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https://bitbucket.org/librepilot/librepilot.git
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d1dc300081
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1582 ebee16cc-31ac-478f-84a7-5cbb03baadba
341 lines
8.6 KiB
C
341 lines
8.6 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_OPAHRS OPAHRS Functions
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* @brief HAL code to interface to the OpenPilot AHRS module
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* @{
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*
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* @file pios_opahrs.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Hardware commands to communicate with the AHRS
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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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/* Project Includes */
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#include "pios.h"
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#if defined(PIOS_INCLUDE_OPAHRS)
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#include "pios_opahrs_proto.h"
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#include "pios_opahrs.h"
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/**
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* Initialise the OpenPilot AHRS
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*/
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void PIOS_OPAHRS_Init(void)
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{
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PIOS_SPI_SetClockSpeed(PIOS_OPAHRS_SPI, PIOS_SPI_PRESCALER_8);
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}
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static int32_t opahrs_msg_txrx (const uint8_t * tx, uint8_t * rx, uint32_t len)
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{
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int32_t rc;
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PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
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#ifdef PIOS_INCLUDE_FREERTOS
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vTaskDelay(20 / portTICK_RATE_MS);
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#else
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PIOS_DELAY_WaitmS(20);
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#endif
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rc = PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, tx, rx, len, NULL);
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PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
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return (rc);
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}
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static enum opahrs_result opahrs_msg_v1_send_req (const struct opahrs_msg_v1 * req)
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{
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int32_t rc;
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struct opahrs_msg_v1 link_rx;
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for (uint8_t retries = 0; retries < 20; retries++) {
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struct opahrs_msg_v1 * rsp = &link_rx;
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if ((rc = opahrs_msg_txrx((const uint8_t *)req, (uint8_t *)rsp, sizeof(*rsp))) < 0) {
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return OPAHRS_RESULT_FAILED;
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}
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/* Make sure we got a sane response by checking the magic */
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if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) ||
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(rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
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return OPAHRS_RESULT_FAILED;
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}
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switch (rsp->head.type) {
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case OPAHRS_MSG_TYPE_LINK:
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switch (rsp->payload.link.state) {
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case OPAHRS_MSG_LINK_STATE_BUSY:
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case OPAHRS_MSG_LINK_STATE_INACTIVE:
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/* Wait for a small delay and retry */
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#ifdef PIOS_INCLUDE_FREERTOS
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vTaskDelay(20 / portTICK_RATE_MS);
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#else
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PIOS_DELAY_WaitmS(20);
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#endif
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continue;
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case OPAHRS_MSG_LINK_STATE_READY:
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/* Peer was ready when we Tx'd so they have now Rx'd our message */
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return OPAHRS_RESULT_OK;
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}
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break;
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case OPAHRS_MSG_TYPE_USER_V0:
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case OPAHRS_MSG_TYPE_USER_V1:
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/* Wait for a small delay and retry */
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#ifdef PIOS_INCLUDE_FREERTOS
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vTaskDelay(50 / portTICK_RATE_MS);
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#else
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PIOS_DELAY_WaitmS(50);
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#endif
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continue;
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}
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}
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return OPAHRS_RESULT_TIMEOUT;
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}
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static enum opahrs_result opahrs_msg_v1_recv_rsp (enum opahrs_msg_v1_tag tag, struct opahrs_msg_v1 * rsp)
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{
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struct opahrs_msg_v1 link_tx;
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opahrs_msg_v1_init_link_tx(&link_tx, OPAHRS_MSG_LINK_TAG_NOP);
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for (uint8_t retries = 0; retries < 20; retries++) {
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if (opahrs_msg_txrx((const uint8_t *)&link_tx, (uint8_t *)rsp, sizeof(*rsp)) < 0) {
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return OPAHRS_RESULT_FAILED;
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}
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/* Make sure we got a sane response by checking the magic */
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if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) ||
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(rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
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return OPAHRS_RESULT_FAILED;
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}
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switch (rsp->head.type) {
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case OPAHRS_MSG_TYPE_LINK:
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switch (rsp->payload.link.state) {
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case OPAHRS_MSG_LINK_STATE_BUSY:
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/* Wait for a small delay and retry */
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#ifdef PIOS_INCLUDE_FREERTOS
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vTaskDelay(20 / portTICK_RATE_MS);
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#else
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PIOS_DELAY_WaitmS(20);
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#endif
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continue;
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case OPAHRS_MSG_LINK_STATE_INACTIVE:
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case OPAHRS_MSG_LINK_STATE_READY:
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/* somehow, we've missed our response */
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return OPAHRS_RESULT_FAILED;
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}
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break;
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case OPAHRS_MSG_TYPE_USER_V0:
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/* This isn't the type we expected */
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return OPAHRS_RESULT_FAILED;
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break;
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case OPAHRS_MSG_TYPE_USER_V1:
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if (rsp->payload.user.t == tag) {
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return OPAHRS_RESULT_OK;
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} else {
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return OPAHRS_RESULT_FAILED;
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}
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break;
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}
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}
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return OPAHRS_RESULT_TIMEOUT;
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}
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enum opahrs_result PIOS_OPAHRS_GetSerial(struct opahrs_msg_v1 *rsp)
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{
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struct opahrs_msg_v1 req;
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enum opahrs_result rc;
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if (!rsp) {
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return -1;
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}
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/* Make up a serial number request */
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opahrs_msg_v1_init_user_tx (&req, OPAHRS_MSG_V1_REQ_SERIAL);
