Re: [Paparazzi-devel] aspirin 2 and LPC

[Felix Ruess]

Hi,

The MPU6000 driver functions (spi as well as i2c) should be separated
out into sw/airborne/peripherals/ instead of directly using them in
the aspirin2 driver. That should then also be usable independent of
the architecture without problems.
https://github.com/paparazzi/paparazzi/issues/190

Heinrich, if you are working on this anyway, patches (pull requests)
for a better separation of this would be very welcome!

IMHO it is confusing to use the aspirin driver as a module in
fixedwings (via i2c) and as a subsystem otherwise.
Is there a specific reason why this is a module for fixedwings?
It would make sense to have all essential components (like the imu) in
subsystems (like it is for rotorcrafts).... or at some point unify
both as briefly mentioned in
https://github.com/paparazzi/paparazzi/issues/23

Cheers, Felix

On Fri, May 4, 2012 at 5:01 PM, Christophe De Wagter <address@hidden> wrote:
> Dear Heinrich,
>
> sw/airborne/subsystems/imu/imu_aspirin2.0.c from
> github.com/paparazzi/paparazzi.git in the dev/beta4 branch configures the
> magnetometer via the secondary i2c slave.
>
> Sincerely,
>
> -Christophe
>
>
>
>
> On Fri, May 4, 2012 at 4:54 PM, Prof. Dr.-Ing. Heinrich Warmers
> <address@hidden> wrote:
>>
>> Hi all,
>> i made just  an  implementation of  the MPU6000 in the LPC2148 based
>> HB-MINI.
>> Currently i have only connected the SPI bus. But it seems to be a problem
>> to use the magnet sensor on the second local i2c bus of the MPU6000 chip.
>> It is currently not possible to config the  magnet sensor. Therefore we
>> have to implement a software i2c for the pins of the spi interface. First
>> using the software i2c. Them config the magnet sensor by closing  the i2c
>> bridge  in the MPU6000  and then switch to the spi mode. Currently i have
>> also resistor switch to connect the magnet sensor to the main i2c of the
>> lpc2148 chip. But it is then  not possible the use the inside CPU of the
>> MPU6000 chip.
>>
>> Cheers Heinrich
>>
>> Cédric Marzer (privé) schrieb:
>>
>> If I understand correctly, it is possible to use the aspirin2 module with
>> the aspirin_i2c subsystem, but for fixed wing only…Am I right ?
>>
>>
>>
>> De : address@hidden
>> [mailto:address@hidden De la part de
>> Christophe De Wagter
>> Envoyé : vendredi 4 mai 2012 15:19
>> À : address@hidden
>> Objet : Re: [Paparazzi-devel] aspirin 2 and LPC
>>
>>
>>
>> we already flew
>> it: 
>> https://github.com/tudelft/paparazzi/tree/master/sw/airborne/modules/sensors
>>
>>
>>
>> it used an aspirin2 module on i2c
>>
>>
>> -Christophe
>>
>>
>> On Fri, May 4, 2012 at 12:47 PM, Felix Ruess <address@hidden>
>> wrote:
>>
>> Hi Cedric,
>>
>> I don't think there are any problems in principle that prevent you
>> from using Aspirin2 on the LPC (via SPI).
>> But the architecture dependent part hasn't been written for the LPC21
>> so far... When libopencm3 integration is ready (with the improved spi
>> driver https://github.com/paparazzi/paparazzi/issues/147) there should
>> actually be no need for arch parts in these drivers anymore.
>>
>> Cheers, Felix
>>
>>
>> On Thu, May 3, 2012 at 1:57 PM, Cédric Marzer (privé) <address@hidden>
>> wrote:
>> > Hum, I assumed based on the quadshot website that the aspirin 2 would
>> > work with a twog (LPC based), but I couldn't find the corresponding
>> > subsystem.
>> > So what is the status of this ? Should I buy a lisa board or is it
>> > possible to reuse my twog ?
>> > Cheers
>> > Cédric
>> >
>> >
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