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updates for crista IMU

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This commit is contained in:
Paul Cox
2010-07-23 09:27:14 +00:00
parent c712356b26
commit 7abb703d17
2 changed files with 55 additions and 25 deletions
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conf/airframes/Poine/beth.xml
+53 -23
View File
@@ -24,40 +24,63 @@
</servos>
<!-- this is my crista -->
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="31489"/>
<define name="GYRO_Q_NEUTRAL" value="31814"/>
<define name="GYRO_R_NEUTRAL" value="32752"/>
<define name="GYRO_P_SIGN" value="-1"/>
<define name="GYRO_Q_SIGN" value="-1"/>
<define name="GYRO_R_SIGN" value=" 1"/>
<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
<define name="GYRO_R_SENS" value="-1.01" integer="16"/>
<define name="GYRO_P_NEUTRAL" value="31288"/>
<define name="GYRO_Q_NEUTRAL" value="32593"/>
<define name="GYRO_R_NEUTRAL" value="32709"/>
<define name="GYRO_P_SENS" value=" 0.943560" integer="16"/>
<define name="GYRO_Q_SENS" value=" 0.926199" integer="16"/>
<define name="GYRO_R_SENS" value=" 0.931912" integer="16"/>
<define name="ACCEL_X_SENS" value="-2.58273701242" integer="16"/>
<define name="ACCEL_Y_SENS" value="-2.54076215332" integer="16"/>
<define name="ACCEL_Z_SENS" value="-2.57633620646" integer="16"/>
<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="ACCEL_X_NEUTRAL" value="32857"/>
<define name="ACCEL_Y_NEUTRAL" value="32429"/>
<define name="ACCEL_Z_NEUTRAL" value="32593"/>
<define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
<define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
<define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
<define name="ACCEL_X_SENS" value="-2.58273701242" integer="16"/>
<define name="ACCEL_Y_SENS" value="-2.54076215332" integer="16"/>
<define name="ACCEL_Z_SENS" value="-2.57633620646" integer="16"/>
<define name="MAG_X_SIGN" value="-43"/>
<define name="MAG_Y_SIGN" value=" 49"/>
<define name="MAG_Z_SIGN" value="-66"/>
<define name="MAG_X_NEUTRAL" value="-43"/>
<define name="MAG_Y_NEUTRAL" value=" 49"/>
<define name="MAG_Z_NEUTRAL" value="-66"/>
<define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
<define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
<define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 90.)"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 45.)"/>
<!-- 3 -->
<define name="GYRO_P_CHAN" value="0"/>
<define name="GYRO_Q_CHAN" value="4"/>
<define name="GYRO_R_CHAN" value="1"/>
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="2"/>
<define name="ACCEL_Z_CHAN" value="6"/>
</section>
<makefile>
@@ -104,14 +127,21 @@ main_stm32.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageFoo -DOVERO_LINK_MSG_DO
main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=5 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_IRQ
main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
main_stm32.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c
main_stm32.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
main_stm32.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
#main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
#main_stm32.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
#main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c
#main_stm32.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
#main_stm32.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
#main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
#main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
#main_stm32.srcs += math/pprz_trig_int.c
main_stm32.srcs += math/pprz_trig_int.c
main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_crista.c \
$(SRC_BOOZ_ARCH)/imu/booz_imu_crista_arch.c
main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ
main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c
main_stm32.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
@@ -160,9 +190,9 @@ main_coders.srcs += downlink.c pprz_transport.c
#main_coders.CFLAGS += -DUSE_I2C2
#main_coders.srcs += $(SRC_ARCH)/i2c_hw.c
main_coders.CFLAGS += -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ
main_coders.CFLAGS += -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ -DBLINKENLIGHTS
main_coders.srcs += can.c $(SRC_ARCH)/can_hw.c
main_coders.srcs += $(SRC_BETH)/bench_sensors_can.c
#
# main Overo
sw/airborne/beth/main_stm32.c
+2 -2
View File
@@ -70,7 +70,7 @@ static inline void main_init( void ) {
static inline void main_periodic( void ) {
//booz_imu_periodic();
booz_imu_periodic();
OveroLinkPeriodic(main_on_overo_link_lost)
@@ -95,7 +95,7 @@ static inline void main_periodic( void ) {
}
static inline void main_event( void ) {
//BoozImuEvent(on_gyro_accel_event, on_mag_event);
BoozImuEvent(on_gyro_accel_event, on_mag_event);
OveroLinkEvent(main_on_overo_msg_received);
BenchSensorsEvent(main_on_bench_sensors);