10];
|
||||
float Bmag, qmag;
|
||||
|
||||
// GPS Position in meters and in local NED frame
|
||||
Z[0] = Pos[0];
|
||||
Z[1] = Pos[1];
|
||||
Z[2] = Pos[2];
|
||||
|
||||
// GPS Velocity in meters and in local NED frame
|
||||
Z[3] = Vel[0];
|
||||
Z[4] = Vel[1];
|
||||
Z[5] = Vel[2];
|
||||
|
||||
// magnetometer data in any units (use unit vector) and in body frame
|
||||
Bmag =
|
||||
sqrt(mag_data[0] * mag_data[0] + mag_data[1] * mag_data[1] +
|
||||
mag_data[2] * mag_data[2]);
|
||||
Z[6] = mag_data[0] / Bmag;
|
||||
Z[7] = mag_data[1] / Bmag;
|
||||
Z[8] = mag_data[2] / Bmag;
|
||||
|
||||
// barometric altimeter in meters and in local NED frame
|
||||
Z[9] = BaroAlt;
|
||||
|
||||
// EKF correction step
|
||||
LinearizeH(X, Be, H);
|
||||
MeasurementEq(X, Be, Y);
|
||||
SerialUpdate(H, R, Z, Y, P, X, SensorsUsed);
|
||||
qmag = sqrt(X[6] * X[6] + X[7] * X[7] + X[8] * X[8] + X[9] * X[9]);
|
||||
X[6] /= qmag;
|
||||
X[7] /= qmag;
|
||||
X[8] /= qmag;
|
||||
X[9] /= qmag;
|
||||
|
||||
// Update Nav solution structure
|
||||
Nav.Pos[0] = X[0];
|
||||
Nav.Pos[1] = X[1];
|
||||
Nav.Pos[2] = X[2];
|
||||
Nav.Vel[0] = X[3];
|
||||
Nav.Vel[1] = X[4];
|
||||
Nav.Vel[2] = X[5];
|
||||
Nav.q[0] = X[6];
|
||||
Nav.q[1] = X[7];
|
||||
Nav.q[2] = X[8];
|
||||
Nav.q[3] = X[9];
|
||||
}
|
||||
|
||||
// ************* CovariancePrediction *************
|
||||
// Does the prediction step of the Kalman filter for the covariance matrix
|
||||
// Output, Pnew, overwrites P, the input covariance
|
||||
// Pnew = (I+F*T)*P*(I+F*T)' + T^2*G*Q*G'
|
||||
// Q is the discrete time covariance of process noise
|
||||
// Q is vector of the diagonal for a square matrix with
|
||||
// dimensions equal to the number of disturbance noise variables
|
||||
// The General Method is very inefficient,not taking advantage of the sparse F and G
|
||||
// The first Method is very specific to this implementation
|
||||
// ************************************************
|
||||
|
||||
#ifdef COVARIANCE_PREDICTION_GENERAL
|
||||
|
||||
void CovariancePrediction(float F[NUMX][NUMX], float G[NUMX][NUMW],
|
||||
float Q[NUMW], float dT, float P[NUMX][NUMX])
|
||||
{
|
||||
float Dummy[NUMX][NUMX], dTsq;
|
||||
uint8_t i, j, k;
|
||||
|
||||
// Pnew = (I+F*T)*P*(I+F*T)' + T^2*G*Q*G' = T^2[(P/T + F*P)*(I/T + F') + G*Q*G')]
|
||||
|
||||
dTsq = dT * dT;
|
||||
|
||||
for (i = 0; i < NUMX; i++) // Calculate Dummy = (P/T +F*P)
|
||||
for (j = 0; j < NUMX; j++) {
|
||||
Dummy[i][j] = P[i][j] / dT;
|
||||
for (k = 0; k < NUMX; k++)
|
||||
Dummy[i][j] += F[i][k] * P[k][j];
|
||||
}
|
||||
for (i = 0; i < NUMX; i++) // Calculate Pnew = Dummy/T + Dummy*F' + G*Qw*G'
|
||||
for (j = i; j < NUMX; j++) { // Use symmetry, ie only find upper triangular
|
||||
P[i][j] = Dummy[i][j] / dT;
|
||||
for (k = 0; k < NUMX; k++)
|
||||
P[i][j] += Dummy[i][k] * F[j][k]; // P = Dummy/T + Dummy*F'
|
||||
for (k = 0; k < NUMW; k++)
|
||||
P[i][j] += Q[k] * G[i][k] * G[j][k]; // P = Dummy/T + Dummy*F' + G*Q*G'
|
||||
P[j][i] = P[i][j] = P[i][j] * dTsq; // Pnew = T^2*P and fill in lower triangular;
|
||||
}
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
void CovariancePrediction(float F[NUMX][NUMX], float G[NUMX][NUMW],
|
||||
float Q[NUMW], float dT, float P[NUMX][NUMX])
|
||||
{
|
||||
float D[NUMX][NUMX], T, Tsq;
|
||||
uint8_t i, j;
|
||||
|
||||
// Pnew = (I+F*T)*P*(I+F*T)' + T^2*G*Q*G' = scalar expansion from symbolic manipulator
|
||||
|
||||
T = dT;
|
||||
Tsq = dT * dT;
|
||||
|
||||
for (i = 0; i < NUMX; i++) // Create a copy of the upper triangular of P
|
||||
for (j = i; j < NUMX; j++)
|
||||
D[i][j] = P[i][j];
|
||||
|
||||
// Brute force calculation of the elements of P
|
||||
P[0][0] = D[3][3] * Tsq + (2 * D[0][3]) * T + D[0][0];
|
||||
P[0][1] = P[1][0] =
|
||||
D[3][4] * Tsq + (D[0][4] + D[1][3]) * T + D[0][1];
|
||||
P[0][2] = P[2][0] =
|
||||
D[3][5] * Tsq + (D[0][5] + D[2][3]) * T + D[0][2];
|
||||
P[0][3] = P[3][0] =
|
||||
(F[3][6] * D[3][6] + F[3][7] * D[3][7] + F[3][8] * D[3][8] +
|
||||
F[3][9] * D[3][9]) * Tsq + (D[3][3] + F[3][6] * D[0][6] +
|
||||
F[3][7] * D[0][7] +
|
||||
F[3][8] * D[0][8] +
|
||||
F[3][9] * D[0][9]) * T + D[0][3];
|
||||
P[0][4] = P[4][0] =
|
||||
(F[4][6] * D[3][6] + F[4][7] * D[3][7] + F[4][8] * D[3][8] +
|
||||
F[4][9] * D[3][9]) * Tsq + (D[3][4] + F[4][6] * D[0][6] +
|
||||
F[4][7] * D[0][7] +
|
||||
F[4][8] * D[0][8] +
|
||||
F[4][9] * D[0][9]) * T + D[0][4];
|
||||
P[0][5] = P[5][0] =
|
||||
(F[5][6] * D[3][6] + F[5][7] * D[3][7] + F[5][8] * D[3][8] +
|
||||
F[5][9] * D[3][9]) * Tsq + (D[3][5] + F[5][6] * D[0][6] +
|
||||
F[5][7] * D[0][7] +
|
||||
F[5][8] * D[0][8] +
|
||||
F[5][9] * D[0][9]) * T + D[0][5];
|
||||
P[0][6] = P[6][0] =
|
||||
(F[6][7] * D[3][7] + F[6][8] * D[3][8] + F[6][9] * D[3][9] +
|
||||
F[6][10] * D[3][10] + F[6][11] * D[3][11] +
|
||||
F[6][12] * D[3][12]) * Tsq + (D[3][6] + F[6][7] * D[0][7] +
|
||||
F[6][8] * D[0][8] +
|
||||
F[6][9] * D[0][9] +
|
||||
F[6][10] * D[0][10] +
|
||||
F[6][11] * D[0][11] +
|
||||
F[6][12] * D[0][12]) * T +
|
||||
D[0][6];
|
||||
P[0][7] = P[7][0] =
|
||||
(F[7][6] * D[3][6] + F[7][8] * D[3][8] + F[7][9] * D[3][9] +
|
||||
F[7][10] * D[3][10] + F[7][11] * D[3][11] +
|
||||
F[7][12] * D[3][12]) * Tsq + (D[3][7] + F[7][6] * D[0][6] +
|
||||
F[7][8] * D[0][8] +
|
||||
F[7][9] * D[0][9] +
|
||||
F[7][10] * D[0][10] +
|
||||
F[7][11] * D[0][11] +
|
||||
F[7][12] * D[0][12]) * T +
|
||||
D[0][7];
|
||||
P[0][8] = P[8][0] =
|
||||
(F[8][6] * D[3][6] + F[8][7] * D[3][7] + F[8][9] * D[3][9] +
|
||||
F[8][10] * D[3][10] + F[8][11] * D[3][11] +
|
||||
F[8][12] * D[3][12]) * Tsq + (D[3][8] + F[8][6] * D[0][6] +
|
||||
F[8][7] * D[0][7] +
|
||||
F[8][9] * D[0][9] +
|
||||
F[8][10] * D[0][10] +
|
||||
F[8][11] * D[0][11] +
|
||||
F[8][12] * D[0][12]) * T +
|
||||
D[0][8];
|
||||
P[0][9] = P[9][0] =
|
||||
(F[9][6] * D[3][6] + F[9][7] * D[3][7] + F[9][8] * D[3][8] +
|
||||
F[9][10] * D[3][10] + F[9][11] * D[3][11] +
|
||||
F[9][12] * D[3][12]) * Tsq + (D[3][9] + F[9][6] * D[0][6] +
|
||||
F[9][7] * D[0][7] +
|
||||
F[9][8] * D[0][8] +
|
||||
F[9][10] * D[0][10] +
|
||||
F[9][11] * D[0][11] +
|
||||
F[9][12] * D[0][12]) * T +
|
||||
D[0][9];
|
||||
P[0][10] = P[10][0] = D[3][10] * T + D[0][10];
|
||||
P[0][11] = P[11][0] = D[3][11] * T + D[0][11];
|
||||
P[0][12] = P[12][0] = D[3][12] * T + D[0][12];
|
||||
P[1][1] = D[4][4] * Tsq + (2 * D[1][4]) * T + D[1][1];
|
||||
P[1][2] = P[2][1] =
|
||||
D[4][5] * Tsq + (D[1][5] + D[2][4]) * T + D[1][2];
|
||||
P[1][3] = P[3][1] =
|
||||
(F[3][6] * D[4][6] + F[3][7] * D[4][7] + F[3][8] * D[4][8] +
|
||||
F[3][9] * D[4][9]) * Tsq + (D[3][4] + F[3][6] * D[1][6] +
|
||||
F[3][7] * D[1][7] +
|
||||
F[3][8] * D[1][8] +
|
||||
F[3][9] * D[1][9]) * T + D[1][3];
|
||||
P[1][4] = P[4][1] =
|
||||
(F[4][6] * D[4][6] + F[4][7] * D[4][7] + F[4][8] * D[4][8] +
|
||||
F[4][9] * D[4][9]) * Tsq + (D[4][4] + F[4][6] * D[1][6] +
|
||||
F[4][7] * D[1][7] +
|
||||
F[4][8] * D[1][8] +
|
||||
F[4][9] * D[1][9]) * T + D[1][4];
|
||||
P[1][5] = P[5][1] =
|
||||
(F[5][6] * D[4][6] + F[5][7] * D[4][7] + F[5][8] * D[4][8] +
|
||||
F[5][9] * D[4][9]) * Tsq + (D[4][5] + F[5][6] * D[1][6] +
|
||||
F[5][7] * D[1][7] +
|
||||
F[5][8] * D[1][8] +
|
||||
F[5][9] * D[1][9]) * T + D[1][5];
|
||||
P[1][6] = P[6][1] =
|
||||
(F[6][7] * D[4][7] + F[6][8] * D[4][8] + F[6][9] * D[4][9] +
|
||||
F[6][10] * D[4][10] + F[6][11] * D[4][11] +
|
||||
F[6][12] * D[4][12]) * Tsq + (D[4][6] + F[6][7] * D[1][7] +
|
||||
F[6][8] * D[1][8] +
|
||||
F[6][9] * D[1][9] +
|
||||
F[6][10] * D[1][10] +
|
||||
F[6][11] * D[1][11] +
|
||||
F[6][12] * D[1][12]) * T +
|
||||
D[1][6];
|
||||
P[1][7] = P[7][1] =
|
||||
(F[7][6] * D[4][6] + F[7][8] * D[4][8] + F[7][9] * D[4][9] +
|
||||
F[7][10] * D[4][10] + F[7][11] * D[4][11] +
|
||||
F[7][12] * D[4][12]) * Tsq + (D[4][7] + F[7][6] * D[1][6] +
|
||||
F[7][8] * D[1][8] +
|
||||
F[7][9] * D[1][9] +
|
||||
F[7][10] * D[1][10] +
|
||||
F[7][11] * D[1][11] +
|
||||
F[7][12] * D[1][12]) * T +
|
||||
D[1][7];
|
||||
P[1][8] = P[8][1] =
|
||||
(F[8][6] * D[4][6] + F[8][7] * D[4][7] + F[8][9] * D[4][9] +
|
||||
F[8][10] * D[4][10] + F[8][11] * D[4][11] +
|
||||
F[8][12] * D[4][12]) * Tsq + (D[4][8] + F[8][6] * D[1][6] +
|
||||
F[8][7] * D[1][7] +
|
||||
F[8][9] * D[1][9] +
|
||||
F[8][10] * D[1][10] +
|
||||
F[8][11] * D[1][11] +
|
||||
F[8][12] * D[1][12]) * T +
|
||||
D[1][8];
|
||||
P[1][9] = P[9][1] =
|
||||
(F[9][6] * D[4][6] + F[9][7] * D[4][7] + F[9][8] * D[4][8] +
|
||||
F[9][10] * D[4][10] + F[9][11] * D[4][11] +
|
||||
F[9][12] * D[4][12]) * Tsq + (D[4][9] + F[9][6] * D[1][6] +
|
||||
F[9][7] * D[1][7] +
|
||||
F[9][8] * D[1][8] +
|
||||
F[9][10] * D[1][10] +
|
||||
F[9][11] * D[1][11] +
|
||||
F[9][12] * D[1][12]) * T +
|
||||
D[1][9];
|
||||
P[1][10] = P[10][1] = D[4][10] * T + D[1][10];
|
||||
P[1][11] = P[11][1] = D[4][11] * T + D[1][11];
|
||||
P[1][12] = P[12][1] = D[4][12] * T + D[1][12];
|
||||
P[2][2] = D[5][5] * Tsq + (2 * D[2][5]) * T + D[2][2];
|
||||
P[2][3] = P[3][2] =
|
||||
(F[3][6] * D[5][6] + F[3][7] * D[5][7] + F[3][8] * D[5][8] +
|
||||
F[3][9] * D[5][9]) * Tsq + (D[3][5] + F[3][6] * D[2][6] +
|
||||
F[3][7] * D[2][7] +
|
||||
F[3][8] * D[2][8] +
|
||||
F[3][9] * D[2][9]) * T + D[2][3];
|
||||
P[2][4] = P[4][2] =
|
||||
(F[4][6] * D[5][6] + F[4][7] * D[5][7] + F[4][8] * D[5][8] +
|
||||
F[4][9] * D[5][9]) * Tsq + (D[4][5] + F[4][6] * D[2][6] +
|
||||
F[4][7] * D[2][7] +
|
||||
F[4][8] * D[2][8] +
|
||||
F[4][9] * D[2][9]) * T + D[2][4];
|
||||
P[2][5] = P[5][2] =
|
||||
(F[5][6] * D[5][6] + F[5][7] * D[5][7] + F[5][8] * D[5][8] +
|
||||
F[5][9] * D[5][9]) * Tsq + (D[5][5] + F[5][6] * D[2][6] +
|
||||
F[5][7] * D[2][7] +
|
||||
F[5][8] * D[2][8] +
|
||||
F[5][9] * D[2][9]) * T + D[2][5];
|
||||
P[2][6] = P[6][2] =
|
||||
(F[6][7] * D[5][7] + F[6][8] * D[5][8] + F[6][9] * D[5][9] +
|
||||
F[6][10] * D[5][10] + F[6][11] * D[5][11] +
|
||||
F[6][12] * D[5][12]) * Tsq + (D[5][6] + F[6][7] * D[2][7] +
|
||||
F[6][8] * D[2][8] +
|
||||
F[6][9] * D[2][9] +
|
||||
F[6][10] * D[2][10] +
|
||||
F[6][11] * D[2][11] +
|
||||
F[6][12] * D[2][12]) * T +
|
||||
D[2][6];
|
||||
P[2][7] = P[7][2] =
|
||||
(F[7][6] * D[5][6] + F[7][8] * D[5][8] + F[7][9] * D[5][9] +
|
||||
F[7][10] * D[5][10] + F[7][11] * D[5][11] +
|
||||
F[7][12] * D[5][12]) * Tsq + (D[5][7] + F[7][6] * D[2][6] +
|
||||
F[7][8] * D[2][8] +
|
||||
F[7][9] * D[2][9] +
|
||||
F[7][10] * D[2][10] +
|
||||
F[7][11] * D[2][11] +
|
||||
F[7][12] * D[2][12]) * T +
|
||||
D[2][7];
|
||||
P[2][8] = P[8][2] =
|
||||
(F[8][6] * D[5][6] + F[8][7] * D[5][7] + F[8][9] * D[5][9] +
|
||||
F[8][10] * D[5][10] + F[8][11] * D[5][11] +
|
||||
F[8][12] * D[5][12]) * Tsq + (D[5][8] + F[8][6] * D[2][6] +
|
||||
F[8][7] * D[2][7] +
|
||||
F[8][9] * D[2][9] +
|
||||
F[8][10] * D[2][10] +
|
||||
F[8][11] * D[2][11] +
|
||||
F[8][12] * D[2][12]) * T +
|
||||
D[2][8];
|
||||
P[2][9] = P[9][2] =
|
||||
(F[9][6] * D[5][6] + F[9][7] * D[5][7] + F[9][8] * D[5][8] +
|
||||
F[9][10] * D[5][10] + F[9][11] * D[5][11] +
|
||||
F[9][12] * D[5][12]) * Tsq + (D[5][9] + F[9][6] * D[2][6] +
|
||||
F[9][7] * D[2][7] +
|
||||
F[9][8] * D[2][8] +
|
||||
F[9][10] * D[2][10] +
|
||||
F[9][11] * D[2][11] +
|
||||
F[9][12] * D[2][12]) * T +
|
||||
D[2][9];
|
||||
P[2][10] = P[10][2] = D[5][10] * T + D[2][10];
|
||||
P[2][11] = P[11][2] = D[5][11] * T + D[2][11];
|
||||
P[2][12] = P[12][2] = D[5][12] * T + D[2][12];
|
||||
P[3][3] =
|
||||
(Q[3] * G[3][3] * G[3][3] + Q[4] * G[3][4] * G[3][4] +
|
||||
Q[5] * G[3][5] * G[3][5] + F[3][9] * (F[3][9] * D[9][9] +
|
||||
F[3][6] * D[6][9] +
|
||||
F[3][7] * D[7][9] +
|
||||
F[3][8] * D[8][9]) +
|
||||
F[3][6] * (F[3][6] * D[6][6] + F[3][7] * D[6][7] +
|
||||
F[3][8] * D[6][8] + F[3][9] * D[6][9]) +
|
||||
F[3][7] * (F[3][6] * D[6][7] + F[3][7] * D[7][7] +
|
||||
F[3][8] * D[7][8] + F[3][9] * D[7][9]) +
|
||||
F[3][8] * (F[3][6] * D[6][8] + F[3][7] * D[7][8] +
|
||||
F[3][8] * D[8][8] + F[3][9] * D[8][9])) * Tsq +
|
||||
(2 * F[3][6] * D[3][6] + 2 * F[3][7] * D[3][7] +
|
||||
2 * F[3][8] * D[3][8] + 2 * F[3][9] * D[3][9]) * T + D[3][3];
|
||||
P[3][4] = P[4][3] =
|
||||
(F[4][9] *
|
||||
(F[3][9] * D[9][9] + F[3][6] * D[6][9] + F[3][7] * D[7][9] +
|
||||
F[3][8] * D[8][9]) + F[4][6] * (F[3][6] * D[6][6] +
|
||||
F[3][7] * D[6][7] +
|
||||
F[3][8] * D[6][8] +
|
||||
F[3][9] * D[6][9]) +
|
||||
F[4][7] * (F[3][6] * D[6][7] + F[3][7] * D[7][7] +
|
||||
F[3][8] * D[7][8] + F[3][9] * D[7][9]) +
|
||||
F[4][8] * (F[3][6] * D[6][8] + F[3][7] * D[7][8] +
|
||||
F[3][8] * D[8][8] + F[3][9] * D[8][9]) +
|
||||
G[3][3] * G[4][3] * Q[3] + G[3][4] * G[4][4] * Q[4] +
|
||||
G[3][5] * G[4][5] * Q[5]) * Tsq + (F[3][6] * D[4][6] +
|
||||
F[4][6] * D[3][6] +
|
||||
F[3][7] * D[4][7] +
|
||||
F[4][7] * D[3][7] +
|
||||
F[3][8] * D[4][8] +
|
||||
F[4][8] * D[3][8] +
|
||||
F[3][9] * D[4][9] +
|
||||
F[4][9] * D[3][9]) * T +
|
||||
D[3][4];
|
||||
P[3][5] = P[5][3] =
|
||||
(F[5][9] *
|
||||
(F[3][9] * D[9][9] + F[3][6] * D[6][9] + F[3][7] * D[7][9] +
|
||||
F[3][8] * D[8][9]) + F[5][6] * (F[3][6] * D[6][6] +
|
||||
F[3][7] * D[6][7] +
|
||||
F[3][8] * D[6][8] +
|
||||
F[3][9] * D[6][9]) +
|
||||
F[5][7] * (F[3][6] * D[6][7] + F[3][7] * D[7][7] +
|
||||
F[3][8] * D[7][8] + F[3][9] * D[7][9]) +
|
||||
F[5][8] * (F[3][6] * D[6][8] + F[3][7] * D[7][8] +
|
||||
F[3][8] * D[8][8] + F[3][9] * D[8][9]) +
|
||||
G[3][3] * G[5][3] * Q[3] + G[3][4] * G[5][4] * Q[4] +
|
||||
G[3][5] * G[5][5] * Q[5]) * Tsq + (F[3][6] * D[5][6] +
|
||||
F[5][6] * D[3][6] +
|
||||
F[3][7] * D[5][7] +
|
||||
F[5][7] * D[3][7] +
|
||||
