rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-30 08:24:11 +01:00
Code Issues Releases Activity
3f408ad655
LibrePilot/flight/AHRS/ahrs.c

622 lines
21 KiB
C
Raw Blame History

/**
******************************************************************************
* @addtogroup AHRS AHRS Control
* @brief The AHRS Modules perform
*
* @{
* @addtogroup AHRS_Main
* @brief Main function which does the hardware dependent stuff
* @{
*
*
* @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
*/
/* OpenPilot Includes */
#include "ahrs.h"
#include "pios_opahrs_proto.h"
#include "ahrs_fsm.h" /* lfsm_state */
/**
* State of AHRS EKF
* @arg AHRS_IDLE - waiting for data to be available for filtering
* @arg AHRS_DATA_READY - Data ready for downsampling and processing
* @arg AHRS_PROCESSING - Performing update on the available data
*/
enum {AHRS_IDLE, AHRS_DATA_READY, AHRS_PROCESSING} ahrs_state;
/**
* @addtogroup AHRS_ADC_Configuration ADC Configuration
* @{
* Functions to configure ADC and handle interrupts
*/
void AHRS_ADC_Config(int32_t ekf_rate, int32_t adc_oversample);
void AHRS_ADC_DMA_Handler(void);
void DMA1_Channel1_IRQHandler() __attribute__ ((alias ("AHRS_ADC_DMA_Handler")));
/**
* @}
*/
/**
* @addtogroup AHRS_Definitions
* @{
*/
#define EKF_RATE 50
#define ADC_OVERSAMPLE 10
#define ADC_CONTINUOUS_CHANNELS PIOS_ADC_NUM_PINS
#define PREDICTION_COUNT 4
// TODO: Define calibration procedure including changes over temperature
#define VDD 3.3 /* supply voltage for ADC */
#define FULL_RANGE 4096 /* 12 bit ADC */
#define ACCEL_RANGE 2 /* adjustable by FS input */
#define ACCEL_GRAVITY 9.81 /* m s^-1 */
#define ACCEL_SENSITIVITY ( VDD / 5 )
#define ACCEL_SCALE ( (VDD / FULL_RANGE) / ACCEL_SENSITIVITY * 2 / ACCEL_RANGE * ACCEL_GRAVITY )
#define ACCEL_OFFSET -2048
#define GYRO_SENSITIVITY ( 2.0 / 1000 ) /* V sec deg^-1 */
#define RAD_PER_DEGREE ( 3.14159 / 180 )
#define GYRO_SCALE ( (VDD / FULL_RANGE) / GYRO_SENSITIVITY * RAD_PER_DEGREE )
#define GYRO_OFFSET -1675 /* From data sheet, zero accel output is 1.35 v */
/**
* @addtogroup AHRS_Local Local Variables
* @{
*/
struct mag_sensor {
uint8_t id[4];
struct {
int16_t axis[3];
} raw;
};
struct accel_sensor {
struct {
uint16_t x;
uint16_t y;
uint16_t z;
} raw;
struct {
float x;
float y;
float z;
} filtered;
};
struct gyro_sensor {
struct {
uint16_t x;
uint16_t y;
uint16_t z;
} raw;
struct {
float x;
float y;
float z;
} filtered;
struct {
uint16_t xy;
uint16_t z;
} temp;
};
struct attitude_solution {
struct {
float q1;
float q2;
float q3;
float q4;
} quaternion;
struct {
float roll;
float pitch;
float yaw;
} euler;
};
/**
* @}
*/
struct altitude_sensor {
float altitude;
float pressure;
float temperature;
};
static struct mag_sensor mag_data;
static struct accel_sensor accel_data;
static struct gyro_sensor gyro_data;
static struct altitude_sensor altitude_data;
static struct attitude_solution attitude_data = {
.quaternion = {
.q1 = 1.011,
.q2 = 2.022,
.q3 = 3.033,
.q4 = 0,
},
.euler = {
.roll = 4.044,
.pitch = 5.055,
.yaw = 6.066,
},
};
/* Function Prototypes */
void process_spi_request(void);
void downsample_data();
/**
* @addtogroup AHRS_Global_Data AHRS Global Data
* @{
