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[stm32] merge new i2c driver

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* the old i2c driver is still the default
* to use the new i2c driver, add to the firmware section in the airframe file
  <configure name="USE_NEW_I2C_DRIVER" value="1"/>
This commit is contained in:
Felix Ruess
2012-04-26 16:23:04 +02:00
parent 23caa9ea03 ad33403255
commit 07aebfaf72
31 changed files with 6258 additions and 133 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/CDW/debug_i2c.xml
+1 -1
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@@ -216,7 +216,7 @@
<define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/>
<target name="ap" board="lisa_l_1.0">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="asctec"/>
</target>
<target name="sim" board="pc">
conf/airframes/CDW/debug_i2c_lpc.xml
+215
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@@ -0,0 +1,215 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
YAPA + XSens + XBee
-->
<airframe name="Yapa v1">
<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_LEFT" no="2" min="1000" neutral="1500" max="2000"/>
<servo name="AILERON_RIGHT" no="6" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="BRAKE" failsafe_value="0"/> <!-- both elerons up as butterfly brake ? -->
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="BRAKE" value="@YAW"/>
</rc_commands>
<section name="SERVO_MIXER_GAINS">
<define name="AILERON_RATE_UP" value="0.50f"/>
<define name="AILERON_RATE_DOWN" value="0.25f"/>
<define name="AILERON_RATE_UP_BRAKE" value="0.5f"/>
<define name="AILERON_RATE_DOWN_BRAKE" value="0.9f"/>
<define name="PITCH_GAIN" value="0.9f"/>
<define name="YAW_THRUST" value="0.0f"/>
<define name="BRAKE_AILEVON" value="-0.68f"/>
<define name="BRAKE_PITCH" value="0.0f"/>
<define name="MAX_BRAKE_RATE" value="150"/>
<define name="RATELIMIT(X,RATE)" value="( _rate_limited_value + Chop( (X) - _rate_limited_value, -(RATE), (RATE) )); \
int16_t _rate_limited_value = 0;"/>
</section>
<command_laws>
<!-- Brake Rate Limiter -->
<let var="brake_value" value="Chop(-@BRAKE, 0, MAX_PPRZ)"/>
<!--<let var="brake_value" value="RATELIMIT( $brake_value , MAX_BRAKE_RATE )"/>
<let var="test; \
static int16_t _var_brake_value = 0; \
_var_brake_value += LIMIT(_var_brake_value_nofilt - _var_brake_value,-MAX_BRAKE_RATE,MAX_BRAKE_RATE); \
int verwaarloos_deze_warning_CDW" value="0"/>
-->
<!-- Differential Aileron Depending on Brake Value -->
<let var="aileron_up_rate" value="(AILERON_RATE_UP * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE * $brake_value)"/>
<let var="aileron_down_rate" value="(AILERON_RATE_DOWN * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_DOWN_BRAKE * $brake_value)"/>
<let var="aileron_up" value="(@ROLL * (((float)$aileron_up_rate) / ((float)MAX_PPRZ)))"/>
<let var="aileron_down" value="(@ROLL * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
<let var="leftturn" value="(@ROLL >= 0? 1 : 0)"/>
<let var="rightturn" value="(1 - $leftturn)"/>
<set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON)"/>
<set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON)"/>
<!-- Differential Thurst -->
<set servo="THROTTLE" value="@THROTTLE"/>
<!-- Pitch with Brake-Trim Function -->
<set servo="ELEVATOR" value="-@PITCH * PITCH_GAIN + BRAKE_PITCH * $brake_value"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.7"/>
