New board supported: PARIS v5 OSD

Added support for ITG3050 and BMA280 sensors
MegaPirateNG · Feb 10, 2014 · 04eb468 · 04eb468
1 parent 5a7fe85
commit 04eb468
Show file tree

Hide file tree

Showing 12 changed files with 51 additions and 66 deletions.
diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
@@ -10,6 +10,7 @@
   HK_RED_MULTIWII_PRO -- HobbyKing MultiWii Pro RED board with ITG3205 and BMA180, BMP085 sensors
   BLACK_VORTEX
   MULTIWII_PRO_EZ3_BLACK  -- ReadyToFlyQuads - MultiWii PRO Ez3.0 Blacked MAG Editon Flight Controller w/ GPS Option (NO COMPASS)
+  PARIS_V5_OSD            -- PARIS v5 Mega iOSD - http://www.multiwiicopter.com/products/multiwii-paris-v5-mega-iosd-gps-autopilot
  */
 
 // Currently not supported

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 #ifndef THISFIRMWARE
-#  define THISFIRMWARE "ArduCopter-MPNG V3.0.1 R3b"
+#  define THISFIRMWARE "ArduCopter-MPNG V3.0.1 R4"
 #endif
 /*
  *  ArduCopter Version 3.0

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
@@ -94,6 +94,10 @@
  #if MPNG_BOARD_TYPE == HK_RED_MULTIWII_PRO || MPNG_BOARD_TYPE == BLACK_VORTEX
 	 # define CONFIG_IMU_TYPE   CONFIG_IMU_ITG3200
 	 # define CONFIG_BARO       AP_BARO_BMP085_MPNG
+ #elif MPNG_BOARD_TYPE == PARIS_V5_OSD
+	 # define CONFIG_IMU_TYPE   CONFIG_IMU_ITG3200
+	 # define CONFIG_BARO       AP_BARO_MS5611
+	 # define CONFIG_MS5611_SERIAL AP_BARO_MS5611_I2C
  #else
 	 # define CONFIG_IMU_TYPE   CONFIG_IMU_MPU6000_I2C
 	 # define CONFIG_BARO       AP_BARO_MS5611

diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
@@ -420,6 +420,7 @@ enum ap_message {
 #define HK_RED_MULTIWII_PRO 3
 #define BLACK_VORTEX 4
 #define MULTIWII_PRO_EZ3_BLACK 5
+#define PARIS_V5_OSD 6
 
 
 // Error message sub systems and error codes

diff --git a/ArduPlane/APM_Config.h b/ArduPlane/APM_Config.h
@@ -19,6 +19,7 @@
   HK_RED_MULTIWII_PRO -- HobbyKing MultiWii Pro board with ITG3205 and BMA180, BMP085 sensors
   BLACK_VORTEX
   MULTIWII_PRO_EZ3_BLACK  -- ReadyToFlyQuads - MultiWii PRO Ez3.0 Blacked MAG Editon Flight Controller w/ GPS Option (NO COMPASS) 
+  PARIS_V5_OSD            -- PARIS v5 Mega iOSD - http://www.multiwiicopter.com/products/multiwii-paris-v5-mega-iosd-gps-autopilot 
  */
 
  // GPS port speed (Serial2) 38400 by default

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 #ifndef THISFIRMWARE
-#  define THISFIRMWARE "ArduPlane V2.74beta MPNG-R3b"
+#  define THISFIRMWARE "ArduPlane V2.74beta MPNG-R4"
 #endif
 /*
  *  Lead developer: Andrew Tridgell

diff --git a/ArduPlane/config.h b/ArduPlane/config.h
@@ -135,6 +135,10 @@
  #if MPNG_BOARD_TYPE == HK_RED_MULTIWII_PRO || MPNG_BOARD_TYPE == BLACK_VORTEX
 	 # define CONFIG_INS_TYPE   CONFIG_INS_ITG3200
 	 # define CONFIG_BARO       AP_BARO_BMP085_MPNG
+ #elif MPNG_BOARD_TYPE == PARIS_V5_OSD
+	 # define CONFIG_INS_TYPE   CONFIG_INS_ITG3200
+	 # define CONFIG_BARO       AP_BARO_MS5611
+	 # define CONFIG_MS5611_SERIAL AP_BARO_MS5611_I2C 
  #else
 	 # define CONFIG_INS_TYPE   CONFIG_INS_MPU6000_I2C
 	 # define CONFIG_BARO       AP_BARO_MS5611

diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
@@ -266,6 +266,7 @@ enum log_messages {
 #define HK_RED_MULTIWII_PRO 3
 #define BLACK_VORTEX 4
 #define MULTIWII_PRO_EZ3_BLACK 5
+#define PARIS_V5_OSD 6
 