* Public data. Used by both EKF and the sender
*/
int16_t fir_coeffs[ADC_OVERSAMPLE+1]; // FIR filter coefficients
int16_t raw_data_buffer[ADC_CONTINUOUS_CHANNELS * ADC_OVERSAMPLE * 2]; // Double buffer that DMA just used
int16_t * valid_data_buffer; // Swapped by interrupt handler to achieve double buffering
uint32_t ekf_too_slow = 0;
uint32_t total_conversion_blocks = 0;
/**
* @}
*/
/**
* @brief AHRS Main function
*/
int main()
{
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Delay system */
PIOS_DELAY_Init();
/* Communication system */
PIOS_COM_Init();
/* ADC system */
AHRS_ADC_Config(EKF_RATE, ADC_OVERSAMPLE);
/* Magnetic sensor system */
PIOS_I2C_Init();
PIOS_HMC5843_Init();
/* Setup the Accelerometer FS (Full-Scale) GPIO */
PIOS_GPIO_Enable(0);
SET_ACCEL_2G;
/* Configure the HMC5843 Sensor */
PIOS_HMC5843_ConfigTypeDef HMC5843_InitStructure;
HMC5843_InitStructure.M_ODR = PIOS_HMC5843_ODR_10;
HMC5843_InitStructure.Meas_Conf = PIOS_HMC5843_MEASCONF_NORMAL;
HMC5843_InitStructure.Gain = PIOS_HMC5843_GAIN_2;
HMC5843_InitStructure.Mode = PIOS_HMC5843_MODE_CONTINUOUS;
PIOS_HMC5843_Config(&HMC5843_InitStructure);
/* SPI link to master */
PIOS_SPI_Init();
lfsm_init();
ahrs_state = AHRS_IDLE;;
/* Use simple averaging filter for now */
for (int i = 0; i < ADC_OVERSAMPLE; i++)
fir_coeffs[i] = 1;
fir_coeffs[ADC_OVERSAMPLE] = ADC_OVERSAMPLE;
// Main loop
while (1) {
uint8_t loop_ctr;
// Alive signal
if (loop_ctr++ > 100) {
PIOS_LED_Toggle(LED1);
loop_ctr = 0;
}
// Get 3 ID bytes
strcpy ((char *)mag_data.id, "ZZZ");
PIOS_HMC5843_ReadID(mag_data.id);
// Get magnetic readings
PIOS_HMC5843_ReadMag(mag_data.raw.axis);
// Delay for valid data
while( ahrs_state != AHRS_DATA_READY );
ahrs_state = AHRS_PROCESSING;
downsample_data();
// Hacky - grab one sample from buffer to populate this. Need to send back
// all raw data if it's happening
accel_data.raw.x = valid_data_buffer[0];
accel_data.raw.y = valid_data_buffer[2];
accel_data.raw.z = valid_data_buffer[4];
gyro_data.raw.x = valid_data_buffer[1];
gyro_data.raw.y = valid_data_buffer[3];
gyro_data.raw.z = valid_data_buffer[5];
gyro_data.temp.xy = valid_data_buffer[6];
gyro_data.temp.z = valid_data_buffer[7];
ahrs_state = AHRS_IDLE;
/* Simulate a rotating airframe */
attitude_data.quaternion.q1 += .001;
attitude_data.quaternion.q2 += .002;
attitude_data.quaternion.q3 += .003;
attitude_data.quaternion.q4 += 1;
attitude_data.euler.roll += .004;
if (attitude_data.euler.roll > 360.0) attitude_data.euler.roll -= 360.0;
attitude_data.euler.pitch += .005;
if (attitude_data.euler.pitch > 360.0) attitude_data.euler.pitch -= 360.0;
attitude_data.euler.yaw += .006;
if (attitude_data.euler.yaw > 360.0) attitude_data.euler.yaw -= 360.0;
process_spi_request();
// Delay until next reading
//PIOS_DELAY_WaitmS(50);
}
return 0;
}
/**
* @brief Downsample the analog data
* @return none
*
* Tried to make as much of the filtering fixed point when possible. Need to account
* for offset for each sample before the multiplication if filter not a boxcar. Could
* precompute fixed offset as sum[fir_coeffs[i]] * ACCEL_OFFSET. Puts data into global
* data structures @ref accel_data and @ref gyro_data.
