[imu_aspirin] should now work for lpc21 with SPI as well...

untested, please report, see the microjet_twog_aspirin.xml as possible example

conf/airframes/examples/microjet_twog_aspirin.xml

@@ -0,0 +1,183 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
+     Twog 1.0 board (http://paparazzi.enac.fr/wiki/TWOG/v1.0)
+     Aspirin v1.5 (http://paparazzi.enac.fr/wiki/AspirinIMU)
+     Xbee modem in transparent mode
+-->
+
+<airframe name="Microjet Twog with Aspirin IMU">
+
+  <firmware name="fixedwing">
+    <target name="sim" 	board="pc"/>
+    <target name="ap"   board="twog_1.0"/>
+
+    <define name="AGR_CLIMB" />
+    <define name="LOITER_TRIM" />
+
+    <!-- set aspirin to 100Hz Accel/Gyro output -->
+    <define name="ASPIRIN_ACCEL_RATE" value="ADXL345_RATE_100HZ"/>
+    <define name="ASPIRIN_GYRO_LOWPASS" value="ITG3200_DLPF_42HZ"/>
+    <define name="ASPIRIN_GYRO_SMPLRT_DIV" value="9"/>
+
+    <configure name="PERIODIC_FREQUENCY" value="120"/>
+    <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
+    <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
+
+    <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
+
+    <!-- print configuration options at compile time -->
+    <define name="PRINT_CONFIG"/>
+
+    <subsystem name="imu"    type="aspirin_v1.5"/>
+    <subsystem name="ahrs"   type="float_dcm"/>
+    <subsystem name="ins"    type="alt_float"/>
+    <subsystem name="gps"    type="ublox"/>
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="telemetry" 	type="transparent"/>
+    <subsystem name="control"/>
+    <subsystem name="navigation"/>
+  </firmware>
+
+  <modules>
+    <load name="sys_mon.xml"/>
+  </modules>
+
+  <servos>
+    <servo name="MOTOR"         no="0" min="1290" neutral="1290" max="1810"/>
+    <servo name="AILEVON_LEFT"  no="1" min="2000" neutral="1510" max="1000"/>
+    <servo name="AILEVON_RIGHT" no="3" min="1000" neutral="1535" max="2000"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.75"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+    <set servo="MOTOR"         value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT"  value="$elevator - $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
+  </command_laws>
+
+  <section name="IMU" prefix="IMU_">
+    <define name="MAG_X_NEUTRAL" value="-45"/>
+    <define name="MAG_Y_NEUTRAL" value="334"/>
+    <define name="MAG_Z_NEUTRAL" value="7"/>
+
+    <define name="MAG_X_SENS" value="4.47647816128" integer="16"/>
+    <define name="MAG_Y_SENS" value="4.71085671542" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.41585354498" integer="16"/>
+
+    <define name="BODY_TO_IMU_PHI" value="0" unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0" unit="deg"/>
+    <define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+    <!-- replace this with your local magnetic field -->
+    <define name="H_X" value="0.3770441"/>
+    <define name="H_Y" value="0.0193986"/>
+    <define name="H_Z" value="0.9259921"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="0.03"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="1.0"/>
+    <define name="COURSE_DGAIN" value="0.3"/>
+
+    <define name="ROLL_MAX_SETPOINT"  value="35"  unit="deg"/>
+    <define name="PITCH_MAX_SETPOINT" value="30"  unit="deg"/>
+    <define name="PITCH_MIN_SETPOINT" value="-30" unit="deg"/>
+
+    <define name="PITCH_PGAIN" value="12000."/>
+    <define name="PITCH_DGAIN" value="1.5"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="1250"/>
+
+    <define name="ROLL_SLEW" value="0.1"/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
+    <define name="ROLL_RATE_GAIN" value="1500"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+  </section>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="40." unit="deg"/>
+    <define name="MAX_PITCH" value="35." unit="deg"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+
+    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+  </section>
+
+</airframe>

conf/firmwares/subsystems/shared/imu_aspirin_common.makefile

@@ -47,9 +47,9 @@ IMU_ASPIRIN_SRCS   += peripherals/itg3200.c
 IMU_ASPIRIN_SRCS   += peripherals/hmc58xx.c
 
 ifeq ($(ARCH), lpc21)
-$(error Aspirin driver on lpc is unfinished.)
 IMU_ASPIRIN_CFLAGS += -DUSE_SPI_SLAVE0
-IMU_ASPIRIN_CFLAGS += -DASPIRIN_SPI_DEV=SPI_SLAVE0
+IMU_ASPIRIN_CFLAGS += -DASPIRIN_SPI_SLAVE_IDX=SPI_SLAVE0
+IMU_ASPIRIN_CFLAGS += -DASPIRIN_SPI_DEV=spi1
 IMU_ASPIRIN_CFLAGS += -DUSE_SPI1
 IMU_ASPIRIN_CFLAGS += -DASPIRIN_I2C_DEV=i2c1
 IMU_ASPIRIN_CFLAGS += -DUSE_I2C1

conf/tests_conf.xml

@@ -105,6 +105,16 @@
     settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/infrared.xml"
     gui_color="#6293ba"
     />
+<aircraft
+   name="Microjet_Twog_Aspirin"
+   ac_id="46"
+   airframe="airframes/examples/microjet_twog_aspirin.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_fixedwing_imu.xml"
+   flight_plan="flight_plans/basic.xml"
+   settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml"
+   gui_color="blue"
+  />
   <aircraft
     name="Twog_IMU"
     ac_id="7"

sw/airborne/arch/lpc21/subsystems/imu/imu_aspirin_arch.c

@@ -1,7 +1,11 @@
 #include "subsystems/imu.h"
 
