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4,049 Commits 5 Branches 8 Tags 266 MiB
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Author SHA1 Message Date
James Cotton
c87a042195 IMU3000: For now sample at 1k which allows us to bring down the I2C clock rate 
to 400k
 2011-09-08 03:37:51 -05:00
James Cotton
0eb4fd113b PiOS BMA180: Increase the comms speed for BMA180 and perfom SPI without 
callback.  This takes less time.
 2011-09-08 03:28:32 -05:00
James Cotton
d7ea1fc306 PiOS I2C: Swap the expected return value of the F2 pios i2c calls 2011-09-08 01:32:27 -05:00
James Cotton
627c931c79 PiOS I2C: Swap the convention of returned values for I2C 2011-09-06 03:27:20 -05:00
James Cotton
465527a980 INS: Enable GPS parsing. GPS data is processed on INS now. HomeLocation and 
WMM are not currenly implemented.
 2011-09-04 20:03:04 -05:00
James Cotton
7ff5cd7655 INS: Try and get load down on event system. 2011-09-04 16:21:04 -05:00
James Cotton
cd8ebdf427 INS: Store the gyro bias in the settings so it doesn't get overwritten 2011-09-04 15:21:53 -05:00
James Cotton
c326c0941d INS: Work on initialization. Improve the zeroing of the gyros at powerup. 2011-09-04 11:49:15 -05:00
James Cotton
dae11cf877 INS Logging: Enable temperature reading from gyro and accel (may be removed in 
future), push it into UAVO and introduced a logging mode for INS that outputs
all sensor data from aux port.
 2011-09-03 15:10:47 -05:00
James Cotton
5eaebac8d8 INS: Get the aux uart working. All F2 GPIO pins need to be remapped to work. Good thing to remember. 2011-09-02 17:04:39 -05:00
James Cotton
63f64003e5 INS: Change how the initialization of algorithms is handled to ensure sensor 
dat always good
 2011-09-02 13:50:36 -05:00
James Cotton
c40e5800ab BMA180: Enable the EEPROM writing on startup so settings take the first time. 2011-09-02 13:28:36 -05:00
James Cotton
e0ed82eef0 INS Settings: Use the calibration data on the sensors 2011-09-02 13:28:01 -05:00
James Cotton
d47778cf13 Change default values for ins settings 2011-09-02 13:27:13 -05:00
James Cotton
5a9da23615 Make the object saving throw an error message on save failures. 2011-09-02 13:26:28 -05:00
James Cotton
1d04715476 INS: Rework how the sensor calibration behaves and clean up the interface a 
bit.
 2011-09-02 13:24:35 -05:00
James Cotton
3b20df22d1 Updates to config gadget for new INS objects 
Make scope gadget check if object exists before using it.  Avoids segfaults
when scoped objects disappear.
 2011-09-01 12:21:37 -05:00
James Cotton
612d3336b4 This patch breaks backward compatibility with AHRS solidly. 
Move the configuration files for INS from AHRS* to INS*.  Strip out unused
fields in settings and merge calibration and settings since settings has
basically no information.
 2011-09-01 12:21:33 -05:00
James Cotton
37878ed4e8 Get the OpenPilot compiling again using a previvous pios_board until doing a 
proper merge with next
 2011-09-01 03:31:23 -05:00
Stacey Sheldon
eea011c53b openpilot: fix compile error on OP 2011-09-01 03:31:23 -05:00
James Cotton
1477ea6e94 Make mag updated flag always true when it's updated. Responsibility of INS 
algorithm whether to use data.
 2011-08-22 03:05:02 -05:00
James Cotton
4e59e697af IMU3000: Sometimes the irq is called before previous I2C transaction. This 
isn't good but for now just deal with it.  Need DMA I2C driver.
 2011-08-22 02:34:40 -05:00
James Cotton
8c16f614f2 INS: Use the data from the BMP085 and feed into EKF 2011-08-22 02:32:40 -05:00
James Cotton
04072accd4 Manual control settings needs to be initialized in OpenPilot board file for 
spektrum to work
 2011-08-21 02:20:10 -05:00
James Cotton
b1c522def3 Merge remote-tracking branch 'origin/next' into ins 2011-08-21 01:34:40 -05:00
James Cotton
38d9df8fcb HMC5883: Clean up the mag driver 2011-08-21 01:29:55 -05:00
James Cotton
f756e9cbc8 INS: Swap the mag axis 2011-08-21 01:29:24 -05:00
James Cotton
a642f3672c Report running time per loop in us 2011-08-21 00:54:31 -05:00
James Cotton
e1afc9a19a Merge branch 'next' into ins 
Conflicts:
	flight/Libraries/inc/fifo_buffer.h
	flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
 2011-08-21 00:47:43 -05:00
James Cotton
c82aa64c53 INS: General clean up to deal with new driver formats. Also automatically 
monitors the EKF rate.
 2011-08-21 00:42:06 -05:00
James Cotton
af69e0a1a8 BMA180 driver; Don't externalize the fifo buffer but handle it in the driver 
layer.  General driver cleanup.
 2011-08-21 00:40:10 -05:00
James Cotton
8ae53a4f97 PiOS: Cleanup IMU3000 driver a fair bit. 2011-08-21 00:39:20 -05:00
James Cotton
368323fd59 Merge remote-tracking branch 'origin/james/erase_settings' into next 2011-08-20 13:07:01 -05:00
James Cotton
952b4e1809 Have to speed up the comms rate for gyro to handle the oversampling we are 
using.
 2011-08-19 14:35:13 -05:00
James Cotton
cefc2b8c2e Clean up main INS function a bit. 2011-08-19 14:34:56 -05:00
James Cotton
d103541970 IMU3000: Make the IRQ trigger the callback based I2C read. Drop the 
temperatured data from the FIFO stream.  Add some flags to stop the callbacks
trampling over the configuration.
 2011-08-19 14:28:33 -05:00
James Cotton
3465eb2f30 PiOS F2 I2C: Add a callback based transfer. This needs merging into the main 
transfer function like SPI but I will leave that for now to avoid creating a
lot of changes in the main code.
 2011-08-19 13:38:11 -05:00
Corvus Corax
85aef9c7b4 OpenPilot: bugfix: Add GPS tx buffer by default (needed until GPS has been refactored to not send or only send when configured so) 2011-08-19 20:22:05 +02:00
Corvus Corax
2062ec0aeb AHRS_COM: Initialize transpherred objects before using them 2011-08-19 19:52:27 +02:00
Corvus Corax
5e4941f7cb PiOS.posix: make PiOS.posix bail in case of a Panic with an error message 2011-08-19 18:41:59 +02:00
James Cotton
7444337418 F2 PiOS I2C: Add a poor man semaphore here in case we start calling I2C 
transfers from IRQ.  Also catch the double 0x70084 event which was locking up
the FSM with -Os enabled.  I did this in a cheating way (filtering the event
based on state) but it's the cleanest I can see.  Hopefully a DMA version of
I2C will fix this.
 2011-08-19 11:39:50 -05:00
Corvus Corax
9bba1f7ae9 Posix: fix object initialization where necessary 2011-08-19 18:36:30 +02:00
James Cotton
b0e04e5f79 PIOS SPI: Make sure the non-freertos busy flag inits to zero 2011-08-19 10:52:50 -05:00
James Cotton
03a8bd7674 Statically initialize object handles to null to make sure the uavobjectmanager 
can catch it and return -1.  Do NOT panic when they are null as this is
something that should be caugth at run time in some cases.

