[paparazzi-commits] [4947] added filtering of abnormal values

[antoine drouin]

Revision: 4947
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4947
Author:   poine
Date:     2010-06-14 16:50:56 +0000 (Mon, 14 Jun 2010)
Log Message:
-----------
added filtering of abnormal values

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.c
    paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.h

Modified: 
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.c 
2010-06-14 16:49:37 UTC (rev 4946)
+++ paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.c 
2010-06-14 16:50:56 UTC (rev 4947)
@@ -30,6 +30,11 @@
 #include <stm32/dma.h>
 
 uint8_t ms2001_cur_axe;
+int16_t ms2001_last_reading; // can't write in place because that stupid beast
+                             // stips stupid values once in a while that I need
+                             // to filter - high time we get rid of this crap 
hardware
+                             // and no, I checked with the logic analyzer, 
timing are
+                             // within specs
 
 void ms2001_arch_init( void ) {
 

Modified: 
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.h 
2010-06-14 16:49:37 UTC (rev 4946)
+++ paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.h 
2010-06-14 16:50:56 UTC (rev 4947)
@@ -28,6 +28,7 @@
 #include <stm32/spi.h>
 
 extern uint8_t ms2001_cur_axe;
+extern int16_t ms2001_last_reading;
 
 #define Ms2001Select()   GPIOC->BRR = GPIO_Pin_12
 #define Ms2001Unselect() GPIOC->BSRR = GPIO_Pin_12
@@ -87,7 +88,7 @@
     DMA_InitTypeDef  DMA_InitStructure;                                        
\
     DMA_DeInit(DMA1_Channel4);                                         \
     DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C); \
-    DMA_InitStructure.DMA_MemoryBaseAddr = 
(uint32_t)(&ms2001_values[ms2001_cur_axe]); \
+    DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)(&ms2001_last_reading); \
     DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;                 \
     DMA_InitStructure.DMA_BufferSize = 1;                              \
     DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;   \
@@ -121,20 +122,22 @@
                                                                        \
   }
 
-#define Ms2001OnDmaIrq() {                             \
-    /*  ASSERT((ms2001_status == MS2001_READING_RES),  \
-     *   DEBUG_MS2001, MS2001_ERR_SPURIOUS_DMA_IRQ);   \
-     */                                                        \
-    Ms2001Unselect();                                  \
-    ms2001_cur_axe++;                                  \
-    if (ms2001_cur_axe > 2) {                          \
-      ms2001_cur_axe = 0;                              \
-      ms2001_status = MS2001_DATA_AVAILABLE;           \
-    }                                                  \
-    else                                               \
-      ms2001_status = MS2001_IDLE;                     \
-    SPI_Cmd(SPI2, DISABLE);                            \
-    DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, DISABLE);   \
+#define Ms2001OnDmaIrq() {                                     \
+    /*  ASSERT((ms2001_status == MS2001_READING_RES),          \
+     *   DEBUG_MS2001, MS2001_ERR_SPURIOUS_DMA_IRQ);           \
+     */                                                                \
+    if (abs(ms2001_last_reading) < 2000)                       \
+      ms2001_values[ms2001_cur_axe] = ms2001_last_reading;     \
+    Ms2001Unselect();                                          \
+    ms2001_cur_axe++;                                          \
+    if (ms2001_cur_axe > 2) {                                  \
+      ms2001_cur_axe = 0;                                      \
+      ms2001_status = MS2001_DATA_AVAILABLE;                   \
+    }                                                          \
+    else                                                       \
+      ms2001_status = MS2001_IDLE;                             \
+    SPI_Cmd(SPI2, DISABLE);                                    \
+    DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, DISABLE);           \
   }
 
 #define Ms2001OnSpiIrq() {                                             \