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8ee336e715
Commit Graph

1108 Commits

Author SHA1 Message Date
Andrew Tridgell
8ee336e715 I2C: imported the I2C library from Wayne Truchsess 
this gives us a more robust interface, including timeouts
 2011-12-28 20:28:31 +11:00
Andrew Tridgell
e7dab19260 TimerProcess: prevent a race in setting up the timer callbacks 2011-12-28 16:00:49 +11:00
Andrew Tridgell
5e4f66e525 DataFlash: moved high level logging logic to library 
this moves out all the high level logic from ArduPlane/ArduCopter to
the library. It also adds a "config page", as the last page in the
flash. This is used to check if the flash needs erasing. We only erase
now if the DF_LOGGING_FORMAT has changed.

This patch also adds a public CardInserted() method, which is used to
disable logging on APM2 if a dataflash card is not inserted
 2011-12-28 16:00:48 +11:00
Andrew Tridgell
bd9488f1e4 DataFlash: fixed sense of card detect 2011-12-28 16:00:48 +11:00
Andrew Tridgell
6ca613337b MPU6000: protect the driver from double initialisation 
initialising twice can lockup the driver
 2011-12-28 16:00:48 +11:00
Andrew Tridgell
18d26dc74e MPU6000: minor fixes 
the hardware functions should be private, and cs_pin should be uint8_t
 2011-12-28 16:00:48 +11:00
Andrew Tridgell
4d71482d1c TimerProcess: check for duplicate registrations 
if a driver gets initialised twice, make sure it doesn't get called
twice in the timer loop
 2011-12-28 16:00:48 +11:00
Andrew Tridgell
dbaa6fb6d2 TimerProcess: make some variables uint8_t 
save a couple of bytes
 2011-12-28 16:00:48 +11:00
Mike Smith
3582ad4e20 Fix issue #423 - FastSerial flush bug. 2011-12-26 15:52:21 -08:00
Andrew Tridgell
637d4675e1 added in DataFlash.cpp 
forgot this ....
 2011-12-26 19:34:06 +11:00
Andrew Tridgell
9bb0bd0341 desktop: added attachInterrupt() support 2011-12-26 19:17:11 +11:00
Andrew Tridgell
a39a470d75 desktop: fixed for new DataFlash inheritance 2011-12-26 19:17:11 +11:00
Andrew Tridgell
977326e991 dataflash: reworked classes to move most code to parent class 
this moves all the non-hardware specific code to the parent
DataFlash_Class class, keeping the hw specific code much smaller and
simpler.

