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LibrePilot/flight/AHRS/ahrs.c
stac 05485e5b63 ahrs: tie main loop into SPI link FSM 
- AHRS mainloop now runs flat out updating sensor data and
processing any messages sent from the OP board.
- Raw data is provided from the magnetometers
- Fake data is provided for attitude solution
- Correct data is provided for serial number queries

Note: There is a bug in the i2c code that very quickly leaves the
      magnetometer in a broken state and returning incorrect values.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1013 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-04 02:21:47 +00:00

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/**
******************************************************************************
*
* @file ahrs.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Main AHRS functions
* @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 */
/* Global Variables */
/* Local Variables */
struct mag_sensor {
uint8_t id[4];
struct {
int16_t axis[3];
float heading;
} raw;
};
struct accel_sensor {
struct {
uint16_t x;
uint16_t y;
uint16_t z;
} raw;
};
struct attitude_solution {
struct {
float q1;
float q2;
float q3;
float q4;
} quaternion;
struct {
float roll;
float pitch;
float yaw;
} euler;
};
static struct mag_sensor mag_data;
static struct accel_sensor accel_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);
/**
* 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 */
PIOS_ADC_Init();
/* 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();
// 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);
// Calculate the heading
mag_data.raw.heading = atan2((double)(mag_data.raw.axis[0]), (double)(-1 * mag_data.raw.axis[1])) * (180 / M_PI);
if(mag_data.raw.heading < 0) mag_data.raw.heading += 360;
// Test ADC
accel_data.raw.x = PIOS_ADC_PinGet(0);
accel_data.raw.y = PIOS_ADC_PinGet(1);
accel_data.raw.z = PIOS_ADC_PinGet(2);
//PIOS_COM_SendFormattedString(PIOS_COM_AUX, "ADC Values: %d,%d,%d,%d,%d,%d\r\n", PIOS_ADC_PinGet(0), PIOS_ADC_PinGet(1), PIOS_ADC_PinGet(2), PIOS_ADC_PinGet(3), PIOS_ADC_PinGet(4), PIOS_ADC_PinGet(5));
/* 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;
}
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_HEADING:
opahrs_msg_v1_init_user_tx (&user_tx_v1, OPAHRS_MSG_V1_RSP_HEADING);
user_tx_v1.payload.user.v.rsp.heading.raw_mag.x = mag_data.raw.axis[0];
user_tx_v1.payload.user.v.rsp.heading.raw_mag.y = mag_data.raw.axis[1];
user_tx_v1.payload.user.v.rsp.heading.raw_mag.z = mag_data.raw.axis[2];
user_tx_v1.payload.user.v.rsp.heading.heading = mag_data.raw.heading;
dump_spi_message(PIOS_COM_AUX, "H", (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 ();
}
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