Re: [Paparazzi-devel] vectornav VN 100

[Gautier Hattenberger]

Hi,

Reading the values from the sensor works for me (not writing, I don't know why).
You can have a look at the airframe ENAC/fixed-wing/twinjet2.xml
The flags for SPI are :
ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c
and do not forget the flag -DUSE_MODULES

The module is not complete yet. One bug I know is the conversion from quaternion to euler angles. The DRDY is not used, so you should configure manually the VN100 for not sending periodical messages.

And your wiring looks good !

Gautier

Le 09/06/2010 22:01, Gayan Gamage a écrit :

Hi,

i am trying to integrate a vectornav VN100 AHRS sensor to the paparazzi board (tiny2) through the SPI port. There is the code inside the modules/ins folder. I connected the wiring properly (I guess) and configured the module in the airframe file and added -DUSE_SPI, _DSPI_MASTER, DUSE_SPI_SLAVE0 too as cflags. But there is no connection with the sensor. Any help is highly appreciated

(connection)
vectornav VN 100pin -> tiny 2 SPI port pins
Gnd -> Gnd
Vcc->+3.3 V
SPI_CS (SPI SLAVE SELECT) ->SSEL
MOSI -> SPI_MOSI
MISO ->SPI_MISO
SPI clock -> SCK (SPI serial clock)
DR_INT (data ready interrupt.) - > DRDY (external interrupt)

VN 100 sensor layout is at http://www.vectornav.com/Downloads/Support/UM002.pdf



--
Gayan

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