 // altitude control algorithms
 enum {

diff --git a/MPNG - README - MPNG.txt b/MPNG - README - MPNG.txt
diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-# Release Notes for MegaPirateNG 3.0.1 R3 BETA (based on ArduPilot 3.0.1)
+# Release Notes for MegaPirateNG 3.0.1 R4 (based on ArduPilot 3.0.1)
 
 ## How to compile and configure MegaPirateNG
 Follow instructions at: http://docs.megapirateng.com

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_ITG3200.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_ITG3200.cpp
@@ -10,10 +10,6 @@ extern const AP_HAL::HAL& hal;
 
 #define ITG3200_ADDRESS  	0x68 // 0xD0
 
-// accelerometer scaling
-#define ACCEL_SCALE_1G    	(GRAVITY_MSS / 2730.0)
-
-
 #define GYRO_SMPLRT_50HZ 19 // 1KHz/(divider+1)
 #define GYRO_SMPLRT_100HZ 9 // 1KHz/(divider+1)
 #define GYRO_SMPLRT_200HZ 4 // 1KHz/(divider+1)
@@ -25,7 +21,10 @@ extern const AP_HAL::HAL& hal;
 #define GYRO_DLPF_CFG_98HZ 2
 
 // ITG-3200 14.375 LSB/degree/s
-const float AP_InertialSensor_ITG3200::_gyro_scale = 0.0012141421; // ToRad(1/14.375)
+float AP_InertialSensor_ITG3200::_gyro_scale = 0.0012141421; // ToRad(1/14.375)
+float AP_InertialSensor_ITG3200::_accel_scale_1G = (GRAVITY_MSS / 2730.0f); // 2730 LSB = 1G
+
+
 
 uint8_t AP_InertialSensor_ITG3200::_gyro_data_index[3] = { 1, 2, 0 };
 uint8_t AP_InertialSensor_ITG3200::_accel_data_index[3] = { 4, 5, 6 };
@@ -35,6 +34,7 @@ int8_t AP_InertialSensor_ITG3200::_accel_data_sign[3] = { 1, 1, -1 };
 const uint8_t AP_InertialSensor_ITG3200::_temp_data_index = 3;
 
 uint8_t AP_InertialSensor_ITG3200::_accel_addr = 0x40;
+uint8_t AP_InertialSensor_ITG3200::_board_type = 0;
 uint16_t AP_InertialSensor_ITG3200::_micros_per_sample = 9500; // 100Hz
 
 /* Static I2C device driver */
@@ -45,10 +45,20 @@ static volatile uint32_t _ins_timer = 0;
 AP_InertialSensor_ITG3200::AP_InertialSensor_ITG3200(uint8_t board_type): AP_InertialSensor()
 {
 	_initialised = false;
+	_board_type = board_type;
 
-	if (board_type == BLACK_VORTEX) {
+	if (_board_type == BLACK_VORTEX) {
 		_accel_addr = 0x41;
-	} 
+		_accel_scale_1G = (GRAVITY_MSS / 1024.0f); // BMA280 - 1024 LSB = 1G
+	} else if (_board_type == PARIS_V5_OSD) {
+		_accel_addr = 0x18;
+		_gyro_scale = 0.0010642251536551; // ITG3050 - 16.4 LSB/degree/s = ToRad(1/16.4)
+		_accel_scale_1G = (GRAVITY_MSS / 1024.0f); // BMA280 - 1024 LSB = 1G
+		_gyro_data_index[0] = 2; _gyro_data_index[1] = 1; _gyro_data_index[2] = 0;
+		_accel_data_index[0] = 4; _accel_data_index[1] = 5; _accel_data_index[2] = 6;
+		_gyro_data_sign[0] = -1; _gyro_data_sign[1] = 1; _gyro_data_sign[2] = -1;
+		_accel_data_sign[0] = 1; _accel_data_sign[1] = 1; _accel_data_sign[2] = -1;
+	}
 }
 
 uint16_t AP_InertialSensor_ITG3200::_init_sensor(Sample_rate sample_rate)
@@ -148,7 +158,7 @@ bool AP_InertialSensor_ITG3200::update( void )
 					  _accel_data_sign[2] * sum[_accel_data_index[2]]);
 