F[3][8] * D[5][8] +
|
||||
F[5][8] * D[3][8] +
|
||||
F[3][9] * D[5][9] +
|
||||
F[5][9] * D[3][9]) * T +
|
||||
D[3][5];
|
||||
P[3][6] = P[6][3] =
|
||||
(F[6][9] *
|
||||
(F[3][9] * D[9][9] + F[3][6] * D[6][9] + F[3][7] * D[7][9] +
|
||||
F[3][8] * D[8][9]) + F[6][10] * (F[3][9] * D[9][10] +
|
||||
F[3][6] * D[6][10] +
|
||||
F[3][7] * D[7][10] +
|
||||
F[3][8] * D[8][10]) +
|
||||
F[6][11] * (F[3][9] * D[9][11] + F[3][6] * D[6][11] +
|
||||
F[3][7] * D[7][11] + F[3][8] * D[8][11]) +
|
||||
F[6][12] * (F[3][9] * D[9][12] + F[3][6] * D[6][12] +
|
||||
F[3][7] * D[7][12] + F[3][8] * D[8][12]) +
|
||||
F[6][7] * (F[3][6] * D[6][7] + F[3][7] * D[7][7] +
|
||||
F[3][8] * D[7][8] + F[3][9] * D[7][9]) +
|
||||
F[6][8] * (F[3][6] * D[6][8] + F[3][7] * D[7][8] +
|
||||
F[3][8] * D[8][8] + F[3][9] * D[8][9])) * Tsq +
|
||||
(F[3][6] * D[6][6] + F[3][7] * D[6][7] + F[6][7] * D[3][7] +
|
||||
F[3][8] * D[6][8] + F[6][8] * D[3][8] + F[3][9] * D[6][9] +
|
||||
F[6][9] * D[3][9] + F[6][10] * D[3][10] +
|
||||
F[6][11] * D[3][11] + F[6][12] * D[3][12]) * T + D[3][6];
|
||||
P[3][7] = P[7][3] =
|
||||
(F[7][9] *
|
||||
(F[3][9] * D[9][9] + F[3][6] * D[6][9] + F[3][7] * D[7][9] +
|
||||
F[3][8] * D[8][9]) + F[7][10] * (F[3][9] * D[9][10] +
|
||||
F[3][6] * D[6][10] +
|
||||
F[3][7] * D[7][10] +
|
||||
F[3][8] * D[8][10]) +
|
||||
F[7][11] * (F[3][9] * D[9][11] + F[3][6] * D[6][11] +
|
||||
F[3][7] * D[7][11] + F[3][8] * D[8][11]) +
|
||||
F[7][12] * (F[3][9] * D[9][12] + F[3][6] * D[6][12] +
|
||||
F[3][7] * D[7][12] + F[3][8] * D[8][12]) +
|
||||
F[7][6] * (F[3][6] * D[6][6] + F[3][7] * D[6][7] +
|
||||
F[3][8] * D[6][8] + F[3][9] * D[6][9]) +
|
||||
F[7][8] * (F[3][6] * D[6][8] + F[3][7] * D[7][8] +
|
||||
F[3][8] * D[8][8] + F[3][9] * D[8][9])) * Tsq +
|
||||
(F[3][6] * D[6][7] + F[7][6] * D[3][6] + F[3][7] * D[7][7] +
|
||||
F[3][8] * D[7][8] + F[7][8] * D[3][8] + F[3][9] * D[7][9] +
|
||||
F[7][9] * D[3][9] + F[7][10] * D[3][10] +
|
||||
F[7][11] * D[3][11] + F[7][12] * D[3][12]) * T + D[3][7];
|
||||
P[3][8] = P[8][3] =
|
||||
(F[8][9] *
|
||||
(F[3][9] * D[9][9] + F[3][6] * D[6][9] + F[3][7] * D[7][9] +
|
||||
F[3][8] * D[8][9]) + F[8][10] * (F[3][9] * D[9][10] +
|
||||
F[3][6] * D[6][10] +
|
||||
F[3][7] * D[7][10] +
|
||||
F[3][8] * D[8][10]) +
|
||||
F[8][11] * (F[3][9] * D[9][11] + F[3][6] * D[6][11] +
|
||||
F[3][7] * D[7][11] + F[3][8] * D[8][11]) +
|
||||
F[8][12] * (F[3][9] * D[9][12] + F[3][6] * D[6][12] +
|
||||
F[3][7] * D[7][12] + F[3][8] * D[8][12]) +
|
||||
F[8][6] * (F[3][6] * D[6][6] + F[3][7] * D[6][7] +
|
||||
F[3][8] * D[6][8] + F[3][9] * D[6][9]) +
|
||||
F[8][7] * (F[3][6] * D[6][7] + F[3][7] * D[7][7] +
|
||||
F[3][8] * D[7][8] + F[3][9] * D[7][9])) * Tsq +
|
||||
(F[3][6] * D[6][8] + F[3][7] * D[7][8] + F[8][6] * D[3][6] +
|
||||
F[8][7] * D[3][7] + F[3][8] * D[8][8] + F[3][9] * D[8][9] +
|
||||
F[8][9] * D[3][9] + F[8][10] * D[3][10] +
|
||||
F[8][11] * D[3][11] + F[8][12] * D[3][12]) * T + D[3][8];
|
||||
P[3][9] = P[9][3] =
|
||||
(F[9][10] *
|
||||
(F[3][9] * D[9][10] + F[3][6] * D[6][10] +
|
||||
F[3][7] * D[7][10] + F[3][8] * D[8][10]) +
|
||||
F[9][11] * (F[3][9] * D[9][11] + F[3][6] * D[6][11] +
|
||||
F[3][7] * D[7][11] + F[3][8] * D[8][11]) +
|
||||
F[9][12] * (F[3][9] * D[9][12] + F[3][6] * D[6][12] +
|
||||
F[3][7] * D[7][12] + F[3][8] * D[8][12]) +
|
||||
F[9][6] * (F[3][6] * D[6][6] + F[3][7] * D[6][7] +
|
||||
F[3][8] * D[6][8] + F[3][9] * D[6][9]) +
|
||||
F[9][7] * (F[3][6] * D[6][7] + F[3][7] * D[7][7] +
|
||||
F[3][8] * D[7][8] + F[3][9] * D[7][9]) +
|
||||
F[9][8] * (F[3][6] * D[6][8] + F[3][7] * D[7][8] +
|
||||
F[3][8] * D[8][8] + F[3][9] * D[8][9])) * Tsq +
|
||||
(F[9][6] * D[3][6] + F[9][7] * D[3][7] + F[9][8] * D[3][8] +
|
||||
F[3][9] * D[9][9] + F[9][10] * D[3][10] +
|
||||
F[9][11] * D[3][11] + F[9][12] * D[3][12] +
|
||||
F[3][6] * D[6][9] + F[3][7] * D[7][9] +
|
||||
F[3][8] * D[8][9]) * T + D[3][9];
|
||||
P[3][10] = P[10][3] =
|
||||
(F[3][9] * D[9][10] + F[3][6] * D[6][10] + F[3][7] * D[7][10] +
|
||||
F[3][8] * D[8][10]) * T + D[3][10];
|
||||
P[3][11] = P[11][3] =
|
||||
(F[3][9] * D[9][11] + F[3][6] * D[6][11] + F[3][7] * D[7][11] +
|
||||
F[3][8] * D[8][11]) * T + D[3][11];
|
||||
P[3][12] = P[12][3] =
|
||||
(F[3][9] * D[9][12] + F[3][6] * D[6][12] + F[3][7] * D[7][12] +
|
||||
F[3][8] * D[8][12]) * T + D[3][12];
|
||||
P[4][4] =
|
||||
(Q[3] * G[4][3] * G[4][3] + Q[4] * G[4][4] * G[4][4] +
|
||||
Q[5] * G[4][5] * G[4][5] + F[4][9] * (F[4][9] * D[9][9] +
|
||||
F[4][6] * D[6][9] +
|
||||
F[4][7] * D[7][9] +
|
||||
F[4][8] * D[8][9]) +
|
||||
F[4][6] * (F[4][6] * D[6][6] + F[4][7] * D[6][7] +
|
||||
F[4][8] * D[6][8] + F[4][9] * D[6][9]) +
|
||||
F[4][7] * (F[4][6] * D[6][7] + F[4][7] * D[7][7] +
|
||||
F[4][8] * D[7][8] + F[4][9] * D[7][9]) +
|
||||
F[4][8] * (F[4][6] * D[6][8] + F[4][7] * D[7][8] +
|
||||
F[4][8] * D[8][8] + F[4][9] * D[8][9])) * Tsq +
|
||||
(2 * F[4][6] * D[4][6] + 2 * F[4][7] * D[4][7] +
|
||||
2 * F[4][8] * D[4][8] + 2 * F[4][9] * D[4][9]) * T + D[4][4];
|
||||
P[4][5] = P[5][4] =
|
||||
(F[5][9] *
|
||||
(F[4][9] * D[9][9] + F[4][6] * D[6][9] + F[4][7] * D[7][9] +
|
||||
F[4][8] * D[8][9]) + F[5][6] * (F[4][6] * D[6][6] +
|
||||
F[4][7] * D[6][7] +
|
||||
F[4][8] * D[6][8] +
|
||||
F[4][9] * D[6][9]) +
|
||||
F[5][7] * (F[4][6] * D[6][7] + F[4][7] * D[7][7] +
|
||||
F[4][8] * D[7][8] + F[4][9] * D[7][9]) +
|
||||
F[5][8] * (F[4][6] * D[6][8] + F[4][7] * D[7][8] +
|
||||
F[4][8] * D[8][8] + F[4][9] * D[8][9]) +
|
||||
G[4][3] * G[5][3] * Q[3] + G[4][4] * G[5][4] * Q[4] +
|
||||
G[4][5] * G[5][5] * Q[5]) * Tsq + (F[4][6] * D[5][6] +
|
||||
F[5][6] * D[4][6] +
|
||||
F[4][7] * D[5][7] +
|
||||
F[5][7] * D[4][7] +
|
||||
F[4][8] * D[5][8] +
|
||||
F[5][8] * D[4][8] +
|
||||
F[4][9] * D[5][9] +
|
||||
F[5][9] * D[4][9]) * T +
|
||||
D[4][5];
|
||||
P[4][6] = P[6][4] =
|
||||
(F[6][9] *
|
||||
(F[4][9] * D[9][9] + F[4][6] * D[6][9] + F[4][7] * D[7][9] +
|
||||
F[4][8] * D[8][9]) + F[6][10] * (F[4][9] * D[9][10] +
|
||||
F[4][6] * D[6][10] +
|
||||
F[4][7] * D[7][10] +
|
||||
F[4][8] * D[8][10]) +
|
||||
F[6][11] * (F[4][9] * D[9][11] + F[4][6] * D[6][11] +
|
||||
F[4][7] * D[7][11] + F[4][8] * D[8][11]) +
|
||||
F[6][12] * (F[4][9] * D[9][12] + F[4][6] * D[6][12] +
|
||||
F[4][7] * D[7][12] + F[4][8] * D[8][12]) +
|
||||
F[6][7] * (F[4][6] * D[6][7] + F[4][7] * D[7][7] +
|
||||
F[4][8] * D[7][8] + F[4][9] * D[7][9]) +
|
||||
F[6][8] * (F[4][6] * D[6][8] + F[4][7] * D[7][8] +
|
||||
F[4][8] * D[8][8] + F[4][9] * D[8][9])) * Tsq +
|
||||
(F[4][6] * D[6][6] + F[4][7] * D[6][7] + F[6][7] * D[4][7] +
|
||||
F[4][8] * D[6][8] + F[6][8] * D[4][8] + F[4][9] * D[6][9] +
|
||||
F[6][9] * D[4][9] + F[6][10] * D[4][10] +
|
||||
F[6][11] * D[4][11] + F[6][12] * D[4][12]) * T + D[4][6];
|
||||
P[4][7] = P[7][4] =
|
||||
(F[7][9] *
|
||||
(F[4][9] * D[9][9] + F[4][6] * D[6][9] + F[4][7] * D[7][9] +
|
||||
F[4][8] * D[8][9]) + F[7][10] * (F[4][9] * D[9][10] +
|
||||
F[4][6] * D[6][10] +
|
||||
F[4][7] * D[7][10] +
|
||||
F[4][8] * D[8][10]) +
|
||||
F[7][11] * (F[4][9] * D[9][11] + F[4][6] * D[6][11] +
|
||||
F[4][7] * D[7][11] + F[4][8] * D[8][11]) +
|
||||
F[7][12] * (F[4][9] * D[9][12] + F[4][6] * D[6][12] +
|
||||
F[4][7] * D[7][12] + F[4][8] * D[8][12]) +
|
||||
F[7][6] * (F[4][6] * D[6][6] + F[4][7] * D[6][7] +
|
||||
F[4][8] * D[6][8] + F[4][9] * D[6][9]) +
|
||||
F[7][8] * (F[4][6] * D[6][8] + F[4][7] * D[7][8] +
|
||||
F[4][8] * D[8][8] + F[4][9] * D[8][9])) * Tsq +
|
||||
(F[4][6] * D[6][7] + F[7][6] * D[4][6] + F[4][7] * D[7][7] +
|
||||
F[4][8] * D[7][8] + F[7][8] * D[4][8] + F[4][9] * D[7][9] +
|
||||
F[7][9] * D[4][9] + F[7][10] * D[4][10] +
|
||||
F[7][11] * D[4][11] + F[7][12] * D[4][12]) * T + D[4][7];
|
||||
P[4][8] = P[8][4] =
|
||||
(F[8][9] *
|
||||
(F[4][9] * D[9][9] + F[4][6] * D[6][9] + F[4][7] * D[7][9] +
|
||||
F[4][8] * D[8][9]) + F[8][10] * (F[4][9] * D[9][10] +
|
||||
F[4][6] * D[6][10] +
|
||||
F[4][7] * D[7][10] +
|
||||
F[4][8] * D[8][10]) +
|
||||
F[8][11] * (F[4][9] * D[9][11] + F[4][6] * D[6][11] +
|
||||
F[4][7] * D[7][11] + F[4][8] * D[8][11]) +
|
||||
F[8][12] * (F[4][9] * D[9][12] + F[4][6] * D[6][12] +
|
||||
F[4][7] * D[7][12] + F[4][8] * D[8][12]) +
|
||||
F[8][6] * (F[4][6] * D[6][6] + F[4][7] * D[6][7] +
|
||||
F[4][8] * D[6][8] + F[4][9] * D[6][9]) +
|
||||
F[8][7] * (F[4][6] * D[6][7] + F[4][7] * D[7][7] +
|
||||
F[4][8] * D[7][8] + F[4][9] * D[7][9])) * Tsq +
|
||||
(F[4][6] * D[6][8] + F[4][7] * D[7][8] + F[8][6] * D[4][6] +
|
||||
F[8][7] * D[4][7] + F[4][8] * D[8][8] + F[4][9] * D[8][9] +
|
||||
F[8][9] * D[4][9] + F[8][10] * D[4][10] +
|
||||
F[8][11] * D[4][11] + F[8][12] * D[4][12]) * T + D[4][8];
|
||||
P[4][9] = P[9][4] =
|
||||
(F[9][10] *
|
||||
(F[4][9] * D[9][10] + F[4][6] * D[6][10] +
|
||||
F[4][7] * D[7][10] + F[4][8] * D[8][10]) +
|
||||
F[9][11] * (F[4][9] * D[9][11] + F[4][6] * D[6][11] +
|
||||
F[4][7] * D[7][11] + F[4][8] * D[8][11]) +
|
||||
F[9][12] * (F[4][9] * D[9][12] + F[4][6] * D[6][12] +
|
||||
F[4][7] * D[7][12] + F[4][8] * D[8][12]) +
|
||||
F[9][6] * (F[4][6] * D[6][6] + F[4][7] * D[6][7] +
|
||||
F[4][8] * D[6][8] + F[4][9] * D[6][9]) +
|
||||
F[9][7] * (F[4][6] * D[6][7] + F[4][7] * D[7][7] +
|
||||
F[4][8] * D[7][8] + F[4][9] * D[7][9]) +
|
||||
F[9][8] * (F[4][6] * D[6][8] + F[4][7] * D[7][8] +
|
||||
F[4][8] * D[8][8] + F[4][9] * D[8][9])) * Tsq +
|
||||
(F[9][6] * D[4][6] + F[9][7] * D[4][7] + F[9][8] * D[4][8] +
|
||||
F[4][9] * D[9][9] + F[9][10] * D[4][10] +
|
||||
F[9][11] * D[4][11] + F[9][12] * D[4][12] +
|
||||
F[4][6] * D[6][9] + F[4][7] * D[7][9] +
|
||||
F[4][8] * D[8][9]) * T + D[4][9];
|
||||
P[4][10] = P[10][4] =
|
||||
(F[4][9] * D[9][10] + F[4][6] * D[6][10] + F[4][7] * D[7][10] +
|
||||
F[4][8] * D[8][10]) * T + D[4][10];
|
||||
P[4][11] = P[11][4] =
|
||||
(F[4][9] * D[9][11] + F[4][6] * D[6][11] + F[4][7] * D[7][11] +
|
||||
F[4][8] * D[8][11]) * T + D[4][11];
|
||||
P[4][12] = P[12][4] =
|
||||
(F[4][9] * D[9][12] + F[4][6] * D[6][12] + F[4][7] * D[7][12] +
|
||||
F[4][8] * D[8][12]) * T + D[4][12];
|
||||
P[5][5] =
|
||||
(Q[3] * G[5][3] * G[5][3] + Q[4] * G[5][4] * G[5][4] +
|
||||
Q[5] * G[5][5] * G[5][5] + F[5][9] * (F[5][9] * D[9][9] +
|
||||
F[5][6] * D[6][9] +
|
||||
F[5][7] * D[7][9] +
|
||||
F[5][8] * D[8][9]) +
|
||||
F[5][6] * (F[5][6] * D[6][6] + F[5][7] * D[6][7] +
|
||||
F[5][8] * D[6][8] + F[5][9] * D[6][9]) +
|
||||
F[5][7] * (F[5][6] * D[6][7] + F[5][7] * D[7][7] +
|
||||
F[5][8] * D[7][8] + F[5][9] * D[7][9]) +
|
||||
F[5][8] * (F[5][6] * D[6][8] + F[5][7] * D[7][8] +
|
||||
F[5][8] * D[8][8] + F[5][9] * D[8][9])) * Tsq +
|
||||
(2 * F[5][6] * D[5][6] + 2 * F[5][7] * D[5][7] +
|
||||
2 * F[5][8] * D[5][8] + 2 * F[5][9] * D[5][9]) * T + D[5][5];
|
||||
P[5][6] = P[6][5] =
|
||||
(F[6][9] *
|
||||
(F[5][9] * D[9][9] + F[5][6] * D[6][9] + F[5][7] * D[7][9] +
|
||||
F[5][8] * D[8][9]) + F[6][10] * (F[5][9] * D[9][10] +
|
||||
F[5][6] * D[6][10] +
|
||||
F[5][7] * D[7][10] +
|
||||
F[5][8] * D[8][10]) +
|
||||
F[6][11] * (F[5][9] * D[9][11] + F[5][6] * D[6][11] +
|
||||
F[5][7] * D[7][11] + F[5][8] * D[8][11]) +
|
||||
F[6][12] * (F[5][9] * D[9][12] + F[5][6] * D[6][12] +
|
||||
F[5][7] * D[7][12] + F[5][8] * D[8][12]) +
|
||||
F[6][7] * (F[5][6] * D[6][7] + F[5][7] * D[7][7] +
|
||||
F[5][8] * D[7][8] + F[5][9] * D[7][9]) +
|
||||
F[6][8] * (F[5][6] * D[6][8] + F[5][7] * D[7][8] +
|
||||
F[5][8] * D[8][8] + F[5][9] * D[8][9])) * Tsq +
|
||||
(F[5][6] * D[6][6] + F[5][7] * D[6][7] + F[6][7] * D[5][7] +
|
||||
F[5][8] * D[6][8] + F[6][8] * D[5][8] + F[5][9] * D[6][9] +
|
||||
F[6][9] * D[5][9] + F[6][10] * D[5][10] +
|
||||
F[6][11] * D[5][11] + F[6][12] * D[5][12]) * T + D[5][6];
|
||||
P[5][7] = P[7][5] =
|
||||
(F[7][9] *
|
||||
(F[5][9] * D[9][9] + F[5][6] * D[6][9] + F[5][7] * D[7][9] +
|
||||
F[5][8] * D[8][9]) + F[7][10] * (F[5][9] * D[9][10] +
|
||||
F[5][6] * D[6][10] +
|
||||
F[5][7] * D[7][10] +
|
||||
F[5][8] * D[8][10]) +
|
||||
F[7][11] * (F[5][9] * D[9][11] + F[5][6] * D[6][11] +
|
||||
F[5][7] * D[7][11] + F[5][8] * D[8][11]) +
|
||||
F[7][12] * (F[5][9] * D[9][12] + F[5][6] * D[6][12] +
|
||||
F[5][7] * D[7][12] + F[5][8] * D[8][12]) +
|
||||
F[7][6] * (F[5][6] * D[6][6] + F[5][7] * D[6][7] +
|
||||
F[5][8] * D[6][8] + F[5][9] * D[6][9]) +
|
||||
F[7][8] * (F[5][6] * D[6][8] + F[5][7] * D[7][8] +
|
||||
F[5][8] * D[8][8] + F[5][9] * D[8][9])) * Tsq +
|
||||
(F[5][6] * D[6][7] + F[7][6] * D[5][6] + F[5][7] * D[7][7] +
|
||||
F[5][8] * D[7][8] + F[7][8] * D[5][8] + F[5][9] * D[7][9] +
|
||||
F[7][9] * D[5][9] + F[7][10] * D[5][10] +
|
||||
F[7][11] * D[5][11] + F[7][12] * D[5][12]) * T + D[5][7];
|
||||
P[5][8] = P[8][5] =
|
||||
(F[8][9] *
|
||||
(F[5][9] * D[9][9] + F[5][6] * D[6][9] + F[5][7] * D[7][9] +
|
||||
F[5][8] * D[8][9]) + F[8][10] * (F[5][9] * D[9][10] +
|
||||
F[5][6] * D[6][10] +
|
||||
F[5][7] * D[7][10] +
|
||||
F[5][8] * D[8][10]) +
|
||||
F[8][11] * (F[5][9] * D[9][11] + F[5][6] * D[6][11] +
|
||||
F[5][7] * D[7][11] + F[5][8] * D[8][11]) +
|
||||
F[8][12] * (F[5][9] * D[9][12] + F[5][6] * D[6][12] +
|
||||
F[5][7] * D[7][12] + F[5][8] * D[8][12]) +
|
||||
F[8][6] * (F[5][6] * D[6][6] + F[5][7] * D[6][7] +
|
||||
F[5][8] * D[6][8] + F[5][9] * D[6][9]) +
|
||||
F[8][7] * (F[5][6] * D[6][7] + F[5][7] * D[7][7] +
|
||||
F[5][8] * D[7][8] + F[5][9] * D[7][9])) * Tsq +
|
||||
(F[5][6] * D[6][8] + F[5][7] * D[7][8] + F[8][6] * D[5][6] +
|
||||
F[8][7] * D[5][7] + F[5][8] * D[8][8] + F[5][9] * D[8][9] +
|
||||
F[8][9] * D[5][9] + F[8][10] * D[5][10] +
|
||||
F[8][11] * D[5][11] + F[8][12] * D[5][12]) * T + D[5][8];
