diff --git a/conf/Makefile.stm32 b/conf/Makefile.stm32 index f23312200d..fb7fe7ea20 100644 --- a/conf/Makefile.stm32 +++ b/conf/Makefile.stm32 @@ -99,12 +99,13 @@ LDSCRIPT = $($(TARGET).LDSCRIPT) endif endif -UNAME = $(shell uname -s) +#UNAME = $(shell uname -s) +MULTILIB = $(shell if $(CC) --print-multi-lib | grep thumb2 > /dev/null ; then echo "yes"; else echo "no"; fi) CFLAGS = -I. -I./$(ARCH) $(INCLUDES) -D__thumb2__ -Wall -msoft-float -O$(OPT) CFLAGS += -Wl,gc-sections CFLAGS += -mcpu=$(MCU) -mthumb -ansi -ifeq ("$(UNAME)","Darwin") +ifeq ("$(MULTILIB)","yes") CFLAGS += -mfix-cortex-m3-ldrd endif CFLAGS += -std=gnu99 @@ -126,12 +127,12 @@ CFLAGS += -Wswitch-default CFLAGS += $($(TARGET).CFLAGS) AFLAGS = -ahls -mapcs-32 -ifeq ("$(UNAME)","Darwin") +ifeq ("$(MULTILIB)","yes") AFLAGS += -mcpu=$(MCU) -mthumb endif AFLAGS += -x assembler-with-cpp -Wa,-adhlns=$(OBJDIR)/$(<:.S=.lst),--g$(DEBUG) -ifeq ("$(UNAME)","Darwin") +ifeq ("$(MULTILIB)","yes") LDFLAGS = -T$(LDSCRIPT) -nostartfiles -O$(OPT) --gc-sections -mthumb -march=armv7 -mfix-cortex-m3-ldrd -msoft-float else LDFLAGS = -D__thumb2__ -T$(LDSCRIPT) -nostartfiles -L$(GCC_LIB_DIR) -O$(OPT) --gc-sections @@ -148,7 +149,7 @@ ODFLAGS = -S # Default target. -all: printcommands sizebefore build sizeafter +all: printcommands printmultilib sizebefore build sizeafter printcommands: @echo "Using CC = $(CC)" @@ -158,6 +159,18 @@ printcommands: @echo "Using NM = $(NM)" @echo "Using SIZE = $(SIZE)" @echo "Using OOCD = $(OOCD)" + @echo "GCC version:" + @$(CC) --version + @echo "OOCD version:" + @$(OOCD) --version + +ifeq ("$(MULTILIB)","yes") +printmultilib: + @echo "*** Using multilib ***" +else +printmultilib: + @echo "*** NOT using multilib ***" +endif build: elf bin hex # lss sym diff --git a/conf/airframes/esden/lisa_m_pwm.xml b/conf/airframes/esden/lisa_m_pwm.xml new file mode 100644 index 0000000000..0545cff7a6 --- /dev/null +++ b/conf/airframes/esden/lisa_m_pwm.xml @@ -0,0 +1,244 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/conf/airframes/esden/lisa_pwm_aspirin.xml b/conf/airframes/esden/lisa_pwm_aspirin.xml index a4641f0209..6b56c34a60 100644 --- a/conf/airframes/esden/lisa_pwm_aspirin.xml +++ b/conf/airframes/esden/lisa_pwm_aspirin.xml @@ -210,6 +210,8 @@ + + diff --git a/conf/autopilot/lisa_m_test_progs.makefile b/conf/autopilot/lisa_m_test_progs.makefile new file mode 100644 index 0000000000..bc4448dfaa --- /dev/null +++ b/conf/autopilot/lisa_m_test_progs.makefile @@ -0,0 +1,723 @@ +# Hey Emacs, this is a -*- makefile -*- +# +# $Id$ +# Copyright (C) 2010 The Paparazzi Team +# +# This file is part of Paparazzi. +# +# Paparazzi is free software; you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation; either version 2, or (at your option) +# any later version. +# +# Paparazzi is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with Paparazzi; see the file COPYING. If not, write to +# the Free Software Foundation, 59 Temple Place - Suite 330, +# Boston, MA 02111-1307, USA. +# +# + + + + +################################################################################ +# +# +# Test program for the Lisa/M board +# +# +# +# +# every "firmware" makefile should have a description of available targets +# possible options for each of them, susbsystems and associated params for each of them +# +# +# +# +################################################################################ + +ARCH=stm32 +SRC_ARCH=arch/$(ARCH) +SRC_LISA=lisa +SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH) +#SRC_ROTORCRAFT=rotorcraft +SRC_BOARD=boards/$(BOARD) + +SRC_FIRMWARE=firmwares/rotorcraft +SRC_SUBSYSTEMS=subsystems +SRC_AIRBORNE=. + +# +# default configuration expected from the board files +# +SYS_TIME_LED = 1 +# MODEM_PORT = UART2 +# MODEM_BAUD = B57600 + +# +# test leds +# +test_led.ARCHDIR = $(ARCH) +test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT +test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +test_led.srcs += $(SRC_AIRBORNE)/mcu.c \ + $(SRC_ARCH)/mcu_arch.c \ + $(SRC_LISA)/test_led.c \ + $(SRC_ARCH)/stm32_exceptions.c \ + $(SRC_ARCH)/stm32_vector_table.c +test_led.CFLAGS += -DUSE_LED +test_led.srcs += $(SRC_ARCH)/led_hw.c + +# +# test uart +# +test_uart_lisam.ARCHDIR = $(ARCH) +test_uart_lisam.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT +test_uart_lisam.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +test_uart_lisam.srcs = $(SRC_AIRBORNE)/mcu.c \ + $(SRC_ARCH)/mcu_arch.c \ + $(SRC_LISA)/test_uart_lisam.c \ + $(SRC_ARCH)/stm32_exceptions.c \ + $(SRC_ARCH)/stm32_vector_table.c +test_uart_lisam.CFLAGS += -DUSE_LED -DUSE_UART +test_uart_lisam.srcs += $(SRC_ARCH)/led_hw.c +test_uart_lisam.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED) +test_uart_lisam.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' +test_uart_lisam.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +test_uart_lisam.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 +test_uart_lisam.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 +test_uart_lisam.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600 +test_uart_lisam.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c + + +## +## test servos +## +# +#SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH) +# +#test_servos.ARCHDIR = $(ARCH) +#test_servos.CFLAGS = -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT +#test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_servos.LDFLAGS += -lm +#test_servos.srcs += $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# $(SRC_LISA)/test_servos.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +#test_servos.CFLAGS += -DUSE_LED +#test_servos.srcs += $(SRC_ARCH)/led_hw.c +#test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED) +#test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' +#test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +# +#test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c +# +# +## +## test_telemetry : Sends ALIVE telemetry messages +## +## configuration +## MODEM_PORT : +## MODEM_BAUD : +## +#test_telemetry.ARCHDIR = $(ARCH) +#test_telemetry.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT +#test_telemetry.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_telemetry.srcs = $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# test/test_telemetry.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +#test_telemetry.CFLAGS += -DUSE_LED +#test_telemetry.srcs += $(SRC_ARCH)/led_hw.c +#test_telemetry.CFLAGS += -DUSE_SYS_TIME +#test_telemetry.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' +#test_telemetry.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED) +#test_telemetry.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +#test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT) +#test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) +#test_telemetry.srcs += downlink.c pprz_transport.c +#test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) +#test_telemetry.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c +# +# +## +## test_baro : reads barometers and sends values over telemetry +## +## configuration +## SYS_TIME_LED +## MODEM_PORT +## MODEM_BAUD +## +#test_baro.ARCHDIR = $(ARCH) +#test_baro.CFLAGS = -I$(SRC_LISA) -I$(SRC_ARCH) -I$(SRC_BOARD) -DPERIPHERALS_AUTO_INIT +#test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_baro.srcs = $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# $(SRC_BOARD)/test_baro.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +#test_baro.CFLAGS += -DUSE_LED +#test_baro.srcs += $(SRC_ARCH)/led_hw.c +#test_baro.CFLAGS += -DUSE_SYS_TIME +#test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' +#test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED) +#test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +#test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) +#test_baro.srcs += downlink.c pprz_transport.c +#test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) +#test_baro.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c +#test_baro.srcs += $(SRC_BOARD)/baro_board.c +#test_baro.CFLAGS += -DUSE_I2C2 +#test_baro.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c +# +# +## +## test_rc_spektrum : sends RADIO_CONTROL messages on telemetry +## +## configuration +## SYS_TIME_LED +## MODEM_PORT +## MODEM_BAUD +## RADIO_CONTROL_LED +## RADIO_CONROL_SPEKTRUM_PRIMARY_PORT +## +#test_rc_spektrum.ARCHDIR = $(ARCH) +# +#test_rc_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT +#test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_rc_spektrum.srcs += $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +# +#test_rc_spektrum.CFLAGS += -DUSE_LED +#test_rc_spektrum.srcs += $(SRC_ARCH)/led_hw.c +#test_rc_spektrum.CFLAGS += -DUSE_SYS_TIME +#test_rc_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' +#test_rc_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED) +#test_rc_spektrum.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +#test_rc_spektrum.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) +#test_rc_spektrum.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c +#test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) +#test_rc_spektrum.srcs += downlink.c pprz_transport.c +#test_rc_spektrum.CFLAGS += -DRADIO_CONTROL +#ifdef RADIO_CONTROL_LED +#test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED) +#endif +#test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind +#test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\" +#test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT) +#test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ +#test_rc_spektrum.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \ +# subsystems/radio_control/spektrum.c \ +# $(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c +# +# +## +## test_rc_ppm +## +## configuration +## SYS_TIME_LED +## MODEM_PORT +## MODEM_BAUD +## RADIO_CONTROL_LED +## +#test_rc_ppm.ARCHDIR = $(ARCH) +# +#test_rc_ppm.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD) +#test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT +#test_rc_ppm.srcs += $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# $(SRC_BOOZ)/test/booz2_test_radio_control.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +# +#test_rc_ppm.CFLAGS += -DUSE_LED +#test_rc_ppm.srcs += $(SRC_ARCH)/led_hw.c +#test_rc_ppm.CFLAGS += -DUSE_SYS_TIME +#test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' +#test_rc_ppm.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED) +#test_rc_ppm.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +#test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) +#test_rc_ppm.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c +#test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) +#test_rc_ppm.srcs += downlink.c pprz_transport.c +#test_rc_ppm.CFLAGS += -DRADIO_CONTROL +#test_rc_ppm.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED) +#test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\" +#test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM +#test_rc_ppm.