*/
void downsample_data()
{
int32_t accel_raw[3], gyro_raw[3];
uint16_t i;
// Get the X data. Fifth byte in. Convert to m/s
accel_raw[0] = 0;
for( i = 0; i < ADC_OVERSAMPLE; i++ )
accel_raw[0] = accel_raw[0] + ( valid_data_buffer[0 + (i-1) * ADC_CONTINUOUS_CHANNELS] + ACCEL_OFFSET ) * fir_coeffs[i];
accel_data.filtered.x = (float) accel_raw[0] / (float) fir_coeffs[ADC_OVERSAMPLE] * ACCEL_SCALE;
// Get the Y data. Third byte in. Convert to m/s
accel_raw[1] = 0;
for( i = 0; i < ADC_OVERSAMPLE; i++ )
accel_raw[1] = accel_raw[1] + ( valid_data_buffer[2 + (i-1) * ADC_CONTINUOUS_CHANNELS] + ACCEL_OFFSET ) * fir_coeffs[i];
accel_data.filtered.y = (float) accel_raw[1] / (float) fir_coeffs[ADC_OVERSAMPLE] * ACCEL_SCALE;
// Get the Z data. Third byte in. Convert to m/s
accel_raw[2] = 0;
for( i = 0; i < ADC_OVERSAMPLE; i++ )
accel_raw[2] = accel_raw[2] + ( valid_data_buffer[4 + (i-1) * ADC_CONTINUOUS_CHANNELS] + ACCEL_OFFSET ) * fir_coeffs[i];
accel_data.filtered.z = (float) accel_raw[2] / (float) fir_coeffs[ADC_OVERSAMPLE] * ACCEL_SCALE;
// Get the X gyro data. Seventh byte in. Convert to deg/s.
gyro_raw[0] = 0;
for( i = 0; i < ADC_OVERSAMPLE; i++ )
gyro_raw[0] += gyro_raw[0] + ( valid_data_buffer[1 + (i-1) * ADC_CONTINUOUS_CHANNELS] + GYRO_OFFSET ) * fir_coeffs[i];
gyro_data.filtered.x = (float) gyro_raw[0] / (float) fir_coeffs[ADC_OVERSAMPLE] * GYRO_SCALE;
// Get the Y gyro data. Second byte in. Convert to deg/s.
gyro_raw[1] = 0;
for( i = 0; i < ADC_OVERSAMPLE; i++ )
gyro_raw[1] += gyro_raw[1] + ( valid_data_buffer[3 + (i-1) * ADC_CONTINUOUS_CHANNELS] + GYRO_OFFSET ) * fir_coeffs[i];
gyro_data.filtered.y = (float) gyro_raw[1] / (float) fir_coeffs[ADC_OVERSAMPLE] * GYRO_SCALE;
// Get the Z gyro data. Fifth byte in. Convert to deg/s.
