mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-10 18:24:11 +01:00
174 lines
3.4 KiB
C
174 lines
3.4 KiB
C
/**
|
|
******************************************************************************
|
|
* @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);
|
|
}
|
|
|
|
}
|
|
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|