 
-#include "mcu_periph/i2c.h"
+#include "LPC21xx.h"
+
+//#define ASPIRIN_GYRO_EOC_PINSEL PINSEL1
+//#define ASPIRIN_GYRO_EOC_PINSEL_BIT 0
+//#define ASPIRIN_GYRO_EOC_PINSEL_VAL 1
 
 
 void imu_aspirin_arch_int_enable(void)
@@ -14,48 +18,30 @@ void imu_aspirin_arch_int_disable(void)
 
 void imu_aspirin_arch_init(void)
 {
+  /* set input pin for gyro eoc */
+  ClearBit(ASPIRIN_GYRO_EOC_IODIR, ASPIRIN_GYRO_EOC_PIN);
+
+  //ASPIRIN_GYRO_EOC_PINSEL |= ASPIRIN_GYRO_EOC_PINSEL_VAL << ASPIRIN_GYRO_EOC_PINSEL_BIT;
 }
 
 
-void adxl345_write_to_reg(uint8_t addr, uint8_t val) {
-
-//  Adxl345Select();
-//  SPI_I2S_SendData(SPI2, addr);
-//  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
-//  SPI_I2S_SendData(SPI2, val);
-//  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
-//  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
-//  Adxl345Unselect();
-
-}
-
-void adxl345_clear_rx_buf(void) {
-}
-
-//void adxl345_start_reading_data(void) {
-//}
+/****** the interrupts should be handled in the peripheral drivers *******/
 
 /*
- *
  * Gyro data ready
- *
  */
-
 void exti15_10_irq_handler(void) {
 
   /* clear EXTI */
 //  if(EXTI_GetITStatus(EXTI_Line14) != RESET)
 //    EXTI_ClearITPendingBit(EXTI_Line14);
 
-  imu_aspirin.gyro_eoc = TRUE;
-  imu_aspirin.status = AspirinStatusReadingGyro;
-
+  //imu_aspirin.gyro_eoc = TRUE;
+  //imu_aspirin.status = AspirinStatusReadingGyro;
 }
 
 /*
- *
  * Accel data ready
- *
  */
 void exti2_irq_handler(void) {
 
@@ -63,16 +49,12 @@ void exti2_irq_handler(void) {
 //  if(EXTI_GetITStatus(EXTI_Line2) != RESET)
 //    EXTI_ClearITPendingBit(EXTI_Line2);
 
-//  adxl345_start_reading_data();
-
 }
 
 /*
- *
- * Accel end of DMA transfert
- *
+ * Accel end of DMA transfer
  */
 void dma1_c4_irq_handler(void) {
 
-  imu_aspirin.accel_available = TRUE;
+  //imu_aspirin.accel_available = TRUE;
 }

sw/airborne/arch/lpc21/subsystems/imu/imu_aspirin_arch.h

@@ -2,15 +2,21 @@
 #define IMU_ASPIRIN_ARCH_H
 
 #include "subsystems/imu.h"
+#include "std.h"
+#include "LPC21xx.h"
 
-#include "led.h"
+#if !defined ASPIRIN_GYRO_EOC_IODIR && !defined ASPIRIN_GYRO_EOC_IOPIN && !defined ASPIRIN_GYRO_EOC_PIN
+#define ASPIRIN_GYRO_EOC_IODIR IO0DIR
+#define ASPIRIN_GYRO_EOC_IOPIN IO0PIN
+#define ASPIRIN_GYRO_EOC_PIN 16
+#endif
 
-extern void imu_aspirin_arch_init(void);
 extern void imu_aspirin_arch_int_enable(void);
 extern void imu_aspirin_arch_int_disable(void);
-extern void adxl345_write_to_reg(uint8_t addr, uint8_t val);
-extern void adxl345_clear_rx_buf(void);
-extern void adxl345_start_reading_data(void);
-
 
+// gyro eoc
+static inline int imu_aspirin_eoc(void)
+{
+  return bit_is_set(ASPIRIN_GYRO_EOC_IOPIN, ASPIRIN_GYRO_EOC_PIN);
+}
 #endif /* IMU_ASPIRIN_ARCH_H */

sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c

@@ -77,10 +77,11 @@ void imu_aspirin_arch_init(void) {
 
 }
 
+
+/****** the interrupts should be handled in the peripheral drivers *******/
+
 /*
- *
  * Gyro data ready
- *
  */
 void exti15_10_isr(void) {
 
@@ -95,9 +96,7 @@ void exti15_10_isr(void) {
 }
 
 /*
- *
  * Accel data ready
- *
  */
 void exti2_isr(void) {
 
@@ -105,6 +104,5 @@ void exti2_isr(void) {
   exti_reset_request(EXTI2);
 
   //adxl345_start_reading_data();
-
 }