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changes on navgo board for new baro and update some airframes

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This commit is contained in:
Gautier Hattenberger
2012-02-23 15:42:23 +01:00
parent 0c2b9bdb05
commit e4985f362a
11 changed files with 101 additions and 213 deletions
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conf/airframes/ENAC/fixed-wing/twinjet2.xml
+3 -102
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@@ -14,10 +14,10 @@
<!--load name="infrared_i2c.xml"/--> <!--load name="infrared_i2c.xml"/-->
<!--load name="max3100.xml"/> <!--load name="max3100.xml"/>
<load name="gsm.xml"/--> <load name="gsm.xml"/-->
<load name="demo_module.xml"> <!--load name="demo_module.xml">
<define name="TEST" value="1"/> <define name="TEST" value="1"/>
<define name="TEST_FLAG"/> <define name="TEST_FLAG"/>
</load> </load-->
<!--load name="enose.xml"/--> <!--load name="enose.xml"/-->
<load name="light.xml"/> <load name="light.xml"/>
<load name="infrared_adc.xml"/> <load name="infrared_adc.xml"/>
@@ -33,7 +33,7 @@
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/> <subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control" type="new"/> <subsystem name="control" type="adaptive"/>
<subsystem name="ahrs" type="infrared"/> <subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
@@ -217,103 +217,4 @@
<define name="YAW_RESPONSE_FACTOR" value="1."/> <define name="YAW_RESPONSE_FACTOR" value="1."/>
</section> </section>
<!--
<makefile>
CONFIG = \"tiny_2_1_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += commands.c
########## RC actuators + radio
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
########## Modems
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
#TRANSPARENT
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
########## ADC
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c
########## GPS
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
# -DGPS_LED=2
ap.srcs += gps_ubx.c gps.c latlong.c
########## IR sensors
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
ap.srcs += infrared.c estimator.c
########## Gyro
#ap.CFLAGS += -DUSE_GYRO -DADXRS150
#ap.srcs += gyro.c
########## Nav
ap.CFLAGS += -DNAV -DAGR_CLIMB -DPITCH_TRIM
ap.srcs += subsystems/nav.c fw_h_ctl_a.c fw_v_ctl_n.c
ap.srcs += subsystems/navigation/nav_survey_rectangle.c
ap.srcs += subsystems/navigation/nav_line.c
########## SPI Master use slave0
ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c
########## Barometer (SPI)
#ap.CFLAGS += -DUSE_BARO_MS5534A
#ap.srcs += $(SRC_ARCH)/baro_MS5534A.c
########## I2C0
ap.CFLAGS += -DUSE_I2C0
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
########## Lights
ap.CFLAGS += -DUSE_LIGHT
ap.srcs += light.c
########## Max3100
ap.CFLAGS += -DMAX3100_BAUD_RATE=MAX3100_B9600
ap.CFLAGS += -DGCS_NUMBER=\"+33640286530\"
ap.CFLAGS += -DUSE_MODULES
# Config for SITL simulation
#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.ARCHDIR = $(ARCHI)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl_n.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DPITCH_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
sim.CFLAGS += -DUSE_LIGHT
sim.srcs += light.c
sim.CFLAGS += -DUSE_I2C0
sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
sim.CFLAGS += -DUSE_MODULES
</makefile>
-->
</airframe> </airframe>
conf/airframes/ENAC/quadrotor/blender.xml
+15 -27
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@@ -1,11 +1,11 @@
<airframe name="Blender"> <airframe name="Blender">
<modules main_freq="512"> <modules main_freq="512">
<load name="booz_pwm.xml"> <!--load name="booz_pwm.xml">
<define name="USE_PWM1"/> <define name="USE_PWM1"/>
</load> </load>
<load name="booz_drop.xml"/> <load name="booz_drop.xml"/>