</section>
<section name="BAT">
<define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
<define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="PITCH_PGAIN" value="-12000."/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1000."/>
<define name="ROLL_SLEW" value="1."/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="0."/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
<define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
</section>
<modules>
<load name="ins_xsens_MTiG_fixedwing.xml">
<configure name="XSENS_UART_NR" value="0"/>
</load>
<load name="i2c_abuse_test.xml"/>
</modules>
<firmware name="fixedwing">
<target name="ap" board="tiny_2.11">
<define name="STRONG_WIND"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
</target>
<target name="sim" board="pc"/>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B57600"/>
</subsystem>
<!-- Actuators -->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="navigation"/>
<subsystem name="gps" type="xsens"/>
</firmware>
</airframe>
conf/airframes/fraser_lisa_m_rotorcraft.xml
+1
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@@ -15,6 +15,7 @@
<define name="ACTUATORS_START_DELAY" value="3"/>
<define name="USE_INS_NAV_INIT"/>
<configure name="AHRS_ALIGNER_LED" value="3"/>
<configure name="USE_NEW_I2C_DRIVER" value="1"/>
<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING"/>
</target>
<target name="sim" board="pc">
conf/autopilot/subsystems/shared/i2c_select.makefile
+4 -1
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@@ -4,8 +4,11 @@
$(TARGET).srcs += mcu_periph/i2c.c
ifeq ($(ARCH), stm32)
ifeq ($(USE_NEW_I2C_DRIVER), 1)
$(TARGET).srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.rewritten.c
else
$(TARGET).srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
#$(TARGET).srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.rewritten.c
endif
else
$(TARGET).srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
endif
conf/modules/i2c_abuse_test.xml
+12 -2
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@@ -8,11 +8,21 @@
<file name="i2c_abuse_test.h"/>
</header>
<init fun="init_i2c_abuse_test()"/>
<periodic fun="periodic_50Hz_i2c_abuse_test()" period="0.02" autorun="TRUE" />
<event fun="event_i2c_abuse_test()" />
<!-- <periodic fun="periodic_50Hz_i2c_abuse_test()" period="0.02" autorun="FALSE"/> -->
<makefile>
<!-- define name="i2c_abuse_test_MODULE_LED" value="2"/ -->
<file name="i2c_abuse_test.c"/>
<raw>
ifeq ($(ARCH), lpc21)
$(TARGET).CFLAGS += -DI2C_ABUSE_LED=3
$(TARGET).CFLAGS += -DUSE_I2C0
$(TARGET).CFLAGS += -DI2C_ABUSE_PORT=i2c0
else ifeq ($(ARCH), stm32)
$(TARGET).CFLAGS += -DI2C_ABUSE_LED=7
$(TARGET).CFLAGS += -DI2C_ABUSE_PORT=i2c2
endif
</raw>
</makefile>
</module>
conf/telemetry/default_rotorcraft.xml
+1
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@@ -16,6 +16,7 @@
<message name="BOOZ2_CAM" period="1."/>
<message name="GPS_INT" period=".25"/>
<message name="INS" period=".25"/>
<message name="I2C_ERRORS" period="6."/>
</mode>
<mode name="ppm">
sw/airborne/arch/avr/mcu_periph/i2c_arch.c
+4
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@@ -161,3 +161,7 @@ void i2c_init(void) {
sbi(TWSR, TWPS0);
*/
}
void i2c_event(void) { }
void i2c2_setbitrate(int bitrate __attribute__ ((unused))) { }
sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c
+42
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@@ -340,3 +340,45 @@ bool_t i2c_submit(struct i2c_periph* p, struct i2c_transaction* t) {
return TRUE;
}
void i2c_event(void) { }
void i2c_setbitrate(struct i2c_periph* p, int bitrate)
{
int period = 15000000 / 2 / bitrate;
// Max 400kpbs
if (period < 19)
period = 19;
// Min 5kbps
if (period > 1500)
period = 1500;
/* default clock speed 37.5KHz with our 15MHz PCLK
I2C1_CLOCK = PCLK / (I2C1_SCLL + I2C1_SCLH) */
#if (PCLK == 30000000)
period *= 2;
#endif
#if (PCLK == 60000000)
period *= 4;
#endif
#ifdef USE_I2C0
if (p == &i2c0)
{
/* set bitrate */
I2C0SCLL = period;
I2C0SCLH = period;
}
#endif
#ifdef USE_I2C1
if (p == &i2c1)
{
/* set bitrate */
I2C1SCLL = period;
I2C1SCLH = period;
}
#endif
}
sw/airborne/arch/sim/mcu_periph/i2c_arch.c
+3
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@@ -4,3 +4,6 @@ void i2c_hw_init ( void ) {}
bool_t i2c_idle(struct i2c_periph *p __attribute__ ((unused))) { return TRUE; }
bool_t i2c_submit(struct i2c_periph* p __attribute__ ((unused)), struct i2c_transaction* t __attribute__ ((unused))) { return TRUE;}
void i2c_event(void) { }
void i2c2_setbitrate(int bitrate __attribute__ ((unused))) { }
sw/airborne/arch/stm32/mcu_periph/i2c_arch.c
+6 -4
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@@ -287,9 +287,11 @@ static inline void on_status_restart_requested(struct i2c_periph *periph, struct
}
}
void i2c_event(void)
{
}
static inline void i2c_event(struct i2c_periph *p, uint32_t event)
static inline void i2c_driver_event(struct i2c_periph *p, uint32_t event)
{
struct i2c_transaction* trans = p->trans[p->trans_extract_idx];
switch (p->status) {
@@ -509,7 +511,7 @@ void i2c1_hw_init(void) {
void i2c1_ev_irq_handler(void) {
uint32_t event = I2C_GetLastEvent(I2C1);
i2c_event(&i2c1, event);
i2c_driver_event(&i2c1, event);
}
@@ -586,7 +588,7 @@ void i2c2_hw_init(void) {
void i2c2_ev_irq_handler(void) {
uint32_t event = I2C_GetLastEvent(I2C2);
i2c_event(&i2c2, event);
i2c_driver_event(&i2c2, event);
}
void i2c2_er_irq_handler(void) {
sw/airborne/arch/stm32/mcu_periph/i2c_arch.h
-4
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@@ -34,8 +34,6 @@
#ifdef USE_I2C1
extern struct i2c_errors i2c1_errors;
extern void i2c1_hw_init(void);
extern void i2c1_ev_irq_handler(void);
extern void i2c1_er_irq_handler(void);
@@ -46,8 +44,6 @@ extern void i2c1_er_irq_handler(void);
#ifdef USE_I2C2
extern struct i2c_errors i2c2_errors;
extern void i2c2_hw_init(void);
extern void i2c2_ev_irq_handler(void);
extern void i2c2_er_irq_handler(void);
sw/airborne/arch/stm32/mcu_periph/i2c_arch.rewritten.c
+1452
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File diff suppressed because it is too large Load Diff
sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_attempt1.c
+659
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File diff suppressed because it is too large Load Diff
sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_attempt2_nolib.c
+1064
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File diff suppressed because it is too large Load Diff
sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_attempt3_subtra.c
+1286
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File diff suppressed because it is too large Load Diff