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \ +# $(SRC_SUBSYSTEMS)/radio_control/ppm.c \ +# $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c +#test_rc_ppm.CFLAGS += -DUSE_TIM2_IRQ +# +## +## test_adc +## +## configuration +## SYS_TIME_LED +## MODEM_PORT +## MODEM_BAUD +## +#test_adc.ARCHDIR = $(ARCH) +#test_adc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT +#test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +# +#test_adc.srcs = $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# $(SRC_LISA)/test_adc.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +# +#test_adc.CFLAGS += -DUSE_LED +#test_adc.srcs += $(SRC_ARCH)/led_hw.c +# +#test_adc.CFLAGS += -DUSE_SYS_TIME +#test_adc.CFLAGS +=-DSYS_TIME_LED=$(SYS_TIME_LED) +#test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' +#test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +# +#test_adc.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) +#test_adc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c +#test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=$(MODEM_PORT) +# +#test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) +#test_adc.srcs += downlink.c pprz_transport.c +# +#test_adc.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c +#test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4 +#test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER +# +## +## test IMU b2 +## +## configuration +## SYS_TIME_LED +## MODEM_PORT +## MODEM_BAUD +## +#test_imu_b2.ARCHDIR = $(ARCH) +#test_imu_b2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT +#test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_imu_b2.srcs += $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# $(SRC_BOOZ_TEST)/booz_test_imu.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +# +#test_imu_b2.CFLAGS += -DUSE_LED +#test_imu_b2.srcs += $(SRC_ARCH)/led_hw.c +# +#test_imu_b2.CFLAGS += -DUSE_SYS_TIME +#test_imu_b2.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED) +#test_imu_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' +#test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +# +#test_imu_b2.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) +#test_imu_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c +# +#test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +#test_imu_b2.srcs += downlink.c pprz_transport.c +# +#test_imu_b2.srcs += math/pprz_trig_int.c +# +#test_imu_b2.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\" +#test_imu_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001 -DIMU_B2_VERSION_1_1 +#test_imu_b2.srcs += $(SRC_SUBSYSTEMS)/imu.c +#test_imu_b2.CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT) +#test_imu_b2.CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE) +#test_imu_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ +#test_imu_b2.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c +#test_imu_b2.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c +#test_imu_b2.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c +# +## +## test IMU b2 1.2 +## +## configuration +## SYS_TIME_LED +## MODEM_PORT +## MODEM_BAUD +## +#test_imu_b2_2.ARCHDIR = $(ARCH) +#test_imu_b2_2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT +#test_imu_b2_2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_imu_b2_2.srcs += $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# $(SRC_BOOZ_TEST)/booz_test_imu.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +# +#test_imu_b2_2.CFLAGS += -DUSE_LED +#test_imu_b2_2.srcs += $(SRC_ARCH)/led_hw.c +# +#test_imu_b2_2.CFLAGS += -DUSE_SYS_TIME +#test_imu_b2_2.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED) +#test_imu_b2_2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' +#test_imu_b2_2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +# +#test_imu_b2_2.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) +#test_imu_b2_2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c +# +#test_imu_b2_2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +#test_imu_b2_2.srcs += downlink.c pprz_transport.c +# +#test_imu_b2_2.srcs += math/pprz_trig_int.c +# +#test_imu_b2_2.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\" +#test_imu_b2_2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC5843 -DIMU_B2_VERSION_1_2 +#test_imu_b2_2.srcs += $(SRC_SUBSYSTEMS)/imu.c +#test_imu_b2_2.CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT) +#test_imu_b2_2.CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE) +#test_imu_b2_2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ +#test_imu_b2_2.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c +#test_imu_b2_2.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c +#test_imu_b2_2.CFLAGS += -DUSE_I2C2 +#test_imu_b2_2.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c +#test_imu_b2_2.srcs += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c +#test_imu_b2_2.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5 +# +# +## +## test IMU aspirin +## +#test_imu_aspirin.ARCHDIR = $(ARCH) +#test_imu_aspirin.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT +#test_imu_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_imu_aspirin.srcs += $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# $(SRC_BOOZ_TEST)/booz_test_imu.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +# +#test_imu_aspirin.CFLAGS += -DUSE_LED +#test_imu_aspirin.srcs += $(SRC_ARCH)/led_hw.c +# +#test_imu_aspirin.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 +#test_imu_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' +#test_imu_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +# +#test_imu_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 +#test_imu_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c +# +#test_imu_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +#test_imu_aspirin.srcs += downlink.c pprz_transport.c +# +#test_imu_aspirin.srcs += math/pprz_trig_int.c +# +#test_imu_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS +#test_imu_aspirin.srcs += $(SRC_SUBSYSTEMS)/imu.c \ +# $(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \ +# $(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c +#test_imu_aspirin.srcs += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c +# +#test_imu_aspirin.CFLAGS += -DUSE_I2C2 +#test_imu_aspirin.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c +#test_imu_aspirin.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14 +#test_imu_aspirin.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5 +#test_imu_aspirin.CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2 +#test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA +# +# +# +# +# +# +# +# +# +## +## test hmc5843 +## +#test_hmc5843.ARCHDIR = $(ARCH) +#test_hmc5843.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -Ibooz -DPERIPHERALS_AUTO_INIT +#test_hmc5843.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_hmc5843.srcs = $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# lisa/test/lisa_test_hmc5843.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +#test_hmc5843.CFLAGS += -DUSE_LED +#test_hmc5843.srcs += $(SRC_ARCH)/led_hw.c +#test_hmc5843.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED) +#test_hmc5843.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' +#test_hmc5843.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +# +#test_hmc5843.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) +#test_hmc5843.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c +# +#test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) +#test_hmc5843.srcs += downlink.c pprz_transport.c +# +#test_hmc5843.CFLAGS += -DUSE_I2C2 +#test_hmc5843.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c +#test_hmc5843.CFLAGS += -DIMU_OVERRIDE_CHANNELS +#test_hmc5843.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5 +# +# +## +## test ITG3200 +## +#test_itg3200.ARCHDIR = $(ARCH) +#test_itg3200.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT +#test_itg3200.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_itg3200.srcs += $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# lisa/test/lisa_test_itg3200.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +# +#test_itg3200.CFLAGS += -DUSE_LED +#test_itg3200.srcs += $(SRC_ARCH)/led_hw.c +# +#test_itg3200.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED) +#test_itg3200.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' +#test_itg3200.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +# +#test_itg3200.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) +#test_itg3200.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c +# +#test_itg3200.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) +#test_itg3200.srcs += downlink.c pprz_transport.c +# +#test_itg3200.CFLAGS += -DUSE_I2C2 +#test_itg3200.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c +#test_itg3200.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14 +# +# +## +## test adxl345 with DMA +## +#test_adxl345.ARCHDIR = $(ARCH) +#test_adxl345.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT +#test_adxl345.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_adxl345.srcs += $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# lisa/test/lisa_test_adxl345_dma.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +# +#test_adxl345.CFLAGS += -DUSE_LED +#test_adxl345.srcs += $(SRC_ARCH)/led_hw.c +# +#test_adxl345.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 +#test_adxl345.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' +#test_adxl345.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +# +#test_adxl345.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 +#test_adxl345.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c +# +#test_adxl345.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +#test_adxl345.srcs += downlink.c pprz_transport.c +# +#test_adxl345.CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2 +#test_adxl345.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA +# +# +# +## +## simple test of mikrokopter motor controllers +## +#test_esc_mkk_simple.ARCHDIR = $(ARCH) +#test_esc_mkk_simple.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT +#test_esc_mkk_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_esc_mkk_simple.srcs = $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# test/test_esc_mkk_simple.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +#test_esc_mkk_simple.CFLAGS += -DUSE_LED +#test_esc_mkk_simple.srcs += $(SRC_ARCH)/led_hw.c +#test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED) +#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 += -DUSE_I2C2 +#test_esc_mkk_simple.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c +#test_esc_mkk_simple.CFLAGS += -DACTUATORS_MKK_DEV=i2c2 +# +# +## +## simple test of asctec v1 motor controllers +## +#test_esc_asctecv1_simple.ARCHDIR = $(ARCH) +#test_esc_asctecv1_simple.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT +#test_esc_asctecv1_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_esc_asctecv1_simple.srcs = $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# test/test_esc_asctecv1_simple.