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[imu aspirin 2.1] removed unneeded stm32 arch implementation

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and a bit more cleanup
This commit is contained in:
Felix Ruess
2012-06-05 14:21:36 +02:00
parent 5adfacac90
commit 7ddb582569
5 changed files with 72 additions and 207 deletions
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conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile
+23 -10
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@@ -1,17 +1,32 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Aspirin IMU v2.0
# Aspirin IMU v2.1
#
#
# if ACCEL and GYRO SENS/NEUTRAL are not defined,
# the defaults from the datasheet will be used
#
# required xml:
# <section name="IMU" prefix="IMU_">
#
# <define name="MAG_X_NEUTRAL" value="2358"/>
# <define name="MAG_Y_NEUTRAL" value="2362"/>
# <define name="MAG_Z_NEUTRAL" value="2119"/>
# <!-- these gyro and accel calib values are the defaults for aspirin2.1 -->
# <define name="GYRO_X_NEUTRAL" value="0"/>
# <define name="GYRO_Y_NEUTRAL" value="0"/>
# <define name="GYRO_Z_NEUTRAL" value="0"/>
#
# <define name="GYRO_X_SENS" value="4.359" integer="16"/>
# <define name="GYRO_Y_SENS" value="4.359" integer="16"/>
# <define name="GYRO_Z_SENS" value="4.359" integer="16"/>
#
# <define name="ACCEL_X_NEUTRAL" value="0"/>
# <define name="ACCEL_Y_NEUTRAL" value="0"/>
# <define name="ACCEL_Z_NEUTRAL" value="0"/>
#
# <define name="ACCEL_X_SENS" value="4.905" integer="16"/>
# <define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
# <define name="ACCEL_Z_SENS" value="4.905" integer="16"/>
#
# <!-- replace the mag calibration with your own-->
# <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="3.4936416" integer="16"/>
# <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
@@ -25,7 +40,6 @@ IMU_ASPIRIN_CFLAGS = -DUSE_IMU
IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin2.h\" -DIMU_OVERRIDE_CHANNELS
IMU_ASPIRIN_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
$(SRC_SUBSYSTEMS)/imu/imu_aspirin2.c \
$(SRC_ARCH)/subsystems/imu/imu_aspirin2_arch.c \
$(SRC_ARCH)/mcu_periph/spi_arch.c \
mcu_periph/spi.c
@@ -33,9 +47,8 @@ IMU_ASPIRIN_CFLAGS += -DUSE_SPI
ifeq ($(ARCH), lpc21)
#TODO
$(error Not implemented for the LCP21x yet. Not hard, just needs to be done. Patches welcome!)
$(error Not implemented for the LCP21x yet. Needs the new SPI mcu_periph. See issue 147!)
else ifeq ($(ARCH), stm32)
# IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
endif
sw/airborne/arch/stm32/subsystems/imu/imu_aspirin2_arch.c
-92
View File
@@ -1,92 +0,0 @@
#include "subsystems/imu.h"
#include <stm32/gpio.h>
#include <stm32/misc.h>
#include <stm32/rcc.h>
#include <stm32/exti.h>
#include <stm32/spi.h>
#include <stm32/dma.h>
// gyro interupt handler
void exti15_10_irq_handler(void);
void imu_aspirin2_arch_int_enable(void) {
/*
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
*/
}
void imu_aspirin2_arch_int_disable(void) {
/*
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
NVIC_Init(&NVIC_InitStructure);
*/
}
void imu_aspirin2_arch_init(void) {
/*
GPIO_InitTypeDef GPIO_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
SPI_InitTypeDef SPI_InitStructure;
// Set "mag ss" and "mag reset" as floating inputs ------------------------
// "mag ss" (PC12) is shorted to I2C2 SDA
// "mag reset" (PC13) is shorted to I2C2 SCL
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
// Gyro --------------------------------------------------------------------
// set "eeprom ss" as floating input (on PC14) = gyro int ---------
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
// configure external interrupt exti15_10 on PC14( gyro int )
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
// ifdef ASPIRIN_USE_GYRO_INT
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource14);
EXTI_InitStructure.EXTI_Line = EXTI_Line14;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
*/
}
// 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;
*/
}
sw/airborne/arch/stm32/subsystems/imu/imu_aspirin2_arch.h
-20
View File
@@ -1,20 +0,0 @@
#ifndef IMU_ASPIRIN2_ARCH_H
#define IMU_ASPIRIN2_ARCH_H
#include "subsystems/imu.h"
#include <stm32/gpio.h>
extern void imu_aspirin2_arch_int_enable(void);
extern void imu_aspirin2_arch_int_disable(void);
/*
static inline int imu_aspirin2_eoc(void)
{
return !GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_14);
}
*/
#endif
sw/airborne/subsystems/imu/imu_aspirin2.c
+39 -37
View File
@@ -1,12 +1,32 @@
/*
* Copyright (C) 2012 Christophe DeWagter
*
* This file is part of paparazzi.
