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06443b4281
AHRS_comms still needs to be implemented. INS/GPS functionality still needs to be implemented. Double-check of the new drivers still needs to be done. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3162 ebee16cc-31ac-478f-84a7-5cbb03baadba
219 lines
4.8 KiB
C
219 lines
4.8 KiB
C
/**
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******************************************************************************
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* @addtogroup INS INS
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* @brief The INS Modules perform
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*
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* @{
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* @addtogroup INS_Main
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* @brief Main function which does the hardware dependent stuff
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* @{
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*
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*
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* @file ins.c
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* @author David "Buzz" Carlson (buzz@chebuzz.com)
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @brief INSGPS Test Program
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* OpenPilot Includes */
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#include "ins.h"
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#include "pios.h"
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#include <stdbool.h>
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#include "fifo_buffer.h"
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void reset_values();
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/**
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* @addtogroup INS_Global_Data INS Global Data
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* @{
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* Public data. Used by both EKF and the sender
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*/
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//! Contains the data from the mag sensor chip
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struct mag_sensor mag_data;
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//! Contains the data from the accelerometer
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struct accel_sensor accel_data;
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//! Contains the data from the gyro
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struct gyro_sensor gyro_data;
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//! Conains the current estimate of the attitude
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struct attitude_solution attitude_data;
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//! Contains data from the altitude sensor
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struct altitude_sensor altitude_data;
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//! Contains data from the GPS (via the SPI link)
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struct gps_sensor gps_data;
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//! Offset correction of barometric alt, to match gps data
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//static float baro_offset = 0;
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//static float mag_len = 0;
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typedef enum { INS_IDLE, INS_DATA_READY, INS_PROCESSING } states;
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volatile int32_t ekf_too_slow;
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volatile int32_t total_conversion_blocks;
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/**
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* @}
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*/
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/* INS functions */
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void blink(int led, int times)
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{
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for(int i=0; i<times; i++)
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{
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PIOS_LED_Toggle(led);
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PIOS_DELAY_WaitmS(250);
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PIOS_LED_Toggle(led);
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PIOS_DELAY_WaitmS(250);
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}
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}
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void test_accel()
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{
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if(PIOS_BMA180_Test())
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blink(LED1, 1);
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else
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blink(LED2, 1);
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}
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#if defined (PIOS_INCLUDE_HMC5883)
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void test_mag()
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{
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if(PIOS_HMC5883_Test())
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blink(LED1, 2);
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else
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blink(LED2, 2);
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}
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#endif
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#if defined (PIOS_INCLUDE_BMP085)
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void test_pressure()
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{
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if(PIOS_BMP085_Test())
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blink(LED1, 3);
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else
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blink(LED2, 3);
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}
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#endif
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#if defined (PIOS_INCLUDE_IMU3000)
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void test_imu()
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{
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if(PIOS_IMU3000_Test())
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blink(LED1, 4);
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else
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blink(LED2, 4);
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}
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#endif
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extern void PIOS_Board_Init(void);
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struct pios_bma180_data bma180_data;
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/**
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* @brief INS Main function
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*/
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int main()
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{
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reset_values();
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PIOS_Board_Init();
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while (1)
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{
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test_accel();
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PIOS_DELAY_WaitmS(1000);
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#if defined (PIOS_INCLUDE_HMC5883)
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test_mag();
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PIOS_DELAY_WaitmS(1000);
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#endif
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#if defined (PIOS_INCLUDE_BMP085)
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test_pressure();
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PIOS_DELAY_WaitmS(1000);
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#endif
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#if defined (PIOS_INCLUDE_IMU3000)
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test_imu();
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PIOS_DELAY_WaitmS(1000);
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#endif
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PIOS_DELAY_WaitmS(3000);
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}
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}
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/**
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* @brief Populate fields with initial values
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*/
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void reset_values()
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{
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accel_data.calibration.scale[0][1] = 0;
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accel_data.calibration.scale[1][0] = 0;
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accel_data.calibration.scale[0][2] = 0;
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accel_data.calibration.scale[2][0] = 0;
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accel_data.calibration.scale[1][2] = 0;
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accel_data.calibration.scale[2][1] = 0;
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accel_data.calibration.scale[0][0] = 0.0359;
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accel_data.calibration.scale[1][1] = 0.0359;
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accel_data.calibration.scale[2][2] = 0.0359;
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accel_data.calibration.scale[0][3] = -73.5;
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accel_data.calibration.scale[1][3] = -73.5;
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accel_data.calibration.scale[2][3] = -73.5;
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accel_data.calibration.variance[0] = 1e-4;
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accel_data.calibration.variance[1] = 1e-4;
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accel_data.calibration.variance[2] = 1e-4;
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gyro_data.calibration.scale[0] = -0.014;
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gyro_data.calibration.scale[1] = 0.014;
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gyro_data.calibration.scale[2] = -0.014;
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gyro_data.calibration.bias[0] = -24;
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gyro_data.calibration.bias[1] = -24;
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gyro_data.calibration.bias[2] = -24;
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gyro_data.calibration.variance[0] = 1;
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gyro_data.calibration.variance[1] = 1;
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gyro_data.calibration.variance[2] = 1;
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mag_data.calibration.scale[0] = 1;
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mag_data.calibration.scale[1] = 1;
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mag_data.calibration.scale[2] = 1;
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mag_data.calibration.bias[0] = 0;
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mag_data.calibration.bias[1] = 0;
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mag_data.calibration.bias[2] = 0;
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mag_data.calibration.variance[0] = 50;
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mag_data.calibration.variance[1] = 50;
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mag_data.calibration.variance[2] = 50;
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}
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/**
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* @}
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*/
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