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added filtering of abnormal values

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This commit is contained in:
Antoine Drouin
2010-06-14 16:50:56 +00:00
parent dae06c17e3
commit e7d056d97c
2 changed files with 23 additions and 15 deletions
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sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.c
+5
View File
@@ -30,6 +30,11 @@
#include <stm32/dma.h>
uint8_t ms2001_cur_axe;
int16_t ms2001_last_reading; // can't write in place because that stupid beast
// stips stupid values once in a while that I need
// to filter - high time we get rid of this crap hardware
// and no, I checked with the logic analyzer, timing are
// within specs
void ms2001_arch_init( void ) {
sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.h
+18 -15
View File
@@ -28,6 +28,7 @@
#include <stm32/spi.h>
extern uint8_t ms2001_cur_axe;
extern int16_t ms2001_last_reading;
#define Ms2001Select() GPIOC->BRR = GPIO_Pin_12
#define Ms2001Unselect() GPIOC->BSRR = GPIO_Pin_12
@@ -87,7 +88,7 @@ extern uint8_t ms2001_cur_axe;
DMA_InitTypeDef DMA_InitStructure; \
DMA_DeInit(DMA1_Channel4); \
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C); \
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)(&ms2001_values[ms2001_cur_axe]); \
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)(&ms2001_last_reading); \
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC; \
DMA_InitStructure.DMA_BufferSize = 1; \
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; \
@@ -121,20 +122,22 @@ extern uint8_t ms2001_cur_axe;
\
}
#define Ms2001OnDmaIrq() { \
/* ASSERT((ms2001_status == MS2001_READING_RES), \
* DEBUG_MS2001, MS2001_ERR_SPURIOUS_DMA_IRQ); \
*/ \
Ms2001Unselect(); \
ms2001_cur_axe++; \
if (ms2001_cur_axe > 2) { \
ms2001_cur_axe = 0; \
ms2001_status = MS2001_DATA_AVAILABLE; \
} \
else \
ms2001_status = MS2001_IDLE; \
SPI_Cmd(SPI2, DISABLE); \
DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, DISABLE); \
#define Ms2001OnDmaIrq() { \
/* ASSERT((ms2001_status == MS2001_READING_RES), \
* DEBUG_MS2001, MS2001_ERR_SPURIOUS_DMA_IRQ); \
*/ \
if (abs(ms2001_last_reading) < 2000) \
ms2001_values[ms2001_cur_axe] = ms2001_last_reading; \
Ms2001Unselect(); \
ms2001_cur_axe++; \
if (ms2001_cur_axe > 2) { \
ms2001_cur_axe = 0; \
ms2001_status = MS2001_DATA_AVAILABLE; \
} \
else \
ms2001_status = MS2001_IDLE; \
SPI_Cmd(SPI2, DISABLE); \
DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, DISABLE); \
}
#define Ms2001OnSpiIrq() { \