From f20a07e3921bbd80f4cb96e64bd12e7f7b095456 Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Tue, 31 Jan 2012 00:36:54 +0100 Subject: [PATCH 1/4] moved imu_analog subsystem to shared so it can be used for rotorcrafts as well --- .../subsystems/{fixedwing => shared}/imu_analog.makefile | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename conf/autopilot/subsystems/{fixedwing => shared}/imu_analog.makefile (100%) diff --git a/conf/autopilot/subsystems/fixedwing/imu_analog.makefile b/conf/autopilot/subsystems/shared/imu_analog.makefile similarity index 100% rename from conf/autopilot/subsystems/fixedwing/imu_analog.makefile rename to conf/autopilot/subsystems/shared/imu_analog.makefile From 22c2440b2dd81d33149bd8f1cf7bdd1b90071446 Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Mon, 6 Feb 2012 01:35:26 +0100 Subject: [PATCH 2/4] increase adxl345 range from +-2g to +-16g for aspirin driver - as the full resolution bit is set the LSB/g sensitivity stays the same - this changes the output resolution from 10 to 13 bit --- sw/airborne/subsystems/imu/imu_aspirin.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sw/airborne/subsystems/imu/imu_aspirin.c b/sw/airborne/subsystems/imu/imu_aspirin.c index bd207dadd8..70d4bce7b1 100644 --- a/sw/airborne/subsystems/imu/imu_aspirin.c +++ b/sw/airborne/subsystems/imu/imu_aspirin.c @@ -98,8 +98,8 @@ static void configure_accel(void) { adxl345_write_to_reg(ADXL345_REG_POWER_CTL, 1<<3); /* enable data ready interrupt */ adxl345_write_to_reg(ADXL345_REG_INT_ENABLE, 1<<7); - /* Enable full res and interrupt active low */ - adxl345_write_to_reg(ADXL345_REG_DATA_FORMAT, 1<<3|1<<5); + /* Enable full res with +-16g range and interrupt active low */ + adxl345_write_to_reg(ADXL345_REG_DATA_FORMAT, 1<<0|1<<1|1<<3|1<<5); /* clear spi rx reg to make DMA happy */ adxl345_clear_rx_buf(); /* reads data once to bring interrupt line up */ From 43a95506dcea5e1f89a52223b751e088e0b1c2d2 Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Mon, 6 Feb 2012 16:31:58 +0100 Subject: [PATCH 3/4] manual: mention Paparazzi project --- doc/manual/style.dox | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/manual/style.dox b/doc/manual/style.dox index acf471ac6b..9ae3a07c4b 100644 --- a/doc/manual/style.dox +++ b/doc/manual/style.dox @@ -22,7 +22,7 @@ Feedback would be welcome to improve the Paparazzi guidelines. /** @page stylec C Style Guide This page contains guidelines for writing new C source code for the -OpenOCD project. +Paparazzi project. @section styleformat Formatting Guide From 52953c941753713b60293616b579ab83c46d212c Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Mon, 6 Feb 2012 19:17:50 +0100 Subject: [PATCH 4/4] manual: mention Paparazzi project --- doc/manual/style.dox | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/manual/style.dox b/doc/manual/style.dox index 9ae3a07c4b..c0981cfb7f 100644 --- a/doc/manual/style.dox +++ b/doc/manual/style.dox @@ -90,7 +90,7 @@ So use @c #if not @c #ifdef to turn a feature on or off. This works fine, and do /** @page styledoxygen Doxygen Style Guide -The following sections provide guidelines for OpenOCD developers +The following sections provide guidelines for Paparazzi developers who wish to write Doxygen comments in the code or this manual. For an introduction to Doxygen documentation, see the @ref primerdoxygen.