[imu aspirin 2.1] removed unneeded stm32 arch implementation

and a bit more cleanup

conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile

@@ -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"/>
+#    <!-- these gyro and accel calib values are the defaults for aspirin2.1 -->
-#    <define name="MAG_Y_NEUTRAL" value="2362"/>
+#    <define name="GYRO_X_NEUTRAL" value="0"/>
-#    <define name="MAG_Z_NEUTRAL" value="2119"/>
+#    <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

@@ -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

@@ -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

@@ -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/mpu60X0.h"
-#include "../../peripherals/hmc58xx.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 mpu_configure(void);
-/*
-static void configure_accel(void);
-//static void configure_mag(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)
+  if (imu_aspirin2.status == Aspirin2StatusUninit) {
-  {
+    mpu_configure();
-    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++)
+    for (int i=1;i<aspirin2_mpu60x0.length;i++) {
-        aspirin2_mpu60x0.mosi_buf[i] = 0;
+      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 << 6) |		// do not delay IRQ waiting for all external slaves
-	   (0 << 5) | 		// no slave 3 FIFO
+           (0 << 5) | 		// no slave 3 FIFO
-	   (0 << 4) | 		// restart or stop/start from one slave to another: read -> write is always stop/start
+           (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
+           (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

@@ -1,7 +1,5 @@
 /*
- * $Id$
+ * Copyright (C) 2012 Christophe DeWagter
- *
- * Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
  *
@@ -21,8 +19,8 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#ifndef IMU_ASPIRIN_H
+#ifndef IMU_ASPIRIN_2_H
-#define IMU_ASPIRIN_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) {
-
-  if (imu_aspirin2.imu_available)
-  {
-    imu_aspirin2.time_since_last_reading = 0;
     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 */