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +#test_esc_asctecv1_simple.CFLAGS += -DUSE_LED +#test_esc_asctecv1_simple.srcs += $(SRC_ARCH)/led_hw.c +#test_esc_asctecv1_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 +#test_esc_asctecv1_simple.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' +#test_esc_asctecv1_simple.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +#test_esc_asctecv1_simple.CFLAGS += -DUSE_I2C1 +#test_esc_asctecv1_simple.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c +# +# +## +## test actuators mkk +## +#test_actuators_mkk.ARCHDIR = $(ARCH) +#test_actuators_mkk.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT +#test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_actuators_mkk.srcs = $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# test/test_actuators.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +# +#test_actuators_mkk.CFLAGS += -DUSE_LED +#test_actuators_mkk.srcs += $(SRC_ARCH)/led_hw.c +# +#test_actuators_mkk.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 +#test_actuators_mkk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' +#test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +# +#test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 +#test_actuators_mkk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c +# +#test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +#test_actuators_mkk.srcs += downlink.c pprz_transport.c +# +#test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c +#test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c +#test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 +#test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c +#test_actuators_mkk.CFLAGS += -DUSE_I2C1 +#test_actuators_mkk.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c +# +## +## test actuators asctecv1 +## +#test_actuators_asctecv1.ARCHDIR = $(ARCH) +#test_actuators_asctecv1.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT +#test_actuators_asctecv1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_actuators_asctecv1.srcs = $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# test/test_actuators.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +# +#test_actuators_asctecv1.CFLAGS += -DUSE_LED +#test_actuators_asctecv1.srcs += $(SRC_ARCH)/led_hw.c +# +#test_actuators_asctecv1.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 +#test_actuators_asctecv1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' +#test_actuators_asctecv1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +# +#test_actuators_asctecv1.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 +#test_actuators_asctecv1.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c +# +#test_actuators_asctecv1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 +#test_actuators_asctecv1.srcs += downlink.c pprz_transport.c +# +#test_actuators_asctecv1.srcs += $(SRC_BOOZ)/booz2_commands.c +#test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1 +#test_actuators_asctecv1.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c +#test_actuators_asctecv1.CFLAGS += -DUSE_I2C1 +#test_actuators_asctecv1.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c +# +# +## +## test bmp085 +## +#test_bmp085.ARCHDIR = $(ARCH) +#test_bmp085.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT +#test_bmp085.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_bmp085.srcs = $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# lisa/test/lisa_test_bmp085.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +#test_bmp085.CFLAGS += -DUSE_LED +#test_bmp085.srcs += $(SRC_ARCH)/led_hw.c +#test_bmp085.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED) +#test_bmp085.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' +#test_bmp085.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +# +#test_bmp085.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) +#test_bmp085.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c +# +#test_bmp085.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) +#test_bmp085.srcs += downlink.c pprz_transport.c +# +#test_bmp085.CFLAGS += -DUSE_I2C2 +#test_bmp085.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c +##test_bmp085.CFLAGS += -DIMU_OVERRIDE_CHANNELS +##test_bmp085.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5 +# +# +# +## +## Test manual : a simple test with rc and servos - I want to fly lisa/M +## +#test_manual.ARCHDIR = $(ARCH) +#test_manual.CFLAGS = -I$(SRC_FIRMWARE) -I$(ARCH) -DPERIPHERALS_AUTO_INIT +#test_manual.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#test_manual.srcs = $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# test/test_manual.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +#test_manual.CFLAGS += -DUSE_LED +#test_manual.srcs += $(SRC_ARCH)/led_hw.c +#test_manual.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED) +#test_manual.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' +#test_manual.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c +# +#test_manual.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) +#test_manual.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c +# +#test_manual.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) +#test_manual.srcs += downlink.c pprz_transport.c +# +#test_manual.srcs += $(SRC_BOOZ)/booz2_commands.c +# +#test_manual.CFLAGS += -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) +##test_manual.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c +#test_manual.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c +#test_manual.srcs += $(SRC_FIRMWARE)/actuators/actuators_heli.c +# +# +#test_manual.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ)/arch/$(ARCH) +#test_manual.CFLAGS += -DRADIO_CONTROL +#ifdef RADIO_CONTROL_LED +#test_manual.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED) +#endif +#test_manual.CFLAGS += -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind +#test_manual.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\" +#test_manual.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT) +#test_manual.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ +#test_manual.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \ +# subsystems/radio_control/spektrum.c \ +# $(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c +# +# +# +## +## tunnel +## +#tunnel.ARCHDIR = $(ARCH) +#tunnel.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT +#tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +#tunnel.srcs += $(SRC_AIRBORNE)/mcu.c \ +# $(SRC_ARCH)/mcu_arch.c \ +# $(SRC_LISA)/tunnel_hw.c \ +# $(SRC_ARCH)/stm32_exceptions.c \ +# $(SRC_ARCH)/stm32_vector_table.c +#tunnel.CFLAGS += -DUSE_LED +#tunnel.srcs += $(SRC_ARCH)/led_hw.c +#tunnel.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED) +#tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)' +#tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c diff --git a/conf/autopilot/lisa_m_test_progs.xml b/conf/autopilot/lisa_m_test_progs.xml new file mode 100644 index 0000000000..5a7712caed --- /dev/null +++ b/conf/autopilot/lisa_m_test_progs.xml @@ -0,0 +1,25 @@ + + + + + diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile index 9171256a81..9482514737 100644 --- a/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile +++ b/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile @@ -2,7 +2,11 @@ # Fixed point complementary filter using euler angles for attitude estimation # +ifdef AHRS_ALIGNER_LED ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) -DAHRS_FIXED_POINT +else +ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_FIXED_POINT +endif ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c diff --git a/conf/boards/lisa_m_1.0.makefile b/conf/boards/lisa_m_1.0.makefile index 78de8610ed..0a05903f17 100644 --- a/conf/boards/lisa_m_1.0.makefile +++ b/conf/boards/lisa_m_1.0.makefile @@ -27,7 +27,7 @@ endif # # -SYS_TIME_LED = 2 +SYS_TIME_LED = 1 RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT = UART3 RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT = UART5 diff --git a/conf/modules/ins_arduimu.xml b/conf/modules/ins_arduimu.xml index a4bc6325b3..ecbd865263 100644 --- a/conf/modules/ins_arduimu.xml +++ b/conf/modules/ins_arduimu.xml @@ -11,8 +11,8 @@ - + + + diff --git a/sw/airborne/arch/lpc21/LPC2148-ROM-bl.ld b/sw/airborne/arch/lpc21/LPC2148-ROM-bl.ld index 08391aed14..625af790cd 100644 --- a/sw/airborne/arch/lpc21/LPC2148-ROM-bl.ld +++ b/sw/airborne/arch/lpc21/LPC2148-ROM-bl.ld @@ -41,6 +41,18 @@ SECTIONS } > ROM *****/ +. = ALIGN (4); + +.ARM.exidx : + { + __exidx_start = .; + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + __exidx_end = .; + + } >ROM + + + . = ALIGN(4); /* .ctors .dtors are used for c++ constructors/destructors */ diff --git a/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c index 378337c50b..f8f02fc83e 100644 --- a/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c +++ b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c @@ -28,7 +28,6 @@ #include "interrupt_hw.h" #include BOARD_CONFIG - /////////////////// // I2C Automaton // /////////////////// @@ -56,22 +55,18 @@ __attribute__ ((always_inline)) static inline void I2cEndOfTransaction(struct i2 } } -__attribute__ ((always_inline)) static inline void I2cFinished(struct i2c_periph* p, struct i2c_transaction* t) { +__attribute__ ((always_inline)) static inline void I2cSendStop(struct i2c_periph* p, struct i2c_transaction* t) { + ((i2cRegs_t *)(p->reg_addr))->conset = _BV(STO); // transaction finished with success t->status = I2CTransSuccess; I2cEndOfTransaction(p); } -__attribute__ ((always_inline)) static inline void I2cSendStop(struct i2c_periph* p, struct i2c_transaction* t) { - ((i2cRegs_t *)(p->reg_addr))->conset = _BV(STO); - I2cFinished(p,t); -} - __attribute__ ((always_inline)) static inline void I2cFail(struct i2c_periph* p, struct i2c_transaction* t) { ((i2cRegs_t *)(p->reg_addr))->conset = _BV(STO); + // transaction failed t->status = I2CTransFailed; - p->status = I2CFailed; - // FIXME I2C should be reseted here + // FIXME I2C should be reseted here ? I2cEndOfTransaction(p); } @@ -119,35 +114,7 @@ __attribute__ ((always_inline)) static inline void I2cAutomaton(int32_t state, s } else { /* error , we should have got NACK */ - I2cSendStop(p,trans); - } - break; - case I2C_MR_SLA_ACK: /* At least one char */ - /* Wait and reply with ACK or NACK */ - I2cReceive(p->reg_addr,p->idx_buf < trans->len_r - 1); - break; - case I2C_MR_SLA_NACK: - case I2C_MT_SLA_NACK: - I2cSendStart(p); - break; - case I2C_MT_SLA_ACK: - case I2C_MT_DATA_ACK: - if (p->idx_buf < trans->len_w) { - I2cSendByte(p->reg_addr,trans->buf[p->idx_buf]); - p->idx_buf++; - } else { - if (trans->type == I2CTransTxRx) { - trans->type = I2CTransRx; /* FIXME should not change type */ - p->idx_buf = 0; - trans->slave_addr |= 1; - I2cSendStart(p); - } else { - if (trans->stop_after_transmit) { - I2cSendStop(p,trans); - } else { - I2cFinished(p,trans); - } - } + I2cFail(p,trans); } break; case I2C_MR_DATA_NACK: @@ -156,9 +123,33 @@ __attribute__ ((always_inline)) static inline void I2cAutomaton(int32_t state, s } I2cSendStop(p,trans); break; + case I2C_MR_SLA_ACK: /* At least one char */ + /* Wait and reply with ACK or NACK */ + I2cReceive(p->reg_addr,p->idx_buf < trans->len_r - 1); + break; + case I2C_MR_SLA_NACK: + case I2C_MT_SLA_NACK: + /* Slave is not responding, transaction is failed */ + I2cFail(p,trans); + break; + case I2C_MT_SLA_ACK: + case I2C_MT_DATA_ACK: + if (p->idx_buf < trans->len_w) { + I2cSendByte(p->reg_addr,trans->buf[p->idx_buf]); + p->idx_buf++; + } else { + if (trans->type == I2CTransTxRx) { + //trans->type = I2CTransRx; /* FIXME should not change type */ + p->idx_buf = 0; + trans->slave_addr |= 1; + I2cSendStart(p); + } else { + I2cSendStop(p,trans); + } + } + break; default: - I2cSendStop(p,trans); - //I2cFail(p,trans); + I2cFail(p,trans); /* FIXME log error */ break; } diff --git a/sw/airborne/arch/sim/modules/ins/ins_arduimu.c b/sw/airborne/arch/sim/modules/ins/ins_arduimu.c new file mode 100644 index 0000000000..05d1f1c9c0 --- /dev/null +++ b/sw/airborne/arch/sim/modules/ins/ins_arduimu.c @@ -0,0 +1,49 @@ +/** ArduIMU simulation. OCaml binding. + * Sim provides IR sensor reading and airspeed + */ + + +#include +#include "generated/airframe.h" + +#include + +#include "estimator.h" + +// Prevent undefined reference (from estimator.c) +#include "subsystems/sensors/infrared.h" +struct Infrared infrared; + +// Arduimu empty implementation +#include "modules/ins/ins_arduimu.h" + +float ArduIMU_data[NB_DATA]; + +float ins_roll_neutral; +float ins_pitch_neutral; + +//mixer +float pitch_of_throttle_gain; +float throttle_slew; + +void ArduIMU_init( void ) {} +void ArduIMU_periodic( void ) {} +void ArduIMU_periodicGPS( void ) {} +void IMU_Daten_verarbeiten( void ) {} + +// Updates from Ocaml sim +float sim_air_speed; + +value set_ir_and_airspeed( + value roll __attribute__ ((unused)), + value front __attribute__ ((unused)), + value top __attribute__ ((unused)), + value air_speed + ) { + // Feed directly the estimator + estimator_phi = atan2(Int_val(roll), Int_val(top)) - ins_roll_neutral; + estimator_theta = atan2(Int_val(front), Int_val(top)) - ins_pitch_neutral; + sim_air_speed = Double_val(air_speed); + return Val_unit; +} + diff --git a/sw/airborne/arch/sim/sim_ap.c b/sw/airborne/arch/sim/sim_ap.c index 9a8d211881..f344d8f74f 100644 --- a/sw/airborne/arch/sim/sim_ap.c +++ b/sw/airborne/arch/sim/sim_ap.c @@ -117,3 +117,9 @@ value set_datalink_message(value s) { dl_parse_msg(); return Val_unit; } + +/** Required by electrical */ +void adc_buf_channel(void* a __attribute__ ((unused)), + void* b __attribute__ ((unused)), + void* c __attribute__ ((unused))) { +} diff --git a/sw/airborne/arch/sim/sim_ir.c b/sw/airborne/arch/sim/sim_ir.c index 1ec7884faf..deb6a6b59d 100644 --- a/sw/airborne/arch/sim/sim_ir.c +++ b/sw/airborne/arch/sim/sim_ir.c @@ -16,23 +16,19 @@ float sim_air_speed; void ir_gain_calib(void) { } -value set_ir(value roll __attribute__ ((unused)), - value front __attribute__ ((unused)), - value top __attribute__ ((unused)), - value air_speed - ) { +value set_ir_and_airspeed( + value roll __attribute__ ((unused)), + value front __attribute__ ((unused)), + value top __attribute__ ((unused)), + value air_speed + ) { // INFRARED_TELEMETRY : Stupid hack to use with modules -#if defined USE_INFRARED || USE_INFRARED_TELEMETRY +//#if defined USE_INFRARED || USE_INFRARED_TELEMETRY infrared.roll = Int_val(roll); infrared.pitch = Int_val(front); infrared.top = Int_val(top); -#endif +//#endif sim_air_speed = Double_val(air_speed); return Val_unit; } -/** Required by infrared.c:ir_init() */ -void adc_buf_channel(void* a __attribute__ ((unused)), - void* b __attribute__ ((unused)), - void* c __attribute__ ((unused))) { -} diff --git a/sw/airborne/arch/stm32/led_hw.h b/sw/airborne/arch/stm32/led_hw.h index 133e070dd7..397781939f 100644 --- a/sw/airborne/arch/stm32/led_hw.h +++ b/sw/airborne/arch/stm32/led_hw.h @@ -42,10 +42,12 @@ #define _LED_GPIO_CLK(i) i #define _LED_GPIO(i) i #define _LED_GPIO_PIN(i) i +#define _LED_AFIO_REMAP(i) i #define LED_GPIO_CLK(i) _LED_GPIO_CLK(LED_ ## i ## _GPIO_CLK) #define LED_GPIO(i) _LED_GPIO(LED_ ## i ## _GPIO) #define LED_GPIO_PIN(i) _LED_GPIO_PIN(LED_ ## i ## _GPIO_PIN) +#define LED_AFIO_REMAP(i) _LED_AFIO_REMAP(LED_ ## i ## _AFIO_REMAP) /* set pin as output */ #define LED_INIT(i) { \ @@ -55,10 +57,11 @@ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; \ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; \ GPIO_Init(LED_GPIO(i), &GPIO_InitStructure); \ + LED_AFIO_REMAP(i); \ } -#define LED_ON(i) { LED_GPIO(i)->BRR = LED_GPIO_PIN(i);} -#define LED_OFF(i) {LED_GPIO(i)->BSRR = LED_GPIO_PIN(i);} +#define LED_ON(i) {LED_GPIO(i)->BSRR = LED_GPIO_PIN(i);} +#define LED_OFF(i) { LED_GPIO(i)->BRR = LED_GPIO_PIN(i);} #define LED_TOGGLE(i) { LED_GPIO(i)->ODR ^= LED_GPIO_PIN(i);} #define LED_PERIODIC() {} diff --git a/sw/airborne/arch/stm32/mcu_arch.c b/sw/airborne/arch/stm32/mcu_arch.c index eb6760b1c6..3c8a01fd10 100644 --- a/sw/airborne/arch/stm32/mcu_arch.c +++ b/sw/airborne/arch/stm32/mcu_arch.c @@ -36,6 +36,7 @@ void mcu_arch_init(void) { #ifdef HSE_TYPE_EXT_CLK +#warning Using external clock /* Setup the microcontroller system. * Initialize the Embedded Flash Interface, * initialize the PLL and update the SystemFrequency variable. @@ -43,7 +44,7 @@ void mcu_arch_init(void) { /* RCC system reset(for debug purpose) */ RCC_DeInit(); /* Enable HSE with external clock ( HSE_Bypass ) */ - RCC_HSEConfig( RCC_HSE_Bypass ); + RCC_HSEConfig( STM32_RCC_MODE ); /* Wait till HSE is ready */ ErrorStatus HSEStartUpStatus = RCC_WaitForHSEStartUp(); if (HSEStartUpStatus != SUCCESS) { @@ -62,7 +63,7 @@ void mcu_arch_init(void) { /* PCLK1 = HCLK/2 */ RCC_PCLK1Config(RCC_HCLK_Div2); /* PLLCLK = 8MHz * 9 = 72 MHz */ - RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9); + RCC_PLLConfig(RCC_PLLSource_HSE_Div1, STM32_PLL_MULT); /* Enable PLL */ RCC_PLLCmd(ENABLE); /* Wait till PLL is ready */ @@ -73,6 +74,7 @@ void mcu_arch_init(void) { while(RCC_GetSYSCLKSource() != 0x08) {} } #else /* HSE_TYPE_EXT_CLK */ +#warning Using normal system clock setup SystemInit(); #endif /* HSE_TYPE_EXT_CLK */ /* Set the Vector Table base location at 0x08000000 */ diff --git a/sw/airborne/arch/stm32/mcu_periph/can_arch.c b/sw/airborne/arch/stm32/mcu_periph/can_arch.c index 2af91534c1..002e0968cf 100644 --- a/sw/airborne/arch/stm32/mcu_periph/can_arch.c +++ b/sw/airborne/arch/stm32/mcu_periph/can_arch.c @@ -25,6 +25,7 @@ #include #include +#include "mcu_periph/can_arch.h" #include "mcu_periph/can.h" #include diff --git a/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c index da000029e0..195970cc20 100644 --- a/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c +++ b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c @@ -7,9 +7,418 @@ static void start_transaction(struct i2c_periph* p); +static inline void end_of_transaction(struct i2c_periph *p); +static inline void i2c_hard_reset(struct i2c_periph *p); +static inline void i2c_reset_init(struct i2c_periph *p); + +#define I2C_BUSY 0x20 + +#ifdef DEBUG_I2C +#define SPURIOUS_INTERRUPT(_status, _event) { while(1); } +#define OUT_OF_SYNC_STATE_MACHINE(_status, _event) { while(1); } +#else +#define SPURIOUS_INTERRUPT(_status, _event) {} +#define OUT_OF_SYNC_STATE_MACHINE(_status, _event) {} +#endif + +#ifdef USE_I2C1 +static I2C_InitTypeDef I2C1_InitStruct = { + .I2C_Mode = I2C_Mode_I2C, + .I2C_DutyCycle = I2C_DutyCycle_2, + .I2C_OwnAddress1 = 0x00, + .I2C_Ack = I2C_Ack_Enable, + .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, + .I2C_ClockSpeed = 200000 +}; +#endif + +#ifdef USE_I2C2 +static I2C_InitTypeDef I2C2_InitStruct = { + .I2C_Mode = I2C_Mode_I2C, + .I2C_DutyCycle = I2C_DutyCycle_2, + .I2C_OwnAddress1 = 0x00, + .I2C_Ack = I2C_Ack_Enable, + .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, + .I2C_ClockSpeed = 300000 +}; +#endif + +static inline void i2c_delay(void) +{ + for (__IO int j = 0; j < 50; j++); +} + +static inline void i2c_apply_config(struct i2c_periph *p) +{ + I2C_Init(p->reg_addr, p->init_struct); +} + +static inline void end_of_transaction(struct i2c_periph *p) +{ + p->trans_extract_idx++; + if (p->trans_extract_idx >= I2C_TRANSACTION_QUEUE_LEN) + p->trans_extract_idx = 0; + /* if we have no more transaction to process, stop here */ + if (p->trans_extract_idx == p->trans_insert_idx) + p->status = I2CIdle; + /* if not, start next transaction */ + else + start_transaction(p); +} + +static inline void abort_and_reset(struct i2c_periph *p) { + struct i2c_transaction* trans = p->trans[p->trans_extract_idx]; + trans->status = I2CTransFailed; + I2C_ITConfig(p->reg_addr, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR, DISABLE); + i2c_hard_reset(p); + I2C_ITConfig(p->reg_addr, I2C_IT_ERR, ENABLE); + end_of_transaction(p); +} + +#ifdef USE_I2C2 +static inline void on_status_start_requested(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event); +static inline void on_status_addr_wr_sent(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event); +static inline void on_status_sending_byte(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event); +static inline void on_status_stop_requested(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event); +static inline void on_status_addr_rd_sent(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event); +static inline void on_status_reading_byte(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event); +static inline void on_status_reading_last_byte(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event); +static inline void on_status_restart_requested(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event); + +/* + * Start Requested + * + */ +static inline void on_status_start_requested(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event) { + if (event & I2C_FLAG_SB) { + if(trans->type == I2CTransRx) { + I2C_Send7bitAddress(periph->reg_addr, trans->slave_addr, I2C_Direction_Receiver); + periph->status = I2CAddrRdSent; + } + else { + I2C_Send7bitAddress(periph->reg_addr, trans->slave_addr, I2C_Direction_Transmitter); + periph->status = I2CAddrWrSent; + } + } + else + SPURIOUS_INTERRUPT(I2CStartRequested, event); +} + +/* + * Addr WR sent + * + */ +static inline void on_status_addr_wr_sent(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event) { + if ((event & I2C_FLAG_ADDR) && (event & I2C_FLAG_TRA)) { + I2C_SendData(periph->reg_addr, trans->buf[0]); + if (trans->len_w > 1) { + I2C_SendData(periph->reg_addr, trans->buf[1]); + periph->idx_buf = 2; + I2C_ITConfig(periph->reg_addr, I2C_IT_BUF, ENABLE); + periph->status = I2CSendingByte; + } + else { + periph->idx_buf = 1; + if (trans->type == I2CTransTx) { + I2C_GenerateSTOP(periph->reg_addr, ENABLE); + periph->status = I2CStopRequested; + } + else { + I2C_GenerateSTART(periph->reg_addr, ENABLE); + periph->status = I2CRestartRequested; + } + } + } + else + SPURIOUS_INTERRUPT(I2CAddrWrSent, event); +} + +/* + * Sending Byte + * + */ +static inline void on_status_sending_byte(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event) { + I2C_TypeDef *regs = (I2C_TypeDef *) periph->reg_addr; + if (event & I2C_FLAG_TXE) { + if (periph->idx_buf < trans->len_w) { + I2C_SendData(periph->reg_addr, trans->buf[periph->idx_buf]); + periph->idx_buf++; + } + else { + I2C_ITConfig(periph->reg_addr, I2C_IT_BUF, DISABLE); + if (trans->type == I2CTransTx) { + I2C_GenerateSTOP(periph->reg_addr, ENABLE); + /* Make sure that the STOP bit is cleared by Hardware */ + static __IO uint8_t counter = 0; + while ((regs->CR1 & 0x200) == 0x200) { + counter++; + if (counter > 100) break; + } + periph->status = I2CStopRequested; + } + else { + I2C_GenerateSTART(periph->reg_addr, ENABLE); + periph->status = I2CRestartRequested; + } + } + } + else + SPURIOUS_INTERRUPT(I2CSendingByte, event); +} + +/* + * Stop Requested + * + */ +static inline void on_status_stop_requested(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event) { + /* bummer.... */ + if (event & I2C_FLAG_RXNE) { + uint8_t read_byte = I2C_ReceiveData(periph->reg_addr); + if (periph->idx_buf < trans->len_r) { + trans->buf[periph->idx_buf] = read_byte; + } + } + I2C_ITConfig(periph->reg_addr, I2C_IT_EVT|I2C_IT_BUF, DISABLE); // should only need to disable evt, buf already disabled + trans->status = I2CTransSuccess; + end_of_transaction(periph); +} + +/* + * Addr RD sent + * + */ +static inline void on_status_addr_rd_sent(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event) { + I2C_TypeDef *regs = (I2C_TypeDef *) periph->reg_addr; + + if ((event & I2C_FLAG_ADDR) && !