<load name="booz_cam.xml"/> <load name="booz_cam.xml"/-->
<!--load name="sonar_maxbotix_booz.xml"/--> <!--load name="sonar_maxbotix_booz.xml"/-->
</modules> </modules>
@@ -22,13 +22,13 @@
</target> </target>
<target name="sim" board="pc"> <target name="sim" board="pc">
<subsystem name="fdm" type="nps"/> <subsystem name="fdm" type="nps"/>
<!--define name="NPS_NO_SUPERVISION"/-->
</target> </target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="asctec"/> <subsystem name="actuators" type="skiron">
<!--subsystem name="actuators" type="mkk"/--> <define name="SKIRON_I2C_SCL_TIME" value="25"/>
</subsystem>
<subsystem name="imu" type="b2_v1.1"/> <subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"> <subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/> <configure name="GPS_BAUD" value="B57600"/>
@@ -48,17 +48,11 @@
</firmware> </firmware>
<servos min="0" neutral="0" max="0xff"> <servos min="0" neutral="0" max="0xff">
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
<servo name="YAW" no="2" min="0" neutral="0" max="255"/>
<servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
</servos>
<!--servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/> <servo name="BACK" no="2" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/> <servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/> <servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
</servos--> </servos>
<commands> <commands>
<axis name="PITCH" failsafe_value="0"/> <axis name="PITCH" failsafe_value="0"/>
@@ -67,20 +61,15 @@
<axis name="THRUST" failsafe_value="0"/> <axis name="THRUST" failsafe_value="0"/>
</commands> </commands>
<!--section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_"> <section name="ACTUATORS_SKIRON" prefix="ACTUATORS_SKIRON_">
<define name="NB" value="4"/> <define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x56, 0x54, 0x58 }"/> <define name="IDX" value="{ SERVO_FRONT, SERVO_BACK, SERVO_RIGHT, SERVO_LEFT }"/>
</section--> </section>
<section name="SUPERVISION" prefix="SUPERVISION_"> <section name="SUPERVISION" prefix="SUPERVISION_">
<define name="TRIM_A" value="0"/> <define name="MIN_MOTOR" value="20"/>
<define name="TRIM_E" value="0"/> <define name="MAX_MOTOR" value="255"/>
<define name="TRIM_R" value="0"/> <define name="TRIM_A" value="6"/>
</section>
<!--section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="25"/>
<define name="MAX_MOTOR" value="243"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/> <define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/> <define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/> <define name="NB_MOTOR" value="4"/>
@@ -89,8 +78,7 @@
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/> <define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/> <define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/> <define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
</section--> </section>
<section name="IMU" prefix="IMU_"> <section name="IMU" prefix="IMU_">
conf/airframes/ENAC/quadrotor/navgo.xml
+29 -19
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@@ -21,7 +21,6 @@
</target> </target>
<target name="sim" board="pc"> <target name="sim" board="pc">
<subsystem name="fdm" type="nps"/> <subsystem name="fdm" type="nps"/>
<!--define name="NPS_NO_SUPERVISION"/-->
</target> </target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
@@ -30,11 +29,11 @@
<define name="SKIRON_I2C_SCL_TIME" value="25"/> <define name="SKIRON_I2C_SCL_TIME" value="25"/>
</subsystem> </subsystem>
<subsystem name="imu" type="navgo"/> <subsystem name="imu" type="navgo"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox">
<subsystem name="stabilization" type="euler"/> <configure name="GPS_BAUD" value="B57600"/>
<subsystem name="ahrs" type="int_cmpl_euler">
