fixed actuators_mkk and ami601 drivers on lpC21

conf/airframes/Poine/booz2_a1.xml

@@ -214,7 +214,9 @@
     <target name="test_baro"          board="booz_1.0"/>
     <target name="test_rc_spektrum"   board="booz_1.0"/>
     <target name="test_rc_ppm"        board="booz_1.0"/>
+    <target name="test_esc_mkk_simple" board="booz_1.0"/>
     <target name="test_actuators_mkk" board="booz_1.0"/>
+    <target name="test_ami601"        board="booz_1.0"/>
   </firmware>
 
 

conf/autopilot/booz_test_progs.makefile

@@ -166,6 +166,28 @@ test_rc_ppm.srcs   += $(SRC_BOOZ)/booz_radio_control.c \
                       $(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_ppm_arch.c
 
 
+
+#
+# simple test of mikrokopter motor controllers
+#
+test_esc_mkk_simple.ARCHDIR = $(ARCHI)
+test_esc_mkk_simple.ARCH    = arm7tdmi
+test_esc_mkk_simple.TARGET  = test_esc_mkk_simple
+test_esc_mkk_simple.TARGETDIR = test_esc_mkk_simple
+test_esc_mkk_simple.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
+test_esc_mkk_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_esc_mkk_simple.srcs = test/test_esc_mkk_simple.c	    \
+                           $(SRC_ARCH)/armVIC.c
+test_esc_mkk_simple.CFLAGS += -DUSE_LED
+test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_esc_mkk_simple.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_esc_mkk_simple.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_esc_mkk_simple.CFLAGS += -DACTUATORS_MKK_DEV=i2c0
+test_esc_mkk_simple.CFLAGS += -DUSE_I2C0
+test_esc_mkk_simple.CFLAGS += -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+test_esc_mkk_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+
 #
 # test actuators mkk
 #
@@ -194,5 +216,37 @@ test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
 test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c
 test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
 test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
+test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEV=i2c0
 test_actuators_mkk.CFLAGS += -DUSE_I2C0
 test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+test_actuators_mkk.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+
+
+#
+# test ami601
+#
+test_ami601.ARCHDIR = $(ARCHI)
+test_ami601.ARCH      = arm7tdmi
+test_ami601.TARGET = test_ami601
+test_ami601.TARGETDIR = test_ami601
+test_ami601.CFLAGS = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_ami601.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_ami601.srcs = test/peripherals/test_ami601.c \
+                   $(SRC_ARCH)/armVIC.c
+
+test_ami601.CFLAGS += -DUSE_LED
+
+test_ami601.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
+test_ami601.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_ami601.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_ami601.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_ami601.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_ami601.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) 
+test_ami601.srcs += downlink.c pprz_transport.c
+
+test_ami601.CFLAGS += -DUSE_AMI601
+test_ami601.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+test_ami601.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11
+test_ami601.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c

conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile

@@ -49,7 +49,7 @@ ap.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
 
 ap.CFLAGS += -DUSE_AMI601
 ap.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
-ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
+ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11
 
 
 #

sw/airborne/arm7/i2c_hw.c

@@ -309,8 +309,8 @@ void i2c1_hw_init ( void ) {
   I2C1SCLH = I2C1_SCLH_D;  
   
   // initialize the interrupt vector
-  VICIntSelect &= ~VIC_BIT(VIC_I2C1);              // I2C0 selected as IRQ
+  VICIntSelect &= ~VIC_BIT(VIC_I2C1);              // I2C1 selected as IRQ
-  VICIntEnable = VIC_BIT(VIC_I2C1);                // I2C0 interrupt enabled
+  VICIntEnable = VIC_BIT(VIC_I2C1);                // I2C1 interrupt enabled
   _VIC_CNTL(I2C1_VIC_SLOT) = VIC_ENABLE | VIC_I2C1;
   _VIC_ADDR(I2C1_VIC_SLOT) = (uint32_t)i2c1_ISR;    // address of the ISR
 }

sw/airborne/arm7/sys_time_hw.c

@@ -47,7 +47,7 @@ uint32_t sys_time_chrono;       /* T0TC ticks */
 #endif
 
 #ifdef USE_AMI601
-#include "peripherals/booz_ami601.h"
+#include "booz/peripherals/booz_ami601.h"
 #else
 #define AMI601_IT 0x00
 #endif

sw/airborne/booz/actuators/booz_actuators_mkk.c

@@ -43,6 +43,7 @@ void actuators_init(void) {
     actuators_mkk.trans[i].type = I2CTransTx;
     actuators_mkk.trans[i].len_w = 1;
     actuators_mkk.trans[i].slave_addr = actuators_addr[i];
+    actuators_mkk.trans[i].stop_after_transmit = TRUE;
     actuators_mkk.trans[i].status = I2CTransSuccess;
   }
   

sw/airborne/booz/peripherals/booz_ami601.c

@@ -16,10 +16,11 @@ void ami601_init( void ) {
     ami601_values[i] = 0;
   }
   ami601_i2c_trans.status = I2CTransSuccess;
+  ami601_i2c_trans.slave_addr = AMI601_SLAVE_ADDR;
+  ami601_i2c_trans.stop_after_transmit = TRUE;
   ami601_nb_err = 0;
   ami601_status = AMI601_IDLE;
 
-
 }
 
 void ami601_read( void ) {
@@ -30,7 +31,6 @@ void ami601_read( void ) {
     ami601_status = AMI601_SENDING_REQ;
     ami601_i2c_trans.type = I2CTransTx;
     ami601_i2c_trans.len_w = 3;
-    ami601_i2c_trans.slave_addr = AMI601_SLAVE_ADDR;
     ami601_i2c_trans.buf[0] = 0x55;
     ami601_i2c_trans.buf[1] = 0xAA;
     ami601_i2c_trans.buf[2] = 0x14;

sw/airborne/booz/peripherals/booz_ami601.h

@@ -70,7 +70,6 @@ extern volatile uint32_t ami601_nb_err;
     ami601_status =  AMI601_READING_MEASURE;				\
     ami601_i2c_trans.type = I2CTransRx;					\
     ami601_i2c_trans.len_r = 15;					\
-    ami601_i2c_trans.slave_addr = AMI601_SLAVE_ADDR;			\
     i2c_submit(&i2c1, &ami601_i2c_trans);				\
   }
 

sw/airborne/test/Makefile

@@ -14,6 +14,9 @@ test_geodetic: test_geodetic.c ../math/pprz_geodetic_float.c ../math/pprz_geodet
 test_algebra: test_algebra.c ../math/pprz_trig_int.c
 	$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
 
+test_martin:  test_martin.c ../math/pprz_trig_int.c
+	$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
+
 test_bla: test_bla.c ../math/pprz_trig_int.c
 	$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
 

sw/airborne/test/test_esc_mkk_simple.c

@@ -59,7 +59,8 @@ static inline void main_periodic_task( void ) {
   trans.buf[0] = 0x04;
   trans.len_w = 1;
   trans.slave_addr = 0x58;
-  i2c_submit(&i2c1,&trans);
+  trans.stop_after_transmit = TRUE;
+  i2c_submit(&ACTUATORS_MKK_DEV,&trans);
 
   LED_PERIODIC();