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/* Send the message until it is received */
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rc = opahrs_msg_v1_send_req (&req);
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if (rc != OPAHRS_RESULT_OK) {
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/* Failed to send the request, bail out */
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return rc;
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}
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return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_SERIAL, rsp);
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}
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enum opahrs_result PIOS_OPAHRS_resync(void)
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{
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struct opahrs_msg_v1 req;
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struct opahrs_msg_v1 rsp;
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enum opahrs_result rc = OPAHRS_RESULT_FAILED;
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opahrs_msg_v1_init_link_tx(&req, OPAHRS_MSG_LINK_TAG_NOP);
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PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
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#ifdef PIOS_INCLUDE_FREERTOS
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vTaskDelay(20 / portTICK_RATE_MS);
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#else
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PIOS_DELAY_WaitmS(20);
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#endif
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for (uint32_t i = 0; i < sizeof(req); i++) {
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/* Tx a shortened (by one byte) message to walk through all byte positions */
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opahrs_msg_v1_init_rx(&rsp);
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PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, (uint8_t *)&req, (uint8_t *)&rsp, sizeof(req)-1, NULL);
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/* Good magic means we're sync'd */
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if ((rsp.head.magic == OPAHRS_MSG_MAGIC_HEAD) &&
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(rsp.tail.magic == OPAHRS_MSG_MAGIC_TAIL)) {
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/* We need to shift out one more byte to compensate for the short tx */
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PIOS_SPI_TransferByte(PIOS_OPAHRS_SPI, 0x00);
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rc = OPAHRS_RESULT_OK;
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break;
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}
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#ifdef PIOS_INCLUDE_FREERTOS
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vTaskDelay(10 / portTICK_RATE_MS);
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#else
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PIOS_DELAY_WaitmS(10);
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#endif
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}
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PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
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//vTaskDelay(5 / portTICK_RATE_MS);
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return rc;
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}
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enum opahrs_result PIOS_OPAHRS_GetAttitudeRaw(struct opahrs_msg_v1 *rsp)
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{
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struct opahrs_msg_v1 req;
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enum opahrs_result rc;
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if (!rsp) {
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return -1;
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}
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/* Make up an attituderaw request */
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opahrs_msg_v1_init_user_tx (&req, OPAHRS_MSG_V1_REQ_ATTITUDERAW);
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/* Send the message until it is received */
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rc = opahrs_msg_v1_send_req (&req);
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if (rc != OPAHRS_RESULT_OK) {
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/* Failed to send the request, bail out */
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return rc;
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}
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return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_ATTITUDERAW, rsp);
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}
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extern enum opahrs_result PIOS_OPAHRS_SetAlgorithm(struct opahrs_msg_v1 *req)
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{
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struct opahrs_msg_v1 rsp;
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enum opahrs_result rc;
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if (!req) {
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return -1;
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}
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/* Make up an attituderaw request */
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opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_ALGORITHM);
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/* Send the message until it is received */
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rc = opahrs_msg_v1_send_req (req);
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if (rc != OPAHRS_RESULT_OK) {
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/* Failed to send the request, bail out */
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return rc;
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}
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return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_ALGORITHM, &rsp);
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}
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enum opahrs_result PIOS_OPAHRS_SetMagNorth(struct opahrs_msg_v1 *req)
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{
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struct opahrs_msg_v1 rsp;
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enum opahrs_result rc;
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if (!req) {
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return -1;
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}
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/* Make up an attituderaw request */
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opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_NORTH);
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/* Send the message until it is received */
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rc = opahrs_msg_v1_send_req (req);
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if (rc != OPAHRS_RESULT_OK) {
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/* Failed to send the request, bail out */
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return rc;
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}
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return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_NORTH, &rsp);
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}
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enum opahrs_result PIOS_OPAHRS_SetGetUpdate(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp)
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{
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enum opahrs_result rc;
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if (!req) {
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return -1;
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}
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/* Make up an attituderaw request */
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opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_UPDATE);
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/* Send the message until it is received */
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rc = opahrs_msg_v1_send_req (req);
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if (rc != OPAHRS_RESULT_OK) {
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/* Failed to send the request, bail out */
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return rc;
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}
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return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_UPDATE, rsp);
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}
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enum opahrs_result PIOS_OPAHRS_SetGetCalibration(struct opahrs_msg_v1 *req, struct opahrs_msg_v1 *rsp)
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{
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enum opahrs_result rc;
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if (!req) {
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return -1;
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}
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/* Make up an attituderaw request */
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opahrs_msg_v1_init_user_tx (req, OPAHRS_MSG_V1_REQ_CALIBRATION);
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/* Send the message until it is received */
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rc = opahrs_msg_v1_send_req (req);
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if (rc != OPAHRS_RESULT_OK) {
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/* Failed to send the request, bail out */
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return rc;
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}
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return opahrs_msg_v1_recv_rsp (OPAHRS_MSG_V1_RSP_CALIBRATION, rsp);
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}
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#endif /* PIOS_INCLUDE_OPAHRS */
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/**
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* @}
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* @}
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*/
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