<define name="LOW_NOISE_THRESHOLD" value="50000"/>
</subsystem> </subsystem>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
@@ -73,31 +72,39 @@
<section name="IMU" prefix="IMU_"> <section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="-126"/> <define name="GYRO_P_NEUTRAL" value="10"/>
<define name="GYRO_Q_NEUTRAL" value="-29"/> <define name="GYRO_Q_NEUTRAL" value="-32"/>
<define name="GYRO_R_NEUTRAL" value="-32"/> <define name="GYRO_R_NEUTRAL" value="11"/>
<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 --> <!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
<define name="GYRO_P_SENS" value="4.97312" integer="16"/> <define name="GYRO_P_SENS" value="4.97312" integer="16"/>
<define name="GYRO_Q_SENS" value="4.97312" integer="16"/> <define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
<define name="GYRO_R_SENS" value="4.97312" integer="16"/> <define name="GYRO_R_SENS" value="4.97312" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="4"/> <define name="ACCEL_X_NEUTRAL" value="9"/>
<define name="ACCEL_Y_NEUTRAL" value="-17"/> <define name="ACCEL_Y_NEUTRAL" value="14"/>
<define name="ACCEL_Z_NEUTRAL" value="-22"/> <define name="ACCEL_Z_NEUTRAL" value="-16"/>
<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488--> <!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
<define name="ACCEL_X_SENS" value="38.2816633245" integer="16"/> <define name="ACCEL_X_SENS" value="38.5866088465" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.7857058923" integer="16"/> <define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.7459254023" integer="16"/> <define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>
<define name="MAG_X_NEUTRAL" value="85"/> <define name="MAG_X_NEUTRAL" value="80"/>
<define name="MAG_Y_NEUTRAL" value="97"/> <define name="MAG_Y_NEUTRAL" value="-271"/>
<define name="MAG_Z_NEUTRAL" value="-43"/> <define name="MAG_Z_NEUTRAL" value="112"/>
<define name="MAG_X_SENS" value="4.44131219218" integer="16"/>
<define name="MAG_Y_SENS" value="4.56234629213" integer="16"/>
<define name="MAG_Z_SENS" value="5.298653926" integer="16"/>
<!--define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="5.43371021972" integer="16"/> <define name="MAG_X_SENS" value="5.43371021972" integer="16"/>
<define name="MAG_Y_SENS" value="4.8961742578" integer="16"/> <define name="MAG_Y_SENS" value="4.8961742578" integer="16"/>
<define name="MAG_Z_SENS" value="5.31527656902" integer="16"/> <define name="MAG_Z_SENS" value="5.31527656902" integer="16"/-->
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/> <!-- -10 --> <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/> <!-- -10 -->
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/> <!-- -10 --> <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/> <!-- -10 -->
@@ -125,6 +132,8 @@
<define name="ACCEL_Y_SENS" value="38.7108" integer="16"/> <define name="ACCEL_Y_SENS" value="38.7108" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.6583" integer="16"/> <define name="ACCEL_Z_SENS" value="39.6583" integer="16"/>
<define name="MAG_X_NEUTRAL" value="55"/> <define name="MAG_X_NEUTRAL" value="55"/>
<define name="MAG_Y_NEUTRAL" value="54"/> <define name="MAG_Y_NEUTRAL" value="54"/>
<define name="MAG_Z_NEUTRAL" value="92"/> <define name="MAG_Z_NEUTRAL" value="92"/>
@@ -149,7 +158,8 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="14" integer="16"/> <!-- 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
<define name="BARO_SENS" value="1.156" integer="16"/>
</section> </section>
conf/autopilot/rotorcraft.makefile
+5 -3
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@@ -145,9 +145,11 @@ else ifeq ($(BOARD), lisa_l)
ap.CFLAGS += -DUSE_I2C2 ap.CFLAGS += -DUSE_I2C2
else ifeq ($(BOARD), navgo) else ifeq ($(BOARD), navgo)