gyro_raw[2] = 0;
for( i = 0; i < ADC_OVERSAMPLE; i++ )
gyro_raw[2] += gyro_raw[2] + ( valid_data_buffer[5 + (i-1) * ADC_CONTINUOUS_CHANNELS] + GYRO_OFFSET ) * fir_coeffs[i];
gyro_data.filtered.z = (float) gyro_raw[2] / (float) fir_coeffs[ADC_OVERSAMPLE] * GYRO_SCALE;
}
void dump_spi_message(uint8_t port, const char * prefix, uint8_t * data, uint32_t len)
{
}
static struct opahrs_msg_v1 link_tx_v1;
static struct opahrs_msg_v1 link_rx_v1;
static struct opahrs_msg_v1 user_rx_v1;
static struct opahrs_msg_v1 user_tx_v1;
void process_spi_request(void)
{
bool msg_to_process = FALSE;
PIOS_IRQ_Disable();
/* Figure out if we're in an interesting stable state */
switch (lfsm_get_state()) {
case LFSM_STATE_USER_BUSY:
msg_to_process = TRUE;
break;
case LFSM_STATE_INACTIVE:
/* Queue up a receive buffer */
lfsm_user_set_rx_v1 (&user_rx_v1);
lfsm_user_done ();
break;
case LFSM_STATE_STOPPED:
/* Get things going */
lfsm_set_link_proto_v1 (&link_tx_v1, &link_rx_v1);
break;
default:
/* Not a stable state */
break;
}
PIOS_IRQ_Enable();
if (!msg_to_process) {
/* Nothing to do */
//PIOS_COM_SendFormattedString(PIOS_COM_AUX, ".");
return;
}
if (user_rx_v1.tail.magic != OPAHRS_MSG_MAGIC_TAIL) {
PIOS_COM_SendFormattedString(PIOS_COM_AUX, "x");
}
/* We've got a message to process */
//dump_spi_message(PIOS_COM_AUX, "+", (uint8_t *)&user_rx_v1, sizeof(user_rx_v1));
switch (user_rx_v1.payload.user.t) {
case OPAHRS_MSG_V1_REQ_SYNC:
opahrs_msg_v1_init_user_tx (&user_tx_v1, OPAHRS_MSG_V1_RSP_SYNC);
user_tx_v1.payload.user.v.rsp.sync.i_am_a_bootloader = FALSE;
user_tx_v1.payload.user.v.rsp.sync.hw_version = 1;
user_tx_v1.payload.user.v.rsp.sync.bl_version = 2;
user_tx_v1.payload.user.v.rsp.sync.fw_version = 3;
user_tx_v1.payload.user.v.rsp.sync.cookie = user_rx_v1.payload.user.v.req.sync.cookie;
dump_spi_message(PIOS_COM_AUX, "S", (uint8_t *)&user_tx_v1, sizeof(user_tx_v1));
lfsm_user_set_tx_v1 (&user_tx_v1);
break;
case OPAHRS_MSG_V1_REQ_RESET:
PIOS_DELAY_WaitmS(user_rx_v1.payload.user.v.req.reset.reset_delay_in_ms);
PIOS_SYS_Reset();
break;
case OPAHRS_MSG_V1_REQ_SERIAL:
opahrs_msg_v1_init_user_tx (&user_tx_v1, OPAHRS_MSG_V1_RSP_SERIAL);
PIOS_SYS_SerialNumberGet((char *)&(user_tx_v1.payload.user.v.rsp.serial.serial_bcd));
dump_spi_message(PIOS_COM_AUX, "I", (uint8_t *)&user_tx_v1, sizeof(user_tx_v1));
lfsm_user_set_tx_v1 (&user_tx_v1);
break;
case OPAHRS_MSG_V1_REQ_ALTITUDE:
opahrs_msg_v1_init_user_tx (&user_tx_v1, OPAHRS_MSG_V1_RSP_ALTITUDE);
altitude_data.altitude = user_rx_v1.payload.user.v.req.altitude.altitude;
altitude_data.pressure = user_rx_v1.payload.user.v.req.altitude.pressure;
altitude_data.temperature = user_rx_v1.payload.user.v.req.altitude.temperature;
dump_spi_message(PIOS_COM_AUX, "V", (uint8_t *)&user_rx_v1, sizeof(user_rx_v1));
lfsm_user_set_tx_v1 (&user_tx_v1);
break;
case OPAHRS_MSG_V1_REQ_ATTITUDERAW:
opahrs_msg_v1_init_user_tx (&user_tx_v1, OPAHRS_MSG_V1_RSP_ATTITUDERAW);
user_tx_v1.payload.user.v.rsp.attituderaw.mags.x = mag_data.raw.axis[0];
user_tx_v1.payload.user.v.rsp.attituderaw.mags.y = mag_data.raw.axis[1];
