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https://bitbucket.org/librepilot/librepilot.git
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9b28f2d72c
Calibration should take less time now too (using second moments to estimate variance in one pass). Now need to change to multiple messages to get the calibration in to keep the request message size minimal. Also currently running sensor calibrate doesn't store the gyro bias so if you want to use this you'll have to tweak it manually. I'll fix that step tomorrow. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1741 ebee16cc-31ac-478f-84a7-5cbb03baadba
62 lines
1.8 KiB
C
62 lines
1.8 KiB
C
/**
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******************************************************************************
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* @addtogroup AHRS AHRS
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* @brief The AHRS Modules perform
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*
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* @{
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* @addtogroup AHRS_TIMER AHRS Timer
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* @brief Sets up a simple timer that can be polled to estimate idle time
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* @{
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*
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*
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* @file ahrs.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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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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#include "ahrs_timer.h"
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void timer_start()
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{
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_BKP | RCC_APB1Periph_PWR,
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ENABLE);
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PWR_BackupAccessCmd(ENABLE);
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RCC_RTCCLKConfig(RCC_RTCCLKSource_HSE_Div128);
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RCC_RTCCLKCmd(ENABLE);
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RTC_WaitForLastTask();
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RTC_WaitForSynchro();
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RTC_WaitForLastTask();
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RTC_SetPrescaler(0); // counting at 8e6 / 128
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RTC_WaitForLastTask();
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RTC_SetCounter(0);
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RTC_WaitForLastTask();
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}
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uint32_t timer_count()
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{
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return RTC_GetCounter();
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}
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uint32_t timer_rate()
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{
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return TIMER_RATE;
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}
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