sw/airborne/arch/stm32/mcu_periph/obsolete/i2c_attempt4_nodouble_isr.c
+1358
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File diff suppressed because it is too large Load Diff
sw/airborne/boards/lisa_l/baro_board.c
+1
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@@ -26,6 +26,7 @@ void baro_init(void) {
void baro_periodic(void) {
// check i2c_done
if (!i2c_idle(&i2c2)) return;
switch (baro_board.status) {
case LBS_UNINITIALIZED:
baro_board_send_reset();
sw/airborne/boards/lisa_l/test_baro.c
+10 -12
View File
@@ -1,6 +1,4 @@
/*
* $Id$
*
* Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
@@ -32,6 +30,7 @@
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/i2c.h"
#include "led.h"
@@ -47,7 +46,6 @@ static inline void main_event_task( void );
static inline void main_on_baro_diff(void);
static inline void main_on_baro_abs(void);
int main(void) {
main_init();
@@ -81,15 +79,15 @@ static inline void main_periodic_task( void ) {
RunOnceEvery(256,
{
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt,
&i2c2_errors.over_under_cnt,
&i2c2_errors.pec_recep_cnt,
&i2c2_errors.timeout_tlow_cnt,
&i2c2_errors.smbus_alert_cnt,
&i2c2_errors.unexpected_event_cnt,
&i2c2_errors.last_unexpected_event);
&i2c2.errors->ack_fail_cnt,
&i2c2.errors->miss_start_stop_cnt,
&i2c2.errors->arb_lost_cnt,
&i2c2.errors->over_under_cnt,
&i2c2.errors->pec_recep_cnt,
&i2c2.errors->timeout_tlow_cnt,
&i2c2.errors->smbus_alert_cnt,
&i2c2.errors->unexpected_event_cnt,
&i2c2.errors->last_unexpected_event);
});
}
sw/airborne/firmwares/fixedwing/main_ap.c
+4
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@@ -583,6 +583,10 @@ void monitor_task( void ) {
/*********** EVENT ***********************************************************/
void event_task_ap( void ) {
#ifndef SINGLE_MCU
i2c_event();
#endif
#if USE_AHRS
#if USE_IMU
ImuEvent(on_gyro_event, on_accel_event, on_mag_event);
sw/airborne/firmwares/fixedwing/main_fbw.c
+2
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@@ -43,6 +43,7 @@
#include "firmwares/fixedwing/autopilot.h"
#include "fbw_downlink.h"
#include "paparazzi.h"
#include "mcu_periph/i2c.h"
#ifdef MCU_SPI_LINK
#include "link_mcu.h"
@@ -119,6 +120,7 @@ void event_task_fbw( void) {
RadioControlEvent(handle_rc_frame);
#endif
i2c_event();
#ifdef INTER_MCU
#ifdef MCU_SPI_LINK
sw/airborne/firmwares/rotorcraft/main.c
+2
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@@ -196,6 +196,8 @@ STATIC_INLINE void failsafe_check( void ) {
STATIC_INLINE void main_event( void ) {
i2c_event();
DatalinkEvent();
if (autopilot_rc) {
sw/airborne/firmwares/rotorcraft/telemetry.h
+39 -12
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@@ -48,8 +48,8 @@
#endif
#include "subsystems/ins.h"
#include "subsystems/ahrs.h"
//FIXME: wtf ??!!
#include "mcu_periph/i2c_arch.h"
// I2C Error counters
#include "mcu_periph/i2c.h"
#define PERIODIC_SEND_ALIVE(_trans, _dev) DOWNLINK_SEND_ALIVE(_trans, _dev, 16, MD5SUM)
@@ -736,16 +736,43 @@
&ahrs.ltp_to_body_euler.psi); \
}
#define PERIODIC_SEND_I2C_ERRORS(_trans, _dev) { \
DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \
&i2c_errc_ack_fail, \
&i2c_errc_miss_start_stop, \
&i2c_errc_arb_lost, \
&i2c_errc_over_under, \
&i2c_errc_pec_recep, \
&i2c_errc_timeout_tlow, \
&i2c_errc_smbus_alert \
); \
#ifdef USE_I2C1
#define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev) { \
DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \
&i2c1.errors->ack_fail_cnt, \
&i2c1.errors->miss_start_stop_cnt, \
&i2c1.errors->arb_lost_cnt, \
&i2c1.errors->over_under_cnt, \
&i2c1.errors->pec_recep_cnt, \
&i2c1.errors->timeout_tlow_cnt, \
&i2c1.errors->smbus_alert_cnt, \
&i2c1.errors->unexpected_event_cnt, \
&i2c1.errors->last_unexpected_event); \
}
#else
#define PERIODIC_SEND_I2C1_ERRORS(_trans, _dev) {}
#endif
#ifdef USE_I2C2
#define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev) { \
DOWNLINK_SEND_I2C_ERRORS(_trans, _dev, \
&i2c2.errors->ack_fail_cnt, \
&i2c2.errors->miss_start_stop_cnt, \
&i2c2.errors->arb_lost_cnt, \
&i2c2.errors->over_under_cnt, \
&i2c2.errors->pec_recep_cnt, \
&i2c2.errors->timeout_tlow_cnt, \
&i2c2.errors->smbus_alert_cnt, \
&i2c2.errors->unexpected_event_cnt, \
&i2c2.errors->last_unexpected_event); \
}
#else
#define PERIODIC_SEND_I2C2_ERRORS(_trans, _dev) {}
#endif
#define PERIODIC_SEND_I2C_ERRORS(_trans, _dev) { \
PERIODIC_SEND_I2C1_ERRORS(_trans, _dev); \
PERIODIC_SEND_I2C2_ERRORS(_trans, _dev); \
}
// FIXME: still used?? or replace by EXTRA_ADC
sw/airborne/lisa/test/lisa_test_hmc5843.c
+10 -9
View File
@@ -41,6 +41,7 @@
#include "led.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/i2c.h"
#include "peripherals/hmc5843.h"
#include "my_debug_servo.h"
#include "math/pprz_algebra_int.h"
@@ -91,15 +92,15 @@ static inline void main_periodic_task( void ) {
RunOnceEvery(256,
{
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt,
&i2c2_errors.over_under_cnt,
&i2c2_errors.pec_recep_cnt,
&i2c2_errors.timeout_tlow_cnt,
&i2c2_errors.smbus_alert_cnt,
&i2c2_errors.unexpected_event_cnt,
&i2c2_errors.last_unexpected_event);
&i2c2.errors->ack_fail_cnt,
&i2c2.errors->miss_start_stop_cnt,
&i2c2.errors->arb_lost_cnt,
&i2c2.errors->over_under_cnt,
&i2c2.errors->pec_recep_cnt,
&i2c2.errors->timeout_tlow_cnt,
&i2c2.errors->smbus_alert_cnt,
&i2c2.errors->unexpected_event_cnt,
&i2c2.errors->last_unexpected_event);
});
if (mag_state == 2) send_config();
sw/airborne/lisa/test/lisa_test_itg3200.c
+9 -9
View File
@@ -88,15 +88,15 @@ static inline void main_periodic_task( void ) {
});
RunOnceEvery(256, {
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt,
&i2c2_errors.over_under_cnt,
&i2c2_errors.pec_recep_cnt,
&i2c2_errors.timeout_tlow_cnt,
&i2c2_errors.smbus_alert_cnt,
&i2c2_errors.unexpected_event_cnt,
&i2c2_errors.last_unexpected_event);
&i2c2.errors->ack_fail_cnt,
&i2c2.errors->miss_start_stop_cnt,
&i2c2.errors->arb_lost_cnt,
&i2c2.errors->over_under_cnt,
&i2c2.errors->pec_recep_cnt,
&i2c2.errors->timeout_tlow_cnt,
&i2c2.errors->smbus_alert_cnt,
&i2c2.errors->unexpected_event_cnt,
&i2c2.errors->last_unexpected_event);
});
switch (gyro_state) {
sw/airborne/lisa/test/test_board.c
+19 -20
View File
@@ -1,6 +1,4 @@
/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
@@ -31,6 +29,7 @@
#include "std.h"
#include "mcu.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/i2c.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/datalink/downlink.h"
#include "led.h"
@@ -157,15 +156,15 @@ static void test_baro_periodic(void) {
RunOnceEvery(2, {baro_periodic();});
RunOnceEvery(100,{
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt,
&i2c2_errors.over_under_cnt,
&i2c2_errors.pec_recep_cnt,
&i2c2_errors.timeout_tlow_cnt,
&i2c2_errors.smbus_alert_cnt,
