James Cotton
c7034ef8a6
IMU3000: Fix a constant that made the sampling rate 1kh instead of 8 internaly.
...
No downsample that (in IMU3000) by 8 to get gyros at 1khz. Well about 256 Hz
nyquist and shouldn't cause substantial issues for EKF.
2011-08-18 13:01:51 -05:00
James Cotton
bdb9dc0a54
BMA180: Use DMA for getting the accels and use callback to push it onto the
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stack.
2011-08-18 12:51:22 -05:00
James Cotton
3b6ffc8afa
PiSO SPI: Implement a poor mans semaphore for non-freertos systems.
2011-08-18 12:51:00 -05:00
James Cotton
294e0cbdff
IMU3000: Change IMU3000 api right now so it only reads one element from the
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fifo but swaps the endian appropriately.
2011-08-18 11:03:56 -05:00
James Cotton
11ac0707da
BMA180: Reset BMA180 chip at reconfiguration.
2011-08-17 06:49:56 -05:00
James Cotton
29026db5d5
Refactor the INS code out a bit but still a mess.
2011-08-17 06:15:14 -05:00
Corvus Corax
6fe495c088
Merge remote branch 'origin/next' into OP-536_CorvusCorax_ObjectOrientedFirmwareUAVTalk
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Conflicts:
flight/Modules/Telemetry/telemetry.c
2011-08-17 08:30:32 +02:00
James Cotton
c0ead372e1
INS: Change LED flashing to indicate connected.
2011-08-16 11:30:38 -05:00
James Cotton
71a1cdff62
PiOS SPI: For F2 need to have the same receive and transmit length when using
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CRC. This wasn't the case on F1. With CRC the last byte of the buffer passed
to PIOS_SPI_TransferBlock is NOT USED. This is the case on both F1 and F2.
Also need to DeInit DMA before enabling or it doesn't enable successfully.
Finally added a timeout which sets a fail on the pios spi transfer in the case
that either of the dma channels fails to enable.
2011-08-16 11:29:15 -05:00
James Cotton
bcca705750
Disable beta hardware bmp085 driver until it's updated. Not necessary anyway
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since on the INS.
2011-08-16 08:55:02 -05:00
James Cotton
35eef66bfe
OP-557: Add a UAVO access method to erase the entire flash chip. Normally not
...
needed by users because if too much changes I change the FS magic and trigger a
wipe.
Possibly the erase should require a particular "magic" object id value to
execute? This would make it harder to do manually through UAVOs though.
2011-08-15 10:33:27 -05:00
James Cotton
db9c73db45
Get SPI closer to working. The flags in the pios_config should match the
...
stream number, not channel number. Also DeInit DMA section in the init process
which makes debugging and init behavior more reliable.
2011-08-15 04:47:53 -05:00
James Cotton
86b652bbab
Merge branch 'next' into camera_stabilization
2011-08-14 18:07:57 -05:00
zedamota
e736b17cc4
Merge remote-tracking branch 'remotes/origin/next' into GCS_ChangesToUI-RuntimeCFG
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Conflicts:
ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
2011-08-14 15:48:16 +01:00
Corvus Corax
b75653a226
PiOS.posix: small corrections and bugfixes to make pios_com_udp work correctly. Telemetry works now.
2011-08-14 14:21:54 +02:00
Corvus Corax
5b240a2675
PiOS.posix: port pios_udp and pios_com to "next"
2011-08-14 14:21:54 +02:00
Corvus Corax
8a47ade16b
flight/Libraries/fifo_buffer: Use platform independent <stdint.h> instead of "stm32xxx.h" to get definition of intX_t types
2011-08-14 14:21:54 +02:00
James Cotton
c5ed82086d
Configure the interrupt information before enabling. Still looping in IRQ so
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configuration needs work.
2011-08-14 02:00:52 -05:00
James Cotton
02d5e27e93
Got SPI IRQ from mainboard firing
2011-08-14 01:44:44 -05:00
James Cotton
80c2d45d93
Fix the BMP085 interrupt handler and get it producing data. Driver needs some
...
work to abstract away the actual calculation of altitude from pressure and
temperature.
2011-08-13 20:49:07 -05:00
James Cotton
f766ba47aa
Increase the size of the eventdispatcher task and lower the maximum queue size.