|
||||
P[5][9] = P[9][5] =
|
||||
(F[9][10] *
|
||||
(F[5][9] * D[9][10] + F[5][6] * D[6][10] +
|
||||
F[5][7] * D[7][10] + F[5][8] * D[8][10]) +
|
||||
F[9][11] * (F[5][9] * D[9][11] + F[5][6] * D[6][11] +
|
||||
F[5][7] * D[7][11] + F[5][8] * D[8][11]) +
|
||||
F[9][12] * (F[5][9] * D[9][12] + F[5][6] * D[6][12] +
|
||||
F[5][7] * D[7][12] + F[5][8] * D[8][12]) +
|
||||
F[9][6] * (F[5][6] * D[6][6] + F[5][7] * D[6][7] +
|
||||
F[5][8] * D[6][8] + F[5][9] * D[6][9]) +
|
||||
F[9][7] * (F[5][6] * D[6][7] + F[5][7] * D[7][7] +
|
||||
F[5][8] * D[7][8] + F[5][9] * D[7][9]) +
|
||||
F[9][8] * (F[5][6] * D[6][8] + F[5][7] * D[7][8] +
|
||||
F[5][8] * D[8][8] + F[5][9] * D[8][9])) * Tsq +
|
||||
(F[9][6] * D[5][6] + F[9][7] * D[5][7] + F[9][8] * D[5][8] +
|
||||
F[5][9] * D[9][9] + F[9][10] * D[5][10] +
|
||||
F[9][11] * D[5][11] + F[9][12] * D[5][12] +
|
||||
F[5][6] * D[6][9] + F[5][7] * D[7][9] +
|
||||
F[5][8] * D[8][9]) * T + D[5][9];
|
||||
P[5][10] = P[10][5] =
|
||||
(F[5][9] * D[9][10] + F[5][6] * D[6][10] + F[5][7] * D[7][10] +
|
||||
F[5][8] * D[8][10]) * T + D[5][10];
|
||||
P[5][11] = P[11][5] =
|
||||
(F[5][9] * D[9][11] + F[5][6] * D[6][11] + F[5][7] * D[7][11] +
|
||||
F[5][8] * D[8][11]) * T + D[5][11];
|
||||
P[5][12] = P[12][5] =
|
||||
(F[5][9] * D[9][12] + F[5][6] * D[6][12] + F[5][7] * D[7][12] +
|
||||
F[5][8] * D[8][12]) * T + D[5][12];
|
||||
P[6][6] =
|
||||
(Q[0] * G[6][0] * G[6][0] + Q[1] * G[6][1] * G[6][1] +
|
||||
Q[2] * G[6][2] * G[6][2] + F[6][9] * (F[6][9] * D[9][9] +
|
||||
F[6][10] * D[9][10] +
|
||||
F[6][11] * D[9][11] +
|
||||
F[6][12] * D[9][12] +
|
||||
F[6][7] * D[7][9] +
|
||||
F[6][8] * D[8][9]) +
|
||||
F[6][10] * (F[6][9] * D[9][10] + F[6][10] * D[10][10] +
|
||||
F[6][11] * D[10][11] + F[6][12] * D[10][12] +
|
||||
F[6][7] * D[7][10] + F[6][8] * D[8][10]) +
|
||||
F[6][11] * (F[6][9] * D[9][11] + F[6][10] * D[10][11] +
|
||||
F[6][11] * D[11][11] + F[6][12] * D[11][12] +
|
||||
F[6][7] * D[7][11] + F[6][8] * D[8][11]) +
|
||||
F[6][12] * (F[6][9] * D[9][12] + F[6][10] * D[10][12] +
|
||||
F[6][11] * D[11][12] + F[6][12] * D[12][12] +
|
||||
F[6][7] * D[7][12] + F[6][8] * D[8][12]) +
|
||||
F[6][7] * (F[6][7] * D[7][7] + F[6][8] * D[7][8] +
|
||||
F[6][9] * D[7][9] + F[6][10] * D[7][10] +
|
||||
F[6][11] * D[7][11] + F[6][12] * D[7][12]) +
|
||||
F[6][8] * (F[6][7] * D[7][8] + F[6][8] * D[8][8] +
|
||||
F[6][9] * D[8][9] + F[6][10] * D[8][10] +
|
||||
F[6][11] * D[8][11] + F[6][12] * D[8][12])) * Tsq +
|
||||
(2 * F[6][7] * D[6][7] + 2 * F[6][8] * D[6][8] +
|
||||
2 * F[6][9] * D[6][9] + 2 * F[6][10] * D[6][10] +
|
||||
2 * F[6][11] * D[6][11] + 2 * F[6][12] * D[6][12]) * T +
|
||||
D[6][6];
|
||||
P[6][7] = P[7][6] =
|
||||
(F[7][9] *
|
||||
(F[6][9] * D[9][9] + F[6][10] * D[9][10] +
|
||||
F[6][11] * D[9][11] + F[6][12] * D[9][12] +
|
||||
F[6][7] * D[7][9] + F[6][8] * D[8][9]) +
|
||||
F[7][10] * (F[6][9] * D[9][10] + F[6][10] * D[10][10] +
|
||||
F[6][11] * D[10][11] + F[6][12] * D[10][12] +
|
||||
F[6][7] * D[7][10] + F[6][8] * D[8][10]) +
|
||||
F[7][11] * (F[6][9] * D[9][11] + F[6][10] * D[10][11] +
|
||||
F[6][11] * D[11][11] + F[6][12] * D[11][12] +
|
||||
F[6][7] * D[7][11] + F[6][8] * D[8][11]) +
|
||||
F[7][12] * (F[6][9] * D[9][12] + F[6][10] * D[10][12] +
|
||||
F[6][11] * D[11][12] + F[6][12] * D[12][12] +
|
||||
F[6][7] * D[7][12] + F[6][8] * D[8][12]) +
|
||||
F[7][6] * (F[6][7] * D[6][7] + F[6][8] * D[6][8] +
|
||||
F[6][9] * D[6][9] + F[6][10] * D[6][10] +
|
||||
F[6][11] * D[6][11] + F[6][12] * D[6][12]) +
|
||||
F[7][8] * (F[6][7] * D[7][8] + F[6][8] * D[8][8] +
|
||||
F[6][9] * D[8][9] + F[6][10] * D[8][10] +
|
||||
F[6][11] * D[8][11] + F[6][12] * D[8][12]) +
|
||||
G[6][0] * G[7][0] * Q[0] + G[6][1] * G[7][1] * Q[1] +
|
||||
G[6][2] * G[7][2] * Q[2]) * Tsq + (F[7][6] * D[6][6] +
|
||||
F[6][7] * D[7][7] +
|
||||
F[6][8] * D[7][8] +
|
||||
F[7][8] * D[6][8] +
|
||||
F[6][9] * D[7][9] +
|
||||
F[7][9] * D[6][9] +
|
||||
F[6][10] * D[7][10] +
|
||||
F[7][10] * D[6][10] +
|
||||
F[6][11] * D[7][11] +
|
||||
F[7][11] * D[6][11] +
|
||||
F[6][12] * D[7][12] +
|
||||
F[7][12] * D[6][12]) * T +
|
||||
D[6][7];
|
||||
P[6][8] = P[8][6] =
|
||||
(F[8][9] *
|
||||
(F[6][9] * D[9][9] + F[6][10] * D[9][10] +
|
||||
F[6][11] * D[9][11] + F[6][12] * D[9][12] +
|
||||
F[6][7] * D[7][9] + F[6][8] * D[8][9]) +
|
||||
F[8][10] * (F[6][9] * D[9][10] + F[6][10] * D[10][10] +
|
||||
F[6][11] * D[10][11] + F[6][12] * D[10][12] +
|
||||
F[6][7] * D[7][10] + F[6][8] * D[8][10]) +
|
||||
F[8][11] * (F[6][9] * D[9][11] + F[6][10] * D[10][11] +
|
||||
F[6][11] * D[11][11] + F[6][12] * D[11][12] +
|
||||
F[6][7] * D[7][11] + F[6][8] * D[8][11]) +
|
||||
F[8][12] * (F[6][9] * D[9][12] + F[6][10] * D[10][12] +
|
||||
F[6][11] * D[11][12] + F[6][12] * D[12][12] +
|
||||
F[6][7] * D[7][12] + F[6][8] * D[8][12]) +
|
||||
F[8][6] * (F[6][7] * D[6][7] + F[6][8] * D[6][8] +
|
||||
F[6][9] * D[6][9] + F[6][10] * D[6][10] +
|
||||
F[6][11] * D[6][11] + F[6][12] * D[6][12]) +
|
||||
F[8][7] * (F[6][7] * D[7][7] + F[6][8] * D[7][8] +
|
||||
F[6][9] * D[7][9] + F[6][10] * D[7][10] +
|
||||
F[6][11] * D[7][11] + F[6][12] * D[7][12]) +
|
||||
G[6][0] * G[8][0] * Q[0] + G[6][1] * G[8][1] * Q[1] +
|
||||
G[6][2] * G[8][2] * Q[2]) * Tsq + (F[6][7] * D[7][8] +
|
||||
F[8][6] * D[6][6] +
|
||||
F[8][7] * D[6][7] +
|
||||
F[6][8] * D[8][8] +
|
||||
F[6][9] * D[8][9] +
|
||||
F[8][9] * D[6][9] +
|
||||
F[6][10] * D[8][10] +
|
||||
F[8][10] * D[6][10] +
|
||||
F[6][11] * D[8][11] +
|
||||
F[8][11] * D[6][11] +
|
||||
F[6][12] * D[8][12] +
|
||||
F[8][12] * D[6][12]) * T +
|
||||
D[6][8];
|
||||
P[6][9] = P[9][6] =
|
||||
(F[9][10] *
|
||||
(F[6][9] * D[9][10] + F[6][10] * D[10][10] +
|
||||
F[6][11] * D[10][11] + F[6][12] * D[10][12] +
|
||||
F[6][7] * D[7][10] + F[6][8] * D[8][10]) +
|
||||
F[9][11] * (F[6][9] * D[9][11] + F[6][10] * D[10][11] +
|
||||
F[6][11] * D[11][11] + F[6][12] * D[11][12] +
|
||||
F[6][7] * D[7][11] + F[6][8] * D[8][11]) +
|
||||
F[9][12] * (F[6][9] * D[9][12] + F[6][10] * D[10][12] +
|
||||
F[6][11] * D[11][12] + F[6][12] * D[12][12] +
|
||||
F[6][7] * D[7][12] + F[6][8] * D[8][12]) +
|
||||
F[9][6] * (F[6][7] * D[6][7] + F[6][8] * D[6][8] +
|
||||
F[6][9] * D[6][9] + F[6][10] * D[6][10] +
|
||||
F[6][11] * D[6][11] + F[6][12] * D[6][12]) +
|
||||
F[9][7] * (F[6][7] * D[7][7] + F[6][8] * D[7][8] +
|
||||
F[6][9] * D[7][9] + F[6][10] * D[7][10] +
|
||||
F[6][11] * D[7][11] + F[6][12] * D[7][12]) +
|
||||
F[9][8] * (F[6][7] * D[7][8] + F[6][8] * D[8][8] +
|
||||
F[6][9] * D[8][9] + F[6][10] * D[8][10] +
|
||||
F[6][11] * D[8][11] + F[6][12] * D[8][12]) +
|
||||
G[9][0] * G[6][0] * Q[0] + G[9][1] * G[6][1] * Q[1] +
|
||||
G[9][2] * G[6][2] * Q[2]) * Tsq + (F[9][6] * D[6][6] +
|
||||
F[9][7] * D[6][7] +
|
||||
F[9][8] * D[6][8] +
|
||||
F[6][9] * D[9][9] +
|
||||
F[9][10] * D[6][10] +
|
||||
F[6][10] * D[9][10] +
|
||||
F[9][11] * D[6][11] +
|
||||
F[6][11] * D[9][11] +
|
||||
F[9][12] * D[6][12] +
|
||||
F[6][12] * D[9][12] +
|
||||
F[6][7] * D[7][9] +
|
||||
F[6][8] * D[8][9]) * T +
|
||||
D[6][9];
|
||||
P[6][10] = P[10][6] =
|
||||
(F[6][9] * D[9][10] + F[6][10] * D[10][10] +
|
||||
F[6][11] * D[10][11] + F[6][12] * D[10][12] +
|
||||
F[6][7] * D[7][10] + F[6][8] * D[8][10]) * T + D[6][10];
|
||||
P[6][11] = P[11][6] =
|
||||
(F[6][9] * D[9][11] + F[6][10] * D[10][11] +
|
||||
F[6][11] * D[11][11] + F[6][12] * D[11][12] +
|
||||
F[6][7] * D[7][11] + F[6][8] * D[8][11]) * T + D[6][11];
|
||||
P[6][12] = P[12][6] =
|
||||
(F[6][9] * D[9][12] + F[6][10] * D[10][12] +
|
||||
F[6][11] * D[11][12] + F[6][12] * D[12][12] +
|
||||
F[6][7] * D[7][12] + F[6][8] * D[8][12]) * T + D[6][12];
|
||||
P[7][7] =
|
||||
(Q[0] * G[7][0] * G[7][0] + Q[1] * G[7][1] * G[7][1] +
|
||||
Q[2] * G[7][2] * G[7][2] + F[7][9] * (F[7][9] * D[9][9] +
|
||||
F[7][10] * D[9][10] +
|
||||
F[7][11] * D[9][11] +
|
||||
F[7][12] * D[9][12] +
|
||||
F[7][6] * D[6][9] +
|
||||
F[7][8] * D[8][9]) +
|
||||
F[7][10] * (F[7][9] * D[9][10] + F[7][10] * D[10][10] +
|
||||
F[7][11] * D[10][11] + F[7][12] * D[10][12] +
|
||||
F[7][6] * D[6][10] + F[7][8] * D[8][10]) +
|
||||
F[7][11] * (F[7][9] * D[9][11] + F[7][10] * D[10][11] +
|
||||
F[7][11] * D[11][11] + F[7][12] * D[11][12] +
|
||||
F[7][6] * D[6][11] + F[7][8] * D[8][11]) +
|
||||
F[7][12] * (F[7][9] * D[9][12] + F[7][10] * D[10][12] +
|
||||
F[7][11] * D[11][12] + F[7][12] * D[12][12] +
|
||||
F[7][6] * D[6][12] + F[7][8] * D[8][12]) +
|
||||
F[7][6] * (F[7][6] * D[6][6] + F[7][8] * D[6][8] +
|
||||
F[7][9] * D[6][9] + F[7][10] * D[6][10] +
|
||||
F[7][11] * D[6][11] + F[7][12] * D[6][12]) +
|
||||
F[7][8] * (F[7][6] * D[6][8] + F[7][8] * D[8][8] +
|
||||
F[7][9] * D[8][9] + F[7][10] * D[8][10] +
|
||||
F[7][11] * D[8][11] + F[7][12] * D[8][12])) * Tsq +
|
||||
(2 * F[7][6] * D[6][7] + 2 * F[7][8] * D[7][8] +
|
||||
2 * F[7][9] * D[7][9] + 2 * F[7][10] * D[7][10] +
|
||||
2 * F[7][11] * D[7][11] + 2 * F[7][12] * D[7][12]) * T +
|
||||
D[7][7];
|
||||
P[7][8] = P[8][7] =
|
||||
(F[8][9] *
|
||||
(F[7][9] * D[9][9] + F[7][10] * D[9][10] +
|
||||
F[7][11] * D[9][11] + F[7][12] * D[9][12] +
|
||||
F[7][6] * D[6][9] + F[7][8] * D[8][9]) +
|
||||
F[8][10] * (F[7][9] * D[9][10] + F[7][10] * D[10][10] +
|
||||
F[7][11] * D[10][11] + F[7][12] * D[10][12] +
|
||||
F[7][6] * D[6][10] + F[7][8] * D[8][10]) +
|
||||
F[8][11] * (F[7][9] * D[9][11] + F[7][10] * D[10][11] +
|
||||
F[7][11] * D[11][11] + F[7][12] * D[11][12] +
|
||||
F[7][6] * D[6][11] + F[7][8] * D[8][11]) +
|
||||
F[8][12] * (F[7][9] * D[9][12] + F[7][10] * D[10][12] +
|
||||
F[7][11] * D[11][12] + F[7][12] * D[12][12] +
|
||||
F[7][6] * D[6][12] + F[7][8] * D[8][12]) +
|
||||
F[8][6] * (F[7][6] * D[6][6] + F[7][8] * D[6][8] +
|
||||
F[7][9] * D[6][9] + F[7][10] * D[6][10] +
|
||||
F[7][11] * D[6][11] + F[7][12] * D[6][12]) +
|
||||
F[8][7] * (F[7][6] * D[6][7] + F[7][8] * D[7][8] +
|
||||
F[7][9] * D[7][9] + F[7][10] * D[7][10] +
|
||||
F[7][11] * D[7][11] + F[7][12] * D[7][12]) +
|
||||
G[7][0] * G[8][0] * Q[0] + G[7][1] * G[8][1] * Q[1] +
|
||||
G[7][2] * G[8][2] * Q[2]) * Tsq + (F[7][6] * D[6][8] +
|
||||
F[8][6] * D[6][7] +
|
||||
F[8][7] * D[7][7] +
|
||||
F[7][8] * D[8][8] +
|
||||
F[7][9] * D[8][9] +
|
||||
F[8][9] * D[7][9] +
|
||||
F[7][10] * D[8][10] +
|
||||
F[8][10] * D[7][10] +
|
||||
F[7][11] * D[8][11] +
|
||||
F[8][11] * D[7][11] +
|
||||
F[7][12] * D[8][12] +
|
||||
F[8][12] * D[7][12]) * T +
|
||||
D[7][8];
|
||||
P[7][9] = P[9][7] =
|
||||
(F[9][10] *
|
||||
(F[7][9] * D[9][10] + F[7][10] * D[10][10] +
|
||||
F[7][11] * D[10][11] + F[7][12] * D[10][12] +
|
||||
F[7][6] * D[6][10] + F[7][8] * D[8][10]) +
|
||||
F[9][11] * (F[7][9] * D[9][11] + F[7][10] * D[10][11] +
|
||||
F[7][11] * D[11][11] + F[7][12] * D[11][12] +
|
||||
F[7][6] * D[6][11] + F[7][8] * D[8][11]) +
|
||||
F[9][12] * (F[7][9] * D[9][12] + F[7][10] * D[10][12] +
|
||||
F[7][11] * D[11][12] + F[7][12] * D[12][12] +
|
||||
F[7][6] * D[6][12] + F[7][8] * D[8][12]) +
|
||||
F[9][6] * (F[7][6] * D[6][6] + F[7][8] * D[6][8] +
|
||||
F[7][9] * D[6][9] + F[7][10] * D[6][10] +
|
||||
F[7][11] * D[6][11] + F[7][12] * D[6][12]) +
|
||||
F[9][7] * (F[7][6] * D[6][7] + F[7][8] * D[7][8] +
|
||||
F[7][9] * D[7][9] + F[7][10] * D[7][10] +
|
||||
F[7][11] * D[7][11] + F[7][12] * D[7][12]) +
|
||||
F[9][8] * (F[7][6] * D[6][8] + F[7][8] * D[8][8] +
|
||||
F[7][9] * D[8][9] + F[7][10] * D[8][10] +
|
||||
F[7][11] * D[8][11] + F[7][12] * D[8][12]) +
|
||||
G[9][0] * G[7][0] * Q[0] + G[9][1] * G[7][1] * Q[1] +
|
||||
G[9][2] * G[7][2] * Q[2]) * Tsq + (F[9][6] * D[6][7] +
|
||||
F[9][7] * D[7][7] +
|
||||
F[9][8] * D[7][8] +
|
||||
F[7][9] * D[9][9] +
|
||||
F[9][10] * D[7][10] +
|
||||
F[7][10] * D[9][10] +
|
||||
F[9][11] * D[7][11] +
|
||||
F[7][11] * D[9][11] +
|
||||
F[9][12] * D[7][12] +
|
||||
F[7][12] * D[9][12] +
|
||||
F[7][6] * D[6][9] +
|
||||
F[7][8] * D[8][9]) * T +
|
||||
D[7][9];
|
||||
P[7][10] = P[10][7] =
|
||||
(F[7][9] * D[9][10] + F[7][10] * D[10][10] +
|
||||
F[7][11] * D[10][11] + F[7][12] * D[10][12] +
|
||||
F[7][6] * D[6][10] + F[7][8] * D[8][10]) * T + D[7][10];
|
||||
P[7][11] = P[11][7] =
|
||||
(F[7][9] * D[9][11] + F[7][10] * D[10][11] +
|
||||
F[7][11] * D[11][11] + F[7][12] * D[11][12] +
|
||||
F[7][6] * D[6][11] + F[7][8] * D[8][11]) * T + D[7][11];
|
||||
P[7][12] = P[12][7] =
|
||||
(F[7][9] * D[9][12] + F[7][10] * D[10][12] +
|
||||
F[7][11] * D[11][12] + F[7][12] * D[12][12] +
|
||||
F[7][6] * D[6][12] + F[7][8] * D[8][12]) * T + D[7][12];
|
||||
P[8][8] =
|
||||
(Q[0] * G[8][0] * G[8][0] + Q[1] * G[8][1] * G[8][1] +
|
||||
Q[2] * G[8][2] * G[8][2] + F[8][9] * (F[8][9] * D[9][9] +
|
||||
F[8][10] * D[9][10] +
|
||||
F[8][11] * D[9][11] +
|
||||
F[8][12] * D[9][12] +
|
||||
F[8][6] * D[6][9] +
|
||||
F[8][7] * D[7][9]) +
|
||||
F[8][10] * (F[8][9] * D[9][10] + F[8][10] * D[10][10] +
|
||||
F[8][11] * D[10][11] + F[8][12] * D[10][12] +
|
||||
F[8][6] * D[6][10] + F[8][7] * D[7][10]) +
|
||||
F[8][11] * (F[8][9] * D[9][11] + F[8][10] * D[10][11] +
|
||||
F[8][11] * D[11][11] + F[8][12] * D[11][12] +
|
||||
F[8][6] * D[6][11] + F[8][7] * D[7][11]) +
|
||||
F[8][12] * (F[8][9] * D[9][12] + F[8][10] * D[10][12] +
|
||||
F[8][11] * D[11][12] + F[8][12] * D[12][12] +
|
||||
F[8][6] * D[6][12] + F[8][7] * D[7][12]) +
|
||||
F[8][6] * (F[8][6] * D[6][6] + F[8][7] * D[6][7] +
|
||||
F[8][9] * D[6][9] + F[8][10] * D[6][10] +
|
||||
F[8][11] * D[6][11] + F[8][12] * D[6][12]) +
|
||||
F[8][7] * (F[8][6] * D[6][7] + F[8][7] * D[7][7] +
|
||||
F[8][9] * D[7][9] + F[8][10] * D[7][10] +
|
||||
