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46 Commits

Author SHA1 Message Date
Andrew Tridgell 44f860e102 InertialSensor: fixed some compiler warnings 2012-12-20 14:52:35 +11:00
Pat Hickey b502732249 AP_InertialSensor: rewrite basic code for spi device transactions 
* I'm not touching that DMP stuff because I'm pretty convinced it should
  instead be deprecated
 2012-12-20 14:52:32 +11:00
Pat Hickey a4f41c1d29 AP_InertialSensor: MPU6000 uses scheduler panic 2012-12-20 14:52:31 +11:00
Andrew Tridgell 2c1682f310 InertialSensor: use AP_HAL progmem 2012-12-20 14:51:39 +11:00
Andrew Tridgell c9a81d7de6 AP_InertialSensor: fixed sign of 16 bit SPI transfer 
this gets accels and gyros working again
 2012-12-20 14:51:36 +11:00
Pat Hickey 9aca19415a AP_InertialSensor: robust semaphores 2012-12-20 14:51:36 +11:00
Pat Hickey 1019fb45e7 AP_InertialSensor: remove sei in data interrupt handler 2012-12-20 14:51:36 +11:00
Pat Hickey 4acf2c8591 AP_InertialSensor: ported to AP_HAL 2012-12-20 14:51:26 +11:00
rmackay9 b4e5176e2a ArduCopter, AP_InertialSensor: restore mpu6k sample rate to 200hz but keep default filtering at 42hz. 2012-12-09 14:27:33 +09:00
Andrew Tridgell 3b18c57691 AP_InertialSensor: removed axis getters for accel/gyro 
these were only being used in one place, and in that place were used
incorrectly!
 2012-12-04 09:11:55 +11:00
Andrew Tridgell b237c0583d AP_InertialSensor: Added INS_MPU6K_FILTER option 
this allows the user to select the MPU6000 filtering frequency
 2012-11-30 07:15:19 +11:00
Andrew Tridgell 089ae0f9f3 AP_InertialSensor: allow specification of sample rate in init() call 
this lets the caller not need to know the underlying sample rate. They
just ask for what rate updates happen. 

This also changes the MPU6k filtering to be less than half the sample
rate
 2012-11-30 07:15:18 +11:00
Andrew Tridgell f843705da3 INS: switch to SREG = oldSREG pattern for interrupt mask/restore 2012-11-20 22:31:23 +11:00
Andrew Tridgell 3776e6108f INS: use vector subtraction to make code clearer 2012-11-20 18:32:27 +11:00
rmackay9 8ccac5da3d AP_InertialSensor: correct typo to datasheet's filename 2012-11-20 00:37:42 +09:00
rmackay9 d9b4407e64 AP_InertialSensor: changes after review with Tridge. 
sanity checking added to accelerometer calibration routine.
user feedback is sent using gcs_send_text_fmt instead of Serial.printf.
moved ins parameters to new eeprom number to avoid conflicts with older parameters.
other small changes including renaming of functions and parameters.
 2012-11-07 19:21:15 +09:00
rmackay9 49de46a548 AP_InertialSensor: merge in calibration features from IMU library 
add gauss-newton method of accelerometer calibration
 2012-11-07 19:20:27 +09:00
rmackay9 8c6fd340d7 AP_AHRS: added scheduler parameter to init 
Required by the AP_AHRS_MPU6000 class which needs to disable timed processes that could interfere with it's communication with the mpu6000
 2012-09-29 13:51:21 +09:00
rmackay9 41fbb19cf5 AP_InertialSensor_MPU6000: replaced _cs_pin parameter with #define and saved 1 byte of memory 
Updated ArduCopter, ArduPlane and example sketches in AP_InertialSensor, AP_IMU and AP_AHRS libraries because they no longer need to pass in cs_pin to the constructor
 2012-09-28 19:21:59 +09:00
rmackay9 921ab3fe12 ArduCopter: bug fix to DMP initialisation (it was freezing due to SPI bus conflicts) 2012-09-28 18:34:23 +09:00
Andrew Tridgell 7e544e8ead MPU6k: save 72 bytes of memory 
the buffer can be on the stack
 2012-09-18 13:58:50 +10:00
rmackay9 130f3b0030 AP_InertialSensor_MPU6000: move _last_sample_time_micros to capture time data_interrupt was called 2012-09-10 11:38:08 +09:00
rmackay9 7a265dbf61 AP_InertialSensor: use AP_TimerProcess's queue_process to run read from MPU6000 after any currently running processes complete 2012-09-10 11:38:03 +09:00
rmackay9 0a6219695b AP_InertialSensor: changed read of sensor from MPU6000 to happen immediately 
This reduces the delay between when data arrives and when it is used
by up to 1ms.