(event & I2C_FLAG_TRA)) { + periph->idx_buf = 0; + if(trans->len_r == 1) { // If we're going to read only one byte + I2C_AcknowledgeConfig(periph->reg_addr, DISABLE); // make sure it's gonna be nacked + I2C_GenerateSTOP(periph->reg_addr, ENABLE); // and followed by a stop + /* Make sure that the STOP bit is cleared by Hardware */ + static __IO uint8_t counter = 0; + while ((regs->CR1 & 0x200) == 0x200) { + counter++; + if (counter > 100) break; + } + periph->status = I2CReadingLastByte; // and remember we did + } + else { + I2C_AcknowledgeConfig(periph->reg_addr, ENABLE); // if it's more than one byte, ack it + I2C_ITConfig(periph->reg_addr, I2C_IT_BUF, ENABLE); + periph->status = I2CReadingByte; // and remember we did + } + } + else + SPURIOUS_INTERRUPT(I2CAddrRdSent, event); +} -static inline void i2c2_hard_reset(void); +/* + * Reading byte + * + */ +static inline void on_status_reading_byte(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event) { + I2C_TypeDef *regs = (I2C_TypeDef *) periph->reg_addr; + if (event & I2C_FLAG_RXNE) { + uint8_t read_byte = I2C_ReceiveData(periph->reg_addr); + if (periph->idx_buf < trans->len_r) { + trans->buf[periph->idx_buf] = read_byte; + periph->idx_buf++; + if (periph->idx_buf >= trans->len_r-1) { // We're reading our last byte + I2C_AcknowledgeConfig(periph->reg_addr, DISABLE); // give them a nack once it's done + I2C_GenerateSTOP(periph->reg_addr, ENABLE); // and follow with a stop + /* Make sure that the STOP bit is cleared by Hardware */ + static __IO uint8_t counter = 0; + while ((regs->CR1 & 0x200) == 0x200) { + counter++; + if (counter > 100) break; + } + periph->status = I2CStopRequested; // remember we already trigered the stop + } + } // else { something very wrong has happened } + } + else + SPURIOUS_INTERRUPT(I2CReadingByte, event); +} + +/* + * Reading last byte + * + */ +static inline void on_status_reading_last_byte(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event) { + if (event & I2C_FLAG_BTF) { + uint8_t read_byte = I2C_ReceiveData(periph->reg_addr); + trans->buf[periph->idx_buf] = read_byte; + I2C_GenerateSTOP(periph->reg_addr, ENABLE); + periph->status = I2CStopRequested; + } + else if (event & I2C_FLAG_RXNE) { // should really be BTF ? + uint8_t read_byte = I2C_ReceiveData(periph->reg_addr); + trans->buf[periph->idx_buf] = read_byte; + periph->status = I2CStopRequested; + } + else + SPURIOUS_INTERRUPT(I2CReadingLastByte, event); +} + +/* + * Restart requested + * + */ +static inline void on_status_restart_requested(struct i2c_periph *periph, struct i2c_transaction* trans, uint32_t event) { + if (event & I2C_FLAG_SB) { + I2C_Send7bitAddress(periph->reg_addr, trans->slave_addr, I2C_Direction_Receiver); + periph->status = I2CAddrRdSent; + } +} + + + +static inline void i2c_event(struct i2c_periph *p, uint32_t event) +{ + struct i2c_transaction* trans = p->trans[p->trans_extract_idx]; + switch (p->status) { + case I2CStartRequested: + on_status_start_requested(p, trans, event); + break; + case I2CAddrWrSent: + on_status_addr_wr_sent(p, trans, event); + break; + case I2CSendingByte: + on_status_sending_byte(p, trans, event); + break; + case I2CStopRequested: + on_status_stop_requested(p, trans, event); + break; + case I2CAddrRdSent: + on_status_addr_rd_sent(p, trans, event); + break; + case I2CReadingByte: + on_status_reading_byte(p, trans, event); + break; + case I2CReadingLastByte: + on_status_reading_last_byte(p, trans, event); + break; + case I2CRestartRequested: + on_status_restart_requested(p, trans, event); + break; + default: + OUT_OF_SYNC_STATE_MACHINE(p->status, event); + break; + } +} + +static inline void i2c_error(struct i2c_periph *p) +{ + p->errors->er_irq_cnt; + if (I2C_GetITStatus(p->reg_addr, I2C_IT_AF)) { /* Acknowledge failure */ + p->errors->ack_fail_cnt++; + I2C_ClearITPendingBit(p->reg_addr, I2C_IT_AF); + } + if (I2C_GetITStatus(p->reg_addr, I2C_IT_BERR)) { /* Misplaced Start or Stop condition */ + p->errors->miss_start_stop_cnt++; + I2C_ClearITPendingBit(p->reg_addr, I2C_IT_BERR); + } + if (I2C_GetITStatus(p->reg_addr, I2C_IT_ARLO)) { /* Arbitration lost */ + p->errors->arb_lost_cnt++; + I2C_ClearITPendingBit(p->reg_addr, I2C_IT_ARLO); + // I2C_AcknowledgeConfig(I2C2, DISABLE); + // uint8_t dummy __attribute__ ((unused)) = I2C_ReceiveData(I2C2); + // I2C_GenerateSTOP(I2C2, ENABLE); + } + if (I2C_GetITStatus(p->reg_addr, I2C_IT_OVR)) { /* Overrun/Underrun */ + p->errors->over_under_cnt++; + I2C_ClearITPendingBit(p->reg_addr, I2C_IT_OVR); + } + if (I2C_GetITStatus(p->reg_addr, I2C_IT_PECERR)) { /* PEC Error in reception */ + p->errors->pec_recep_cnt++; + I2C_ClearITPendingBit(p->reg_addr, I2C_IT_PECERR); + } + if (I2C_GetITStatus(p->reg_addr, I2C_IT_TIMEOUT)) { /* Timeout or Tlow error */ + p->errors->timeout_tlow_cnt++; + I2C_ClearITPendingBit(p->reg_addr, I2C_IT_TIMEOUT); + } + if (I2C_GetITStatus(p->reg_addr, I2C_IT_SMBALERT)) { /* SMBus alert */ + p->errors->smbus_alert_cnt++; + I2C_ClearITPendingBit(p->reg_addr, I2C_IT_SMBALERT); + } + + abort_and_reset(p); +} + + +static inline void i2c_hard_reset(struct i2c_periph *p) +{ + I2C_TypeDef *regs = (I2C_TypeDef *) p->reg_addr; + + I2C_DeInit(p->reg_addr); + + GPIO_InitTypeDef GPIO_InitStructure; + GPIO_InitStructure.GPIO_Pin = p->scl_pin | p->sda_pin; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD; + GPIO_SetBits(GPIOB, p->scl_pin | p->sda_pin); + GPIO_Init(GPIOB, &GPIO_InitStructure); + + while(GPIO_ReadInputDataBit(GPIOB, p->sda_pin) == Bit_RESET) { + // Raise SCL, wait until SCL is high (in case of clock stretching) + GPIO_SetBits(GPIOB, p->scl_pin); + while (GPIO_ReadInputDataBit(GPIOB, p->scl_pin) == Bit_RESET); + i2c_delay(); + + // Lower SCL, wait + GPIO_ResetBits(GPIOB, p->scl_pin); + i2c_delay(); + + // Raise SCL, wait + GPIO_SetBits(GPIOB, p->scl_pin); + i2c_delay(); + } + + // Generate a start condition followed by a stop condition + GPIO_SetBits(GPIOB, p->scl_pin); + i2c_delay(); + GPIO_ResetBits(GPIOB, p->sda_pin); + i2c_delay(); + GPIO_ResetBits(GPIOB, p->sda_pin); + i2c_delay(); + + // Raise both SCL and SDA and wait for SCL high (in case of clock stretching) + GPIO_SetBits(GPIOB, p->scl_pin | p->sda_pin); + while (GPIO_ReadInputDataBit(GPIOB, p->scl_pin) == Bit_RESET); + + // Wait for SDA to be high + while (GPIO_ReadInputDataBit(GPIOB, p->sda_pin) != Bit_SET); + + // SCL and SDA should be high at this point, bus should be free + // Return the GPIO pins to the alternate function + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD; + GPIO_Init(GPIOB, &GPIO_InitStructure); + + I2C_DeInit(p->reg_addr); + + i2c_apply_config(p); + + if (regs->SR2 & I2C_BUSY) { + // Reset the I2C block + I2C_SoftwareResetCmd(p->reg_addr, ENABLE); + I2C_SoftwareResetCmd(p->reg_addr, DISABLE); + } +} + +static inline void i2c_reset_init(struct i2c_periph *p) +{ + // Reset bus and configure GPIO pins + i2c_hard_reset(p); + + // enable peripheral + I2C_Cmd(p->reg_addr, ENABLE); + + // enable error interrupts + I2C_ITConfig(p->reg_addr, I2C_IT_ERR, ENABLE); +} +#endif #ifdef USE_I2C1 @@ -17,29 +426,6 @@ struct i2c_errors i2c1_errors; #include "my_debug_servo.h" -#define I2C1_APPLY_CONFIG() { \ - I2C_InitTypeDef I2C_InitStructure; \ - I2C_InitStructure.I2C_Mode = I2C_Mode_I2C; \ - I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2; \ - I2C_InitStructure.I2C_OwnAddress1 = 0x00; \ - I2C_InitStructure.I2C_Ack = I2C_Ack_Enable; \ - I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; \ - I2C_InitStructure.I2C_ClockSpeed = 200000; \ - I2C_Init(I2C1, &I2C_InitStructure); \ - } - -#define I2C1_END_OF_TRANSACTION() { \ - i2c1.trans_extract_idx++; \ - if (i2c1.trans_extract_idx>=I2C_TRANSACTION_QUEUE_LEN) \ - i2c1.trans_extract_idx = 0; \ - /* if we have no more transaction to process, stop here */ \ - if (i2c1.trans_extract_idx == i2c1.trans_insert_idx) \ - i2c1.status = I2CIdle; \ - /* if not, start next transaction */ \ - else \ - start_transaction(&i2c1); \ - } - #define I2C1_ABORT_AND_RESET() { \ struct i2c_transaction* trans2 = i2c1.trans[i2c1.trans_extract_idx]; \ trans2->status = I2CTransFailed; \ @@ -47,9 +433,9 @@ struct i2c_errors i2c1_errors; I2C_Cmd(I2C1, DISABLE); \ I2C_DeInit(I2C1); \ I2C_Cmd(I2C1, ENABLE); \ - I2C1_APPLY_CONFIG(); \ + i2c_apply_config(&i2c1); \ I2C_ITConfig(I2C1, I2C_IT_ERR, ENABLE); \ - I2C1_END_OF_TRANSACTION(); \ + end_of_transaction(&i2c1); \ } // @@ -65,6 +451,10 @@ struct i2c_errors i2c1_errors; void i2c1_hw_init(void) { i2c1.reg_addr = I2C1; + i2c1.init_struct = &I2C1_InitStruct; + i2c1.scl_pin = GPIO_Pin_6; + i2c1.sda_pin = GPIO_Pin_7; + i2c1.errors = &i2c1_errors; /* zeros error counter */ ZEROS_ERR_COUNTER(i2c1_errors); @@ -107,7 +497,7 @@ void i2c1_hw_init(void) { /* I2C Peripheral Enable */ I2C_Cmd(I2C1, ENABLE); /* Apply I2C configuration after enabling it */ - I2C1_APPLY_CONFIG(); + i2c_apply_config(&i2c1); /* Enable I2C1 error interrupts */ I2C_ITConfig(I2C1, I2C_IT_ERR, ENABLE); @@ -145,7 +535,6 @@ void i2c1_ev_irq_handler(void) { /* Test on I2C1 EV8 and clear it */ case I2C_EVENT_MASTER_BYTE_TRANSMITTING: /* Without BTF, EV8 */ - // DEBUG_S5_TOGGLE(); if(i2c1.idx_buf < trans->len_w) { I2C_SendData(I2C1, trans->buf[i2c1.idx_buf]); i2c1.idx_buf++; @@ -158,7 +547,6 @@ void i2c1_ev_irq_handler(void) { break; case I2C_EVENT_MASTER_BYTE_TRANSMITTED: /* With BTF EV8-2 */ - // DEBUG_S6_TOGGLE(); if(i2c1.idx_buf < trans->len_w) { I2C_SendData(I2C1, trans->buf[i2c1.idx_buf]); i2c1.idx_buf++; @@ -166,7 +554,7 @@ void i2c1_ev_irq_handler(void) { else { trans->status = I2CTransSuccess; I2C_ITConfig(I2C1, I2C_IT_EVT, DISABLE); - I2C1_END_OF_TRANSACTION(); + end_of_transaction(&i2c1); } // while (I2C_GetFlagStatus(I2C1, I2C_FLAG_MSL)); break; @@ -175,7 +563,6 @@ void i2c1_ev_irq_handler(void) { i2c1_errors.unexpected_event_cnt++; i2c1_errors.last_unexpected_event = event; // spurious Interrupt - // DEBUG_S2_TOGGLE(); // I have already had I2C_EVENT_SLAVE_STOP_DETECTED ( 0x10 ) // let's clear that by restarting I2C // if (event == I2C_EVENT_SLAVE_STOP_DETECTED) { @@ -244,24 +631,13 @@ struct i2c_errors i2c2_errors; #include "my_debug_servo.h" -#define I2C2_APPLY_CONFIG() { \ - \ - I2C_InitTypeDef I2C_InitStructure= { \ - .I2C_Mode = I2C_Mode_I2C, \ - .I2C_DutyCycle = I2C_DutyCycle_2, \ - .I2C_OwnAddress1 = 0x00, \ - .I2C_Ack = I2C_Ack_Enable, \ - .