ap.CFLAGS += -DROTORCRAFT_BARO_LED=$(BARO_LED) ap.CFLAGS += -DROTORCRAFT_BARO_LED=$(BARO_LED)
ap.CFLAGS += -DUSE_I2C1 include $(CFG_ROTORCRAFT)/spi.makefile
ap.CFLAGS += -DADS1114_I2C_DEVICE=i2c1 ap.CFLAGS += -DUSE_SPI_SLAVE0
ap.srcs += peripherals/ads1114.c ap.CFLAGS += -DSPI_NO_UNSELECT_SLAVE
ap.CFLAGS += -DSPI_MASTER
ap.srcs += peripherals/mcp355x.c
endif endif
# #
conf/autopilot/subsystems/shared/imu_navgo.makefile
+2
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@@ -12,10 +12,12 @@ IMU_NAVGO_CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=25 -DI2C1_SCLH=25
IMU_NAVGO_CFLAGS += -DITG3200_I2C_DEVICE=$(IMU_NAVGO_I2C_DEVICE) IMU_NAVGO_CFLAGS += -DITG3200_I2C_DEVICE=$(IMU_NAVGO_I2C_DEVICE)
IMU_NAVGO_CFLAGS += -DITG3200_I2C_ADDR=ITG3200_ADDR_ALT IMU_NAVGO_CFLAGS += -DITG3200_I2C_ADDR=ITG3200_ADDR_ALT
IMU_NAVGO_CFLAGS += -DITG3200_SMPLRT_DIV=1 IMU_NAVGO_CFLAGS += -DITG3200_SMPLRT_DIV=1
IMU_NAVGO_CFLAGS += -DITG3200_DLFP_CFG=5
IMU_NAVGO_SRCS += peripherals/itg3200.c IMU_NAVGO_SRCS += peripherals/itg3200.c
IMU_NAVGO_CFLAGS += -DADXL345_I2C_DEVICE=$(IMU_NAVGO_I2C_DEVICE) IMU_NAVGO_CFLAGS += -DADXL345_I2C_DEVICE=$(IMU_NAVGO_I2C_DEVICE)
IMU_NAVGO_CFLAGS += -DADXL345_I2C_ADDR=ADXL345_ADDR_ALT IMU_NAVGO_CFLAGS += -DADXL345_I2C_ADDR=ADXL345_ADDR_ALT
IMU_NAVGO_CFLAGS += -DADXL345_BW_RATE=0x8
IMU_NAVGO_SRCS += peripherals/adxl345.i2c.c IMU_NAVGO_SRCS += peripherals/adxl345.i2c.c
IMU_NAVGO_CFLAGS += -DHMC58XX_I2C_DEVICE=$(IMU_NAVGO_I2C_DEVICE) IMU_NAVGO_CFLAGS += -DHMC58XX_I2C_DEVICE=$(IMU_NAVGO_I2C_DEVICE)
sw/airborne/arch/lpc21/mcu_periph/spi_arch.c
+2
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@@ -193,7 +193,9 @@ void SPI1_ISR(void) {
} }
if (bit_is_set(SSPMIS, RTMIS)) { /* Rx fifo is not empty and no receive took place in the last 32 bits period */ if (bit_is_set(SSPMIS, RTMIS)) { /* Rx fifo is not empty and no receive took place in the last 32 bits period */
#if !SPI_NO_UNSELECT_SLAVE
SpiUnselectCurrentSlave(); SpiUnselectCurrentSlave();
#endif
SpiReceive(); SpiReceive();
SpiDisableRti(); SpiDisableRti();
SpiClearRti(); /* clear interrupt */ SpiClearRti(); /* clear interrupt */
sw/airborne/boards/navgo/baro_board.c
+23 -25
View File
@@ -31,53 +31,51 @@
/* Common Baro struct */ /* Common Baro struct */
struct Baro baro; struct Baro baro;
/* Number of values to compute an offset at startup */ /* Counter to init mcp355x at startup */
#define OFFSET_NBSAMPLES_AVRG 300 #define STARTUP_COUNTER 200
uint16_t offset_cnt; uint16_t startup_cnt;
#ifdef USE_BARO_AS_ALTIMETER
/* Weight for offset IIR filter */
#define OFFSET_FILTER 7
float baro_alt;
float baro_alt_offset;
#endif
void baro_init( void ) { void baro_init( void ) {
ads1114_init(); mcp355x_init();
baro.status = BS_UNINITIALIZED; baro.status = BS_UNINITIALIZED;
baro.absolute = 0; baro.absolute = 0;
baro.differential = 0; /* not handled on this board */ baro.differential = 0; /* not handled on this board */
#ifdef ROTORCRAFT_BARO_LED #ifdef ROTORCRAFT_BARO_LED
LED_OFF(ROTORCRAFT_BARO_LED); LED_OFF(ROTORCRAFT_BARO_LED);
#endif #endif
offset_cnt = OFFSET_NBSAMPLES_AVRG; startup_cnt = STARTUP_COUNTER;
#ifdef USE_BARO_AS_ALTIMETER
baro_alt = 0.;
baro_alt_offset = 0.;
#endif
} }
// Need to play with slave select
#include "mcu_periph/spi.h"
void baro_periodic( void ) { void baro_periodic( void ) {
if (baro.status == BS_UNINITIALIZED) { if (baro.status == BS_UNINITIALIZED) {
#ifdef USE_BARO_AS_ALTIMETER /**
// IIR filter to compute an initial offset * Crappy code to empty the buffer
baro_alt_offset = (OFFSET_FILTER * baro_alt_offset + (float)baro.absolute) / (OFFSET_FILTER + 1); * then unselect the device (goes to shutdown ?)
#endif * reselect to go to continious conversion mode
* make some readings before setting BS_RUNNING
* don't unselect the slave !