&i2c2_errors.unexpected_event_cnt,
&i2c2_errors.last_unexpected_event);
&i2c2.errors->ack_fail_cnt,
&i2c2.errors->miss_start_stop_cnt,
&i2c2.errors->arb_lost_cnt,
&i2c2.errors->over_under_cnt,
&i2c2.errors->pec_recep_cnt,
&i2c2.errors->timeout_tlow_cnt,
&i2c2.errors->smbus_alert_cnt,
&i2c2.errors->unexpected_event_cnt,
&i2c2.errors->last_unexpected_event);
});
}
static void test_baro_event(void) {BaroEvent(test_baro_on_baro_abs, test_baro_on_baro_diff);}
@@ -191,15 +190,15 @@ static void test_bldc_periodic(void) {
RunOnceEvery(100,{
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c1_errors.ack_fail_cnt,
&i2c1_errors.miss_start_stop_cnt,
&i2c1_errors.arb_lost_cnt,
&i2c1_errors.over_under_cnt,
&i2c1_errors.pec_recep_cnt,
&i2c1_errors.timeout_tlow_cnt,
&i2c1_errors.smbus_alert_cnt,
&i2c1_errors.unexpected_event_cnt,
&i2c1_errors.last_unexpected_event);
&i2c1.errors->ack_fail_cnt,
&i2c1.errors->miss_start_stop_cnt,
&i2c1.errors->arb_lost_cnt,
&i2c1.errors->over_under_cnt,
&i2c1.errors->pec_recep_cnt,
&i2c1.errors->timeout_tlow_cnt,
&i2c1.errors->smbus_alert_cnt,
&i2c1.errors->unexpected_event_cnt,
&i2c1.errors->last_unexpected_event);
});
}
sw/airborne/mcu_periph/i2c.h
+3
View File
@@ -133,6 +133,9 @@ extern void i2c2_init(void);
extern void i2c_init(struct i2c_periph* p);
extern bool_t i2c_idle(struct i2c_periph* p);
extern bool_t i2c_submit(struct i2c_periph* p, struct i2c_transaction* t);
extern void i2c_setbitrate(struct i2c_periph* p, int bitrate);
extern void i2c_event(void);
#define I2CReceive(_p, _t, _s_addr, _len) { \
_t.type = I2CTransRx; \
sw/airborne/modules/benchmark/i2c_abuse_test.c
+26 -39
View File
@@ -1,7 +1,7 @@
/*
* $Id$
*
* Copyright (C) 2009 Gautier Hattenberger
* Copyright (C) 2011 Christophe De Wagter
*
* This file is part of paparazzi.
*
@@ -29,8 +29,8 @@
struct i2c_transaction i2c_test1;
struct i2c_transaction i2c_test2;
uint8_t i2c_abuse_test_counter = 0;
uint16_t i2c_abuse_test_bitrate = 1000;
volatile uint8_t i2c_abuse_test_counter = 0;
volatile uint32_t i2c_abuse_test_bitrate = 1000;
void init_i2c_abuse_test(void) {
//LED_INIT(DEMO_MODULE_LED);
@@ -62,59 +62,59 @@ static void i2c_abuse_send_transaction(uint8_t _init)
i2c_test1.buf[2] = 0x01<<5;
i2c_test1.buf[3] = 0x00;
i2c_test1.len_w = 4;
i2c_submit(&i2c2,&i2c_test1);
i2c_submit(&I2C_ABUSE_PORT,&i2c_test1);
break;
case 2:
i2c_test1.type = I2CTransTx;
i2c_test1.buf[0] = 0x01; // set to gain to 1 Gauss
i2c_test1.buf[1] = 0x01<<5;
i2c_test1.len_w = 2;
i2c_submit(&i2c2,&i2c_test1);
i2c_submit(&I2C_ABUSE_PORT,&i2c_test1);
break;
case 3:
i2c_test1.type = I2CTransTx;
i2c_test1.buf[0] = 0x00; // set to continuous mode
i2c_test1.len_w = 1;
i2c_submit(&i2c2,&i2c_test1);
i2c_submit(&I2C_ABUSE_PORT,&i2c_test1);
break;
case 4:
i2c_test1.type = I2CTransRx;
i2c_test1.len_r = 1;
i2c_submit(&i2c2,&i2c_test1);
i2c_submit(&I2C_ABUSE_PORT,&i2c_test1);
break;
case 5:
i2c_test1.type = I2CTransRx;
i2c_test1.len_r = 2;
i2c_submit(&i2c2,&i2c_test1);
i2c_submit(&I2C_ABUSE_PORT,&i2c_test1);
break;
case 6:
i2c_test1.type = I2CTransRx;
i2c_test1.len_r = 3;
i2c_submit(&i2c2,&i2c_test1);
i2c_submit(&I2C_ABUSE_PORT,&i2c_test1);
break;
case 7:
i2c_test1.type = I2CTransRx;
i2c_test1.len_r = 4;
i2c_submit(&i2c2,&i2c_test1);
i2c_submit(&I2C_ABUSE_PORT,&i2c_test1);
break;
case 8:
i2c_test1.type = I2CTransRx;
i2c_test1.len_r = 5;
i2c_submit(&i2c2,&i2c_test1);