Added num_samples_available method to all InertialSensors to allow
main loop timing to be synced with sensors.
 2012-09-10 11:37:33 +09:00
rmackay9 c965963d7b AP_InertialSensor_MPU6000: bug fix. DMP was being enabled by default so although the results were not being used, this caused a delay in the main loop 2012-08-28 17:02:07 +09:00
uncrustify e6c2616769 uncrustify libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp 2012-08-21 19:03:14 -07:00
Andrew Tridgell 0763bbd1af MPU6000: fixed some build warnings 2012-08-09 16:19:21 +10:00
rmackay9 5077674043 AP_InertialSensor_MPU6000: another attempt at fixing the SITL build 2012-07-28 17:19:19 +09:00
rmackay9 7683e9d870 AP_InertialSensor_MPU6000: changed DMP memory definition (dmpMem) to const uint8_t to remove SITL compile errors (hopefully) 
Removed unused 'dump' variable from dmp_load_mem to reduce compiler warnings
 2012-07-28 16:33:04 +09:00
rmackay9 6cd0918134 AP_InertialSensor: methods added to access DMP functionality 2012-07-28 14:14:43 +09:00
Craig Elder 69bf5700cd IMU: expose IMU_PRODUCT_ID as EEPROM Variable 
this will allow us to log the Product ID in tlogs
 2012-05-09 18:30:36 -07:00
Craig Elder 4a1d8b0875 AP_InertialSensor: Return product ID from sensor initialization 
this exposes the product ID to the IMU Layer
 2012-05-09 18:30:36 -07:00
Craig Elder ed99940bee MPU6000: Fixed Scaling on Accelerometers Rev C vs Rev D 
Rev C have non standard scaling factor that is 1/2 of the data sheet
Rev D chips conform to the specification
 2012-05-09 18:30:35 -07:00
Andrew Tridgell 2dd655d87d MPU6k: added suspend/resume on init 2012-05-01 12:06:54 +10:00
Andrew Tridgell 9296ac494d AP_InertialSensor: added a get_gyro_drift_rate() interface 
this returns the expected max drift rate for the particular type of
gyro being used
 2012-03-10 10:34:33 +11:00
Andrew Tridgell a9dea35310 AP_InertialSensor: added new_data_available() interface 2012-03-10 10:34:28 +11:00
Randy Mackay ed19c25a97 Arduino 1.0 - changed all #includes of "WProgram.h", "wiring.h" and "WConstants.h to "Arduino.h". 
Modified FastSerial's write function to return size_t (number of bytes written).
 2012-01-28 12:25:47 +09:00
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 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 f97b405b56 MPU6k: update driver for new ap_proceduce prototype 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
Pat Hickey f3ad7f3af8 Wire and SPI Init: move to sketch system.pde from libraries 
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin  removed from AP_Baro_MS5611::init()
* SPI.begin  removed from AP_InertialSensor_MPU6000::hardware_init()

* Both Wire.begin and SPI.begin added very early in init_ardupilot in
  ArduCopter/system.pde and ArduPlane/system.pde
 2011-12-11 15:21:10 -08:00
Pat Hickey 82b48784ef purple: added AP_InertialSensor library 
this abstracts the way of getting inertial sensor (gyro and
accelerometer) data for the APM1 and purple hardware. The Oilpan code
is based closely on the old APM1 code
 2011-11-25 20:00:16 -08:00