*/
if (startup_cnt == 150) { SpiSelectSlave0(); mcp355x_read(); }
else if (startup_cnt == 149) { SpiUnselectSlave0(); }
else if (startup_cnt == 100) { SpiSelectSlave0(); }
else if (startup_cnt < 90) { RunOnceEvery(4, mcp355x_read()); }
// decrease init counter // decrease init counter
--offset_cnt; --startup_cnt;
#ifdef ROTORCRAFT_BARO_LED #ifdef ROTORCRAFT_BARO_LED
LED_TOGGLE(ROTORCRAFT_BARO_LED); LED_TOGGLE(ROTORCRAFT_BARO_LED);
#endif #endif
if (offset_cnt == 0) { if (startup_cnt == 0) {
baro.status = BS_RUNNING; baro.status = BS_RUNNING;
#ifdef ROTORCRAFT_BARO_LED #ifdef ROTORCRAFT_BARO_LED
LED_ON(ROTORCRAFT_BARO_LED); LED_ON(ROTORCRAFT_BARO_LED);
#endif #endif
} }
} }
// Read the ADC // Read the ADC (at 50/4 Hz, conversion time is 68 ms)
ads1114_read(); else { RunOnceEvery(4,mcp355x_read()); }
} }
sw/airborne/boards/navgo/baro_board.h
+5 -11
View File
@@ -31,22 +31,16 @@
#include "std.h" #include "std.h"
#include "peripherals/ads1114.h" #include "peripherals/mcp355x.h"
#ifdef USE_BARO_AS_ALTIMETER
extern float baro_alt;
extern float baro_alt_offset;
#define BaroAltHandler() { baro_alt = BARO_SENS*(baro_alt_offset - (float)baro.absolute); }
#endif
#define BARO_FILTER_GAIN 5 #define BARO_FILTER_GAIN 5
#define BaroEvent(_b_abs_handler, _b_diff_handler) { \ #define BaroEvent(_b_abs_handler, _b_diff_handler) { \
Ads1114Event(); \ mcp355x_event(); \
if (ads1114_data_available) { \ if (mcp355x_data_available) { \
baro.absolute = (baro.absolute + BARO_FILTER_GAIN*Ads1114GetValue()) / (BARO_FILTER_GAIN+1); \ baro.absolute = (baro.absolute + BARO_FILTER_GAIN*mcp355x_data) / (BARO_FILTER_GAIN+1); \
_b_abs_handler(); \ _b_abs_handler(); \
ads1114_data_available = FALSE; \ mcp355x_data_available = FALSE; \
} \ } \
} }
sw/airborne/boards/navgo/imu_navgo.c
+2 -2
View File
@@ -103,7 +103,7 @@ void imu_navgo_event( void )
// If the itg3200 I2C transaction has succeeded: convert the data // If the itg3200 I2C transaction has succeeded: convert the data
itg3200_event(); itg3200_event();
if (itg3200_data_available) { if (itg3200_data_available) {
RATES_COPY(imu.gyro_unscaled, itg3200_data); RATES_ASSIGN(imu.gyro_unscaled, -itg3200_data.q, itg3200_data.p, itg3200_data.r);
itg3200_data_available = FALSE; itg3200_data_available = FALSE;
gyr_valid = TRUE; gyr_valid = TRUE;
} }
@@ -119,7 +119,7 @@ void imu_navgo_event( void )
// HMC58XX event task // HMC58XX event task
hmc58xx_event(); hmc58xx_event();
if (hmc58xx_data_available) { if (hmc58xx_data_available) {
VECT3_ASSIGN(imu.mag_unscaled, -hmc58xx_data.x, -hmc58xx_data.y, hmc58xx_data.z); VECT3_ASSIGN(imu.mag_unscaled, hmc58xx_data.x, hmc58xx_data.y, hmc58xx_data.z);
hmc58xx_data_available = FALSE; hmc58xx_data_available = FALSE;
mag_valid = TRUE; mag_valid = TRUE;
} }
sw/airborne/boards/navgo_1.0.h
+13 -10
View File
@@ -18,17 +18,17 @@
#define PCLK (CCLK / PBSD_VAL) #define PCLK (CCLK / PBSD_VAL)