i2c_submit(&I2C_ABUSE_PORT,&i2c_test1);
break;
case 9:
// bad addr
i2c_test1.slave_addr = 0x3C + 2;
i2c_test1.type = I2CTransTx;
i2c_test1.len_w = 1;
i2c_submit(&i2c2,&i2c_test1);
i2c_submit(&I2C_ABUSE_PORT,&i2c_test1);
break;
case 10:
// 2 consecutive
i2c_test1.type = I2CTransTx;
i2c_test1.buf[0] = 0x00; // set to continuous mode
i2c_test1.len_w = 1;
i2c_submit(&i2c2,&i2c_test1);
i2c_submit(&I2C_ABUSE_PORT,&i2c_test1);
break;
case 11:
i2c_test1.slave_addr = 0x3C;
@@ -122,7 +122,7 @@ static void i2c_abuse_send_transaction(uint8_t _init)
i2c_test1.len_r = 1;
i2c_test1.len_w = 1;
i2c_test1.buf[0] = 0x03;
i2c_submit(&i2c2, &i2c_test1);
i2c_submit(&I2C_ABUSE_PORT, &i2c_test1);
break;
case 12:
i2c_test1.slave_addr = 0x3C;
@@ -130,7 +130,7 @@ static void i2c_abuse_send_transaction(uint8_t _init)
i2c_test1.len_r = 2;
i2c_test1.len_w = 1;
i2c_test1.buf[0] = 0x03;
i2c_submit(&i2c2, &i2c_test1);
i2c_submit(&I2C_ABUSE_PORT, &i2c_test1);
break;
case 13:
i2c_test1.slave_addr = 0x3C;
@@ -138,7 +138,7 @@ static void i2c_abuse_send_transaction(uint8_t _init)
i2c_test1.len_r = 3;
i2c_test1.len_w = 1;
i2c_test1.buf[0] = 0x03;
i2c_submit(&i2c2, &i2c_test1);
i2c_submit(&I2C_ABUSE_PORT, &i2c_test1);
break;
case 14:
i2c_test1.slave_addr = 0x3C;
@@ -146,7 +146,7 @@ static void i2c_abuse_send_transaction(uint8_t _init)
i2c_test1.len_r = 4;
i2c_test1.len_w = 1;
i2c_test1.buf[0] = 0x03;
i2c_submit(&i2c2, &i2c_test1);
i2c_submit(&I2C_ABUSE_PORT, &i2c_test1);
break;
case 15:
i2c_test1.slave_addr = 0x3C;
@@ -154,7 +154,7 @@ static void i2c_abuse_send_transaction(uint8_t _init)
i2c_test1.len_r = 4;
i2c_test1.len_w = 2;
i2c_test1.buf[0] = 0x03;
i2c_submit(&i2c2, &i2c_test1);
i2c_submit(&I2C_ABUSE_PORT, &i2c_test1);
break;
default:
i2c_test1.slave_addr = 0x3C;
@@ -162,25 +162,14 @@ static void i2c_abuse_send_transaction(uint8_t _init)
i2c_test1.len_r = 5;
i2c_test1.len_w = 1;
i2c_test1.buf[0] = 0x03;
i2c_submit(&i2c2, &i2c_test1);
i2c_submit(&I2C_ABUSE_PORT, &i2c_test1);
}
}
void event_i2c_abuse_test(void)
{
if (i2c_idle(&i2c1))
{
LED_ON(7); // green = idle
LED_OFF(6);
}
else
{
LED_ON(6); // red = busy
LED_OFF(7);
}
if (i2c_idle(&i2c2))
if (i2c_idle(&I2C_ABUSE_PORT))
{
LED_ON(5); // green = idle
LED_OFF(4);
@@ -200,7 +189,7 @@ void event_i2c_abuse_test(void)
i2c_test2.type = I2CTransRx;
i2c_test2.slave_addr = 0x92;
i2c_test2.len_r = 2;
i2c_submit(&i2c2,&i2c_test2);
i2c_submit(&I2C_ABUSE_PORT,&i2c_test2);
}
}
@@ -214,31 +203,29 @@ void event_i2c_abuse_test(void)
else
{
// wait until ready:
if (i2c_idle(&i2c2))
if (i2c_idle(&I2C_ABUSE_PORT))
{
i2c_abuse_test_counter = 1;
i2c_setbitrate(&i2c2, i2c_abuse_test_bitrate);
i2c_setbitrate(&I2C_ABUSE_PORT, i2c_abuse_test_bitrate);
i2c_abuse_test_bitrate += 17000;
if (i2c_abuse_test_bitrate > 500000)
if (i2c_abuse_test_bitrate > 410000)
{
i2c_abuse_test_bitrate -= 500000;
i2c_abuse_test_bitrate -= 410000;
}
LED_TOGGLE(4);
}
}
if (i2c_abuse_test_counter < 16)
{
RunOnceEvery(100,LED_TOGGLE(I2C_ABUSE_LED));
i2c_abuse_send_transaction( i2c_abuse_test_counter );
LED_TOGGLE(5);
}
}
}
void periodic_50Hz_i2c_abuse_test(void) {
// LED_TOGGLE(DEMO_MODULE_LED);
}
sw/airborne/modules/benchmark/i2c_abuse_test.h
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* $Id$
*
* Copyright (C) 2009 C. De Wagter
* Copyright (C) 2011 Christophe De Wagter
*
* This file is part of paparazzi.