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, \ - .I2C_ClockSpeed = 300000 \ - }; \ - I2C_Init(I2C2, &I2C_InitStructure); \ - \ - } - - void i2c2_hw_init(void) { i2c2.reg_addr = I2C2; + i2c2.init_struct = &I2C2_InitStruct; + i2c2.scl_pin = GPIO_Pin_10; + i2c2.sda_pin = GPIO_Pin_11; + i2c2.errors = &i2c2_errors; /* zeros error counter */ ZEROS_ERR_COUNTER(i2c2_errors); @@ -292,466 +668,21 @@ void i2c2_hw_init(void) { /* Enable GPIOB clock */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); - /* Configure I2C2 pins: SCL and SDA -----------------------------------------*/ - GPIO_InitTypeDef GPIO_InitStructure; - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11; - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD; - GPIO_Init(GPIOB, &GPIO_InitStructure); - - i2c2_hard_reset(); - - /* I2C Peripheral Enable ----------------------------------------------------*/ - I2C_Cmd(I2C2, ENABLE); - - /* Apply I2C configuration after enabling it */ - I2C2_APPLY_CONFIG(); - - - /* Enable I2C2 error interrupts ---------------------------------------------*/ - I2C_ITConfig(I2C2, I2C_IT_ERR, ENABLE); - - // DEBUG_SERVO1_INIT(); - // DEBUG_SERVO2_INIT(); + // Reset and initialize I2C HW + i2c_reset_init(&i2c2); } -static inline void on_status_start_requested(struct i2c_transaction* trans, uint32_t event); -static inline void on_status_addr_wr_sent(struct i2c_transaction* trans, uint32_t event); -static inline void on_status_sending_byte(struct i2c_transaction* trans, uint32_t event); -//static inline void on_status_sending_last_byte(struct i2c_transaction* trans, uint32_t event); -static inline void on_status_stop_requested(struct i2c_transaction* trans, uint32_t event); -static inline void on_status_addr_rd_sent(struct i2c_transaction* trans, uint32_t event); -static inline void on_status_reading_byte(struct i2c_transaction* trans, uint32_t event); -static inline void on_status_reading_last_byte(struct i2c_transaction* trans, uint32_t event); -static inline void on_status_restart_requested(struct i2c_transaction* trans, uint32_t event); - -#ifdef DEBUG_I2C -#define SPURIOUS_INTERRUPT(_status, _event) { while(1); } -#define OUT_OF_SYNC_STATE_MACHINE(_status, _event) { while(1); } -#else -#define SPURIOUS_INTERRUPT(_status, _event) {} -#define OUT_OF_SYNC_STATE_MACHINE(_status, _event) {} -#endif - - -#define I2C2_END_OF_TRANSACTION() { \ - i2c2.trans_extract_idx++; \ - if (i2c2.trans_extract_idx>=I2C_TRANSACTION_QUEUE_LEN) \ - i2c2.trans_extract_idx = 0; \ - /* if we have no more transaction to process, stop here */ \ - if (i2c2.trans_extract_idx == i2c2.trans_insert_idx) \ - i2c2.status = I2CIdle; \ - /* if not, start next transaction */ \ - else \ - start_transaction(&i2c2); \ - } - -#define I2C_BUSY 0x20 -static inline void i2c2_hard_reset(void) -{ - I2C_DeInit(I2C2); - - GPIO_InitTypeDef GPIO_InitStructure; - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11; - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD; - GPIO_SetBits(GPIOB, GPIO_Pin_10 | GPIO_Pin_11); - GPIO_Init(GPIOB, &GPIO_InitStructure); - - while(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_11) == Bit_RESET) { - // Raise SCL, wait until SCL is high (in case of clock stretching) - GPIO_SetBits(GPIOB, GPIO_Pin_10); - while (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_10) == Bit_RESET); - for (__IO int j = 0; j < 50; j++); - - // Lower SCL, wait - GPIO_ResetBits(GPIOB, GPIO_Pin_10); - for (__IO int j = 0; j < 50; j++); - - // Raise SCL, wait - GPIO_SetBits(GPIOB, GPIO_Pin_10); - for (__IO int j = 0; j < 50; j++); - } - - // Generate a start condition followed by a stop condition - GPIO_SetBits(GPIOB, GPIO_Pin_10); - for (__IO int j = 0; j < 50; j++); - GPIO_ResetBits(GPIOB, GPIO_Pin_11); - for (__IO int j = 0; j < 50; j++); - GPIO_ResetBits(GPIOB, GPIO_Pin_11); - for (__IO int j = 0; j < 50; j++); - - // Raise both SCL and SDA and wait for SCL high (in case of clock stretching) - GPIO_SetBits(GPIOB, GPIO_Pin_10 | GPIO_Pin_11); - while (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_10) == Bit_RESET); - - // Wait for SDA to be high - while (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_11) != Bit_SET); - - // SCL and SDA should be high at this point, bus should be free - // Return the GPIO pins to the alternate function - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD; - GPIO_Init(GPIOB, &GPIO_InitStructure); - - I2C_DeInit(I2C2); - - I2C2_APPLY_CONFIG(); - - if (I2C2->SR2 & I2C_BUSY) { - // Reset the I2C block - I2C_SoftwareResetCmd(I2C2, ENABLE); - I2C_SoftwareResetCmd(I2C2, DISABLE); - } -} - -#define I2C2_ABORT_AND_RESET() { \ - struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx]; \ - trans->status = I2CTransFailed; \ - I2C_ITConfig(I2C2, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR, DISABLE); \ - i2c2_hard_reset(); \ - I2C_ITConfig(I2C2, I2C_IT_ERR, ENABLE); \ - I2C2_END_OF_TRANSACTION(); \ - } - - - -/* - * Start Requested - * - */ -static inline void on_status_start_requested(struct i2c_transaction* trans, uint32_t event) { - if (event & I2C_FLAG_SB) { - if(trans->type == I2CTransRx) { - I2C_Send7bitAddress(I2C2, trans->slave_addr, I2C_Direction_Receiver); - i2c2.status = I2CAddrRdSent; - } - else { - I2C_Send7bitAddress(I2C2, trans->slave_addr, I2C_Direction_Transmitter); - i2c2.status = I2CAddrWrSent; - } - } - else - SPURIOUS_INTERRUPT(I2CStartRequested, event); -} - -/* - * Addr WR sent - * - */ -static inline void on_status_addr_wr_sent(struct i2c_transaction* trans, uint32_t event) { - if ((event & I2C_FLAG_ADDR) && (event & I2C_FLAG_TRA)) { - I2C_SendData(I2C2, trans->buf[0]); - if (trans->len_w > 1) { - I2C_SendData(I2C2, trans->buf[1]); - i2c2.idx_buf = 2; - I2C_ITConfig(I2C2, I2C_IT_BUF, ENABLE); - i2c2.status = I2CSendingByte; - } - else { - i2c2.idx_buf = 1; - if (trans->type == I2CTransTx) { - I2C_GenerateSTOP(I2C2, ENABLE); - i2c2.status = I2CStopRequested; - } - else { - I2C_GenerateSTART(I2C2, ENABLE); - i2c2.status = I2CRestartRequested; - } - } - } - else - SPURIOUS_INTERRUPT(I2CAddrWrSent, event); -} - -/* - * Sending Byte - * - */ -static inline void on_status_sending_byte(struct i2c_transaction* trans, uint32_t event) { - if (event & I2C_FLAG_TXE) { - if (i2c2.idx_buf < trans->len_w) { - I2C_SendData(I2C2, trans->buf[i2c2.idx_buf]); - i2c2.idx_buf++; - } - else { - I2C_ITConfig(I2C2, I2C_IT_BUF, DISABLE); - if (trans->type == I2CTransTx) { - I2C_GenerateSTOP(I2C2, ENABLE); - /* Make sure that the STOP bit is cleared by Hardware */ - static __IO uint8_t counter = 0; - while ((I2C2->CR1&0x200) == 0x200) { - counter++; - if (counter > 100) break; - } - i2c2.status = I2CStopRequested; - } - else { - I2C_GenerateSTART(I2C2, ENABLE); - i2c2.status = I2CRestartRequested; - } - } - } - else - SPURIOUS_INTERRUPT(I2CSendingByte, event); -} - -#if 0 -/* - * Sending last byte - * - */ -static inline void on_status_sending_last_byte(struct i2c_transaction* trans, uint32_t event) { - if (event & I2C_FLAG_TXE) { // should really be BTF as we're supposed to have disabled buf it already - struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx]; - if (trans->type == I2CTransTx) { - I2C_GenerateSTOP(I2C2, ENABLE); - i2c2.status = I2CStopRequested; - } - else { - I2C_GenerateSTART(I2C2, ENABLE); - i2c2.status = I2CRestartRequested; - } - // I2C_ITConfig(I2C2, I2C_IT_BUF, DISABLE); - } - else - SPURIOUS_INTERRUPT(I2CSendingLastByte, event); -} -#endif - - -/* - * Stop Requested - * - */ -static inline void on_status_stop_requested(struct i2c_transaction* trans, uint32_t event) { - /* bummer.... */ - if (event & I2C_FLAG_RXNE) { - uint8_t read_byte = I2C_ReceiveData(I2C2); - if (i2c2.idx_buf < trans->len_r) { - trans->buf[i2c2.idx_buf] = read_byte; - } - } - I2C_ITConfig(I2C2, I2C_IT_EVT|I2C_IT_BUF, DISABLE); // should only need to disable evt, buf already disabled - trans->status = I2CTransSuccess; - I2C2_END_OF_TRANSACTION(); -} - -/* - * Addr RD sent - * - */ -static inline void on_status_addr_rd_sent(struct i2c_transaction* trans, uint32_t event) { - if ((event & I2C_FLAG_ADDR) && !(event & I2C_FLAG_TRA)) { - i2c2.idx_buf = 0; - if(trans->len_r == 1) { // If we're going to read only one byte - I2C_AcknowledgeConfig(I2C2, DISABLE); // make sure it's gonna be nacked - I2C_GenerateSTOP(I2C2, ENABLE); // and followed by a stop - /* Make sure that the STOP bit is cleared by Hardware */ - static __IO uint8_t counter = 0; - while ((I2C2->CR1&0x200) == 0x200) { - counter++; - if (counter > 100) break; - } - i2c2.status = I2CReadingLastByte; // and remember we did - } - else { - I2C_AcknowledgeConfig(I2C2, ENABLE); // if it's more than one byte, ack it - I2C_ITConfig(I2C2, I2C_IT_BUF, ENABLE); - i2c2.status = I2CReadingByte; // and remember we did - } - } - else - SPURIOUS_INTERRUPT(I2CAddrRdSent, event); -} - - -/* - * Reading byte - * - */ -static inline void on_status_reading_byte(struct i2c_transaction* trans, uint32_t event) { - if (event & I2C_FLAG_RXNE) { - uint8_t read_byte = I2C_ReceiveData(I2C2); - if (i2c2.idx_buf < trans->len_r) { - trans->buf[i2c2.idx_buf] = read_byte; - i2c2.idx_buf++; - if (i2c2.idx_buf >= trans->len_r-1) { // We're reading our last byte - I2C_AcknowledgeConfig(I2C2, DISABLE); // give them a nack once it's done - I2C_GenerateSTOP(I2C2, ENABLE); // and follow with a stop - /* Make sure that the STOP bit is cleared by Hardware */ - static __IO uint8_t counter = 0; - while ((I2C2->CR1&0x200) == 0x200) { - counter++; - if (counter > 100) break; - } - i2c2.status = I2CStopRequested; // remember we already trigered the stop - } - } // else { something very wrong has happened } - } - else - SPURIOUS_INTERRUPT(I2CReadingByte, event); -} - -/* - * Reading last byte - * - */ -static inline void on_status_reading_last_byte(struct i2c_transaction* trans, uint32_t event) { - if (event & I2C_FLAG_BTF) { - uint8_t read_byte = I2C_ReceiveData(I2C2); - trans->buf[i2c2.idx_buf] = read_byte; - I2C_GenerateSTOP(I2C2, ENABLE); - i2c2.status = I2CStopRequested; - } - else if (event & I2C_FLAG_RXNE) { // should really be BTF ? - uint8_t read_byte = I2C_ReceiveData(I2C2); - trans->buf[i2c2.idx_buf] = read_byte; - i2c2.status = I2CStopRequested; - } - else - SPURIOUS_INTERRUPT(I2CReadingLastByte, event); -} - -/* - * Restart requested - * - */ -static inline void on_status_restart_requested(struct i2c_transaction* trans, uint32_t event) { - // DEBUG_S6_ON(); - if (event & I2C_FLAG_SB) { - // DEBUG_S2_ON(); - I2C_Send7bitAddress(I2C2, trans->slave_addr, I2C_Direction_Receiver); - i2c2.status = I2CAddrRdSent; - // DEBUG_S2_OFF(); - } - - if (event & I2C_FLAG_BTF) { - // DEBUG_S5_ON(); - // DEBUG_S5_OFF(); - } - - if (event & I2C_FLAG_TXE) { - // DEBUG_S3_ON(); - // DEBUG_S3_OFF(); - } - - // if (event & I2C_FLAG_TXE) { - // DEBUG_S2_ON(); - // DEBUG_S2_OFF(); - // } - - - // else if (event & I2C_FLAG_TXE) { - // i2c2.status = I2CReadingByte; - // } - // else - // SPURIOUS_INTERRUPT(I2CRestartRequested, event); - // DEBUG_S6_OFF(); -} - void i2c2_ev_irq_handler(void) { - // DEBUG_S4_ON(); uint32_t event = I2C_GetLastEvent(I2C2); - struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx]; - //#if 0 - // if (i2c2_errors.irq_cnt < 16) { - // i2c2_errors.event_chain[i2c2_errors.irq_cnt] = event; - // i2c2_errors.status_chain[i2c2_errors.irq_cnt] = i2c2.status; - // i2c2_errors.irq_cnt++; - // } else { while (1);} - //#endif - switch (i2c2.status) { - case I2CStartRequested: - on_status_start_requested(trans, event); - break; - case I2CAddrWrSent: - on_status_addr_wr_sent(trans, event); - break; - case I2CSendingByte: - // DEBUG_S4_ON(); - on_status_sending_byte(trans, event); - // DEBUG_S4_OFF(); - break; -#if 0 - case I2CSendingLastByte: - // DEBUG_S5_ON(); - on_status_sending_last_byte(trans, event); - // DEBUG_S5_OFF(); - break; -#endif - case I2CStopRequested: - // DEBUG_S1_ON(); - on_status_stop_requested(trans, event); - // DEBUG_S1_OFF(); - break; - case I2CAddrRdSent: - on_status_addr_rd_sent(trans, event); - break; - case I2CReadingByte: - // DEBUG_S2_ON(); - on_status_reading_byte(trans, event); - // DEBUG_S2_OFF(); - break; - case I2CReadingLastByte: - // DEBUG_S5_ON(); - on_status_reading_last_byte(trans, event); - // DEBUG_S5_OFF(); - break; - case I2CRestartRequested: - // DEBUG_S5_ON(); - on_status_restart_requested(trans, event); - // DEBUG_S5_OFF(); - break; - default: - OUT_OF_SYNC_STATE_MACHINE(i2c2.status, event); - break; - } - // DEBUG_S4_OFF(); + i2c_event(&i2c2, event); } - void i2c2_er_irq_handler(void) { - // DEBUG_S5_ON(); - i2c2_errors.er_irq_cnt; - if (I2C_GetITStatus(I2C2, I2C_IT_AF)) { /* Acknowledge failure */ - i2c2_errors.ack_fail_cnt++; - I2C_ClearITPendingBit(I2C2, I2C_IT_AF); - } - if (I2C_GetITStatus(I2C2, I2C_IT_BERR)) { /* Misplaced Start or Stop condition */ - i2c2_errors.miss_start_stop_cnt++; - I2C_ClearITPendingBit(I2C2, I2C_IT_BERR); - } - if (I2C_GetITStatus(I2C2, I2C_IT_ARLO)) { /* Arbitration lost */ - i2c2_errors.arb_lost_cnt++; - I2C_ClearITPendingBit(I2C2, I2C_IT_ARLO); - // I2C_AcknowledgeConfig(I2C2, DISABLE); - // uint8_t dummy __attribute__ ((unused)) = I2C_ReceiveData(I2C2); - // I2C_GenerateSTOP(I2C2, ENABLE); - } - if (I2C_GetITStatus(I2C2, I2C_IT_OVR)) { /* Overrun/Underrun */ - i2c2_errors.over_under_cnt++; - I2C_ClearITPendingBit(I2C2, I2C_IT_OVR); - } - if (I2C_GetITStatus(I2C2, I2C_IT_PECERR)) { /* PEC Error in reception */ - i2c2_errors.pec_recep_cnt++; - I2C_ClearITPendingBit(I2C2, I2C_IT_PECERR); - } - if (I2C_GetITStatus(I2C2, I2C_IT_TIMEOUT)) { /* Timeout or Tlow error */ - i2c2_errors.timeout_tlow_cnt++; - I2C_ClearITPendingBit(I2C2, I2C_IT_TIMEOUT); - } - if (I2C_GetITStatus(I2C2, I2C_IT_SMBALERT)) { /* SMBus alert */ - i2c2_errors.smbus_alert_cnt++; - I2C_ClearITPendingBit(I2C2, I2C_IT_SMBALERT); - } - - I2C2_ABORT_AND_RESET(); - - // DEBUG_S5_OFF(); + i2c_error(&i2c2); } diff --git a/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c b/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c index 91b609b63d..583b90c089 100644 --- a/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c +++ b/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c @@ -85,7 +85,10 @@ typedef struct SpektrumStateStruct SpektrumStateType; SpektrumStateType PrimarySpektrumState = {1,0,0,0,0,0,0,0,0}; #ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT +#warning "Using secondary spektrum receiver." SpektrumStateType SecondarySpektrumState = {1,0,0,0,0,0,0,0,0}; +#else +#warning "NOT using secondary spektrum receiver." #endif int16_t SpektrumBuf[SPEKTRUM_CHANNELS_PER_FRAME*MAX_SPEKTRUM_FRAMES]; diff --git a/sw/airborne/boards/lisa_l_1.0.h b/sw/airborne/boards/lisa_l_1.0.h index 8724588595..0a157060a0 100644 --- a/sw/airborne/boards/lisa_l_1.0.h +++ b/sw/airborne/boards/lisa_l_1.0.h @@ -1,11 +1,14 @@ #ifndef CONFIG_LISA_V1_0_H #define CONFIG_LISA_V1_0_H +#define BOARD_LISA_L #define AHB_CLK 72000000 /* Lisa uses an external clock instead of a crystal */ #define HSE_TYPE_EXT_CLK +#define STM32_RCC_MODE RCC_HSE_Bypass +#define STM32_PLL_MULT RCC_PLLMul_9 /* Onboard LEDs */ #define LED_1_BANK diff --git a/sw/airborne/boards/lisa_m/baro_board.c b/sw/airborne/boards/lisa_m/baro_board.c new file mode 100644 index 0000000000..11829b5acf --- /dev/null +++ b/sw/airborne/boards/lisa_m/baro_board.c @@ -0,0 +1,122 @@ + +#include "subsystems/sensors/baro.h" + +struct Baro baro; +struct BaroBoard baro_board; +struct i2c_transaction baro_trans; + + +static inline void baro_board_write_to_register(uint8_t baro_addr, uint8_t reg_addr, uint8_t val_msb, uint8_t val_lsb); +static inline void baro_board_read_from_register(uint8_t baro_addr, uint8_t reg_addr); +static inline void baro_board_set_current_register(uint8_t baro_addr, uint8_t reg_addr); +static inline void baro_board_read_from_current_register(uint8_t baro_addr); + +// absolute +#define BARO_ABS_ADDR 0x90 +// differential +#define BARO_DIFF_ADDR 0x92 + +void baro_init(void) { + baro.status = BS_UNINITIALIZED; + baro.absolute = 0; + baro.differential = 0; + baro_board.status = LBS_UNINITIALIZED; +} + + +void baro_periodic(void) { + // check i2c_done + if (!i2c_idle(&i2c2)) return; + switch (baro_board.status) { + case LBS_UNINITIALIZED: + baro_board_send_reset(); + baro_board.status = LBS_RESETED; + break; + case LBS_RESETED: + baro_board_send_config_abs(); + baro_board.status = LBS_INITIALIZING_ABS; + break; + case LBS_INITIALIZING_ABS: + baro_board_set_current_register(BARO_ABS_ADDR, 0x00); + baro_board.status = LBS_INITIALIZING_ABS_1; + break; + case LBS_INITIALIZING_ABS_1: + baro_board_send_config_diff(); + baro_board.status = LBS_INITIALIZING_DIFF; + break; + case LBS_INITIALIZING_DIFF: + baro_board_set_current_register(BARO_DIFF_ADDR, 0x00); + baro_board.status = LBS_INITIALIZING_DIFF_1; + // baro_board.status = LBS_UNINITIALIZED; + break; + case LBS_INITIALIZING_DIFF_1: + baro.status = BS_RUNNING; + case LBS_READ_DIFF: + baro_board_read_from_current_register(BARO_ABS_ADDR); + baro_board.status = LBS_READING_ABS; + break; + case LBS_READ_ABS: + baro_board_read_from_current_register(BARO_DIFF_ADDR); + baro_board.status = LBS_READING_DIFF; + break; + default: + break; + } + +} + + +void baro_board_send_config_abs(void) { + baro_board_write_to_register(BARO_ABS_ADDR, 0x01, 0x86, 0x83); +} + +void baro_board_send_config_diff(void) { + baro_board_write_to_register(BARO_DIFF_ADDR, 0x01, 0x84, 0x83); +} + +void baro_board_send_reset(void) { + baro_trans.type = I2CTransTx; + baro_trans.slave_addr = 0x00; + baro_trans.len_w = 1; + baro_trans.buf[0] = 0x06; + i2c_submit(&i2c2,&baro_trans); +} + +static inline void baro_board_write_to_register(uint8_t baro_addr, uint8_t reg_addr, uint8_t val_msb, uint8_t val_lsb) { + baro_trans.type = I2CTransTx; + baro_trans.slave_addr = baro_addr; + baro_trans.len_w = 3; + baro_trans.buf[0] = reg_addr; + baro_trans.buf[1] = val_msb; + baro_trans.buf[2] = val_lsb; + i2c_submit(&i2c2,&baro_trans); +} + +static inline void baro_board_read_from_register(uint8_t baro_addr, uint8_t reg_addr) { + baro_trans.type = I2CTransTxRx; + baro_trans.slave_addr = baro_addr; + baro_trans.len_w = 1; + baro_trans.len_r = 2; + baro_trans.buf[0] = reg_addr; + i2c_submit(&i2c2,&baro_trans); + // i2c2.buf[0] = reg_addr; + // i2c2_transceive(baro_addr, 1, 2, &baro_board.i2c_done); +} + +static inline void baro_board_set_current_register(uint8_t baro_addr, uint8_t reg_addr) { + baro_trans.type = I2CTransTx; + baro_trans.slave_addr = baro_addr; + baro_trans.len_w = 1; + baro_trans.buf[0] = reg_addr; + i2c_submit(&i2c2,&baro_trans); + // i2c2.buf[0] = reg_addr; + // i2c2_transmit(baro_addr, 1, &baro_board.i2c_done); +} + +static inline void baro_board_read_from_current_register(uint8_t baro_addr) { + baro_trans.type = I2CTransRx; + baro_trans.slave_addr = baro_addr; + baro_trans.len_r = 2; + i2c_submit(&i2c2,&baro_trans); + // i2c2_receive(baro_addr, 2, &baro_board.i2c_done); +} diff --git a/sw/airborne/boards/lisa_m/baro_board.h b/sw/airborne/boards/lisa_m/baro_board.h new file mode 100644 index 0000000000..e2d61a79db --- /dev/null +++ b/sw/airborne/boards/lisa_m/baro_board.h @@ -0,0 +1,62 @@ + +/* + * board specific fonctions for the lisa_m board + * + */ + +#ifndef BOARDS_LISA_L_BARO_H +#define BOARDS_LISA_L_BARO_H + +#include "std.h" +#include "mcu_periph/i2c.h" + +enum LisaBaroStatus { + LBS_UNINITIALIZED, + LBS_RESETED, + LBS_INITIALIZING_ABS, + LBS_INITIALIZING_ABS_1, + LBS_INITIALIZING_DIFF, + LBS_INITIALIZING_DIFF_1, + LBS_IDLE, + LBS_READING_ABS, + LBS_READ_ABS, + LBS_READING_DIFF, + LBS_READ_DIFF +}; + +struct BaroBoard { + enum LisaBaroStatus status; +}; + +extern struct BaroBoard baro_board; +extern struct i2c_transaction baro_trans; + +extern void baro_board_send_reset(void); +extern void baro_board_send_config_abs(void); +extern void baro_board_send_config_diff(void); + +#define BaroEvent(_b_abs_handler, _b_diff_handler) { \ + if (baro_board.status == LBS_READING_ABS && \ + baro_trans.status != I2CTransPending) { \ + baro_board.status = LBS_READ_ABS; \ + if (baro_trans.status == I2CTransSuccess) { \ + int16_t tmp = baro_trans.buf[0]<<8 | baro_trans.buf[1]; \ + baro.absolute = tmp; \ + _b_abs_handler(); \ + } \ + } \ + else if (baro_board.status == LBS_READING_DIFF && \ + baro_trans.status != I2CTransPending) { \ + baro_board.status = LBS_READ_DIFF; \ + if (baro_trans.status == I2CTransSuccess) { \ + int16_t tmp = baro_trans.buf[0]<<8 | baro_trans.buf[1]; \ + baro.differential = tmp; \ + _b_diff_handler(); \ + } \ + } \ + } + + + + +#endif /* BOARDS_LISA_L_BARO_H */ diff --git a/sw/airborne/boards/lisa_m_1.0.h b/sw/airborne/boards/lisa_m_1.0.h index e87613b155..a0941c8737 100644 --- a/sw/airborne/boards/lisa_m_1.0.h +++ b/sw/airborne/boards/lisa_m_1.0.h @@ -1,19 +1,22 @@ #ifndef CONFIG_LISA_M_1_0_H #define CONFIG_LISA_M_1_0_H +#define BOARD_LISA_M #define AHB_CLK 72000000 /* Onboard LEDs */ #define LED_1_BANK #define LED_1_GPIO GPIOB -#define LED_1_GPIO_CLK RCC_APB2Periph_GPIOB +#define LED_1_GPIO_CLK RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO #define LED_1_GPIO_PIN GPIO_Pin_4 +#define LED_1_AFIO_REMAP GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST, ENABLE) #define LED_2_BANK #define LED_2_GPIO GPIOC #define LED_2_GPIO_CLK RCC_APB2Periph_GPIOC #define LED_2_GPIO_PIN GPIO_Pin_13 +#define LED_2_AFIO_REMAP ((void)0) /* configuration for aspirin - and more generaly IMUs */ #define IMU_ACC_DRDY_RCC_GPIO RCC_APB2Periph_GPIOB @@ -23,5 +26,10 @@ #define ADC_CHANNEL_VSUPPLY 4 #define DefaultVoltageOfAdc(adc) (0.01787109375*adc) +#define BOARD_HAS_BARO + +#define HSE_TYPE_EXT_CLK +#define STM32_RCC_MODE RCC_HSE_ON +#define STM32_PLL_MULT RCC_PLLMul_6 #endif /* CONFIG_LISA_M_1_0_H */ diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c index 90bb98f8f9..07602f1430 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c +++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c @@ -43,7 +43,6 @@ 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; } diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c index c3026d4a4b..405bde903e 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot.c +++ b/sw/airborne/firmwares/rotorcraft/autopilot.c @@ -65,7 +65,9 @@ void autopilot_init(void) { autopilot_flight_time = 0; autopilot_rc = TRUE; autopilot_power_switch = FALSE; +#ifdef POWER_SWITCH_LED LED_ON(POWER_SWITCH_LED); // POWER OFF +#endif } diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.h b/sw/airborne/firmwares/rotorcraft/autopilot.h index 10defb26d0..9c611a7316 100644 --- a/sw/airborne/firmwares/rotorcraft/autopilot.h +++ b/sw/airborne/firmwares/rotorcraft/autopilot.h @@ -95,11 +95,17 @@ extern uint16_t autopilot_flight_time; else autopilot_motors_on = TRUE; \ } +#ifdef POWER_SWITCH_LED #define autopilot_SetPowerSwitch(_v) { \ autopilot_power_switch = _v; \ if (_v) { LED_OFF(POWER_SWITCH_LED); } \ else { LED_ON(POWER_SWITCH_LED); } \ } +#else +#define autopilot_SetPowerSwitch(_v) { \ + autopilot_power_switch = _v; \ + } +#endif #ifndef TRESHOLD_GROUND_DETECT #define TRESHOLD_GROUND_DETECT ACCEL_BFP_OF_REAL(15.) diff --git a/sw/airborne/lisa/test_led.c b/sw/airborne/lisa/test_led.c index 0052006f56..f3d5d1269d 100644 --- a/sw/airborne/lisa/test_led.c +++ b/sw/airborne/lisa/test_led.c @@ -29,12 +29,62 @@ #include "led.h" void Delay(__IO uint32_t nCount); +void led_on(int i); +void led_off(int i); +#ifdef BOARD_LISA_L #define LED_PROGRAM_SIZE 26 const int LED_PROG_ON[LED_PROGRAM_SIZE] = { 3, 5, 7, 1, -1, -1, -1, -1, 2, 4, 6, 0, 3, 5, 7, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1 }; const int LED_PROG_OFF[LED_PROGRAM_SIZE] = {-1, -1, -1, -1, 3, 5, 7, 1, -1, -1, -1, -1, -1, -1, -1, -1, 3, 5, 7, 1, 2, 4, 6, 0, -1, -1 }; +#endif +#ifdef BOARD_LISA_M +#define LED_PROGRAM_SIZE 10 + +const int LED_PROG_ON[LED_PROGRAM_SIZE] = { 1, 2, -1, -1, -1, 2, 1, -1, -1, -1 }; +const int LED_PROG_OFF[LED_PROGRAM_SIZE] = { -1, -1, 1, 2, -1, -1, -1, 2, 1, -1 }; +#endif + +void led_on(int i) { +#ifdef BOARD_LISA_L + LED_ON(i); +#endif + +#ifdef BOARD_LISA_M + switch (i) { + case 1: + LED_ON(1); + break; + case 2: + LED_ON(2); + break; + default: + /* ignore as we only have 2 led's for now on lisa/m */ + break; + } +#endif +} + +void led_off(int i) { +#ifdef BOARD_LISA_L + LED_OFF(i); +#endif + +#ifdef BOARD_LISA_M + switch (i) { + case 1: + LED_OFF(1); + break; + case 2: + LED_OFF(2); + break; + default: + /* ignore as we only have 2 led's for now on lisa/m */ + break; + } +#endif +} int main(void) { int i = 0; @@ -43,11 +93,11 @@ int main(void) { for (i=0; i< LED_PROGRAM_SIZE; i++) { if (LED_PROG_ON[i] >= 0) - LED_ON(LED_PROG_ON[i]); + led_on(LED_PROG_ON[i]); LED_PERIODIC(); Delay(2000000); if (LED_PROG_OFF[i] >= 0) - LED_OFF(LED_PROG_OFF[i]); + led_off(LED_PROG_OFF[i]); } }; return 0; diff --git a/sw/airborne/lisa/test_uart_lisam.c b/sw/airborne/lisa/test_uart_lisam.c new file mode 100644 index 0000000000..4e898b0793 --- /dev/null +++ b/sw/airborne/lisa/test_uart_lisam.c @@ -0,0 +1,90 @@ +/* + * $Id$ + * + * Copyright (C) 2009 Antoine Drouin + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + */ + +#include +#include + +#include +#include + +#include BOARD_CONFIG +#include "mcu.h" +#include "mcu_periph/uart.h" +#include "sys_time.h" + +static inline void main_init( void ); +static inline void main_periodic( void ); + +int main(void) { + + main_init(); + + while (1) { + if (sys_time_periodic()) + main_periodic(); + } + return 0; +} + +static inline void main_init( void ) { + mcu_init(); + sys_time_init(); +} + +static inline void main_periodic( void ) { + char ch; + + Uart1Transmit('a'); + Uart2Transmit('b'); + Uart3Transmit('c'); + + LED_OFF(1); + LED_OFF(2); + + if (Uart1ChAvailable()) { + ch = Uart1Getch(); + if (ch == 'a') { + LED_ON(1); + } else { + LED_ON(2); + } + } + + if (Uart2ChAvailable()) { + ch = Uart2Getch(); + if (ch == 'b') { + LED_ON(1); + } else { + LED_ON(2); + } + } + + if (Uart3ChAvailable()) { + ch = Uart3Getch(); + if (ch == 'c') { + LED_ON(1); + } else { + LED_ON(2); + } + } +} diff --git a/sw/airborne/mcu_periph/i2c.h b/sw/airborne/mcu_periph/i2c.h index 43753823ce..93bd0f77ba 100644 --- a/sw/airborne/mcu_periph/i2c.h +++ b/sw/airborne/mcu_periph/i2c.h @@ -43,7 +43,6 @@ struct i2c_transaction { uint8_t slave_addr; uint16_t len_r; uint8_t len_w; - bool_t stop_after_transmit; volatile uint8_t buf[I2C_BUF_LEN]; volatile enum I2CTransactionStatus status; }; @@ -61,6 +60,10 @@ struct i2c_periph { volatile enum I2CStatus status; volatile uint8_t idx_buf; void* reg_addr; + void *init_struct; + uint16_t scl_pin; + uint16_t sda_pin; + struct i2c_errors *errors; }; @@ -132,40 +135,28 @@ extern bool_t i2c_idle(struct i2c_periph* p); extern bool_t i2c_submit(struct i2c_periph* p, struct i2c_transaction* t); #define I2CReceive(_p, _t, _s_addr, _len) { \ - _t.type = I2CTransRx; \ - _t.slave_addr = _s_addr; \ - _t.len_r = _len; \ - _t.len_w = 0; \ - _t.stop_after_transmit = TRUE; \ - i2c_submit(&(_p),&(_t)); \ - } + _t.type = I2CTransRx; \ + _t.slave_addr = _s_addr; \ + _t.len_r = _len; \ + _t.len_w = 0; \ + i2c_submit(&(_p),&(_t)); \ +} #define I2CTransmit(_p, _t, _s_addr, _len) { \ - _t.type = I2CTransTx; \ - _t.slave_addr = _s_addr; \ - _t.len_r = 0; \ - _t.len_w = _len; \ - _t.stop_after_transmit = TRUE; \ - i2c_submit(&(_p),&(_t)); \ - } + _t.type = I2CTransTx; \ + _t.slave_addr = _s_addr; \ + _t.len_r = 0; \ + _t.len_w = _len; \ + i2c_submit(&(_p),&(_t)); \ +} -#define I2CTransmitNoStop(_p, _t, _s_addr, _len) { \ - _t.type = I2CTransTx; \ - _t.slave_addr = _s_addr; \ - _t.len_r = 0; \ - _t.len_w = _len; \ - _t.stop_after_transmit = FALSE; \ - i2c_submit(&(_p),&(_t)); \ - } - -#define I2CTransceive(_p, _t, _s_addr, _len_w, _len_r) { \ - _t.type = I2CTransTxRx; \ - _t.slave_addr = _s_addr; \ - _t.len_r = _len_r; \ - _t.len_w = _len_w; \ - _t.stop_after_transmit = TRUE; \ - i2c_submit(&(_p),&(_t)); \ - } +#define I2CTransceive(_p, _t, _s_addr, _len_w, _len_r) { \ + _t.type = I2CTransTxRx; \ + _t.slave_addr = _s_addr; \ + _t.len_r = _len_r; \ + _t.len_w = _len_w; \ + i2c_submit(&(_p),&(_t)); \ +} #endif /* I2C_H */ diff --git a/sw/airborne/peripherals/ami601.c b/sw/airborne/peripherals/ami601.c index 81b1e512a2..1f7f3d4c76 100644 --- a/sw/airborne/peripherals/ami601.c +++ b/sw/airborne/peripherals/ami601.c @@ -17,7 +17,6 @@ void ami601_init( void ) { } 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; @@ -26,7 +25,7 @@ void ami601_init( void ) { void ami601_read( void ) { if (ami601_status != AMI601_IDLE) { ami601_nb_err++; - ami601_status == AMI601_IDLE; + ami601_status = AMI601_IDLE; } else { ami601_status = AMI601_SENDING_REQ; diff --git a/sw/airborne/peripherals/hmc5843.c b/sw/airborne/peripherals/hmc5843.c index 71050c442c..f02c148312 100644 --- a/sw/airborne/peripherals/hmc5843.c +++ b/sw/airborne/peripherals/hmc5843.c @@ -11,7 +11,6 @@ void hmc5843_init(void) { hmc5843.i2c_trans.status = I2CTransSuccess; hmc5843.i2c_trans.slave_addr = HMC5843_ADDR; - hmc5843.i2c_trans.stop_after_transmit = TRUE; hmc5843_arch_init(); } diff --git a/sw/airborne/test/test_esc_mkk_simple.c b/sw/airborne/test/test_esc_mkk_simple.c index 232890665a..983f19564b 100644 --- a/sw/airborne/test/test_esc_mkk_simple.c +++ b/sw/airborne/test/test_esc_mkk_simple.c @@ -59,7 +59,6 @@ static inline void main_periodic_task( void ) { trans.buf[0] = 0x04; trans.len_w = 1; trans.slave_addr = 0x58; - trans.stop_after_transmit = TRUE; i2c_submit(&ACTUATORS_MKK_DEV,&trans); LED_PERIODIC(); diff --git a/sw/simulator/hitl.ml b/sw/simulator/hitl.ml index c7f3d98c60..cde61c4e41 100644 --- a/sw/simulator/hitl.ml +++ b/sw/simulator/hitl.ml @@ -87,7 +87,7 @@ module Make (A:Data.MISSION) (FM: FlightModel.SIG) = struct "GSpeed", scale gps.gspeed 1e2; "Heading", scale (deg_of_rad gps.course) 1e5] - let infrared = fun ir_left ir_front ir_top _air_speed -> + let infrared_and_airspeed = fun ir_left ir_front ir_top _air_speed -> try DatalinkPprz.message_send "hitl" "HITL_INFRARED" ["ac_id",Pprz.Int !my_id; diff --git a/sw/simulator/sim.ml b/sw/simulator/sim.ml index 06fb54418f..d19f4ae9a5 100644 --- a/sw/simulator/sim.ml +++ b/sw/simulator/sim.ml @@ -61,7 +61,7 @@ module type AIRCRAFT = val commands : pprz_t array -> unit (** Called once at init *) - val infrared : float -> float -> float -> float -> unit + val infrared_and_airspeed : float -> float -> float -> float -> unit (** [infrared ir_left ir_front ir_top air_speed] Called on timer *) val gps : Gps.state -> unit @@ -207,7 +207,7 @@ module Make(AircraftItl : AIRCRAFT_ITL) = struct let ir_left = sin phi_sensor *. !infrared_contrast and ir_front = sin theta_sensor *. !infrared_contrast and ir_top = cos phi_sensor *. cos theta_sensor *. !infrared_contrast in - Aircraft.infrared ir_left ir_front ir_top (FlightModel.get_air_speed !state) + Aircraft.infrared_and_airspeed ir_left ir_front ir_top (FlightModel.get_air_speed !state) and gps_task = fun () -> let (x,y,z) = FlightModel.get_xyz !state in diff --git a/sw/simulator/sim.mli b/sw/simulator/sim.mli index b05db95d39..810e2217e2 100644 --- a/sw/simulator/sim.mli +++ b/sw/simulator/sim.mli @@ -9,7 +9,7 @@ module type AIRCRAFT = val init : int -> GPack.box -> unit val boot : Stdlib.value -> unit val commands : Stdlib.pprz_t array -> unit - val infrared : float -> float -> float -> float -> unit + val infrared_and_airspeed : float -> float -> float -> float -> unit val gps : Gps.state -> unit end diff --git a/sw/simulator/sitl.ml b/sw/simulator/sitl.ml index 5b63c2ea5a..d239cb6d41 100644 --- a/sw/simulator/sitl.ml +++ b/sw/simulator/sitl.ml @@ -189,10 +189,10 @@ module Make (A:Data.MISSION) (FM: FlightModel.SIG) = struct (* Functions called by the simulator *) let commands = fun s -> rcommands := s - external set_ir : int -> int -> int -> float -> unit = "set_ir" - let infrared = fun ir_left ir_front ir_top air_speed -> + external set_ir_and_airspeed : int -> int -> int -> float -> unit = "set_ir_and_airspeed" + let infrared_and_airspeed = fun ir_left ir_front ir_top air_speed -> (** ADC neutral is not taken into account in the soft sim (c.f. sim_ir.c)*) - set_ir (truncate ir_left) (truncate ir_front) (truncate ir_top) air_speed + set_ir_and_airspeed (truncate ir_left) (truncate ir_front) (truncate ir_top) air_speed external use_gps_pos: int -> int -> int -> float -> float -> float -> float -> float -> bool -> float -> float -> unit = "sim_use_gps_pos_bytecode" "sim_use_gps_pos" let gps = fun gps ->