Ideally as a compromise in a task start it could have a set of
PIOS_Assert(ObjectNameHandle()) to make sure the minimal set of objects it
needs are there.
 2011-08-19 10:12:39 -05:00
James Cotton
ab7e57ad2b Initialize objects for guidance in the correct place. Init some objects in 
pios_board_posix since AHRSComms not around.
 2011-08-19 09:52:05 -05:00
James Cotton
ced29e221e Revert "Debugging: Add PIOS_DEBUG_Panic() call wen an UAVObject handle is requested but object is uninitialized, make PiOS.posix bail in case of a Panic with an error message" 
We do not want to panic in this case as we want the ability to detect if
objects exist at run time

This reverts commit 78e42470d4.
 2011-08-19 09:45:10 -05:00
James Cotton
482bec497b Revert "Fixed modules that didn't initialize used UAVObjects correctly" 
Modules should initialize their settings and the objects they source.  Not just
everything.

This reverts commit 9ad85e9b7b.
 2011-08-19 09:44:38 -05:00
Corvus Corax
69f10cd6d0 PiOS.posix: bugfix in COM_UDP 2011-08-19 13:54:16 +02:00
Corvus Corax
adfb6eccc2 fixed usage of GPS buffer in sim_posix 2011-08-19 13:20:40 +02:00
Corvus Corax
9ad85e9b7b Fixed modules that didn't initialize used UAVObjects correctly 2011-08-19 13:20:15 +02:00