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LibrePilot/flight/PiOS/Common/pios_opahrs.c
zedamota aa1af2b9f3 OP-21/Flight Bootloader - Changes to make it independent of RTOS
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1570 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-09 18:44:55 +00:00

364 lines
9.1 KiB
C

/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_OPAHRS OPAHRS Functions
* @brief HAL code to interface to the OpenPilot AHRS module
* @{
*
* @file pios_opahrs.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Hardware commands to communicate with the AHRS
* @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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_OPAHRS)
#include "pios_opahrs_proto.h"
#include "pios_opahrs.h"
/**
* Initialise the OpenPilot AHRS
*/
void PIOS_OPAHRS_Init(void)
{
PIOS_SPI_SetClockSpeed(PIOS_OPAHRS_SPI, PIOS_SPI_PRESCALER_8);
}
static int32_t opahrs_msg_txrx (const uint8_t * tx, uint8_t * rx, uint32_t len)
{
int32_t rc;
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
rc = PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, tx, rx, len, NULL);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
return (rc);
}
static enum opahrs_result opahrs_msg_v1_send_req (const struct opahrs_msg_v1 * req)
{
int32_t rc;
struct opahrs_msg_v1 link_rx;
for (uint8_t retries = 0; retries < 20; retries++) {
struct opahrs_msg_v1 * rsp = &link_rx;
if ((rc = opahrs_msg_txrx((const uint8_t *)req, (uint8_t *)rsp, sizeof(*rsp))) < 0) {
return OPAHRS_RESULT_FAILED;
}
/* Make sure we got a sane response by checking the magic */
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) ||
(rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
return OPAHRS_RESULT_FAILED;
}
switch (rsp->head.type) {
case OPAHRS_MSG_TYPE_LINK:
switch (rsp->payload.link.state) {
case OPAHRS_MSG_LINK_STATE_BUSY:
case OPAHRS_MSG_LINK_STATE_INACTIVE:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
continue;
case OPAHRS_MSG_LINK_STATE_READY:
/* Peer was ready when we Tx'd so they have now Rx'd our message */
return OPAHRS_RESULT_OK;
}
break;
case OPAHRS_MSG_TYPE_USER_V0:
case OPAHRS_MSG_TYPE_USER_V1:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(50 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(50);
#endif
continue;
}
}
return OPAHRS_RESULT_TIMEOUT;
}
static enum opahrs_result opahrs_msg_v1_recv_rsp (enum opahrs_msg_v1_tag tag, struct opahrs_msg_v1 * rsp)
{
struct opahrs_msg_v1 link_tx;
opahrs_msg_v1_init_link_tx(&link_tx, OPAHRS_MSG_LINK_TAG_NOP);
for (uint8_t retries = 0; retries < 20; retries++) {
if (opahrs_msg_txrx((const uint8_t *)&link_tx, (uint8_t *)rsp, sizeof(*rsp)) < 0) {
return OPAHRS_RESULT_FAILED;
}
/* Make sure we got a sane response by checking the magic */
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) ||
(rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
return OPAHRS_RESULT_FAILED;
}
switch (rsp->head.type) {
case OPAHRS_MSG_TYPE_LINK:
switch (rsp->payload.link.state) {
case OPAHRS_MSG_LINK_STATE_BUSY:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
continue;
case OPAHRS_MSG_LINK_STATE_INACTIVE:
case OPAHRS_MSG_LINK_STATE_READY:
/* somehow, we've missed our response */
return OPAHRS_RESULT_FAILED;
}
break;
case OPAHRS_MSG_TYPE_USER_V0:
/* This isn't the type we expected */
return OPAHRS_RESULT_FAILED;
break;
case OPAHRS_MSG_TYPE_USER_V1:
if (rsp->payload.user.t == tag) {
return OPAHRS_RESULT_OK;
} else {
return OPAHRS_RESULT_FAILED;
}
break;
}
}
return OPAHRS_RESULT_TIMEOUT;
}
enum opahrs_result PIOS_OPAHRS_GetSerial(struct opahrs_msg_v1 *rsp)
{
struct opahrs_msg_v1 req;
enum opahrs_result rc;
if (!rsp) {