F[8][11] * D[7][11] + F[8][12] * D[7][12])) * Tsq +
|
||||
(2 * F[8][6] * D[6][8] + 2 * F[8][7] * D[7][8] +
|
||||
2 * F[8][9] * D[8][9] + 2 * F[8][10] * D[8][10] +
|
||||
2 * F[8][11] * D[8][11] + 2 * F[8][12] * D[8][12]) * T +
|
||||
D[8][8];
|
||||
P[8][9] = P[9][8] =
|
||||
(F[9][10] *
|
||||
(F[8][9] * D[9][10] + F[8][10] * D[10][10] +
|
||||
F[8][11] * D[10][11] + F[8][12] * D[10][12] +
|
||||
F[8][6] * D[6][10] + F[8][7] * D[7][10]) +
|
||||
F[9][11] * (F[8][9] * D[9][11] + F[8][10] * D[10][11] +
|
||||
F[8][11] * D[11][11] + F[8][12] * D[11][12] +
|
||||
F[8][6] * D[6][11] + F[8][7] * D[7][11]) +
|
||||
F[9][12] * (F[8][9] * D[9][12] + F[8][10] * D[10][12] +
|
||||
F[8][11] * D[11][12] + F[8][12] * D[12][12] +
|
||||
F[8][6] * D[6][12] + F[8][7] * D[7][12]) +
|
||||
F[9][6] * (F[8][6] * D[6][6] + F[8][7] * D[6][7] +
|
||||
F[8][9] * D[6][9] + F[8][10] * D[6][10] +
|
||||
F[8][11] * D[6][11] + F[8][12] * D[6][12]) +
|
||||
F[9][7] * (F[8][6] * D[6][7] + F[8][7] * D[7][7] +
|
||||
F[8][9] * D[7][9] + F[8][10] * D[7][10] +
|
||||
F[8][11] * D[7][11] + F[8][12] * D[7][12]) +
|
||||
F[9][8] * (F[8][6] * D[6][8] + F[8][7] * D[7][8] +
|
||||
F[8][9] * D[8][9] + F[8][10] * D[8][10] +
|
||||
F[8][11] * D[8][11] + F[8][12] * D[8][12]) +
|
||||
G[9][0] * G[8][0] * Q[0] + G[9][1] * G[8][1] * Q[1] +
|
||||
G[9][2] * G[8][2] * Q[2]) * Tsq + (F[9][6] * D[6][8] +
|
||||
F[9][7] * D[7][8] +
|
||||
F[9][8] * D[8][8] +
|
||||
F[8][9] * D[9][9] +
|
||||
F[9][10] * D[8][10] +
|
||||
F[8][10] * D[9][10] +
|
||||
F[9][11] * D[8][11] +
|
||||
F[8][11] * D[9][11] +
|
||||
F[9][12] * D[8][12] +
|
||||
F[8][12] * D[9][12] +
|
||||
F[8][6] * D[6][9] +
|
||||
F[8][7] * D[7][9]) * T +
|
||||
D[8][9];
|
||||
P[8][10] = P[10][8] =
|
||||
(F[8][9] * D[9][10] + F[8][10] * D[10][10] +
|
||||
F[8][11] * D[10][11] + F[8][12] * D[10][12] +
|
||||
F[8][6] * D[6][10] + F[8][7] * D[7][10]) * T + D[8][10];
|
||||
P[8][11] = P[11][8] =
|
||||
(F[8][9] * D[9][11] + F[8][10] * D[10][11] +
|
||||
F[8][11] * D[11][11] + F[8][12] * D[11][12] +
|
||||
F[8][6] * D[6][11] + F[8][7] * D[7][11]) * T + D[8][11];
|
||||
P[8][12] = P[12][8] =
|
||||
(F[8][9] * D[9][12] + F[8][10] * D[10][12] +
|
||||
F[8][11] * D[11][12] + F[8][12] * D[12][12] +
|
||||
F[8][6] * D[6][12] + F[8][7] * D[7][12]) * T + D[8][12];
|
||||
P[9][9] =
|
||||
(Q[0] * G[9][0] * G[9][0] + Q[1] * G[9][1] * G[9][1] +
|
||||
Q[2] * G[9][2] * G[9][2] + F[9][10] * (F[9][10] * D[10][10] +
|
||||
F[9][11] * D[10][11] +
|
||||
F[9][12] * D[10][12] +
|
||||
F[9][6] * D[6][10] +
|
||||
F[9][7] * D[7][10] +
|
||||
F[9][8] * D[8][10]) +
|
||||
F[9][11] * (F[9][10] * D[10][11] + F[9][11] * D[11][11] +
|
||||
F[9][12] * D[11][12] + F[9][6] * D[6][11] +
|
||||
F[9][7] * D[7][11] + F[9][8] * D[8][11]) +
|
||||
F[9][12] * (F[9][10] * D[10][12] + F[9][11] * D[11][12] +
|
||||
F[9][12] * D[12][12] + F[9][6] * D[6][12] +
|
||||
F[9][7] * D[7][12] + F[9][8] * D[8][12]) +
|
||||
F[9][6] * (F[9][6] * D[6][6] + F[9][7] * D[6][7] +
|
||||
F[9][8] * D[6][8] + F[9][10] * D[6][10] +
|
||||
F[9][11] * D[6][11] + F[9][12] * D[6][12]) +
|
||||
F[9][7] * (F[9][6] * D[6][7] + F[9][7] * D[7][7] +
|
||||
F[9][8] * D[7][8] + F[9][10] * D[7][10] +
|
||||
F[9][11] * D[7][11] + F[9][12] * D[7][12]) +
|
||||
F[9][8] * (F[9][6] * D[6][8] + F[9][7] * D[7][8] +
|
||||
F[9][8] * D[8][8] + F[9][10] * D[8][10] +
|
||||
F[9][11] * D[8][11] + F[9][12] * D[8][12])) * Tsq +
|
||||
(2 * F[9][10] * D[9][10] + 2 * F[9][11] * D[9][11] +
|
||||
2 * F[9][12] * D[9][12] + 2 * F[9][6] * D[6][9] +
|
||||
2 * F[9][7] * D[7][9] + 2 * F[9][8] * D[8][9]) * T + D[9][9];
|
||||
P[9][10] = P[10][9] =
|
||||
(F[9][10] * D[10][10] + F[9][11] * D[10][11] +
|
||||
F[9][12] * D[10][12] + F[9][6] * D[6][10] +
|
||||
F[9][7] * D[7][10] + F[9][8] * D[8][10]) * T + D[9][10];
|
||||
P[9][11] = P[11][9] =
|
||||
(F[9][10] * D[10][11] + F[9][11] * D[11][11] +
|
||||
F[9][12] * D[11][12] + F[9][6] * D[6][11] +
|
||||
F[9][7] * D[7][11] + F[9][8] * D[8][11]) * T + D[9][11];
|
||||
P[9][12] = P[12][9] =
|
||||
(F[9][10] * D[10][12] + F[9][11] * D[11][12] +
|
||||
F[9][12] * D[12][12] + F[9][6] * D[6][12] +
|
||||
F[9][7] * D[7][12] + F[9][8] * D[8][12]) * T + D[9][12];
|
||||
P[10][10] = Q[6] * Tsq + D[10][10];
|
||||
P[10][11] = P[11][10] = D[10][11];
|
||||
P[10][12] = P[12][10] = D[10][12];
|
||||
P[11][11] = Q[7] * Tsq + D[11][11];
|
||||
P[11][12] = P[12][11] = D[11][12];
|
||||
P[12][12] = Q[8] * Tsq + D[12][12];
|
||||
}
|
||||
#endif
|
||||
|
||||
// ************* SerialUpdate *******************
|
||||
// Does the update step of the Kalman filter for the covariance and estimate
|
||||
// Outputs are Xnew & Pnew, and are written over P and X
|
||||
// Z is actual measurement, Y is predicted measurement
|
||||
// Xnew = X + K*(Z-Y), Pnew=(I-K*H)*P,
|
||||
// where K=P*H'*inv[H*P*H'+R]
|
||||
// NOTE the algorithm assumes R (measurement covariance matrix) is diagonal
|
||||
// i.e. the measurment noises are uncorrelated.
|
||||
// It therefore uses a serial update that requires no matrix inversion by
|
||||
// processing the measurements one at a time.
|
||||
// Algorithm - see Grewal and Andrews, "Kalman Filtering,2nd Ed" p.121 & p.253
|
||||
// - or see Simon, "Optimal State Estimation," 1st Ed, p.150
|
||||
// The SensorsUsed variable is a bitwise mask indicating which sensors
|
||||
// should be used in the update.
|
||||
// ************************************************
|
||||
|
||||
void SerialUpdate(float H[NUMV][NUMX], float R[NUMV], float Z[NUMV],
|
||||
float Y[NUMV], float P[NUMX][NUMX], float X[NUMX],
|
||||
uint16_t SensorsUsed)
|
||||
{
|
||||
float HP[NUMX], HPHR, Error;
|
||||
uint8_t i, j, k, m;
|
||||
|
||||
for (m = 0; m < NUMV; m++) {
|
||||
|
||||
if (SensorsUsed & (0x01 << m)) { // use this sensor for update
|
||||
|
||||
for (j = 0; j < NUMX; j++) { // Find Hp = H*P
|
||||
HP[j] = 0;
|
||||
for (k = 0; k < NUMX; k++)
|
||||
HP[j] += H[m][k] * P[k][j];
|
||||
}
|
||||
HPHR = R[m]; // Find HPHR = H*P*H' + R
|
||||
for (k = 0; k < NUMX; k++)
|
||||
HPHR += HP[k] * H[m][k];
|
||||
|
||||
for (k = 0; k < NUMX; k++)
|
||||
K[k][m] = HP[k] / HPHR; // find K = HP/HPHR
|
||||
|
||||
for (i = 0; i < NUMX; i++) { // Find P(m)= P(m-1) + K*HP
|
||||
for (j = i; j < NUMX; j++)
|
||||
P[i][j] = P[j][i] =
|
||||
P[i][j] - K[i][m] * HP[j];
|
||||
}
|
||||
|
||||
Error = Z[m] - Y[m];
|
||||
for (i = 0; i < NUMX; i++) // Find X(m)= X(m-1) + K*Error
|
||||
X[i] = X[i] + K[i][m] * Error;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ************* RungeKutta **********************
|
||||
// Does a 4th order Runge Kutta numerical integration step
|
||||
// Output, Xnew, is written over X
|
||||
// NOTE the algorithm assumes time invariant state equations and
|
||||
// constant inputs over integration step
|
||||
// ************************************************
|
||||
|
||||
void RungeKutta(float X[NUMX], float U[NUMU], float dT)
|
||||
{
|
||||
|
||||
float dT2 =
|
||||
dT / 2, K1[NUMX], K2[NUMX], K3[NUMX], K4[NUMX], Xlast[NUMX];
|
||||
uint8_t i;
|
||||
|
||||
for (i = 0; i < NUMX; i++)
|
||||
Xlast[i] = X[i]; // make a working copy
|
||||
|
||||
StateEq(X, U, K1); // k1 = f(x,u)
|
||||
for (i = 0; i < NUMX; i++)
|
||||
X[i] = Xlast[i] + dT2 * K1[i];
|
||||
StateEq(X, U, K2); // k2 = f(x+0.5*dT*k1,u)
|
||||
for (i = 0; i < NUMX; i++)
|
||||
X[i] = Xlast[i] + dT2 * K2[i];
|
||||
StateEq(X, U, K3); // k3 = f(x+0.5*dT*k2,u)
|
||||
for (i = 0; i < NUMX; i++)
|
||||
X[i] = Xlast[i] + dT * K3[i];
|
||||
StateEq(X, U, K4); // k4 = f(x+dT*k3,u)
|
||||
|
||||
// Xnew = X + dT*(k1+2*k2+2*k3+k4)/6
|
||||
for (i = 0; i < NUMX; i++)
|
||||
X[i] =
|
||||
Xlast[i] + dT * (K1[i] + 2 * K2[i] + 2 * K3[i] +
|
||||
K4[i]) / 6;
|
||||
}
|
||||
|
||||
// ************* Model Specific Stuff ***************************
|
||||
// *** StateEq, MeasurementEq, LinerizeFG, and LinearizeH ********
|
||||
//
|
||||
// State Variables = [Pos Vel Quaternion GyroBias NO-AccelBias]
|
||||
// Deterministic Inputs = [AngularVel Accel]
|
||||
// Disturbance Noise = [GyroNoise AccelNoise GyroRandomWalkNoise NO-AccelRandomWalkNoise]
|
||||
//
|
||||
// Measurement Variables = [Pos Vel BodyFrameMagField Altimeter]
|
||||
// Inputs to Measurement = [EarthFrameMagField]
|
||||
//
|
||||
// Notes: Pos and Vel in earth frame
|
||||
// AngularVel and Accel in body frame
|
||||
// MagFields are unit vectors
|
||||
// Xdot is output of StateEq()
|
||||
// F and G are outputs of LinearizeFG(), all elements not set should be zero
|
||||
// y is output of OutputEq()
|
||||
// H is output of LinearizeH(), all elements not set should be zero
|
||||
// ************************************************
|
||||
|
||||
void StateEq(float X[NUMX], float U[NUMU], float Xdot[NUMX])
|
||||
{
|
||||
float ax, ay, az, wx, wy, wz, q0, q1, q2, q3;
|
||||
|
||||
// ax=U[3]-X[13]; ay=U[4]-X[14]; az=U[5]-X[15]; // subtract the biases on accels
|
||||
ax = U[3];
|
||||
ay = U[4];
|
||||
az = U[5]; // NO BIAS STATES ON ACCELS
|
||||
wx = U[0] - X[10];
|
||||
wy = U[1] - X[11];
|
||||
wz = U[2] - X[12]; // subtract the biases on gyros
|
||||
q0 = X[6];
|
||||
q1 = X[7];
|
||||
q2 = X[8];
|
||||
q3 = X[9];
|
||||
|
||||
// Pdot = V
|
||||
Xdot[0] = X[3];
|
||||
Xdot[1] = X[4];
|
||||
Xdot[2] = X[5];
|
||||
|
||||
// Vdot = Reb*a
|
||||
Xdot[3] =
|
||||
(q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3) * ax + 2 * (q1 * q2 -
|
||||
q0 * q3) *
|
||||
ay + 2 * (q1 * q3 + q0 * q2) * az;
|
||||
Xdot[4] =
|
||||
2 * (q1 * q2 + q0 * q3) * ax + (q0 * q0 - q1 * q1 + q2 * q2 -
|
||||
q3 * q3) * ay + 2 * (q2 * q3 -
|
||||
q0 * q1) *
|
||||
az;
|
||||
Xdot[5] =
|
||||
2 * (q1 * q3 - q0 * q2) * ax + 2 * (q2 * q3 + q0 * q1) * ay +
|
||||
(q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3) * az + 9.81;
|
||||
|
||||
// qdot = Q*w
|
||||
Xdot[6] = (-q1 * wx - q2 * wy - q3 * wz) / 2;
|
||||
Xdot[7] = (q0 * wx - q3 * wy + q2 * wz) / 2;
|
||||
Xdot[8] = (q3 * wx + q0 * wy - q1 * wz) / 2;
|
||||
Xdot[9] = (-q2 * wx + q1 * wy + q0 * wz) / 2;
|
||||
|
||||
// best guess is that bias stays constant
|
||||
Xdot[10] = Xdot[11] = Xdot[12] = 0;
|
||||
}
|
||||
|
||||
void LinearizeFG(float X[NUMX], float U[NUMU], float F[NUMX][NUMX],
|
||||
float G[NUMX][NUMW])
|
||||
{
|
||||
float ax, ay, az, wx, wy, wz, q0, q1, q2, q3;
|
||||
|
||||
// ax=U[3]-X[13]; ay=U[4]-X[14]; az=U[5]-X[15]; // subtract the biases on accels
|
||||
ax = U[3];
|
||||
ay = U[4];
|
||||
az = U[5]; // NO BIAS STATES ON ACCELS
|
||||
wx = U[0] - X[10];
|
||||
wy = U[1] - X[11];
|
||||
wz = U[2] - X[12]; // subtract the biases on gyros
|
||||
q0 = X[6];
|
||||
q1 = X[7];
|
||||
q2 = X[8];
|
||||
q3 = X[9];
|
||||
|
||||
// Pdot = V
|
||||
F[0][3] = F[1][4] = F[2][5] = 1;
|
||||
|
||||
// dVdot/dq
|
||||
F[3][6] = 2 * (q0 * ax - q3 * ay + q2 * az);
|
||||
F[3][7] = 2 * (q1 * ax + q2 * ay + q3 * az);
|
||||
F[3][8] = 2 * (-q2 * ax + q1 * ay + q0 * az);
|
||||
F[3][9] = 2 * (-q3 * ax - q0 * ay + q1 * az);
|
||||
F[4][6] = 2 * (q3 * ax + q0 * ay - q1 * az);
|
||||
F[4][7] = 2 * (q2 * ax - q1 * ay - q0 * az);
|
||||
F[4][8] = 2 * (q1 * ax + q2 * ay + q3 * az);
|
||||
F[4][9] = 2 * (q0 * ax - q3 * ay + q2 * az);
|
||||
F[5][6] = 2 * (-q2 * ax + q1 * ay + q0 * az);
|
||||
F[5][7] = 2 * (q3 * ax + q0 * ay - q1 * az);
|
||||
F[5][8] = 2 * (-q0 * ax + q3 * ay - q2 * az);
|
||||
F[5][9] = 2 * (q1 * ax + q2 * ay + q3 * az);
|
||||
|
||||
// dVdot/dabias & dVdot/dna - NO BIAS STATES ON ACCELS - S0 REPEAT FOR G BELOW
|
||||
// F[3][13]=G[3][3]=-q0*q0-q1*q1+q2*q2+q3*q3; F[3][14]=G[3][4]=2*(-q1*q2+q0*q3); F[3][15]=G[3][5]=-2*(q1*q3+q0*q2);
|
||||
// F[4][13]=G[4][3]=-2*(q1*q2+q0*q3); F[4][14]=G[4][4]=-q0*q0+q1*q1-q2*q2+q3*q3; F[4][15]=G[4][5]=2*(-q2*q3+q0*q1);
|
||||
// F[5][13]=G[5][3]=2*(-q1*q3+q0*q2); F[5][14]=G[5][4]=-2*(q2*q3+q0*q1); F[5][15]=G[5][5]=-q0*q0+q1*q1+q2*q2-q3*q3;
|
||||
|
||||
// dqdot/dq
|
||||
F[6][6] = 0;
|
||||
F[6][7] = -wx / 2;
|
||||
F[6][8] = -wy / 2;
|
||||
F[6][9] = -wz / 2;
|
||||
F[7][6] = wx / 2;
|
||||
F[7][7] = 0;
|
||||
F[7][8] = wz / 2;
|
||||
F[7][9] = -wy / 2;
|
||||
F[8][6] = wy / 2;
|
||||
F[8][7] = -wz / 2;
|
||||
F[8][8] = 0;
|
||||
F[8][9] = wx / 2;
|
||||
F[9][6] = wz / 2;
|
||||
F[9][7] = wy / 2;
|
||||
F[9][8] = -wx / 2;
|
||||
F[9][9] = 0;
|
||||
|
||||
// dqdot/dwbias
|
||||
F[6][10] = q1 / 2;
|
||||
F[6][11] = q2 / 2;
|
||||
F[6][12] = q3 / 2;
|
||||
F[7][10] = -q0 / 2;
|
||||
F[7][11] = q3 / 2;
|
||||
F[7][12] = -q2 / 2;
|
||||
F[8][10] = -q3 / 2;
|
||||
F[8][11] = -q0 / 2;
|
||||
F[8][12] = q1 / 2;
|
||||
F[9][10] = q2 / 2;
|
||||
F[9][11] = -q1 / 2;
|
||||
F[9][12] = -q0 / 2;
|
||||
|
||||
// dVdot/dna - NO BIAS STATES ON ACCELS - S0 REPEAT FOR G HERE
|
||||
G[3][3] = -q0 * q0 - q1 * q1 + q2 * q2 + q3 * q3;
|
||||
G[3][4] = 2 * (-q1 * q2 + q0 * q3);
|
||||
G[3][5] = -2 * (q1 * q3 + q0 * q2);
|
||||
G[4][3] = -2 * (q1 * q2 + q0 * q3);
|
||||
G[4][4] = -q0 * q0 + q1 * q1 - q2 * q2 + q3 * q3;
|
||||
G[4][5] = 2 * (-q2 * q3 + q0 * q1);
|
||||
G[5][3] = 2 * (-q1 * q3 + q0 * q2);
|
||||
G[5][4] = -2 * (q2 * q3 + q0 * q1);
|
||||
G[5][5] = -q0 * q0 + q1 * q1 + q2 * q2 - q3 * q3;
|
||||
|
||||
// dqdot/dnw
|
||||
G[6][0] = q1 / 2;
|
||||
G[6][1] = q2 / 2;
|
||||
G[6][2] = q3 / 2;
|
||||
G[7][0] = -q0 / 2;
|
||||
G[7][1] = q3 / 2;
|
||||
G[7][2] = -q2 / 2;
|
||||
G[8][0] = -q3 / 2;
|
||||
G[8][1] = -q0 / 2;
|
||||
G[8][2] = q1 / 2;
|
||||
G[9][0] = q2 / 2;
|
||||
G[9][1] = -q1 / 2;
|
||||
G[9][2] = -q0 / 2;
|
||||
|
||||
// dwbias = random walk noise
|
||||
G[10][6] = G[11][7] = G[12][8] = 1;
|
||||
// dabias = random walk noise
|
||||