user_tx_v1.payload.user.v.rsp.attituderaw.mags.z = mag_data.raw.axis[2];
user_tx_v1.payload.user.v.rsp.attituderaw.gyros.x = gyro_data.raw.x;
user_tx_v1.payload.user.v.rsp.attituderaw.gyros.y = gyro_data.raw.y;
user_tx_v1.payload.user.v.rsp.attituderaw.gyros.z = gyro_data.raw.z;
user_tx_v1.payload.user.v.rsp.attituderaw.gyros.xy_temp = gyro_data.temp.xy;
user_tx_v1.payload.user.v.rsp.attituderaw.gyros.z_temp = gyro_data.temp.z;
user_tx_v1.payload.user.v.rsp.attituderaw.accels.x = accel_data.raw.x;
user_tx_v1.payload.user.v.rsp.attituderaw.accels.y = accel_data.raw.y;
user_tx_v1.payload.user.v.rsp.attituderaw.accels.z = accel_data.raw.z;
dump_spi_message(PIOS_COM_AUX, "R", (uint8_t *)&user_tx_v1, sizeof(user_tx_v1));
lfsm_user_set_tx_v1 (&user_tx_v1);
break;
case OPAHRS_MSG_V1_REQ_ATTITUDE:
opahrs_msg_v1_init_user_tx (&user_tx_v1, OPAHRS_MSG_V1_RSP_ATTITUDE);
user_tx_v1.payload.user.v.rsp.attitude.quaternion.q1 = attitude_data.quaternion.q1;
user_tx_v1.payload.user.v.rsp.attitude.quaternion.q2 = attitude_data.quaternion.q2;
user_tx_v1.payload.user.v.rsp.attitude.quaternion.q3 = attitude_data.quaternion.q3;
user_tx_v1.payload.user.v.rsp.attitude.quaternion.q4 = attitude_data.quaternion.q4;
user_tx_v1.payload.user.v.rsp.attitude.euler.roll = attitude_data.euler.roll;
user_tx_v1.payload.user.v.rsp.attitude.euler.pitch = attitude_data.euler.pitch;
user_tx_v1.payload.user.v.rsp.attitude.euler.yaw = attitude_data.euler.yaw;
dump_spi_message(PIOS_COM_AUX, "A", (uint8_t *)&user_tx_v1, sizeof(user_tx_v1));
#if 1
/* DEBUG: Overload q4 as a cycle counter since last read. */
attitude_data.quaternion.q4 = 0;
#endif
lfsm_user_set_tx_v1 (&user_tx_v1);
break;
default:
break;
}
/* Finished processing the received message, requeue it */
memset(&user_rx_v1, 0xAA, sizeof(user_rx_v1));
lfsm_user_set_rx_v1 (&user_rx_v1);
lfsm_user_done ();
}
/**
* ADC Configuration local variabels
*/
/* Local Variables */
static GPIO_TypeDef* ADC_GPIO_PORT[PIOS_ADC_NUM_PINS] = PIOS_ADC_PORTS;
static const uint32_t ADC_GPIO_PIN[PIOS_ADC_NUM_PINS] = PIOS_ADC_PINS;
static const uint32_t ADC_CHANNEL[PIOS_ADC_NUM_PINS] = PIOS_ADC_CHANNELS;
static ADC_TypeDef* ADC_MAPPING[PIOS_ADC_NUM_PINS] = PIOS_ADC_MAPPING;
static const uint32_t ADC_CHANNEL_MAPPING[PIOS_ADC_NUM_PINS] = PIOS_ADC_CHANNEL_MAPPING;
/**
* Initialise the ADC Peripheral
* @params ekf_rate
*/
void AHRS_ADC_Config(int32_t ekf_rate, int32_t adc_oversample)
{
int32_t i;
/* Setup analog pins */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
/* Enable each ADC pin in the array */
for(i = 0; i < PIOS_ADC_NUM_PINS; i++) {
GPIO_InitStructure.GPIO_Pin = ADC_GPIO_PIN[i];
GPIO_Init(ADC_GPIO_PORT[i], &GPIO_InitStructure);
}
/* Enable ADC clocks */
PIOS_ADC_CLOCK_FUNCTION;
/* Map channels to conversion slots depending on the channel selection mask */
for(i = 0; i < PIOS_ADC_NUM_PINS; i++) {
ADC_RegularChannelConfig(ADC_MAPPING[i], ADC_CHANNEL[i], ADC_CHANNEL_MAPPING[i], PIOS_ADC_SAMPLE_TIME);
}
#if (PIOS_ADC_USE_TEMP_SENSOR)
ADC_TempSensorVrefintCmd(ENABLE);
ADC_RegularChannelConfig(PIOS_ADC_TEMP_SENSOR_ADC, ADC_Channel_14, PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL, PIOS_ADC_SAMPLE_TIME);