*
* paparazzi 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 2, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#include "subsystems/imu.h"
#include "led.h"
#include "mcu_periph/spi.h"
#include "mcu_periph/spi_arch.h"
// Peripherials
#include "../../peripherals/mpu60X0.h"
#include "../../peripherals/hmc58xx.h"
#include "peripherals/mpu60X0.h"
#include "peripherals/hmc58xx.h"
struct ImuAspirin2 imu_aspirin2;
@@ -14,14 +34,9 @@ struct ImuAspirin2 imu_aspirin2;
struct spi_transaction aspirin2_mpu60x0;
// initialize peripherals
static void configure(void);
/*
static void configure_accel(void);
//static void configure_mag(void);
static void mpu_configure(void);
*/
void imu_impl_init(void) {
@@ -33,44 +48,30 @@ void imu_impl_init(void) {
aspirin2_mpu60x0.ready = &(imu_aspirin2.imu_available);
aspirin2_mpu60x0.length = 2;
// imu_aspirin2_arch_init();
}
void imu_periodic(void)
{
if (imu_aspirin2.status == Aspirin2StatusUninit)
{
configure();
if (imu_aspirin2.status == Aspirin2StatusUninit) {
mpu_configure();
// imu_aspirin_arch_int_enable();
imu_aspirin2.status = Aspirin2StatusIdle;
aspirin2_mpu60x0.length = 22;
aspirin2_mpu60x0.mosi_buf[0] = MPU60X0_REG_INT_STATUS + MPU60X0_SPI_READ;
{
for (int i=1;i<aspirin2_mpu60x0.length;i++)
aspirin2_mpu60x0.mosi_buf[i] = 0;
for (int i=1;i<aspirin2_mpu60x0.length;i++) {
aspirin2_mpu60x0.mosi_buf[i] = 0;
}
}
else
{
else {
// imu_aspirin2.imu_tx_buf[0] = MPU60X0_REG_WHO_AM_I + MPU60X0_SPI_READ;
// imu_aspirin2.imu_tx_buf[1] = 0x00;
spi_rw(&aspirin2_mpu60x0);
/*
imu_aspirin.time_since_last_reading++;
imu_aspirin.time_since_last_accel_reading++;
if (imu_aspirin.time_since_last_accel_reading > ASPIRIN_ACCEL_TIMEOUT)
{
configure_accel();
imu_aspirin.time_since_last_accel_reading=0;
}
*/
}
}
@@ -79,7 +80,8 @@ static inline void mpu_set(uint8_t _reg, uint8_t _val)
aspirin2_mpu60x0.mosi_buf[0] = _reg;
aspirin2_mpu60x0.mosi_buf[1] = _val;
spi_rw(&aspirin2_mpu60x0);
while(aspirin2_mpu60x0.status != SPITransSuccess);
while(aspirin2_mpu60x0.status != SPITransSuccess);
}
static inline void mpu_wait_slave4_ready(void)
@@ -90,7 +92,7 @@ static inline void mpu_wait_slave4_ready(void)
aspirin2_mpu60x0.mosi_buf[0] = MPU60X0_REG_I2C_SLV4_CTRL | MPU60X0_SPI_READ ;
aspirin2_mpu60x0.mosi_buf[1] = 0;
spi_rw(&aspirin2_mpu60x0);
while(aspirin2_mpu60x0.status != SPITransSuccess);
while(aspirin2_mpu60x0.status != SPITransSuccess);
ret = aspirin2_mpu60x0.miso_buf[1];
}
@@ -98,7 +100,7 @@ static inline void mpu_wait_slave4_ready(void)
static void configure(void)
static void mpu_configure(void)
{
aspirin2_mpu60x0.length = 2;
@@ -174,10 +176,10 @@ static void configure(void)
// Enable the aux i2c
mpu_set( MPU60X0_REG_I2C_MST_CTRL,
(0 << 7) | // no multimaster
(0 << 6) | // do not delay IRQ waiting for all external slaves
(0 << 5) | // no slave 3 FIFO
(0 << 4) | // restart or stop/start from one slave to another: read -> write is always stop/start
(8 << 0) ); // 0=348kHz 8=256kHz, 9=500kHz
(0 << 6) | // do not delay IRQ waiting for all external slaves
(0 << 5) | // no slave 3 FIFO
(0 << 4) | // restart or stop/start from one slave to another: read -> write is always stop/start
(8 << 0) ); // 0=348kHz 8=256kHz, 9=500kHz
// HMC5883 Magnetometer Configuration
@@ -223,7 +225,7 @@ static void configure(void)
(0 << 6) | // Byte Swap
(6 << 0) ); // Read 6 bytes
// Slave 0 Control:
// Slave 0 Control:
#endif
sw/airborne/subsystems/imu/imu_aspirin2.h
+10 -48
View File
@@ -1,7 +1,5 @@
/*
* $Id$
*
* Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
* Copyright (C) 2012 Christophe DeWagter
*
* This file is part of paparazzi.
