rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-02 10:24:11 +01:00
Code Issues Releases Activity
4,014 Commits 5 Branches 8 Tags 266 MiB
e1afc9a19a
Commit Graph

594 Commits

Author SHA1 Message Date
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
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
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
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
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 
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 
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
71a1cdff62 PiOS SPI: For F2 need to have the same receive and transmit length when using 
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 
since on the INS.
 2011-08-16 08:55:02 -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
James Cotton
c5ed82086d Configure the interrupt information before enabling. Still looping in IRQ so 
configuration needs work.
 2011-08-14 02:00:52 -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
a2b76adc33 Attitude: Do not start attitude estimation until accel data appears. This 
fixes the NaN when AttitudeSettings not available.
 2011-08-13 18:53:42 -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
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
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 
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
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 
dependent.  Abstract configuration out of board.h file into a standard board.c
structure.
 2011-08-12 02:26:51 -05:00
James Cotton
9c7799dfe6 UAVObject Init: Get rid of deprecated linker init code 2011-08-10 22:48:42 -05:00
James Cotton
0c2c48bee6 F2 PiOS: More changes for spi to work (not completed) 2011-08-09 12:59:10 -05:00
James Cotton
a097ff784b F2 PiOS: Getting the I2C driver working again (copying changes from Zippe, 
thanks again man!)
 2011-08-09 12:58:46 -05:00
James Cotton
8be9ac9cc9 PiOS: Move driver out of common directory since it makes calls to configure the 
EXTI system.
 2011-08-09 12:51:26 -05:00
James Cotton
d78450eae8 Move some of the F2 defines into the makefile to make them global. Fixes some 
issues with grabbing the wrong stm32 configuration file.
 2011-08-09 01:19:05 -05:00
James Cotton
27213c7fd9 F2 PiOS USART: Update to the new driver format for coms 2011-08-09 01:18:25 -05:00
James Cotton
479ba7c21f OP-378 INS: Continue getting F2 INS to compile 2011-08-08 08:36:40 -05:00
James Cotton
558bdddeaf INS: Almost got Bootloader compiling *sigh* 2011-08-06 21:27:29 -05:00
James Cotton
a0d77faf4b PiOS: Move pios_iap out of common. It is STM32F1x specific. Created an 
STM32F2xx stub version.  This needs cleaning up - there is some common code,
most of which can probably move to the bl_helper function.
 2011-08-06 20:24:07 -05:00
James Cotton
f23ec059fe dos2unix 2011-08-06 19:53:46 -05:00
James Cotton
1ccb9a1947 Some changes to BL to get running on F2. Also disables it for now (flash 
interface is different).
 2011-08-06 19:46:41 -05:00
James Cotton
d1c9ac0705 PiOS F2: Commit the F2 port of PiOS from Zippe. Thanks for doing all the hard 
work man :-D
 2011-08-06 19:36:56 -05:00
James Cotton
0bba13a0e9 Merge branch 'next' into ins 
Conflicts:
	flight/INS/Makefile
	flight/INS/pios_board.c
	flight/Modules/Altitude/altitude.c
	flight/PiOS/Boards/STM3210E_INS.h
	flight/PiOS/STM32F10x/link_STM3210E_INS_BL_sections.ld
	flight/PiOS/STM32F10x/link_STM3210E_INS_HD_BL.ld
	flight/PiOS/STM32F10x/link_STM3210E_INS_HD_NB.ld
	flight/PiOS/STM32F10x/link_STM3210E_INS_memory.ld
	flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
 2011-08-06 17:25:56 -05:00