// G[13][9]=G[14][10]=G[15][11]=1; // NO BIAS STATES ON ACCELS
|
||||
}
|
||||
|
||||
void MeasurementEq(float X[NUMX], float Be[3], float Y[NUMV])
|
||||
{
|
||||
float q0, q1, q2, q3;
|
||||
|
||||
q0 = X[6];
|
||||
q1 = X[7];
|
||||
q2 = X[8];
|
||||
q3 = X[9];
|
||||
|
||||
// first six outputs are P and V
|
||||
Y[0] = X[0];
|
||||
Y[1] = X[1];
|
||||
Y[2] = X[2];
|
||||
Y[3] = X[3];
|
||||
Y[4] = X[4];
|
||||
Y[5] = X[5];
|
||||
|
||||
// Bb=Rbe*Be
|
||||
Y[6] =
|
||||
(q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3) * Be[0] +
|
||||
2 * (q1 * q2 + q0 * q3) * Be[1] + 2 * (q1 * q3 -
|
||||
q0 * q2) * Be[2];
|
||||
Y[7] =
|
||||
2 * (q1 * q2 - q0 * q3) * Be[0] + (q0 * q0 - q1 * q1 +
|
||||
q2 * q2 - q3 * q3) * Be[1] +
|
||||
2 * (q2 * q3 + q0 * q1) * Be[2];
|
||||
Y[8] =
|
||||
2 * (q1 * q3 + q0 * q2) * Be[0] + 2 * (q2 * q3 -
|
||||
q0 * q1) * Be[1] +
|
||||
(q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3) * Be[2];
|
||||
|
||||
// Alt = -Pz
|
||||
Y[9] = -X[2];
|
||||
}
|
||||
|
||||
void LinearizeH(float X[NUMX], float Be[3], float H[NUMV][NUMX])
|
||||
{
|
||||
float q0, q1, q2, q3;
|
||||
|
||||
q0 = X[6];
|
||||
q1 = X[7];
|
||||
q2 = X[8];
|
||||
q3 = X[9];
|
||||
|
||||
// dP/dP=I;
|
||||
H[0][0] = H[1][1] = H[2][2] = 1;
|
||||
// dV/dV=I;
|
||||
H[3][3] = H[4][4] = H[5][5] = 1;
|
||||
|
||||
// dBb/dq
|
||||
H[6][6] = 2 * (q0 * Be[0] + q3 * Be[1] - q2 * Be[2]);
|
||||
H[6][7] = 2 * (q1 * Be[0] + q2 * Be[1] + q3 * Be[2]);
|
||||
H[6][8] = 2 * (-q2 * Be[0] + q1 * Be[1] - q0 * Be[2]);
|
||||
H[6][9] = 2 * (-q3 * Be[0] + q0 * Be[1] + q1 * Be[2]);
|
||||
H[7][6] = 2 * (-q3 * Be[0] + q0 * Be[1] + q1 * Be[2]);
|
||||
H[7][7] = 2 * (q2 * Be[0] - q1 * Be[1] + q0 * Be[2]);
|
||||
H[7][8] = 2 * (q1 * Be[0] + q2 * Be[1] + q3 * Be[2]);
|
||||
H[7][9] = 2 * (-q0 * Be[0] - q3 * Be[1] + q2 * Be[2]);
|
||||
H[8][6] = 2 * (q2 * Be[0] - q1 * Be[1] + q0 * Be[2]);
|
||||
H[8][7] = 2 * (q3 * Be[0] - q0 * Be[1] - q1 * Be[2]);
|
||||
H[8][8] = 2 * (q0 * Be[0] + q3 * Be[1] - q2 * Be[2]);
|
||||
H[8][9] = 2 * (q1 * Be[0] + q2 * Be[1] + q3 * Be[2]);
|
||||
|
||||
// dAlt/dPz = -1
|
||||
H[9][2] = -1;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,328 +0,0 @@
|
||||
|
||||
#include "ins.h"
|
||||
#include "pios.h"
|
||||
#include "ahrs_spi_comm.h"
|
||||
#include "insgps.h"
|
||||
#include "CoordinateConversions.h"
|
||||
|
||||
#define DEG_TO_RAD (M_PI / 180.0)
|
||||
#define RAD_TO_DEG (180.0 / M_PI)
|
||||
|
||||
#define INSGPS_GPS_TIMEOUT 2 /* 2 seconds triggers reinit of position */
|
||||
#define INSGPS_GPS_MINSAT 6 /* 2 seconds triggers reinit of position */
|
||||
#define INSGPS_GPS_MINPDOP 3.5 /* minimum PDOP for postition updates */
|
||||
/* If GPS is more than this distance on any dimension then wait a few updates */
|
||||
/* and reinitialize there */
|
||||
#define INSGPS_GPS_FAR 10
|
||||
|
||||
//! Contains the data from the mag sensor chip
|
||||
extern struct mag_sensor mag_data;
|
||||
|
||||
//! Contains the data from the accelerometer
|
||||
extern struct accel_sensor accel_data;
|
||||
|
||||
//! Contains the data from the gyro
|
||||
extern struct gyro_sensor gyro_data;
|
||||
|
||||
//! Conains the current estimate of the attitude
|
||||
extern struct attitude_solution attitude_data;
|
||||
|
||||
//! Contains data from the altitude sensor
|
||||
extern struct altitude_sensor altitude_data;
|
||||
|
||||
//! Contains data from the GPS (via the SPI link)
|
||||
extern struct gps_sensor gps_data;
|
||||
|
||||
//! Offset correction of barometric alt, to match gps data
|
||||
static float baro_offset = 0;
|
||||
|
||||
extern void send_calibration(void);
|
||||
extern void send_attitude(void);
|
||||
extern void send_velocity(void);
|
||||
extern void send_position(void);
|
||||
extern volatile int8_t ahrs_algorithm;
|
||||
extern void get_accel_gyro_data();
|
||||
extern void get_mag_data();
|
||||
|
||||
/* INS functions */
|
||||
/**
|
||||
* @brief Update the EKF when in outdoor mode. The primary difference is using the GPS values.
|
||||
*/
|
||||
uint32_t total_far_count = 0;
|
||||
uint32_t relocated = 0;
|
||||
void ins_outdoor_update()
|
||||
{
|
||||
static uint32_t ins_last_time;
|
||||
float gyro[3], accel[3], vel[3];
|
||||
float dT;
|
||||
uint16_t sensors;
|
||||
static uint32_t gps_far_count = 0;
|
||||
|
||||
dT = PIOS_DELAY_DiffuS(ins_last_time) / 1e6;
|
||||
ins_last_time = PIOS_DELAY_GetRaw();
|
||||
|
||||
// This should only happen at start up or at mode switches
|
||||
if(dT > 0.01)
|
||||
dT = 0.01;
|
||||
|
||||
// format data for INS algo
|
||||
gyro[0] = gyro_data.filtered.x;
|
||||
gyro[1] = gyro_data.filtered.y;
|
||||
gyro[2] = gyro_data.filtered.z;
|
||||
accel[0] = accel_data.filtered.x,
|
||||
accel[1] = accel_data.filtered.y,
|
||||
accel[2] = accel_data.filtered.z,
|
||||
|
||||
INSStatePrediction(gyro, accel, dT);
|
||||
attitude_data.quaternion.q1 = Nav.q[0];
|
||||
attitude_data.quaternion.q2 = Nav.q[1];
|
||||
attitude_data.quaternion.q3 = Nav.q[2];
|
||||
attitude_data.quaternion.q4 = Nav.q[3];
|
||||
send_attitude(); // get message out quickly
|
||||
INSCovariancePrediction(dT);
|
||||
|
||||
PositionActualData positionActual;
|
||||
PositionActualGet(&positionActual);
|
||||
positionActual.North = Nav.Pos[0];
|
||||
positionActual.East = Nav.Pos[1];
|
||||
positionActual.Down = Nav.Pos[2];
|
||||
PositionActualSet(&positionActual);
|
||||
|
||||
VelocityActualData velocityActual;
|
||||
VelocityActualGet(&velocityActual);
|
||||
velocityActual.North = Nav.Vel[0];
|
||||
velocityActual.East = Nav.Vel[1];
|
||||
velocityActual.Down = Nav.Vel[2];
|
||||
VelocityActualSet(&velocityActual);
|
||||
|
||||
sensors = 0;
|
||||
|
||||
if (gps_data.updated)
|
||||
{
|
||||
vel[0] = gps_data.groundspeed * cos(gps_data.heading * DEG_TO_RAD);
|
||||
vel[1] = gps_data.groundspeed * sin(gps_data.heading * DEG_TO_RAD);
|
||||
vel[2] = 0;
|
||||
|
||||
if (abs(gps_data.NED[0] - Nav.Pos[0]) > INSGPS_GPS_FAR ||
|
||||
abs(gps_data.NED[1] - Nav.Pos[1]) > INSGPS_GPS_FAR ||
|
||||
abs(gps_data.NED[2] - Nav.Pos[2]) > INSGPS_GPS_FAR ||
|
||||
abs(vel[0] - Nav.Vel[0]) > INSGPS_GPS_FAR ||
|
||||
abs(vel[1] - Nav.Vel[1]) > INSGPS_GPS_FAR) {
|
||||
gps_far_count++;
|
||||
total_far_count++;
|
||||
gps_data.updated = false;
|
||||
|
||||
if(gps_far_count > 30) {
|
||||
INSPosVelReset(gps_data.NED,vel);
|
||||
relocated++;
|
||||
}
|
||||
}
|
||||
else {
|
||||
sensors |= HORIZ_SENSORS | POS_SENSORS;
|
||||
|
||||
/*
|
||||
* When using gps need to make sure that barometer is brought into NED frame
|
||||
* we should try and see if the altitude from the home location is good enough
|
||||
* to use for the offset but for now starting with this conservative filter
|
||||
*/
|
||||
if(fabs(gps_data.NED[2] + (altitude_data.altitude - baro_offset)) > 10) {
|
||||
baro_offset = gps_data.NED[2] + altitude_data.altitude;
|
||||
} else {
|
||||
/* IIR filter with 100 second or so tau to keep them crudely in the same frame */
|
||||
baro_offset = baro_offset * 0.999 + (gps_data.NED[2] + altitude_data.altitude) * 0.001;
|
||||
}
|
||||
gps_data.updated = false;
|
||||
}
|
||||
}
|
||||
|
||||
if(mag_data.updated) {
|
||||
sensors |= MAG_SENSORS;
|
||||
mag_data.updated = false;
|
||||
}
|
||||
|
||||
if(altitude_data.updated) {
|
||||
sensors |= BARO_SENSOR;
|
||||
altitude_data.updated = false;
|
||||
}
|
||||
|
||||
/*
|
||||
* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
|
||||
* although probably should occur within INS itself
|
||||
*/
|
||||
INSCorrection(mag_data.scaled.axis, gps_data.NED, vel, altitude_data.altitude - baro_offset, sensors);
|
||||
|
||||
if(fabs(Nav.gyro_bias[0]) > 0.1 || fabs(Nav.gyro_bias[1]) > 0.1 || fabs(Nav.gyro_bias[2]) > 0.1) {
|
||||
float zeros[3] = {0,0,0};
|
||||
INSSetGyroBias(zeros);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Update the EKF when in indoor mode
|
||||
*/
|
||||
void ins_indoor_update()
|
||||
{
|
||||
static uint32_t updated_without_gps = 0;
|
||||
|
||||
float gyro[3], accel[3];
|
||||
float zeros[3] = {0, 0, 0};
|
||||
static uint32_t ins_last_time = 0;
|
||||
uint16_t sensors = 0;
|
||||
float dT;
|
||||
|
||||
dT = PIOS_DELAY_DiffuS(ins_last_time) / 1e6;
|
||||
ins_last_time = PIOS_DELAY_GetRaw();
|
||||
|
||||
// This should only happen at start up or at mode switches
|
||||
if(dT > 0.01)
|
||||
dT = 0.01;
|
||||
|
||||
// format data for INS algo
|
||||
gyro[0] = gyro_data.filtered.x;
|
||||
gyro[1] = gyro_data.filtered.y;
|
||||
gyro[2] = gyro_data.filtered.z;
|
||||
accel[0] = accel_data.filtered.x,
|
||||
accel[1] = accel_data.filtered.y,
|
||||
accel[2] = accel_data.filtered.z,
|
||||
|
||||
INSStatePrediction(gyro, accel, dT);
|
||||
attitude_data.quaternion.q1 = Nav.q[0];
|
||||
attitude_data.quaternion.q2 = Nav.q[1];
|
||||
attitude_data.quaternion.q3 = Nav.q[2];
|
||||
attitude_data.quaternion.q4 = Nav.q[3];
|
||||
send_attitude(); // get message out quickly
|
||||
INSCovariancePrediction(dT);
|
||||
|
||||
/* Indoors, update with zero position and velocity and high covariance */
|
||||
sensors = HORIZ_SENSORS | VERT_SENSORS;
|
||||
|
||||
if(mag_data.updated && (ahrs_algorithm == INSSETTINGS_ALGORITHM_INSGPS_INDOOR)) {
|
||||
sensors |= MAG_SENSORS;
|
||||
mag_data.updated = false;
|
||||
}
|
||||
|
||||
if(altitude_data.updated) {
|
||||
sensors |= BARO_SENSOR;
|
||||
altitude_data.updated = false;
|
||||
}
|
||||
|
||||
if(gps_data.updated) {
|
||||
PositionActualData positionActual;
|
||||
PositionActualGet(&positionActual);
|
||||
positionActual.North = gps_data.NED[0];
|
||||
positionActual.East = gps_data.NED[1];
|
||||
positionActual.Down = Nav.Pos[2];
|
||||
PositionActualSet(&positionActual);
|
||||
|
||||
VelocityActualData velocityActual;
|
||||
VelocityActualGet(&velocityActual);
|
||||
velocityActual.North = gps_data.groundspeed * cos(gps_data.heading * DEG_TO_RAD);
|
||||
velocityActual.East = gps_data.groundspeed * sin(gps_data.heading * DEG_TO_RAD);
|
||||
velocityActual.Down = Nav.Vel[2];
|
||||
VelocityActualSet(&velocityActual);
|
||||
|
||||
updated_without_gps = 0;
|
||||
gps_data.updated = false;
|
||||
} else {
|
||||
PositionActualData positionActual;
|
||||
PositionActualGet(&positionActual);
|
||||
|
||||
VelocityActualData velocityActual;
|
||||
VelocityActualGet(&velocityActual);
|
||||
|
||||
positionActual.Down = Nav.Pos[2];
|
||||
velocityActual.Down = Nav.Vel[2];
|
||||
|
||||
if(updated_without_gps > 500) {
|
||||
// After 2-3 seconds without a GPS update set velocity estimate to NAN
|
||||
positionActual.North = NAN;
|
||||
positionActual.East = NAN;
|
||||
velocityActual.North = NAN;
|
||||
velocityActual.East = NAN;
|
||||
} else
|
||||
updated_without_gps++;
|
||||
|
||||
PositionActualSet(&positionActual);
|
||||
VelocityActualSet(&velocityActual);
|
||||
}
|
||||
|
||||
/*
|
||||
* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
|
||||
* although probably should occur within INS itself
|
||||
*/
|
||||
INSCorrection(mag_data.scaled.axis, zeros, zeros, altitude_data.altitude, sensors);
|
||||
|
||||
if(fabs(Nav.gyro_bias[0]) > 0.1 || fabs(Nav.gyro_bias[1]) > 0.1 || fabs(Nav.gyro_bias[2]) > 0.1) {
|
||||
float zeros[3] = {0,0,0};
|
||||
INSSetGyroBias(zeros);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initialize the EKF assuming stationary
|
||||
*/
|
||||
bool inited = false;
|
||||
float init_q[4];
|
||||
void ins_init_algorithm()
|
||||
{
|
||||
inited = true;
|
||||
float Rbe[3][3], q[4], accels[3], rpy[3], mag;
|
||||
float ge[3]={0,0,-9.81}, zeros[3]={0,0,0}, Pdiag[16]={25,25,25,5,5,5,1e-5,1e-5,1e-5,1e-5,1e-5,1e-5,1e-5,1e-4,1e-4,1e-4};
|
||||
bool using_mags, using_gps;
|
||||
|
||||
INSGPSInit();
|
||||
|
||||
HomeLocationData home;
|
||||
HomeLocationGet(&home);
|
||||
|
||||
accels[0]=accel_data.filtered.x;
|
||||
accels[1]=accel_data.filtered.y;
|
||||
accels[2]=accel_data.filtered.z;
|
||||
|
||||
using_mags = (ahrs_algorithm == INSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) || (ahrs_algorithm == INSSETTINGS_ALGORITHM_INSGPS_INDOOR);
|
||||
using_mags &= (home.Be[0] != 0) || (home.Be[1] != 0) || (home.Be[2] != 0); /* only use mags when valid home location */
|
||||
|
||||
using_gps = (ahrs_algorithm == INSSETTINGS_ALGORITHM_INSGPS_OUTDOOR) && (gps_data.quality >= INSGPS_GPS_MINSAT);
|
||||
|
||||
/* Block till a data update */
|
||||
get_accel_gyro_data();
|
||||
|
||||
/* Ensure we get mag data in a timely manner */
|
||||
uint16_t fail_count = 50; // 50 at 200 Hz is up to 0.25 sec
|
||||
while(using_mags && !mag_data.updated && fail_count--) {
|
||||
get_mag_data();
|
||||
get_accel_gyro_data();
|
||||
AhrsPoll();
|
||||
PIOS_DELAY_WaituS(2000);
|
||||
}
|
||||
using_mags &= mag_data.updated;
|
||||
|
||||
if (using_mags) {
|
||||
RotFrom2Vectors(accels, ge, mag_data.scaled.axis, home.Be, Rbe);
|
||||
R2Quaternion(Rbe,q);
|
||||
if (using_gps)
|
||||
INSSetState(gps_data.NED, zeros, q, zeros, zeros);
|
||||
else
|
||||
INSSetState(zeros, zeros, q, zeros, zeros);
|
||||
} else {
|
||||
// assume yaw = 0
|
||||
mag = VectorMagnitude(accels);
|
||||
rpy[1] = asinf(-accels[0]/mag);
|
||||
rpy[0] = atan2(accels[1]/mag,accels[2]/mag);
|
||||
rpy[2] = 0;
|
||||
RPY2Quaternion(rpy,init_q);
|
||||
if (using_gps)
|
||||
INSSetState(gps_data.NED, zeros, init_q, zeros, zeros);
|
||||
else {
|
||||
for (uint32_t i = 0; i < 5; i++) {
|
||||
INSSetState(zeros, zeros, init_q, zeros, zeros);
|
||||
ins_indoor_update();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
INSResetP(Pdiag);
|
||||
|
||||
// TODO: include initial estimate of gyro bias?