/* Onboard LEDs */ /* Onboard LEDs */
#define LED_1_BANK 1 #define LED_1_BANK 0
#define LED_1_PIN 25 #define LED_1_PIN 22
#define LED_2_BANK 1 #define LED_2_BANK 1
#define LED_2_PIN 24 #define LED_2_PIN 28
#define LED_3_BANK 1 #define LED_3_BANK 1
#define LED_3_PIN 23 #define LED_3_PIN 29
#define LED_4_BANK 1 #define LED_4_BANK 1
#define LED_4_PIN 31 #define LED_4_PIN 30
/* PPM : rc rx on P0.28 ( CAP0.2 ) */ /* PPM : rc rx on P0.28 ( CAP0.2 ) */
#define PPM_PINSEL PINSEL1 #define PPM_PINSEL PINSEL1
@@ -45,19 +45,22 @@
/* battery */ /* battery */
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ /* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
#ifndef ADC_CHANNEL_VSUPPLY #ifndef ADC_CHANNEL_VSUPPLY
#define ADC_CHANNEL_VSUPPLY AdcBank1(3) #define ADC_CHANNEL_VSUPPLY AdcBank0(2)
#ifndef USE_AD1 #ifndef USE_AD0
#define USE_AD1 #define USE_AD0
#endif #endif
#define USE_AD1_3 #define USE_AD0_2
#endif #endif
#define DefaultVoltageOfAdc(adc) (0.01837*adc) #define DefaultVoltageOfAdc(adc) (0.017889*adc)
/* SPI (SSP) */ /* SPI (SSP) */
#define SPI_SELECT_SLAVE0_PORT 0 #define SPI_SELECT_SLAVE0_PORT 0
#define SPI_SELECT_SLAVE0_PIN 20 #define SPI_SELECT_SLAVE0_PIN 20
//#define SPI_SELECT_SLAVE1_PORT 1
//#define SPI_SELECT_SLAVE1_PIN 19
#define SPI1_DRDY_PINSEL PINSEL1 #define SPI1_DRDY_PINSEL PINSEL1
#define SPI1_DRDY_PINSEL_BIT 0 #define SPI1_DRDY_PINSEL_BIT 0
#define SPI1_DRDY_PINSEL_VAL 1 #define SPI1_DRDY_PINSEL_VAL 1
sw/airborne/peripherals/mcp355x.c
+2 -14
View File
@@ -41,32 +41,20 @@ void mcp355x_init(void) {
void mcp355x_read(void) { void mcp355x_read(void) {
spi_buffer_length = 4; spi_buffer_length = 4;
spi_buffer_input = mcp355x_spi_buf; spi_buffer_input = mcp355x_spi_buf;
SpiSelectSlave0(); //SpiSelectSlave0();
SpiStart(); SpiStart();
} }
#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
#endif
#include "mcu_periph/uart.h"
#include "messages.h"
#include "downlink.h"
void mcp355x_event(void) { void mcp355x_event(void) {
static uint32_t filtered = 0;
if (spi_message_received) { if (spi_message_received) {
spi_message_received = FALSE; spi_message_received = FALSE;
if ((mcp355x_spi_buf[0]>>4) == 0) { if ((mcp355x_spi_buf[0]>>4) == 0) {
//mcp355x_data = (int32_t)(((uint32_t)mcp355x_spi_buf[0]<<16) | ((uint32_t)mcp355x_spi_buf[1]<<8) | (mcp355x_spi_buf[2]));
mcp355x_data = (int32_t)( mcp355x_data = (int32_t)(
((uint32_t)mcp355x_spi_buf[0]<<17) | ((uint32_t)mcp355x_spi_buf[0]<<17) |
((uint32_t)mcp355x_spi_buf[1]<<9) | ((uint32_t)mcp355x_spi_buf[1]<<9) |
((uint32_t)mcp355x_spi_buf[2]<<1) | ((uint32_t)mcp355x_spi_buf[2]<<1) |
(mcp355x_spi_buf[3]>>7)); (mcp355x_spi_buf[3]>>7));
filtered = (5*filtered + mcp355x_data) / (6); mcp355x_data_available = TRUE;
DOWNLINK_SEND_DEBUG(DefaultChannel,4,mcp355x_spi_buf);
DOWNLINK_SEND_BARO_RAW(DefaultChannel,&mcp355x_data,&filtered);
} }
} }
} }