*
sw/airborne/subsystems/imu/imu_aspirin.h
+3
View File
@@ -151,6 +151,9 @@ extern void imu_aspirin_arch_init(void);
static inline void gyro_read_i2c(void)
{
imu_aspirin.i2c_trans_gyro.type = I2CTransTxRx;
imu_aspirin.i2c_trans_gyro.len_w = 1;
imu_aspirin.i2c_trans_gyro.len_r = 6;
imu_aspirin.i2c_trans_gyro.buf[0] = ITG3200_REG_GYRO_XOUT_H;
i2c_submit(&i2c2,&imu_aspirin.i2c_trans_gyro);
imu_aspirin.reading_gyro = 1;
sw/airborne/test/subsystems/test_ahrs.c
+10 -9
View File
@@ -28,6 +28,7 @@
#include "mcu_periph/sys_time.h"
#include "led.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/i2c.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"
@@ -161,15 +162,15 @@ static inline void main_report(void) {
{
#ifdef USE_I2C2
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt,
&i2c2_errors.over_under_cnt,
&i2c2_errors.pec_recep_cnt,
&i2c2_errors.timeout_tlow_cnt,
&i2c2_errors.smbus_alert_cnt,
&i2c2_errors.unexpected_event_cnt,
&i2c2_errors.last_unexpected_event);
&i2c2.errors->ack_fail_cnt,
&i2c2.errors->miss_start_stop_cnt,
&i2c2.errors->arb_lost_cnt,
&i2c2.errors->over_under_cnt,
&i2c2.errors->pec_recep_cnt,
&i2c2.errors->timeout_tlow_cnt,
&i2c2.errors->smbus_alert_cnt,
&i2c2.errors->unexpected_event_cnt,
&i2c2.errors->last_unexpected_event);
#endif
},
{
sw/airborne/test/subsystems/test_imu.c
+11 -10
View File
@@ -31,6 +31,7 @@
#include "mcu_periph/sys_time.h"
#include "led.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/i2c.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"
@@ -82,18 +83,18 @@ static inline void main_periodic_task( void ) {
#ifdef USE_I2C2
RunOnceEvery(111, {
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt,
&i2c2_errors.over_under_cnt,
&i2c2_errors.pec_recep_cnt,
&i2c2_errors.timeout_tlow_cnt,
&i2c2_errors.smbus_alert_cnt,
&i2c2_errors.unexpected_event_cnt,
&i2c2_errors.last_unexpected_event);
&i2c2.errors->ack_fail_cnt,
&i2c2.errors->miss_start_stop_cnt,
&i2c2.errors->arb_lost_cnt,
&i2c2.errors->over_under_cnt,
&i2c2.errors->pec_recep_cnt,
&i2c2.errors->timeout_tlow_cnt,
&i2c2.errors->smbus_alert_cnt,
&i2c2.errors->unexpected_event_cnt,
&i2c2.errors->last_unexpected_event);
});
#endif
if (cpu_time_sec > 1) imu_periodic();
if (sys_time.nb_sec > 1) imu_periodic();
RunOnceEvery(10, { LED_PERIODIC();});
}