return -1;
}
/* Make up a serial number request */
opahrs_msg_v1_init_user_tx (&req, OPAHRS_MSG_V1_REQ_SERIAL);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req (&req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_SERIAL, rsp);
}
enum opahrs_result PIOS_OPAHRS_resync(void)
{
struct opahrs_msg_v1 req;
struct opahrs_msg_v1 rsp;
enum opahrs_result rc = OPAHRS_RESULT_FAILED;
opahrs_msg_v1_init_link_tx(&req, OPAHRS_MSG_LINK_TAG_NOP);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
for (uint32_t i = 0; i < sizeof(req); i++) {
/* Tx a shortened (by one byte) message to walk through all byte positions */
opahrs_msg_v1_init_rx(&rsp);
PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, (uint8_t *)&req, (uint8_t *)&rsp, sizeof(req)-1, NULL);
/* Good magic means we're sync'd */
if ((rsp.head.magic == OPAHRS_MSG_MAGIC_HEAD) &&
(rsp.tail.magic == OPAHRS_MSG_MAGIC_TAIL)) {
/* We need to shift out one more byte to compensate for the short tx */
PIOS_SPI_TransferByte(PIOS_OPAHRS_SPI, 0x00);
rc = OPAHRS_RESULT_OK;
break;
}
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(10 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(10);
#endif
}
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
//vTaskDelay(5 / portTICK_RATE_MS);
return rc;
}
enum opahrs_result PIOS_OPAHRS_Sync(struct opahrs_msg_v1 *rsp)
{
struct opahrs_msg_v1 req;
enum opahrs_result rc;
if (!rsp) {
return -1;
}
/* Make up a sync request */
opahrs_msg_v1_init_user_tx (&req, OPAHRS_MSG_V1_REQ_SYNC);
req.payload.user.v.req.sync.cookie = 0xDEADBEEF;
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req (&req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_SYNC, rsp);
}
enum opahrs_result PIOS_OPAHRS_GetAttitudeRaw(struct opahrs_msg_v1 *rsp)
{
struct opahrs_msg_v1 req;
enum opahrs_result rc;
if (!rsp) {
return -1;
}
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx (&req, OPAHRS_MSG_V1_REQ_ATTITUDERAW);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req (&req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_ATTITUDERAW, rsp);
}
extern enum opahrs_result PIOS_OPAHRS_SetAlgorithm(struct opahrs_msg_v1 *req)
{
struct opahrs_msg_v1 rsp;
enum opahrs_result rc;
if (!req) {
return -1;
}
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_ALGORITHM);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req (req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_ALGORITHM, &rsp);
}
enum opahrs_result PIOS_OPAHRS_SetMagNorth(struct opahrs_msg_v1 *req)
{
struct opahrs_msg_v1 rsp;
enum opahrs_result rc;
if (!req) {
return -1;
}
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_NORTH);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req (req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_NORTH, &rsp);
}
enum opahrs_result PIOS_OPAHRS_SetGetUpdate(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp)
{
enum opahrs_result rc;
if (!req) {
return -1;
}
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_UPDATE);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req (req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_UPDATE, rsp);
}
enum opahrs_result PIOS_OPAHRS_SetGetCalibration(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp)
{
enum opahrs_result rc;
if (!req) {
return -1;
}
/* Make up an attituderaw request */
opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_CALIBRATION);
/* Send the message until it is received */
rc = opahrs_msg_v1_send_req (req);
if (rc != OPAHRS_RESULT_OK) {
/* Failed to send the request, bail out */
return rc;
}
return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_CALIBRATION, rsp);
}
#endif /* PIOS_INCLUDE_OPAHRS */
/**
* @}
* @}
*/