|
||||
}
|
||||
@ -1,794 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5883 HMC5883 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
*
|
||||
* @file pios_board.c
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief Defines board specific static initializers for hardware for the INS board.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include <pios.h>
|
||||
|
||||
#if defined(PIOS_INCLUDE_SPI)
|
||||
|
||||
#include <pios_spi_priv.h>
|
||||
|
||||
/* SPI2 Interface
|
||||
* - Used for mainboard communications
|
||||
*
|
||||
* NOTE: Leave this declared as const data so that it ends up in the
|
||||
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
|
||||
*/
|
||||
void PIOS_SPI_op_irq_handler(void);
|
||||
void DMA1_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_op_irq_handler")));
|
||||
void DMA1_Stream4_IRQHandler(void) __attribute__((alias("PIOS_SPI_op_irq_handler")));
|
||||
static const struct pios_spi_cfg pios_spi_op_cfg = {
|
||||
.regs = SPI2,
|
||||
.remap = GPIO_AF_SPI2,
|
||||
.init = {
|
||||
.SPI_Mode = SPI_Mode_Slave,
|
||||
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
|
||||
.SPI_DataSize = SPI_DataSize_8b,
|
||||
.SPI_NSS = SPI_NSS_Hard,
|
||||
.SPI_FirstBit = SPI_FirstBit_MSB,
|
||||
.SPI_CRCPolynomial = 7,
|
||||
.SPI_CPOL = SPI_CPOL_High,
|
||||
.SPI_CPHA = SPI_CPHA_2Edge,
|
||||
},
|
||||
.use_crc = true,
|
||||
.dma = {
|
||||
.irq = {
|
||||
// Note this is the stream ID that triggers interrupts (in this case RX)
|
||||
.flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3),
|
||||
.init = {
|
||||
.NVIC_IRQChannel = DMA1_Stream3_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
|
||||
.rx = {
|
||||
.channel = DMA1_Stream3,
|
||||
.init = {
|
||||
.DMA_Channel = DMA_Channel_0,
|
||||
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralToMemory,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_Medium,
|
||||
//TODO: Enable FIFO
|
||||
.DMA_FIFOMode = DMA_FIFOMode_Disable,
|
||||
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
|
||||
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
|
||||
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.channel = DMA1_Stream4,
|
||||
.init = {
|
||||
.DMA_Channel = DMA_Channel_0,
|
||||
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI2->DR),
|
||||
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_Medium,
|
||||
.DMA_FIFOMode = DMA_FIFOMode_Disable,
|
||||
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
|
||||
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
|
||||
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
||||
},
|
||||
},
|
||||
},
|
||||
.sclk = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_13,
|
||||
.GPIO_Speed = GPIO_Speed_100MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL
|
||||
},
|
||||
},
|
||||
.miso = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_14,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL
|
||||
},
|
||||
},
|
||||
.mosi = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_15,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL
|
||||
},
|
||||
},
|
||||
.slave_count = 1,
|
||||
.ssel = { {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_12,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_UP
|
||||
},
|
||||
} },
|
||||
};
|
||||
|
||||
uint32_t pios_spi_op_id;
|
||||
void PIOS_SPI_op_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_SPI_IRQ_Handler(pios_spi_op_id);
|
||||
}
|
||||
|
||||
/* SPI1 Interface
|
||||
* - Used for BMA180 accelerometer
|
||||
*/
|
||||
void PIOS_SPI_accel_irq_handler(void);
|
||||
void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
|
||||
void DMA2_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_accel_irq_handler")));
|
||||
static const struct pios_spi_cfg pios_spi_accel_cfg = {
|
||||
.regs = SPI1,
|
||||
.remap = GPIO_AF_SPI1,
|
||||
.init = {
|
||||
.SPI_Mode = SPI_Mode_Master,
|
||||
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
|
||||
.SPI_DataSize = SPI_DataSize_8b,
|
||||
.SPI_NSS = SPI_NSS_Soft,
|
||||
.SPI_FirstBit = SPI_FirstBit_MSB,
|
||||
.SPI_CRCPolynomial = 7,
|
||||
.SPI_CPOL = SPI_CPOL_High,
|
||||
.SPI_CPHA = SPI_CPHA_2Edge,
|
||||
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4,
|
||||
},
|
||||
.use_crc = false,
|
||||
.dma = {
|
||||
.irq = {
|
||||
.flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0),
|
||||
.init = {
|
||||
.NVIC_IRQChannel = DMA2_Stream0_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
|
||||
.rx = {
|
||||
.channel = DMA2_Stream0,
|
||||
.init = {
|
||||
.DMA_Channel = DMA_Channel_3,
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
||||
.DMA_DIR = DMA_DIR_PeripheralToMemory,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_Medium,
|
||||
.DMA_FIFOMode = DMA_FIFOMode_Disable,
|
||||
/* .DMA_FIFOThreshold */
|
||||
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
|
||||
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.channel = DMA2_Stream3,
|
||||
.init = {
|
||||
.DMA_Channel = DMA_Channel_3,
|
||||
.DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
|
||||
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
|
||||
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
|
||||
.DMA_MemoryInc = DMA_MemoryInc_Enable,
|
||||
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
|
||||
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
|
||||
.DMA_Mode = DMA_Mode_Normal,
|
||||
.DMA_Priority = DMA_Priority_High,
|
||||
.DMA_FIFOMode = DMA_FIFOMode_Disable,
|
||||
/* .DMA_FIFOThreshold */
|
||||
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
|
||||
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
|
||||
},
|
||||
},
|
||||
},
|
||||
.sclk = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_5,
|
||||
.GPIO_Speed = GPIO_Speed_100MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_UP
|
||||
},
|
||||
},
|
||||
.miso = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_6,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_UP
|
||||
},
|
||||
},
|
||||
.mosi = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_7,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_UP
|
||||
},
|
||||
},
|
||||
.slave_count = 1,
|
||||
.ssel = { {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_4,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_Mode = GPIO_Mode_OUT,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_UP
|
||||
},
|
||||
} },
|
||||
};
|
||||
|
||||
static uint32_t pios_spi_accel_id;
|
||||
void PIOS_SPI_accel_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_SPI_IRQ_Handler(pios_spi_accel_id);
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_SPI */
|
||||
|
||||
|
||||
|
||||
#if defined(PIOS_INCLUDE_GPS)
|
||||
#include <pios_usart_priv.h>
|
||||
|
||||
/*
|
||||
* GPS USART
|
||||
*/
|
||||
static const struct pios_usart_cfg pios_usart_gps_cfg = {
|
||||
.regs = USART1,
|
||||
.remap = GPIO_AF_USART1,
|
||||
.init = {
|
||||
.USART_BaudRate = 57600,
|
||||
.USART_WordLength = USART_WordLength_8b,
|
||||
.USART_Parity = USART_Parity_No,
|
||||
.USART_StopBits = USART_StopBits_1,
|
||||
.USART_HardwareFlowControl =
|
||||
USART_HardwareFlowControl_None,
|
||||
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
|
||||
},
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = USART1_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.rx = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_UP
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.gpio = GPIOA,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_9,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_UP
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
#define PIOS_COM_AUX_TX_BUF_LEN 150
|
||||
static uint8_t pios_com_aux_tx_buffer[PIOS_COM_AUX_TX_BUF_LEN];
|
||||
#define PIOS_COM_AUX_RX_BUF_LEN 10
|
||||
static uint8_t pios_com_aux_rx_buffer[PIOS_COM_AUX_RX_BUF_LEN];
|
||||
|
||||
#endif /* PIOS_INCLUDE_GPS */
|
||||
|
||||
#ifdef PIOS_INCLUDE_COM_AUX
|
||||
/*
|
||||
* AUX USART
|
||||
*/
|
||||
static const struct pios_usart_cfg pios_usart_aux_cfg = {
|
||||
.regs = UART4,
|
||||
.remap = GPIO_AF_UART4,
|
||||
.init = {
|
||||
.USART_BaudRate = 230400,
|
||||
.USART_WordLength = USART_WordLength_8b,
|
||||
.USART_Parity = USART_Parity_No,
|
||||
.USART_StopBits = USART_StopBits_1,
|
||||
.USART_HardwareFlowControl =
|
||||
USART_HardwareFlowControl_None,
|
||||
.USART_Mode = USART_Mode_Rx | USART_Mode_Tx,
|
||||
},
|
||||
.irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = UART4_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.rx = {
|
||||
.gpio = GPIOC,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_11,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_UP
|
||||
},
|
||||
},
|
||||
.tx = {
|
||||
.gpio = GPIOC,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Speed = GPIO_Speed_2MHz,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_UP
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
#define PIOS_COM_GPS_TX_BUF_LEN 10
|
||||
static uint8_t pios_com_gps_tx_buffer[PIOS_COM_GPS_TX_BUF_LEN];
|
||||
#define PIOS_COM_GPS_RX_BUF_LEN 192
|
||||
static uint8_t pios_com_gps_rx_buffer[PIOS_COM_GPS_RX_BUF_LEN];
|
||||
|
||||
#endif /* PIOS_COM_AUX */
|
||||
|
||||
|
||||
#if defined(PIOS_INCLUDE_COM)
|
||||
|
||||
#include <pios_com_priv.h>
|
||||
|
||||
#endif /* PIOS_INCLUDE_COM */
|
||||
|
||||
#if defined(PIOS_INCLUDE_I2C)
|
||||
|
||||
#include <pios_i2c_priv.h>
|
||||
|
||||
/*
|
||||
* I2C Adapters
|
||||
*/
|
||||
void PIOS_I2C_pres_mag_adapter_ev_irq_handler(void);
|
||||
void PIOS_I2C_pres_mag_adapter_er_irq_handler(void);
|
||||
void I2C1_EV_IRQHandler()
|
||||
__attribute__ ((alias("PIOS_I2C_pres_mag_adapter_ev_irq_handler")));
|
||||
void I2C1_ER_IRQHandler()
|
||||
__attribute__ ((alias("PIOS_I2C_pres_mag_adapter_er_irq_handler")));
|
||||
|
||||
static const struct pios_i2c_adapter_cfg pios_i2c_pres_mag_adapter_cfg = {
|
||||
.regs = I2C1,
|
||||
.remap = GPIO_AF_I2C1,
|
||||
.init = {
|
||||
.I2C_Mode = I2C_Mode_I2C,
|
||||
.I2C_OwnAddress1 = 0,
|
||||
.I2C_Ack = I2C_Ack_Enable,
|
||||
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
|
||||
.I2C_DutyCycle = I2C_DutyCycle_2,
|
||||
.I2C_ClockSpeed = 400000, /* bits/s */
|
||||
},
|
||||
.transfer_timeout_ms = 50,
|
||||
.scl = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_6,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_OType = GPIO_OType_OD,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
||||
},
|
||||
},
|
||||
.sda = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_7,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_OType = GPIO_OType_OD,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
||||
},
|
||||
},
|
||||
.event = {
|
||||
.flags = 0, /* FIXME: check this */
|
||||
.init = {
|
||||
.NVIC_IRQChannel = I2C1_EV_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.error = {
|
||||
.flags = 0, /* FIXME: check this */
|
||||
.init = {
|
||||
.NVIC_IRQChannel = I2C1_ER_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
uint32_t pios_i2c_pres_mag_adapter_id;
|
||||
void PIOS_I2C_pres_mag_adapter_ev_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_I2C_EV_IRQ_Handler(pios_i2c_pres_mag_adapter_id);
|
||||
}
|
||||
|
||||
void PIOS_I2C_pres_mag_adapter_er_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_I2C_ER_IRQ_Handler(pios_i2c_pres_mag_adapter_id);
|
||||
}
|
||||
|
||||
|
||||
void PIOS_I2C_gyro_adapter_ev_irq_handler(void);
|
||||
void PIOS_I2C_gyro_adapter_er_irq_handler(void);
|
||||
void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_ev_irq_handler")));
|
||||
void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_gyro_adapter_er_irq_handler")));
|
||||
|
||||
static const struct pios_i2c_adapter_cfg pios_i2c_gyro_adapter_cfg = {
|
||||
.regs = I2C2,
|
||||
.remap = GPIO_AF_I2C2,
|
||||
.init = {
|
||||
.I2C_Mode = I2C_Mode_I2C,
|
||||
.I2C_OwnAddress1 = 0,
|
||||
.I2C_Ack = I2C_Ack_Enable,
|
||||
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
|
||||
.I2C_DutyCycle = I2C_DutyCycle_2,
|
||||
.I2C_ClockSpeed = 400000, /* bits/s */
|
||||
},
|
||||
.transfer_timeout_ms = 50,
|
||||
.scl = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_10,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_OType = GPIO_OType_OD,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
||||
},
|
||||
},
|
||||
.sda = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_11,
|
||||
.GPIO_Mode = GPIO_Mode_AF,
|
||||
.GPIO_Speed = GPIO_Speed_50MHz,
|
||||
.GPIO_OType = GPIO_OType_OD,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
||||
},
|
||||
},
|
||||
.event = {
|
||||
.flags = 0, /* FIXME: check this */
|
||||
.init = {
|
||||
.NVIC_IRQChannel = I2C2_EV_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.error = {
|
||||
.flags = 0, /* FIXME: check this */
|
||||
.init = {
|
||||
.NVIC_IRQChannel = I2C2_ER_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
uint32_t pios_i2c_gyro_adapter_id;
|
||||
void PIOS_I2C_gyro_adapter_ev_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_I2C_EV_IRQ_Handler(pios_i2c_gyro_adapter_id);
|
||||
}
|
||||
|
||||
void PIOS_I2C_gyro_adapter_er_irq_handler(void)
|
||||
{
|
||||
/* Call into the generic code to handle the IRQ for this specific device */
|
||||
PIOS_I2C_ER_IRQ_Handler(pios_i2c_gyro_adapter_id);
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_I2C */
|
||||
|
||||
|
||||
extern const struct pios_com_driver pios_usart_com_driver;
|
||||
|
||||
uint32_t pios_com_aux_id;
|
||||
uint32_t pios_com_gps_id;
|
||||
|
||||
|
||||
/**
|
||||
* Sensor configurations
|
||||
*/
|
||||
#include "pios_hmc5883.h"
|
||||
static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
|
||||
.drdy = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_8,
|
||||
.GPIO_Speed = GPIO_Speed_100MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN,
|
||||
.GPIO_OType = GPIO_OType_OD,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
||||
},
|
||||
},
|
||||
.eoc_exti = {
|
||||
.pin_source = EXTI_PinSource8,
|
||||
.port_source = EXTI_PortSourceGPIOB,
|
||||
.init = {
|
||||
.EXTI_Line = EXTI_Line8, // matches above GPIO pin
|
||||
.EXTI_Mode = EXTI_Mode_Interrupt,
|
||||
.EXTI_Trigger = EXTI_Trigger_Rising,
|
||||
.EXTI_LineCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.eoc_irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = EXTI9_5_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.M_ODR = PIOS_HMC5883_ODR_75,
|
||||
.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5883_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
|
||||
|
||||
};
|
||||
|
||||
#include "pios_bma180.h"
|
||||
static const struct pios_bma180_cfg pios_bma180_cfg = {
|
||||
.drdy = {
|
||||
.gpio = GPIOC,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_4,
|
||||
.GPIO_Speed = GPIO_Speed_100MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN,
|
||||
.GPIO_OType = GPIO_OType_OD,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
||||
},
|
||||
},
|
||||
.eoc_exti = {
|
||||
.pin_source = EXTI_PinSource4,
|
||||
.port_source = EXTI_PortSourceGPIOC,
|
||||
.init = {
|
||||
.EXTI_Line = EXTI_Line4, // matches above GPIO pin
|
||||
.EXTI_Mode = EXTI_Mode_Interrupt,
|
||||
.EXTI_Trigger = EXTI_Trigger_Rising,
|
||||
.EXTI_LineCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.eoc_irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = EXTI4_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
#include "pios_imu3000.h"
|
||||
static const struct pios_imu3000_cfg pios_imu3000_cfg = {
|
||||
.drdy = {
|
||||
.gpio = GPIOB,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_1,
|
||||
.GPIO_Speed = GPIO_Speed_100MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN,
|
||||
.GPIO_OType = GPIO_OType_OD,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
||||
},
|
||||
},
|
||||
.eoc_exti = {
|
||||
.pin_source = EXTI_PinSource1,
|
||||
.port_source = EXTI_PortSourceGPIOB,
|
||||
.init = {
|
||||
.EXTI_Line = EXTI_Line1, // matches above GPIO pin
|
||||
.EXTI_Mode = EXTI_Mode_Interrupt,
|
||||
.EXTI_Trigger = EXTI_Trigger_Rising,
|
||||
.EXTI_LineCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.eoc_irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = EXTI1_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.Fifo_store = PIOS_IMU3000_FIFO_TEMP_OUT | PIOS_IMU3000_FIFO_GYRO_X_OUT | PIOS_IMU3000_FIFO_GYRO_Y_OUT
|
||||
| PIOS_IMU3000_FIFO_GYRO_Z_OUT | PIOS_IMU3000_FIFO_FOOTER,
|
||||
// Clock at 8 khz, downsampled by 4 for 2khz
|
||||
.Smpl_rate_div = 7,
|
||||
.Interrupt_cfg = PIOS_IMU3000_INT_DATA_RDY | PIOS_IMU3000_INT_CLR_ANYRD,
|
||||
.User_ctl = PIOS_IMU3000_USERCTL_FIFO_EN,
|
||||
.Pwr_mgmt_clk = PIOS_IMU3000_PWRMGMT_PLL_X_CLK,
|
||||
.range = PIOS_IMU3000_SCALE_500_DEG,
|
||||
.filter = PIOS_IMU3000_LOWPASS_256_HZ
|
||||
|
||||
};
|
||||
|
||||
#include "pios_bmp085.h"
|
||||
static const struct pios_bmp085_cfg pios_bmp085_cfg = {
|
||||
.drdy = {
|
||||
.gpio = GPIOC,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_2,
|
||||
.GPIO_Speed = GPIO_Speed_100MHz,
|
||||
.GPIO_Mode = GPIO_Mode_IN,
|
||||
.GPIO_OType = GPIO_OType_OD,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
||||
},
|
||||
},
|
||||
.eoc_exti = {
|
||||
.pin_source = EXTI_PinSource2,
|
||||
.port_source = EXTI_PortSourceGPIOC,
|
||||
.init = {
|
||||
.EXTI_Line = EXTI_Line2, // matches above GPIO pin
|
||||
.EXTI_Mode = EXTI_Mode_Interrupt,
|
||||
.EXTI_Trigger = EXTI_Trigger_Rising,
|
||||
.EXTI_LineCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.eoc_irq = {
|
||||
.init = {
|
||||
.NVIC_IRQChannel = EXTI2_IRQn,
|
||||
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
||||
.NVIC_IRQChannelSubPriority = 0,
|
||||
.NVIC_IRQChannelCmd = ENABLE,
|
||||
},
|
||||
},
|
||||
.xclr = {
|
||||
.gpio = GPIOC,
|
||||
.init = {
|
||||
.GPIO_Pin = GPIO_Pin_1,
|
||||
.GPIO_Speed = GPIO_Speed_100MHz,
|
||||
.GPIO_Mode = GPIO_Mode_OUT,
|
||||
.GPIO_OType = GPIO_OType_PP,
|
||||
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
||||
},
|
||||
},
|
||||
.oversampling = 3,
|
||||
};
|
||||
|
||||
/**
|
||||
* PIOS_Board_Init()
|
||||
* initializes all the core subsystems on this specific hardware
|
||||
* called from System/openpilot.c
|
||||
*/
|
||||
void PIOS_Board_Init(void) {
|
||||
/* Brings up System using CMSIS functions, enables the LEDs. */
|
||||
PIOS_SYS_Init();
|
||||
|
||||
/* Delay system */
|
||||
PIOS_DELAY_Init();
|
||||
|
||||
#ifdef PIOS_DEBUG_ENABLE_DEBUG_PINS
|
||||
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
|
||||
#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */
|
||||
|
||||
|
||||
/* IAP System Setup */
|
||||
PIOS_IAP_Init();
|
||||
|
||||
#if defined(PIOS_INCLUDE_COM)
|
||||
#if defined(PIOS_INCLUDE_GPS)
|
||||
uint32_t pios_usart_gps_id;
|
||||
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
|
||||
pios_com_gps_rx_buffer, sizeof(pios_com_gps_rx_buffer),
|
||||
pios_com_gps_tx_buffer, sizeof(pios_com_gps_tx_buffer))) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_GPS */
|
||||
|
||||
#if defined(PIOS_INCLUDE_COM_AUX)
|
||||
uint32_t pios_usart_aux_id;
|
||||
|
||||
if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id,
|
||||
pios_com_aux_rx_buffer, sizeof(pios_com_aux_rx_buffer),
|
||||
pios_com_aux_tx_buffer, sizeof(pios_com_aux_tx_buffer))) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_COM_AUX */