This should prevent discrepancies creeping in between APM1 and APM2
support again
 2011-12-26 19:17:11 +11:00
Andrew Tridgell
13b2ddcbe1 dataflash: fixed APM2 flash logging 
we had log wrap disabled on APM2, and also had the wrong log size. The
mainline code assumed 4096, but it is 8192 pages long.
 2011-12-26 19:17:11 +11:00
Andrew Tridgell
04daeab7c0 MPU6000: change to 98Hz low pass filter 
based on recommendation from Pat
 2011-12-26 19:17:11 +11:00
Andrew Tridgell
10ca54ef8f MPU6000: use data ready interrupt to prevent stale data 
We listen for a data ready interrupt and only read new data in read()
if there is new data
 2011-12-26 19:17:11 +11:00
Andrew Tridgell
760aa62c75 fixed the MPU6000 test sketch 2011-12-26 19:17:11 +11:00
Randy Mackay
4620186328 Merge remote-tracking branch 'origin/master' 2011-12-25 12:34:16 +09:00
Randy Mackay
c24b5229e1 AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch 2011-12-25 12:33:06 +09:00
Andrew Tridgell
b72f9c2e9f added MPU6000 test sketch 
this doesn't work yet - Pat, any idea why?
 2011-12-25 12:03:39 +11:00
Andrew Tridgell
f11a5edbc7 removed dead test program 
this one doesn't build, and has been replaced by IMU_MPU6000_test
 2011-12-24 18:11:04 +11:00
Andrew Tridgell
8780a60234 ADC: update for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell
e7720254dd AP_Baro: update MS5611 driver for new ap_proceduce prototype 
this saves calling millis() quite so often
 2011-12-21 23:31:38 +11:00
Andrew Tridgell
f97b405b56 MPU6k: update driver for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell
79d6c21dde PeriodicProcess: added set_failsafe() call 
this adds an optional failsafe function that will be called in the
timer loop
 2011-12-21 23:31:38 +11:00
Andrew Tridgell
11b8d56434 added comment in polygon code 2011-12-21 23:31:38 +11:00
Andrew Tridgell
bc9e943969 rollover is not a bug 
subtracting unsigned numbers does the right thing
 2011-12-21 23:31:38 +11:00
Andrew Tridgell
97f8d21c1b added code format markers to AP_InertialSensor library 2011-12-21 23:31:38 +11:00
Andrew Tridgell
59d2d2d783 fixed build of IMU_MPU6000_test 2011-12-21 23:31:38 +11:00
Andrew Tridgell
e7568db237 fixed comment 2011-12-19 20:52:59 +11:00
Andrew Tridgell
6efa2e53cb AP_Math: re-work polygon algorithm for perfect precision 
using sign checking and 64 bit integer math only when needed results
in an algorithm that is just as fast as the floating point version,
but has perfect results for any representable lat/lng
 2011-12-19 18:52:56 +11:00
Randy Mackay
e070109e21 AP_RangeFinder - change sonar example sketch to use default Sonar PIN for APM2 (A1) 2011-12-18 14:15:50 +09:00
Andrew Tridgell
a3a0e5646f polygon: improve the speed and precision of the polygon algorithm 
now takes 156 usec per test, with a 11 point boundary
 2011-12-18 12:59:50 +11:00
Michael Oborne
92886cfa10 make file relax 2011-12-17 20:42:51 +08:00
Michael Oborne
f4b7aea1ee add relax 2011-12-17 16:53:14 +08:00
Andrew Tridgell
bb0f179495 AP_Baro: fixed temperature on MS5611 
this caused a 2x scaling of altitude
 2011-12-17 14:58:58 +11:00
Andrew Tridgell
6341db7031 Revert "ADC: only read channels that are actually being used" 
This reverts commit 95e6bb26f4772ca8c7faa62215de6f078d3df3c7.

ADC will be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
d442bad413 Revert "ADC: added an enable_channel() API" 
This reverts commit dafeac01d8f14162600cf821404ba4072dcae14d.

ADC will be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
99eafbbe38 Revert "ADC: fixed HIL build" 
This reverts commit 86c1a6a5fdd929516cf0f64f4d610cfcd4b4f774.

ADC will now be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
10e546eebd AnalogSource: return a float from read() method 
this gives the full resolution when using the ADC backend. It also
adds scaling for the Arduino backend
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
f6f808357c removed AperiodicProcess code 
this code was never being used, and was more complex than it was
worth.
 2011-12-17 07:29:09 +11:00
Andrew Tridgell
d4b66139dc ADC: fixed HIL build 2011-12-16 20:58:04 +11:00
Andrew Tridgell
dc01d55740 added missing mavlink headers 2011-12-16 20:53:26 +11:00
Andrew Tridgell
42522baf9f geofence: store fence points as int32_t 
this keeps maximum precision in fence boundaries
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
a4c03cceff mavlink: include latest geofence message changes 2011-12-16 20:11:51 +11:00
Andrew Tridgell
9b6bab8904 AP_Math: better polygon algorithm 
this one seems to do better with single precision floating point
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
dc20d89375 MAVLink: update to latest mavlink XML 
this includes the geo-fencing messages
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
9591317dbc ADC: added an enable_channel() API 
enable_channel() must be used before the Ch6() method is called to
enable gathering of data on the required channels
 2011-12-16 20:09:40 +11:00
Andrew Tridgell
c41e7c505b timer: enable interrupts during timer processing 
this prevents us losing serial bytes when we call sensor drivers that
take more than 100usec to read.

We also prevent timer recursion by re-enabling the timer after all
callbacks are complete
 2011-12-16 20:09:38 +11:00
Andrew Tridgell
09947dace1 ADC: only read channels that are actually being used 
on the APM2 we usually use none of the ADC channels, although we may
use the airspeed sensor. This change means we detect which channels
are being read, and only do the SPI transfers for those ones. That
saves us about 100usec per timer interrupt (ie. about 10% of our CPU)
 2011-12-16 20:09:35 +11:00