*
@@ -21,8 +19,8 @@
* Boston, MA 02111-1307, USA.
*/
#ifndef IMU_ASPIRIN_H
#define IMU_ASPIRIN_H
#ifndef IMU_ASPIRIN_2_H
#define IMU_ASPIRIN_2_H
#include "generated/airframe.h"
#include "subsystems/imu.h"
@@ -103,36 +101,11 @@ struct ImuAspirin2 {
volatile uint8_t imu_available;
volatile uint8_t imu_tx_buf[64];
volatile uint8_t imu_rx_buf[64];
uint32_t time_since_last_reading;
};
extern struct ImuAspirin2 imu_aspirin2;
#define ASPIRIN2_TIMEOUT 3
/*
#define foo_handler() {}
#define ImuMagEvent(_mag_handler) { \
MagEvent(foo_handler); \
}
if (hmc5843.data_available) { \
imu.mag_unscaled.x = hmc5843.data.value[IMU_MAG_X_CHAN]; \
imu.mag_unscaled.y = hmc5843.data.value[IMU_MAG_Y_CHAN]; \
imu.mag_unscaled.z = hmc5843.data.value[IMU_MAG_Z_CHAN]; \
_mag_handler(); \
hmc5843.data_available = FALSE; \
} \
*/
/* underlying architecture */
#include "subsystems/imu/imu_aspirin2_arch.h"
/* must be implemented by underlying architecture */
extern void imu_aspirin2_arch_init(void);
static inline void imu_from_buff(void)
{
int32_t x, y, z, p, q, r, Mx, My, Mz;
@@ -165,16 +138,17 @@ static inline void imu_from_buff(void)
#endif
//FIXME, remove it or use it...
#if 0
// Is this is new data
#define MPU_OFFSET_STATUS 1
if (imu_aspirin2.imu_rx_buf[MPU_OFFSET_STATUS] & 0x01)
{
if (imu_aspirin2.imu_rx_buf[MPU_OFFSET_STATUS] & 0x01) {
//gyr_valid = TRUE;
//acc_valid = TRUE;
}
else
{
else {
}
#endif
}
@@ -182,11 +156,7 @@ static inline void imu_aspirin2_event(void (* _gyro_handler)(void), void (* _acc
{
if (imu_aspirin2.status == Aspirin2StatusUninit) return;
// imu_aspirin2_arch_int_disable();
if (imu_aspirin2.imu_available)
{
imu_aspirin2.time_since_last_reading = 0;
if (imu_aspirin2.imu_available) {
imu_aspirin2.imu_available = FALSE;
imu_from_buff();
@@ -194,18 +164,10 @@ static inline void imu_aspirin2_event(void (* _gyro_handler)(void), void (* _acc
_accel_handler();
_mag_handler();
}
// imu_aspirin2_arch_int_enable();
// Reset everything if we've been waiting too long
//if (imu_aspirin2.time_since_last_reading > ASPIRIN2_TIMEOUT) {
// imu_aspirin2.time_since_last_reading = 0;
// return;
//}
}
#define ImuEvent(_gyro_handler, _accel_handler, _mag_handler) { \
imu_aspirin2_event(_gyro_handler, _accel_handler, _mag_handler); \
}
#endif /* IMU_ASPIRIN_H */
#endif /* IMU_ASPIRIN_2_H */