|
||||
#endif /* PIOS_INCLUDE_COM */
|
||||
|
||||
if (PIOS_I2C_Init(&pios_i2c_pres_mag_adapter_id, &pios_i2c_pres_mag_adapter_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
||||
if (PIOS_I2C_Init(&pios_i2c_gyro_adapter_id, &pios_i2c_gyro_adapter_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
/* Set up the SPI interface to the accelerometer*/
|
||||
if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
PIOS_BMA180_Attach(pios_spi_accel_id);
|
||||
PIOS_BMA180_Init(&pios_bma180_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 */
|
||||
#include "ahrs_spi_comm.h"
|
||||
AhrsInitComms();
|
||||
if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) {
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
||||
AhrsConnect(pios_spi_op_id);
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
|
||||
@ -1,173 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup INS INS
|
||||
|
||||
* @brief The INS Modules perform
|
||||
*
|
||||
* @{
|
||||
* @addtogroup INS_Main
|
||||
* @brief Main function which does the hardware dependent stuff
|
||||
* @{
|
||||
*
|
||||
*
|
||||
* @file ins.c
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief INSGPS Test Program
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
/* OpenPilot Includes */
|
||||
#include "ins.h"
|
||||
#include "pios.h"
|
||||
#include "ahrs_spi_comm.h"
|
||||
#include <stdbool.h>
|
||||
#include "fifo_buffer.h"
|
||||
|
||||
void reset_values();
|
||||
|
||||
/**
|
||||
* @addtogroup INS_Global_Data INS Global Data
|
||||
* @{
|
||||
* Public data. Used by both EKF and the sender
|
||||
*/
|
||||
|
||||
//! Contains the data from the mag sensor chip
|
||||
struct mag_sensor mag_data;
|
||||
|
||||
//! Contains the data from the accelerometer
|
||||
struct accel_sensor accel_data;
|
||||
|
||||
//! Contains the data from the gyro
|
||||
struct gyro_sensor gyro_data;
|
||||
|
||||
//! Conains the current estimate of the attitude
|
||||
struct attitude_solution attitude_data;
|
||||
|
||||
//! Contains data from the altitude sensor
|
||||
struct altitude_sensor altitude_data;
|
||||
|
||||
//! Contains data from the GPS (via the SPI link)
|
||||
struct gps_sensor gps_data;
|
||||
|
||||
//! Offset correction of barometric alt, to match gps data
|
||||
//static float baro_offset = 0;
|
||||
|
||||
//static float mag_len = 0;
|
||||
|
||||
typedef enum { INS_IDLE, INS_DATA_READY, INS_PROCESSING } states;
|
||||
volatile int32_t ekf_too_slow;
|
||||
volatile int32_t total_conversion_blocks;
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* INS functions */
|
||||
void blink(int led, int times)
|
||||
{
|
||||
for(int i=0; i<times; i++)
|
||||
{
|
||||
PIOS_LED_Toggle(led);
|
||||
PIOS_DELAY_WaitmS(250);
|
||||
PIOS_LED_Toggle(led);
|
||||
PIOS_DELAY_WaitmS(250);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void test_accel()
|
||||
{
|
||||
if(PIOS_BMA180_Test() == 0)
|
||||
blink(LED1, 1);
|
||||
else
|
||||
blink(LED2, 1);
|
||||
}
|
||||
|
||||
#if defined (PIOS_INCLUDE_HMC5883)
|
||||
void test_mag()
|
||||
{
|
||||
if(PIOS_HMC5883_Test() == 0)
|
||||
blink(LED1, 2);
|
||||
else
|
||||
blink(LED2, 2);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined (PIOS_INCLUDE_BMP085)
|
||||
void test_pressure()
|
||||
{
|
||||
if(PIOS_BMP085_Test() == 0)
|
||||
blink(LED1, 3);
|
||||
else
|
||||
blink(LED2, 3);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined (PIOS_INCLUDE_IMU3000)
|
||||
void test_imu()
|
||||
{
|
||||
if(PIOS_IMU3000_Test() == 0)
|
||||
blink(LED1, 4);
|
||||
else
|
||||
blink(LED2, 4);
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
extern void PIOS_Board_Init(void);
|
||||
struct pios_bma180_data bma180_data;
|
||||
|
||||
/**
|
||||
* @brief INS Main function
|
||||
*/
|
||||
int main()
|
||||
{
|
||||
|
||||
PIOS_Board_Init();
|
||||
|
||||
while (1)
|
||||
{
|
||||
test_accel();
|
||||
PIOS_DELAY_WaitmS(1000);
|
||||
|
||||
#if defined (PIOS_INCLUDE_HMC5883)
|
||||
test_mag();
|
||||
PIOS_DELAY_WaitmS(1000);
|
||||
#endif
|
||||
|
||||
#if defined (PIOS_INCLUDE_BMP085)
|
||||
test_pressure();
|
||||
PIOS_DELAY_WaitmS(1000);
|
||||
#endif
|
||||
|
||||
#if defined (PIOS_INCLUDE_IMU3000)
|
||||
test_imu();
|
||||
PIOS_DELAY_WaitmS(1000);
|
||||
#endif
|
||||
PIOS_DELAY_WaitmS(3000);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
@ -1,151 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotSystem OpenPilot System
|
||||
* @{
|
||||
* @addtogroup OpenPilotCore OpenPilot Core
|
||||
* @{
|
||||
* @file pios_board.h
|
||||
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
||||
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
|
||||
#ifndef STM3210E_INS_H_
|
||||
#define STM3210E_INS_H_
|
||||
|
||||
|
||||
|
||||
//------------------------
|
||||
// Timers and Channels Used
|
||||
//------------------------
|
||||
/*
|
||||
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
|
||||
------+-----------+-----------+-----------+----------
|
||||
TIM1 | | | |
|
||||
TIM2 | --------------- PIOS_DELAY -----------------
|
||||
TIM3 | | | |
|
||||
TIM4 | | | |
|
||||
TIM5 | | | |
|
||||
TIM6 | | | |
|
||||
TIM7 | | | |
|
||||
TIM8 | | | |
|
||||
------+-----------+-----------+-----------+----------
|
||||
*/
|
||||
|
||||
//------------------------
|
||||
// DMA Channels Used
|
||||
//------------------------
|
||||
/* Channel 1 - */
|
||||
/* Channel 2 - SPI1 RX */
|
||||
/* Channel 3 - SPI1 TX */
|
||||
/* Channel 4 - SPI2 RX */
|
||||
/* Channel 5 - SPI2 TX */
|
||||
/* Channel 6 - */
|
||||
/* Channel 7 - */
|
||||
/* Channel 8 - */
|
||||
/* Channel 9 - */
|
||||
/* Channel 10 - */
|
||||
/* Channel 11 - */
|
||||
/* Channel 12 - */
|
||||
|
||||
//------------------------
|
||||
// BOOTLOADER_SETTINGS
|
||||
//------------------------
|
||||
#define BOARD_READABLE TRUE
|
||||
#define BOARD_WRITABLE TRUE
|
||||
#define MAX_DEL_RETRYS 3
|
||||
|
||||
|
||||
//------------------------
|
||||
// PIOS_LED
|
||||
//------------------------
|
||||
#define PIOS_LED_LED1_GPIO_PORT GPIOA
|
||||
#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_3
|
||||
#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOA
|
||||
#define PIOS_LED_LED2_GPIO_PORT GPIOA
|
||||
#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_2
|
||||
#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOA
|
||||
#define PIOS_LED_NUM 2
|
||||
#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
|
||||
#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
|
||||
#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
|
||||
|
||||
//------------------------
|
||||
// PIOS_SPI
|
||||
// See also pios_board.c
|
||||
//------------------------
|
||||
#define PIOS_SPI_MAX_DEVS 2
|
||||
|
||||
//------------------------
|
||||
// PIOS_I2C
|
||||
// See also pios_board.c
|
||||
//------------------------
|
||||
#define PIOS_I2C_MAX_DEVS 3
|
||||
extern uint32_t pios_i2c_pres_mag_adapter_id;
|
||||
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_pres_mag_adapter_id)
|
||||
extern uint32_t pios_i2c_gyro_adapter_id;
|
||||
#define PIOS_I2C_GYRO_ADAPTER (pios_i2c_gyro_adapter_id)
|
||||
|
||||
//-------------------------
|
||||
// PIOS_USART
|
||||
//
|
||||
// See also pios_board.c
|
||||
//-------------------------
|
||||
#define PIOS_USART_MAX_DEVS 2
|
||||
|
||||
//-------------------------
|
||||
// PIOS_COM
|
||||
//
|
||||
// See also pios_board.c
|
||||
//-------------------------
|
||||
#define PIOS_COM_MAX_DEVS 2
|
||||
extern uint32_t pios_com_gps_id;
|
||||
extern uint32_t pios_com_aux_id;
|
||||
#define PIOS_COM_AUX (pios_com_aux_id)
|
||||
#define PIOS_COM_DEBUG PIOS_COM_AUX
|
||||
|
||||
//-------------------------
|
||||
// System Settings
|
||||
//-------------------------
|
||||
#define PIOS_MASTER_CLOCK 120000000
|
||||
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
|
||||
|
||||
//-------------------------
|
||||
// Interrupt Priorities
|
||||
//-------------------------
|
||||
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
|
||||
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
|
||||
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
|
||||
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
|
||||
|
||||
//-------------------------
|
||||
// ADC
|
||||
// None.
|
||||
//-------------------------
|
||||
|
||||
|
||||
|
||||
|
||||
#endif /* STM3210E_INS_H_ */
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,351 +0,0 @@
|
||||
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
|
||||
_irq_stack_size = 0x400;
|
||||
|
||||
/* Check valid alignment for VTOR */
|
||||
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
|
||||
|
||||
/*
|
||||
this sends all unreferenced IRQHandlers to reset
|
||||
*/
|
||||
|
||||
|
||||
PROVIDE ( Undefined_Handler = 0 ) ;
|
||||
PROVIDE ( SWI_Handler = 0 ) ;
|
||||
PROVIDE ( IRQ_Handler = 0 ) ;
|
||||
PROVIDE ( Prefetch_Handler = 0 ) ;
|
||||
PROVIDE ( Abort_Handler = 0 ) ;
|
||||
PROVIDE ( FIQ_Handler = 0 ) ;
|
||||
|
||||
PROVIDE ( NMI_Handler = 0 ) ;
|
||||
PROVIDE ( HardFault_Handler = 0 ) ;
|
||||
PROVIDE ( MemManage_Handler = 0 ) ;
|
||||
PROVIDE ( BusFault_Handler = 0 ) ;
|
||||
PROVIDE ( UsageFault_Handler = 0 ) ;
|
||||
PROVIDE ( vPortSVCHandler = 0 ) ;
|
||||
PROVIDE ( DebugMon_Handler = 0 ) ;
|
||||
PROVIDE ( xPortPendSVHandler = 0 ) ;
|
||||
PROVIDE ( xPortSysTickHandler = 0 ) ;
|
||||
|
||||
PROVIDE ( WWDG_IRQHandler = 0 ) ;
|
||||
PROVIDE ( PVD_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TAMPER_IRQHandler = 0 ) ;
|
||||
PROVIDE ( RTC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( FLASH_IRQHandler = 0 ) ;
|
||||
PROVIDE ( RCC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI0_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel6_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel7_IRQHandler = 0 ) ;
|
||||
PROVIDE ( ADC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USB_HP_CAN1_TX_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USB_LP_CAN1_RX0_IRQHandler = 0 ) ;
|
||||
PROVIDE ( CAN1_RX1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( CAN1_SCE_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI9_5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_BRK_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_UP_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_TRG_COM_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_CC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C1_EV_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C1_ER_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C2_EV_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C2_ER_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SPI1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SPI2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USART1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USART2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USART3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI15_10_IRQHandler = 0 ) ;
|
||||
PROVIDE ( RTCAlarm_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USBWakeUp_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_BRK_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_UP_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_TRG_COM_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_CC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( ADC3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( FSMC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SDIO_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SPI3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( UART4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( UART5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM6_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM7_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel4_5_IRQHandler = 0 ) ;
|
||||
|
||||
|
||||
|
||||
/******************************************************************************/
|
||||
/* Peripheral memory map */
|
||||
/******************************************************************************/
|
||||
/*this allows to compile the ST lib in "non-debug" mode*/
|
||||
|
||||
|
||||
/* Peripheral and SRAM base address in the alias region */
|
||||
PERIPH_BB_BASE = 0x42000000;
|
||||
SRAM_BB_BASE = 0x22000000;
|
||||
|
||||
/* Peripheral and SRAM base address in the bit-band region */
|
||||
SRAM_BASE = 0x20000000;
|
||||
PERIPH_BASE = 0x40000000;
|
||||
|
||||
/* Flash registers base address */
|
||||
PROVIDE ( FLASH_BASE = 0x40022000);
|
||||
/* Flash Option Bytes base address */
|
||||
PROVIDE ( OB_BASE = 0x1FFFF800);
|
||||
|
||||
/* Peripheral memory map */
|
||||
APB1PERIPH_BASE = PERIPH_BASE ;
|
||||
APB2PERIPH_BASE = (PERIPH_BASE + 0x10000) ;
|
||||
AHBPERIPH_BASE = (PERIPH_BASE + 0x20000) ;
|
||||
|
||||
PROVIDE ( TIM2 = (APB1PERIPH_BASE + 0x0000) ) ;
|
||||
PROVIDE ( TIM3 = (APB1PERIPH_BASE + 0x0400) ) ;
|
||||
PROVIDE ( TIM4 = (APB1PERIPH_BASE + 0x0800) ) ;
|
||||
PROVIDE ( RTC = (APB1PERIPH_BASE + 0x2800) ) ;
|
||||
PROVIDE ( WWDG = (APB1PERIPH_BASE + 0x2C00) ) ;
|
||||
PROVIDE ( IWDG = (APB1PERIPH_BASE + 0x3000) ) ;
|
||||
PROVIDE ( SPI2 = (APB1PERIPH_BASE + 0x3800) ) ;
|
||||
PROVIDE ( USART2 = (APB1PERIPH_BASE + 0x4400) ) ;
|
||||
PROVIDE ( USART3 = (APB1PERIPH_BASE + 0x4800) ) ;
|
||||
PROVIDE ( I2C1 = (APB1PERIPH_BASE + 0x5400) ) ;
|
||||
PROVIDE ( I2C2 = (APB1PERIPH_BASE + 0x5800) ) ;
|
||||
PROVIDE ( CAN = (APB1PERIPH_BASE + 0x6400) ) ;
|
||||
PROVIDE ( BKP = (APB1PERIPH_BASE + 0x6C00) ) ;
|
||||
PROVIDE ( PWR = (APB1PERIPH_BASE + 0x7000) ) ;
|
||||
|
||||
PROVIDE ( AFIO = (APB2PERIPH_BASE + 0x0000) ) ;
|
||||
PROVIDE ( EXTI = (APB2PERIPH_BASE + 0x0400) ) ;
|
||||
PROVIDE ( GPIOA = (APB2PERIPH_BASE + 0x0800) ) ;
|
||||
PROVIDE ( GPIOB = (APB2PERIPH_BASE + 0x0C00) ) ;
|
||||
PROVIDE ( GPIOC = (APB2PERIPH_BASE + 0x1000) ) ;
|
||||
PROVIDE ( GPIOD = (APB2PERIPH_BASE + 0x1400) ) ;
|
||||
PROVIDE ( GPIOE = (APB2PERIPH_BASE + 0x1800) ) ;
|
||||
PROVIDE ( ADC1 = (APB2PERIPH_BASE + 0x2400) ) ;
|
||||
PROVIDE ( ADC2 = (APB2PERIPH_BASE + 0x2800) ) ;
|
||||
PROVIDE ( TIM1 = (APB2PERIPH_BASE + 0x2C00) ) ;
|
||||
PROVIDE ( SPI1 = (APB2PERIPH_BASE + 0x3000) ) ;
|
||||
PROVIDE ( USART1 = (APB2PERIPH_BASE + 0x3800) ) ;
|
||||
|
||||
PROVIDE ( DMA = (AHBPERIPH_BASE + 0x0000) ) ;
|
||||
PROVIDE ( DMA_Channel1 = (AHBPERIPH_BASE + 0x0008) ) ;
|
||||
PROVIDE ( DMA_Channel2 = (AHBPERIPH_BASE + 0x001C) ) ;
|
||||
PROVIDE ( DMA_Channel3 = (AHBPERIPH_BASE + 0x0030) ) ;
|
||||
PROVIDE ( DMA_Channel4 = (AHBPERIPH_BASE + 0x0044) ) ;
|
||||
PROVIDE ( DMA_Channel5 = (AHBPERIPH_BASE + 0x0058) ) ;
|
||||
PROVIDE ( DMA_Channel6 = (AHBPERIPH_BASE + 0x006C) ) ;
|
||||
PROVIDE ( DMA_Channel7 = (AHBPERIPH_BASE + 0x0080) ) ;
|
||||
PROVIDE ( RCC = (AHBPERIPH_BASE + 0x1000) ) ;
|
||||
|
||||
/* System Control Space memory map */
|
||||
SCS_BASE = 0xE000E000;
|
||||
|
||||
PROVIDE ( SysTick = (SCS_BASE + 0x0010) ) ;
|
||||
PROVIDE ( NVIC = (SCS_BASE + 0x0100) ) ;
|
||||
PROVIDE ( SCB = (SCS_BASE + 0x0D00) ) ;
|
||||
|
||||
|
||||
/* Sections Definitions */
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
|
||||
/* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
|
||||
.isr_vector :
|
||||
{
|
||||
KEEP(*(.isr_vector)) /* Startup code */
|
||||
. = ALIGN(4);
|
||||
} > BL_FLASH
|
||||
|
||||
/* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
|
||||
.flashtext :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
*(.flashtext) /* Startup code */
|
||||
. = ALIGN(4);
|
||||
} > BL_FLASH
|
||||
|
||||
|
||||
/* the program code is stored in the .text section, which goes to Flash */
|
||||
.text :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
|
||||
*(.text) /* remaining code */
|
||||
*(.text.*) /* remaining code */
|
||||
*(.rodata) /* read-only data (constants) */
|
||||
*(.rodata*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
|
||||
. = ALIGN(4);
|
||||
_etext = .;
|
||||
/* This is used by the startup in order to initialize the .data secion */
|
||||
_sidata = _etext;
|
||||
} > BL_FLASH
|
||||
|
||||
|
||||
/*
|
||||
* This stack is used both as the initial sp during early init as well as ultimately
|
||||
* being used as the STM32's MSP (Main Stack Pointer) which is the same stack that
|
||||
* is used for _all_ interrupt handlers. The end of this stack should be placed
|
||||
* against the lowest address in RAM so that a stack overrun results in a hard fault
|
||||
* at the first access beyond the end of the stack.
|
||||
*/
|
||||
.irq_stack :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_irq_stack_end = . ;
|
||||
. = . + _irq_stack_size ;
|
||||
. = ALIGN(4);
|
||||
_irq_stack_top = . - 4 ;
|
||||
. = ALIGN(4);
|
||||
} >RAM
|
||||
|
||||
|
||||
/* This is the initialized data section
|
||||
The program executes knowing that the data is in the RAM
|
||||
but the loader puts the initial values in the FLASH (inidata).
|
||||
It is one task of the startup to copy the initial values from FLASH to RAM. */
|
||||
.data : AT ( _sidata )
|
||||
{
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .data secion */
|
||||
_sdata = . ;
|
||||
|
||||
*(.data)
|
||||
*(.data.*)
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .data secion */
|
||||
_edata = . ;
|
||||
} >RAM
|
||||
|
||||
|
||||
|
||||
/* This is the uninitialized data section */
|
||||
.bss :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .bss secion */
|
||||
_sbss = .;
|
||||
|
||||
*(.bss)
|
||||
*(COMMON)
|
||||
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .bss secion */
|
||||
_ebss = . ;
|
||||
} >RAM
|
||||
|
||||
PROVIDE ( end = _ebss );
|
||||
PROVIDE ( _end = _ebss );
|
||||
|
||||
/* this is the FLASH Bank1 */
|
||||
/* the C or assembly source must explicitly place the code or data there
|
||||
using the "section" attribute */
|
||||
.b1text :
|
||||
{
|
||||
*(.b1text) /* remaining code */
|
||||
*(.b1rodata) /* read-only data (constants) */
|
||||
*(.b1rodata*)
|
||||
} >FLASHB1
|
||||
|
||||
/* this is the EXTMEM */
|
||||
/* the C or assembly source must explicitly place the code or data there
|
||||
using the "section" attribute */
|
||||
|
||||
/* EXTMEM Bank0 */
|
||||
.eb0text :
|
||||
{
|
||||
*(.eb0text) /* remaining code */
|
||||
*(.eb0rodata) /* read-only data (constants) */
|
||||
*(.eb0rodata*)
|
||||
} >EXTMEMB0
|
||||
|
||||
/* EXTMEM Bank1 */
|
||||
.eb1text :
|
||||
{
|
||||
*(.eb1text) /* remaining code */
|
||||
*(.eb1rodata) /* read-only data (constants) */
|
||||
*(.eb1rodata*)
|
||||
} >EXTMEMB1
|
||||
|
||||
/* EXTMEM Bank2 */
|
||||
.eb2text :
|
||||
{
|
||||
*(.eb2text) /* remaining code */
|
||||
*(.eb2rodata) /* read-only data (constants) */
|
||||
*(.eb2rodata*)
|
||||
} >EXTMEMB2
|
||||
|
||||
/* EXTMEM Bank0 */
|
||||
.eb3text :
|
||||
{
|
||||
*(.eb3text) /* remaining code */
|
||||
*(.eb3rodata) /* read-only data (constants) */
|
||||
*(.eb3rodata*)
|
||||
} >EXTMEMB3
|
||||
|
||||
__exidx_start = .;
|
||||
__exidx_end = .;
|
||||
|
||||
/* after that it's only debugging information. */
|
||||
|
||||
/* remove the debugging information from the standard libraries */
|
||||
/DISCARD/ :
|
||||
{
|
||||
libc.a ( * )
|
||||
libm.a ( * )
|
||||
libgcc.a ( * )
|
||||
}
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
/* DWARF debug sections.