 	_accel.rotate(_board_orientation);
-    _accel *= count_scale * ACCEL_SCALE_1G;
+    _accel *= count_scale * _accel_scale_1G;
     _accel.x *= accel_scale.x;
     _accel.y *= accel_scale.y;
     _accel.z *= accel_scale.z;
@@ -246,7 +256,7 @@ void AP_InertialSensor_ITG3200::_read_data_transaction()
 
 	memset(raw,0,6);
 	hal.i2c->readRegisters(_accel_addr, 0x02, 6, raw);
-	_sum[4] += (int16_t)(((uint16_t)raw[3] << 8) | raw[2]) >> 2;
+	_sum[4] += (int16_t)(((uint16_t)raw[3] << 8) | raw[2]) >> 2; // Lower 2 bits has no data, we just cut it
 	_sum[5] += (int16_t)(((uint16_t)raw[1] << 8) | raw[0]) >> 2;
 	_sum[6] += (int16_t)(((uint16_t)raw[5] << 8) | raw[4]) >> 2;
 
@@ -327,13 +337,19 @@ bool AP_InertialSensor_ITG3200::hardware_init(Sample_rate sample_rate)
 	hal.i2c->writeRegister(ITG3200_ADDRESS, 0x3E, 0x03);
 	hal.scheduler->delay(10);
 
-	hal.i2c->writeRegister(_accel_addr, 0x0D, 1<<4);
-	hal.scheduler->delay(1);
-	hal.i2c->writeRegister(_accel_addr, 0x35, 3<<1);
-	hal.scheduler->delay(1);
-	hal.i2c->writeRegister(_accel_addr, 0x20, 0<<4);
+	if (_board_type == PARIS_V5_OSD) {
+		hal.i2c->writeRegister(_accel_addr, 0x10, 0x09); // acceleration data filter bandwidth = 15,63Hz
+		hal.scheduler->delay(5);
+		hal.i2c->writeRegister(_accel_addr, 0x0F, 0x08); // range = 8G
+	} else {
+		hal.i2c->writeRegister(_accel_addr, 0x0D, 1<<4);
+		hal.scheduler->delay(1);
+		hal.i2c->writeRegister(_accel_addr, 0x35, 3<<1); // range = 8G
+		hal.scheduler->delay(1);
+		hal.i2c->writeRegister(_accel_addr, 0x20, 0<<4);
+  }
 	hal.scheduler->delay(10);
-	
+
 	_i2c_sem->give();
 
   return true;

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_ITG3200.h b/libraries/AP_InertialSensor/AP_InertialSensor_ITG3200.h
@@ -15,6 +15,8 @@
 #define RCTIMER_CRIUS_V2 2
 #define HK_RED_MULTIWII_PRO 3
 #define BLACK_VORTEX 4
+#define MULTIWII_PRO_EZ3_BLACK 5
+#define PARIS_V5_OSD 6
 
 class AP_InertialSensor_ITG3200 : public AP_InertialSensor
 {
@@ -55,7 +57,8 @@ class AP_InertialSensor_ITG3200 : public AP_InertialSensor
 
   float 				_temp_to_celsius( uint16_t );
 
-  static const float 	_gyro_scale;
+  static float 	_gyro_scale;
+  static float 	_accel_scale_1G;
 
   static uint8_t 		_gyro_data_index[3];
   static int8_t 		_gyro_data_sign[3];
@@ -66,6 +69,7 @@ class AP_InertialSensor_ITG3200 : public AP_InertialSensor
   static const uint8_t 		_temp_data_index;
 
   static uint8_t _accel_addr;
+  static uint8_t _board_type;
   static uint16_t _micros_per_sample;
 
  // ensure we can't initialise twice