#endif
// TODO: update ADC to continuous sampling, configure the sampling rate
/* Configure ADCs */
ADC_InitTypeDef ADC_InitStructure;
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Mode = ADC_Mode_RegSimult;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfChannel = 4; //((PIOS_ADC_NUM_CHANNELS + 1) >> 1);
ADC_Init(ADC1, &ADC_InitStructure);
#if (PIOS_ADC_USE_ADC2)
ADC_Init(ADC2, &ADC_InitStructure);
/* Enable ADC2 external trigger conversion (to synch with ADC1) */
ADC_ExternalTrigConvCmd(ADC2, ENABLE);
#endif
//RCC_ADCCLKConfig(PIOS_ADC_ADCCLK);
/* Enable ADC1->DMA request */
ADC_DMACmd(ADC1, ENABLE);
/* ADC1 calibration */
ADC_Cmd(ADC1, ENABLE);
ADC_ResetCalibration(ADC1);
while(ADC_GetResetCalibrationStatus(ADC1));
ADC_StartCalibration(ADC1);
while(ADC_GetCalibrationStatus(ADC1));
#if (PIOS_ADC_USE_ADC2)
/* ADC2 calibration */
ADC_Cmd(ADC2, ENABLE);
ADC_ResetCalibration(ADC2);
while(ADC_GetResetCalibrationStatus(ADC2));
ADC_StartCalibration(ADC2);
while(ADC_GetCalibrationStatus(ADC2));
#endif
/* Enable DMA1 clock */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
/* Configure DMA1 channel 1 to fetch data from ADC result register */
DMA_InitTypeDef DMA_InitStructure;
DMA_StructInit(&DMA_InitStructure);
DMA_DeInit(DMA1_Channel1);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&raw_data_buffer[0];
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
/* We are double buffering half words from the ADC. Make buffer appropriately sized */
DMA_InitStructure.DMA_BufferSize = (ADC_CONTINUOUS_CHANNELS * ADC_OVERSAMPLE * 2) >> 1;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
/* Note: We read ADC1 and ADC2 in parallel making a word read, also hence the half buffer size */
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel1, &DMA_InitStructure);
DMA_Cmd(DMA1_Channel1, ENABLE);
/* Trigger interrupt when for half conversions too to indicate double buffer */
DMA_ITConfig(DMA1_Channel1, DMA_IT_TC, ENABLE);
DMA_ITConfig(DMA1_Channel1, DMA_IT_HT, ENABLE);
/* Configure and enable DMA interrupt */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_ADC_IRQ_PRIO;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Finally start initial conversion */
ADC_SoftwareStartConvCmd(ADC1, ENABLE);
}
void AHRS_ADC_DMA_Handler(void)
{
if ( ahrs_state == AHRS_IDLE )
{
// Ideally this would have a mutex, but I think we can avoid it (and don't have RTOS features)
if( DMA_GetFlagStatus( DMA1_IT_TC1 ) ) // whole double buffer filled
valid_data_buffer = &raw_data_buffer[ ADC_CONTINUOUS_CHANNELS * ADC_OVERSAMPLE ];
else if ( DMA_GetFlagStatus(DMA1_IT_HT1) )
valid_data_buffer = &raw_data_buffer[0];
else {
// lets cause a seg fault and catch whatever is going on
valid_data_buffer = 0;
}
ahrs_state = AHRS_DATA_READY;
}
else {
// Track how many times an interrupt occurred before EKF finished processing
ekf_too_slow++;
}
total_conversion_blocks++;
// Clear all interrupt from DMA 1 - regardless if buffer swapped
DMA_ClearFlag( DMA1_IT_GL1 );
}
Reference in New Issue View Git Blame Copy Permalink