2011-08-13 19:21:58 -05:00
James Cotton
a2b76adc33
Attitude: Do not start attitude estimation until accel data appears. This
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fixes the NaN when AttitudeSettings not available.
2011-08-13 18:53:42 -05:00
James Cotton
ca413415a0
Code to make openocd 0.5.0 work. I'll keep this branch rebased on next.
2011-08-13 18:03:49 -05:00
James Cotton
62f51fc92d
Some improvements to the HMC5883 driver. Still getting funny values but I
...
suspect the chip at this point.
2011-08-13 11:20:32 -05:00
James Cotton
13e5f4123a
Reading gyro registers directly working.
2011-08-13 08:33:46 -05:00
James Cotton
e7990f5d43
Got a hint of some data with this code :)
2011-08-13 07:13:43 -05:00
James Cotton
f82e5dde33
Fix the EXTI IRQ handlers
2011-08-13 07:13:21 -05:00
James Cotton
e1f7a5003d
Fix up SPI DMA streams
2011-08-13 04:54:19 -05:00
James Cotton
8929e2f359
Update some of the DMA settings
2011-08-13 02:46:13 -05:00
James Cotton
77cca9ba30
Move EXTI handlers into other drivers
2011-08-13 01:29:17 -05:00
James Cotton
6d018c046e
Get BMA180 working. Need to move exti stuff into it until pios_exti
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implemented properly
2011-08-13 01:10:33 -05:00
James Cotton
5619e33292
Bootloader now jumps to functioning code for INS. Consistent with AHRS code.
2011-08-12 22:52:47 -05:00
James Cotton
6529b8360f
Trying to get linker system working for INS
2011-08-12 21:28:02 -05:00
James Cotton
e993fae463
Fix bootloader
2011-08-12 04:32:02 -05:00
James Cotton
e57f774bb8
F2 INS compiles now
2011-08-12 04:30:14 -05:00
James Cotton
1d1f351233
Pios Delay: Add function for measuring time difference between two cycle counts
2011-08-12 04:29:53 -05:00
James Cotton
b3b4fcd007
Fix linker script and get rid of dead code
2011-08-12 03:44:55 -05:00
James Cotton
f247112090
PiOS F2: Move IMU3000 to device dependent :(. Now they all are. Need to
...
abstract as much as possible out since init is almost identicalc and protocol
COULD be device independent.
2011-08-12 03:38:45 -05:00
James Cotton
8c1dd7b929
Make BMP085 driver device dependent and update to new driver style.
2011-08-12 03:38:45 -05:00
James Cotton
9d76efa2aa
Move BMA180 driver to common architecture style.
2011-08-12 03:38:45 -05:00
James Cotton
1dc08e5cf7
F2 PiOS: Small fix to hmc5883 driver
2011-08-12 03:38:44 -05:00
James Cotton
ba413d5dad
F2 StdPeriph: Make the StdPeriph take in config parameters as const.
...
Unfortunately they don't do this upstream :(
2011-08-12 03:38:40 -05:00
James Cotton
ef0cdae622
PiOS F2: Remove clock initialization from usart since it is in pios_sys.c
2011-08-12 02:28:02 -05:00
James Cotton
6310f46705
HMC5883: Update driver for F2. Move to STM32F2xx directory since it is device
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dependent. Abstract configuration out of board.h file into a standard board.c
structure.
2011-08-12 02:26:51 -05:00
James Cotton
784c7b2646
Merge branch 'next' into ins
2011-08-11 21:52:10 -05:00
James Cotton
ec4e23aff9
Camera Stabilization: Bound outputs to [-1,1] although this should be redundant
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with checks in actuator.
2011-08-11 14:34:38 -05:00
James Cotton
9c7799dfe6
UAVObject Init: Get rid of deprecated linker init code
2011-08-10 22:48:42 -05:00
James Cotton
c8313d7b3e
Add the camera stabilization files to the Pro build. Not functional though.
2011-08-10 22:31:38 -05:00
James Cotton
bbe3c1533a
Merge branch 'next' into camera_stabilization
2011-08-10 21:57:45 -05:00
James Cotton
ab288e95ab
Stabilization: Small patch so that by default the integral is zeroed while
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throttle is low (good for quads) but can be disabled (good for planes and also
testing helis).
2011-08-10 03:51:46 -05:00