|
||||
Symbols in the DWARF debugging sections are relative to the beginning
|
||||
of the section so we begin them at 0. */
|
||||
/* DWARF 1 */
|
||||
.debug 0 : { *(.debug) }
|
||||
.line 0 : { *(.line) }
|
||||
/* GNU DWARF 1 extensions */
|
||||
.debug_srcinfo 0 : { *(.debug_srcinfo) }
|
||||
.debug_sfnames 0 : { *(.debug_sfnames) }
|
||||
/* DWARF 1.1 and DWARF 2 */
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
/* DWARF 2 */
|
||||
.debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_frame 0 : { *(.debug_frame) }
|
||||
.debug_str 0 : { *(.debug_str) }
|
||||
.debug_loc 0 : { *(.debug_loc) }
|
||||
.debug_macinfo 0 : { *(.debug_macinfo) }
|
||||
/* SGI/MIPS DWARF 2 extensions */
|
||||
.debug_weaknames 0 : { *(.debug_weaknames) }
|
||||
.debug_funcnames 0 : { *(.debug_funcnames) }
|
||||
.debug_typenames 0 : { *(.debug_typenames) }
|
||||
.debug_varnames 0 : { *(.debug_varnames) }
|
||||
}
|
||||
|
||||
|
||||
@ -1,13 +0,0 @@
|
||||
/* Memory Spaces Definitions */
|
||||
MEMORY
|
||||
{
|
||||
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 0x10000
|
||||
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x08000 - 0x00080
|
||||
BD_INFO (r) : ORIGIN = 0x08008000 - 0x80, LENGTH = 0x00080
|
||||
FLASH (rx) : ORIGIN = 0x08008000, LENGTH = 0x80000 - 0x08000
|
||||
FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||
EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||
EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||
EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||
EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
|
||||
}
|
||||
@ -1,354 +0,0 @@
|
||||
_estack = 0x20004FF0;
|
||||
|
||||
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
|
||||
_irq_stack_size = 0x400;
|
||||
|
||||
/* Check valid alignment for VTOR */
|
||||
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
|
||||
|
||||
/*
|
||||
this sends all unreferenced IRQHandlers to reset
|
||||
*/
|
||||
|
||||
|
||||
PROVIDE ( Undefined_Handler = 0 ) ;
|
||||
PROVIDE ( SWI_Handler = 0 ) ;
|
||||
PROVIDE ( IRQ_Handler = 0 ) ;
|
||||
PROVIDE ( Prefetch_Handler = 0 ) ;
|
||||
PROVIDE ( Abort_Handler = 0 ) ;
|
||||
PROVIDE ( FIQ_Handler = 0 ) ;
|
||||
|
||||
PROVIDE ( NMI_Handler = 0 ) ;
|
||||
PROVIDE ( HardFault_Handler = 0 ) ;
|
||||
PROVIDE ( MemManage_Handler = 0 ) ;
|
||||
PROVIDE ( BusFault_Handler = 0 ) ;
|
||||
PROVIDE ( UsageFault_Handler = 0 ) ;
|
||||
PROVIDE ( vPortSVCHandler = 0 ) ;
|
||||
PROVIDE ( DebugMon_Handler = 0 ) ;
|
||||
PROVIDE ( xPortPendSVHandler = 0 ) ;
|
||||
PROVIDE ( xPortSysTickHandler = 0 ) ;
|
||||
|
||||
PROVIDE ( WWDG_IRQHandler = 0 ) ;
|
||||
PROVIDE ( PVD_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TAMPER_IRQHandler = 0 ) ;
|
||||
PROVIDE ( RTC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( FLASH_IRQHandler = 0 ) ;
|
||||
PROVIDE ( RCC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI0_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel6_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMAChannel7_IRQHandler = 0 ) ;
|
||||
PROVIDE ( ADC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USB_HP_CAN1_TX_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USB_LP_CAN1_RX0_IRQHandler = 0 ) ;
|
||||
PROVIDE ( CAN1_RX1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( CAN1_SCE_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI9_5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_BRK_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_UP_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_TRG_COM_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM1_CC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C1_EV_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C1_ER_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C2_EV_IRQHandler = 0 ) ;
|
||||
PROVIDE ( I2C2_ER_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SPI1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SPI2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USART1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USART2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USART3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( EXTI15_10_IRQHandler = 0 ) ;
|
||||
PROVIDE ( RTCAlarm_IRQHandler = 0 ) ;
|
||||
PROVIDE ( USBWakeUp_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_BRK_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_UP_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_TRG_COM_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM8_CC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( ADC3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( FSMC_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SDIO_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( SPI3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( UART4_IRQHandler = 0 ) ;
|
||||
PROVIDE ( UART5_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM6_IRQHandler = 0 ) ;
|
||||
PROVIDE ( TIM7_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel1_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel2_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel3_IRQHandler = 0 ) ;
|
||||
PROVIDE ( DMA2_Channel4_5_IRQHandler = 0 ) ;
|
||||
|
||||
|
||||
|
||||
/******************************************************************************/
|
||||
/* Peripheral memory map */
|
||||
/******************************************************************************/
|
||||
/*this allows to compile the ST lib in "non-debug" mode*/
|
||||
|
||||
|
||||
/* Peripheral and SRAM base address in the alias region */
|
||||
PERIPH_BB_BASE = 0x42000000;
|
||||
SRAM_BB_BASE = 0x22000000;
|
||||
|
||||
/* Peripheral and SRAM base address in the bit-band region */
|
||||
SRAM_BASE = 0x20000000;
|
||||
PERIPH_BASE = 0x40000000;
|
||||
|
||||
/* Flash registers base address */
|
||||
PROVIDE ( FLASH_BASE = 0x40022000);
|
||||
/* Flash Option Bytes base address */
|
||||
PROVIDE ( OB_BASE = 0x1FFFF800);
|
||||
|
||||
/* Peripheral memory map */
|
||||
APB1PERIPH_BASE = PERIPH_BASE ;
|
||||
APB2PERIPH_BASE = (PERIPH_BASE + 0x10000) ;
|
||||
AHBPERIPH_BASE = (PERIPH_BASE + 0x20000) ;
|
||||
|
||||
PROVIDE ( TIM2 = (APB1PERIPH_BASE + 0x0000) ) ;
|
||||
PROVIDE ( TIM3 = (APB1PERIPH_BASE + 0x0400) ) ;
|
||||
PROVIDE ( TIM4 = (APB1PERIPH_BASE + 0x0800) ) ;
|
||||
PROVIDE ( RTC = (APB1PERIPH_BASE + 0x2800) ) ;
|
||||
PROVIDE ( WWDG = (APB1PERIPH_BASE + 0x2C00) ) ;
|
||||
PROVIDE ( IWDG = (APB1PERIPH_BASE + 0x3000) ) ;
|
||||
PROVIDE ( SPI2 = (APB1PERIPH_BASE + 0x3800) ) ;
|
||||
PROVIDE ( USART2 = (APB1PERIPH_BASE + 0x4400) ) ;
|
||||
PROVIDE ( USART3 = (APB1PERIPH_BASE + 0x4800) ) ;
|
||||
PROVIDE ( I2C1 = (APB1PERIPH_BASE + 0x5400) ) ;
|
||||
PROVIDE ( I2C2 = (APB1PERIPH_BASE + 0x5800) ) ;
|
||||
PROVIDE ( CAN = (APB1PERIPH_BASE + 0x6400) ) ;
|
||||
PROVIDE ( BKP = (APB1PERIPH_BASE + 0x6C00) ) ;
|
||||
PROVIDE ( PWR = (APB1PERIPH_BASE + 0x7000) ) ;
|
||||
|
||||
PROVIDE ( AFIO = (APB2PERIPH_BASE + 0x0000) ) ;
|
||||
PROVIDE ( EXTI = (APB2PERIPH_BASE + 0x0400) ) ;
|
||||
PROVIDE ( GPIOA = (APB2PERIPH_BASE + 0x0800) ) ;
|
||||
PROVIDE ( GPIOB = (APB2PERIPH_BASE + 0x0C00) ) ;
|
||||
PROVIDE ( GPIOC = (APB2PERIPH_BASE + 0x1000) ) ;
|
||||
PROVIDE ( GPIOD = (APB2PERIPH_BASE + 0x1400) ) ;
|
||||
PROVIDE ( GPIOE = (APB2PERIPH_BASE + 0x1800) ) ;
|
||||
PROVIDE ( ADC1 = (APB2PERIPH_BASE + 0x2400) ) ;
|
||||
PROVIDE ( ADC2 = (APB2PERIPH_BASE + 0x2800) ) ;
|
||||
PROVIDE ( TIM1 = (APB2PERIPH_BASE + 0x2C00) ) ;
|
||||
PROVIDE ( SPI1 = (APB2PERIPH_BASE + 0x3000) ) ;
|
||||
PROVIDE ( USART1 = (APB2PERIPH_BASE + 0x3800) ) ;
|
||||
|
||||
PROVIDE ( DMA = (AHBPERIPH_BASE + 0x0000) ) ;
|
||||
PROVIDE ( DMA_Channel1 = (AHBPERIPH_BASE + 0x0008) ) ;
|
||||
PROVIDE ( DMA_Channel2 = (AHBPERIPH_BASE + 0x001C) ) ;
|
||||
PROVIDE ( DMA_Channel3 = (AHBPERIPH_BASE + 0x0030) ) ;
|
||||
PROVIDE ( DMA_Channel4 = (AHBPERIPH_BASE + 0x0044) ) ;
|
||||
PROVIDE ( DMA_Channel5 = (AHBPERIPH_BASE + 0x0058) ) ;
|
||||
PROVIDE ( DMA_Channel6 = (AHBPERIPH_BASE + 0x006C) ) ;
|
||||
PROVIDE ( DMA_Channel7 = (AHBPERIPH_BASE + 0x0080) ) ;
|
||||
PROVIDE ( RCC = (AHBPERIPH_BASE + 0x1000) ) ;
|
||||
|
||||
/* System Control Space memory map */
|
||||
SCS_BASE = 0xE000E000;
|
||||
|
||||
PROVIDE ( SysTick = (SCS_BASE + 0x0010) ) ;
|
||||
PROVIDE ( NVIC = (SCS_BASE + 0x0100) ) ;
|
||||
PROVIDE ( SCB = (SCS_BASE + 0x0D00) ) ;
|
||||
|
||||
|
||||
/* Sections Definitions */
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
|
||||
/* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
|
||||
.isr_vector :
|
||||
{
|
||||
KEEP(*(.isr_vector)) /* Startup code */
|
||||
. = ALIGN(4);
|
||||
} >FLASH
|
||||
|
||||
/* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
|
||||
.flashtext :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
*(.flashtext) /* Startup code */
|
||||
. = ALIGN(4);
|
||||
} >FLASH
|
||||
|
||||
|
||||
|
||||
/* the program code is stored in the .text section, which goes to Flash */
|
||||
.text :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
|
||||
*(.text) /* remaining code */
|
||||
*(.text.*) /* remaining code */
|
||||
*(.rodata) /* read-only data (constants) */
|
||||
*(.rodata*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
|
||||
. = ALIGN(4);
|
||||
_etext = .;
|
||||
/* This is used by the startup in order to initialize the .data secion */
|
||||
_sidata = _etext;
|
||||
} >FLASH
|
||||
|
||||
|
||||
/*
|
||||
* This stack is used both as the initial sp during early init as well as ultimately
|
||||
* being used as the STM32's MSP (Main Stack Pointer) which is the same stack that
|
||||
* is used for _all_ interrupt handlers. The end of this stack should be placed
|
||||
* against the lowest address in RAM so that a stack overrun results in a hard fault
|
||||
* at the first access beyond the end of the stack.
|
||||
*/
|
||||
.irq_stack :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_irq_stack_end = . ;
|
||||
. = . + _irq_stack_size ;
|
||||
. = ALIGN(4);
|
||||
_irq_stack_top = . - 4 ;
|
||||
. = ALIGN(4);
|
||||
} >RAM
|
||||
|
||||
|
||||
/* This is the initialized data section
|
||||
The program executes knowing that the data is in the RAM
|
||||
but the loader puts the initial values in the FLASH (inidata).
|
||||
It is one task of the startup to copy the initial values from FLASH to RAM. */
|
||||
.data : AT ( _sidata )
|
||||
{
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .data secion */
|
||||
_sdata = . ;
|
||||
|
||||
*(.data)
|
||||
*(.data.*)
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .data secion */
|
||||
_edata = . ;
|
||||
} >RAM
|
||||
|
||||
|
||||
|
||||
/* This is the uninitialized data section */
|
||||
.bss :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .bss secion */
|
||||
_sbss = .;
|
||||
|
||||
*(.bss)
|
||||
*(COMMON)
|
||||
|
||||
. = ALIGN(4);
|
||||
/* This is used by the startup in order to initialize the .bss secion */
|
||||
_ebss = . ;
|
||||
} >RAM
|
||||
|
||||
PROVIDE ( end = _ebss );
|
||||
PROVIDE ( _end = _ebss );
|
||||
|
||||
/* this is the FLASH Bank1 */
|
||||
/* the C or assembly source must explicitly place the code or data there
|
||||
using the "section" attribute */
|
||||
.b1text :
|
||||
{
|
||||
*(.b1text) /* remaining code */
|
||||
*(.b1rodata) /* read-only data (constants) */
|
||||
*(.b1rodata*)
|
||||
} >FLASHB1
|
||||
|
||||
/* this is the EXTMEM */
|
||||
/* the C or assembly source must explicitly place the code or data there
|
||||
using the "section" attribute */
|
||||
|
||||
/* EXTMEM Bank0 */
|
||||
.eb0text :
|
||||
{
|
||||
*(.eb0text) /* remaining code */
|
||||
*(.eb0rodata) /* read-only data (constants) */
|
||||
*(.eb0rodata*)
|
||||
} >EXTMEMB0
|
||||
|
||||
/* EXTMEM Bank1 */
|
||||
.eb1text :
|
||||
{
|
||||
*(.eb1text) /* remaining code */
|
||||
*(.eb1rodata) /* read-only data (constants) */
|
||||
*(.eb1rodata*)
|
||||
} >EXTMEMB1
|
||||
|
||||
/* EXTMEM Bank2 */
|
||||
.eb2text :
|
||||
{
|
||||
*(.eb2text) /* remaining code */
|
||||
*(.eb2rodata) /* read-only data (constants) */
|
||||
*(.eb2rodata*)
|
||||
} >EXTMEMB2
|
||||
|
||||
/* EXTMEM Bank0 */
|
||||
.eb3text :
|
||||
{
|
||||
*(.eb3text) /* remaining code */
|
||||
*(.eb3rodata) /* read-only data (constants) */
|
||||
*(.eb3rodata*)
|
||||
} >EXTMEMB3
|
||||
|
||||
__exidx_start = .;
|
||||
__exidx_end = .;
|
||||
|
||||
/* after that it's only debugging information. */
|
||||
|
||||
/* remove the debugging information from the standard libraries */
|
||||
/DISCARD/ :
|
||||
{
|
||||
libc.a ( * )
|
||||
libm.a ( * )
|
||||
libgcc.a ( * )
|
||||
}
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
/* DWARF debug sections.
|
||||
Symbols in the DWARF debugging sections are relative to the beginning
|
||||
of the section so we begin them at 0. */
|
||||
/* DWARF 1 */
|
||||
.debug 0 : { *(.debug) }
|
||||
.line 0 : { *(.line) }
|
||||
/* GNU DWARF 1 extensions */
|
||||
.debug_srcinfo 0 : { *(.debug_srcinfo) }
|
||||
.debug_sfnames 0 : { *(.debug_sfnames) }
|
||||
/* DWARF 1.1 and DWARF 2 */
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
/* DWARF 2 */
|
||||
.debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_frame 0 : { *(.debug_frame) }
|
||||
.debug_str 0 : { *(.debug_str) }
|
||||
.debug_loc 0 : { *(.debug_loc) }
|
||||
.debug_macinfo 0 : { *(.debug_macinfo) }
|
||||
/* SGI/MIPS DWARF 2 extensions */
|
||||
.debug_weaknames 0 : { *(.debug_weaknames) }
|
||||
.debug_funcnames 0 : { *(.debug_funcnames) }
|
||||
.debug_typenames 0 : { *(.debug_typenames) }
|
||||
.debug_varnames 0 : { *(.debug_varnames) }
|
||||
}
|
||||
|
||||
|
||||
@ -1,56 +0,0 @@
|
||||
_estack = 0x20004FF0;
|
||||
|
||||
/* Section Definitions */
|
||||
SECTIONS
|
||||
{
|
||||
.text :
|
||||
{
|
||||
PROVIDE (pios_isr_vector_table_base = .);
|
||||
KEEP(*(.isr_vector .isr_vector.*))
|
||||
*(.text .text.* .gnu.linkonce.t.*)
|
||||
*(.glue_7t) *(.glue_7)
|
||||
*(.rodata .rodata* .gnu.linkonce.r.*)
|
||||
} > BL_FLASH
|
||||
|
||||
.ARM.extab :
|
||||
{
|
||||
*(.ARM.extab* .gnu.linkonce.armextab.*)
|
||||
} > BL_FLASH
|
||||
|
||||
.ARM.exidx :
|
||||
{
|
||||
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
|
||||
} > BL_FLASH
|
||||
|
||||
. = ALIGN(4);
|
||||
_etext = .;
|
||||
_sidata = .;
|
||||
|
||||
.data : AT (_etext)
|
||||
{
|
||||
_sdata = .;
|
||||
*(.data .data.*)
|
||||
. = ALIGN(4);
|
||||
_edata = . ;
|
||||
} > SRAM
|
||||
|
||||
/* .bss section which is used for uninitialized data */
|
||||
.bss (NOLOAD) :
|
||||
{
|
||||
_sbss = . ;
|
||||
*(.bss .bss.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = . ;
|
||||
} > SRAM
|
||||
|
||||
. = ALIGN(4);
|
||||
_end = . ;
|
||||
|
||||
.boardinfo :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
KEEP(*(.boardinfo))
|
||||
. = ALIGN(4);
|
||||
} > BD_INFO
|
||||
}
|
||||
@ -1,7 +0,0 @@
|
||||
MEMORY
|
||||
{
|
||||
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x08000 - 0x00080
|
||||
BD_INFO (r) : ORIGIN = 0x08008000 - 0x80, LENGTH = 0x00080
|
||||
FLASH (rx) : ORIGIN = 0x08008000, LENGTH = 0x100000 - 0x08000
|
||||
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x05000
|
||||
}
|
||||
@ -1,51 +0,0 @@
|
||||
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
|
||||
|
||||
_estack = 0x20004FF0;
|
||||
|
||||
/* Section Definitions */
|
||||
SECTIONS
|
||||
{
|
||||
.text :
|
||||
{
|
||||
PROVIDE (pios_isr_vector_table_base = .);
|
||||
KEEP(*(.isr_vector .isr_vector.*))
|
||||
*(.text .text.* .gnu.linkonce.t.*)
|
||||
*(.glue_7t) *(.glue_7)
|
||||
*(.rodata .rodata* .gnu.linkonce.r.*)
|
||||
} > FLASH
|
||||
|
||||
.ARM.extab :
|
||||
{
|
||||
*(.ARM.extab* .gnu.linkonce.armextab.*)
|
||||
} > FLASH
|
||||
|
||||
.ARM.exidx :
|
||||
{
|
||||
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
|
||||
} > FLASH
|
||||
|
||||
. = ALIGN(4);
|
||||
_etext = .;
|
||||
_sidata = .;
|
||||
|
||||
.data : AT (_etext)
|
||||
{
|
||||
_sdata = .;
|
||||
*(.data .data.*)
|
||||
. = ALIGN(4);
|
||||
_edata = . ;
|
||||
} > SRAM
|
||||
|
||||
/* .bss section which is used for uninitialized data */
|
||||
.bss (NOLOAD) :
|
||||
{
|
||||
_sbss = . ;
|
||||
*(.bss .bss.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = . ;
|
||||
} > SRAM
|
||||
|
||||
. = ALIGN(4);
|
||||
_end = . ;
|
||||
}
|
||||
@ -1,41 +0,0 @@
|
||||
define connect
|
||||
target remote localhost:3334
|
||||
monitor cortex_m3 vector_catch all
|
||||
file ./build/fw_ins/fw_ins.elf
|
||||
# file ./build/bl_ins/bl_ins.elf
|
||||
end
|
||||
|
||||
source CortexM3
|
||||
#monitor reset halt
|
||||
|
||||
define hook-step
|
||||
monitor cortex_m3 maskisr on
|
||||
end
|
||||
define hookpost-step
|
||||
monitor cortex_m3 maskisr off
|
||||
end
|
||||
|
||||
define hook-stepi
|
||||
monitor cortex_m3 maskisr on
|
||||
end
|
||||
|
||||
define hookpost-stepi
|
||||
monitor cortex_m3 maskisr off
|
||||
end
|
||||
|
||||
define hook-next
|
||||
monitor cortex_m3 maskisr on
|
||||
end
|
||||
|
||||
define hookpost-next
|
||||
monitor cortex_m3 maskisr off
|
||||
end
|
||||
|
||||
define hook-finish
|
||||
monitor cortex_m3 maskisr on
|
||||
end
|
||||
|
||||
define hookpost-finish
|
||||
monitor cortex_m3 maskisr off
|
||||
end
|
||||
|
||||
Loading…
Reference in New Issue
Block a user