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big I2C rework - LPC users please don't update for now

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This commit is contained in:
Antoine Drouin
2010-09-03 01:56:44 +00:00
parent 4f8cb0e75a
commit 297c56f143
16 changed files with 316 additions and 255 deletions
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conf/airframes/Poine/booz2_a6.xml
+40 -43
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@@ -159,56 +159,53 @@
</section> </section>
<section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_"> <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
<define name="PGAIN" value="-100"/> <define name="PGAIN" value="-100"/>
<define name="DGAIN" value="-100"/> <define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/> <define name="IGAIN" value="-0"/>
</section> </section>
<section name="MISC"> <section name="MISC">
<define name="BOOZ2_FACE_REINJ_1" value="1024"/> <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
</section> </section>
<makefile> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="mkk"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
</firmware>
USER =
#HOST = 10.31.4.22
HOST = overo
#HOST = beth
TARGET_DIR = ~
SRC_FMS=fms
ARCH=stm32 <firmware name="lisa_l_test_progs">
ARCHI=stm32 <target name="test_telemetry" board="lisa_l_1.0"/>
BOARD_CFG=\"boards/lisa_0.99.h\" <target name="test_baro" board="lisa_l_1.0"/>
FLASH_MODE = JTAG <target name="test_imu_b2" board="lisa_l_1.0"/>
<target name="test_imu_aspirin" board="lisa_l_1.0"/>
ap.CFLAGS += -DMODEM_BAUD=B57600 <target name="test_rc_spektrum" board="lisa_l_1.0"/>
ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"radio_control/booz_radio_control_spektrum_dx7se.h\" <target name="test_rc_ppm" board="lisa_l_1.0"/>
<target name="test_adc" board="lisa_l_1.0"/>
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile <target name="test_hmc5843" board="lisa_l_1.0"/>
include $(CFG_BOOZ)/booz2_autopilot.makefile <target name="test_itg3200" board="lisa_l_1.0"/>
<target name="test_adxl345" board="lisa_l_1.0"/>
include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile <target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile <target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile <target name="test_actuators_mkk" board="lisa_l_1.0"/>
#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile <target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile </firmware>
include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
#
#
#
include $(PAPARAZZI_SRC)/conf/autopilot/lisa_passthrough.makefile
</makefile>
</airframe> </airframe>
conf/airframes/Poine/booz2_a7.xml
+5 -6
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@@ -211,7 +211,11 @@
<target name="test_adc" board="lisa_l_1.0"/> <target name="test_adc" board="lisa_l_1.0"/>
<target name="test_hmc5843" board="lisa_l_1.0"/> <target name="test_hmc5843" board="lisa_l_1.0"/>
<target name="test_itg3200" board="lisa_l_1.0"/> <target name="test_itg3200" board="lisa_l_1.0"/>
<target name="test_adxl345" board="lisa_l_1.0"/> <target name="test_adxl345" board="lisa_l_1.0"/>
<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
<target name="test_actuators_mkk" board="lisa_l_1.0"/>
<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
</firmware> </firmware>
<firmware name="lisa_passthrough"> <firmware name="lisa_passthrough">
@@ -229,10 +233,5 @@
<subsystem name="imu" type="b2_v1.1"/> <subsystem name="imu" type="b2_v1.1"/>
</firmware> </firmware>
<makefile>
#include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
</makefile>
</airframe> </airframe>
conf/autopilot/lisa_l_test_progs.makefile
+103
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@@ -414,3 +414,106 @@ test_adxl345.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
#
# simple test of mikrokopter motor controllers
#
test_esc_mkk_simple.ARCHDIR = $(ARCHI)
test_esc_mkk_simple.TARGET = test_esc_mkk_simple
test_esc_mkk_simple.TARGETDIR = test_esc_mkk_simple
test_esc_mkk_simple.CFLAGS = -I$(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)/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=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 += -DUSE_I2C1
test_esc_mkk_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# simple test of asctec v1 motor controllers
#
test_esc_asctecv1_simple.ARCHDIR = $(ARCHI)
test_esc_asctecv1_simple.TARGET = test_esc_asctecv1_simple
test_esc_asctecv1_simple.TARGETDIR = test_esc_asctecv1_simple
test_esc_asctecv1_simple.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_esc_asctecv1_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_esc_asctecv1_simple.srcs = 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 += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test actuators mkk
#
test_actuators_mkk.ARCHDIR = $(ARCHI)
test_actuators_mkk.TARGET = test_actuators_mkk
test_actuators_mkk.TARGETDIR = test_actuators_mkk
test_actuators_mkk.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_actuators_mkk.srcs = 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)/uart_hw.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_BOOZ)/actuators/booz_actuators_mkk.c
test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
test_actuators_mkk.CFLAGS += -DUSE_I2C1
test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test actuators asctecv1
#
test_actuators_asctecv1.ARCHDIR = $(ARCHI)
test_actuators_asctecv1.TARGET = test_actuators_asctecv1
test_actuators_asctecv1.TARGETDIR = test_actuators_asctecv1
test_actuators_asctecv1.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_actuators_asctecv1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_actuators_asctecv1.srcs = 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)/uart_hw.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_BOOZ)/actuators/booz_actuators_asctec.c
test_actuators_asctecv1.CFLAGS += -DUSE_I2C1
test_actuators_asctecv1.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
+1 -3
View File
@@ -28,7 +28,6 @@
# #
ap.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c ap.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
ap.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c ap.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c
ap.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_mkk_arch.c
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ifeq ($(ARCHI), arm7) ifeq ($(ARCHI), arm7)
@@ -36,13 +35,12 @@ ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
ap.CFLAGS += -DI2C0_STOP_HANDLER=ActuatorsMkkI2cHandler ap.CFLAGS += -DI2C0_STOP_HANDLER=ActuatorsMkkI2cHandler
ap.CFLAGS += -DI2C0_STOP_HANDLER_HEADER=\"actuators/booz_actuators_mkk.h\" ap.CFLAGS += -DI2C0_STOP_HANDLER_HEADER=\"actuators/booz_actuators_mkk.h\"
else ifeq ($(ARCHI), stm32) else ifeq ($(ARCHI), stm32)
ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
ap.CFLAGS += -DUSE_I2C1 ap.CFLAGS += -DUSE_I2C1
endif endif
# Simulator # Simulator
sim.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c sim.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
sim.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c sim.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c
sim.srcs += $(SRC_BOOZ_SIM)/actuators/booz_actuators_mkk_arch.c
sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10 sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
sw/airborne/booz/actuators/booz_actuators_asctec.c
+13 -31
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@@ -1,33 +1,15 @@
#include "booz_actuators.h" #include "booz/booz_actuators.h"
#include "actuators/booz_actuators_asctec.h" #include "booz/actuators/booz_actuators_asctec.h"
#ifdef ACTUATORS_ASCTEC_V2_PROTOCOL #ifdef ACTUATORS_ASCTEC_V2_PROTOCOL
#include "actuators/booz_supervision.h" #include "booz/actuators/booz_supervision.h"
#endif #endif
#include "booz2_commands.h" #include "booz/booz2_commands.h"
#include "i2c.h" #include "i2c.h"
#include "sys_time.h" #include "sys_time.h"
#ifndef ACTUATORS_ASCTEC_DEVICE
#define ACTUATORS_ASCTEC_DEVICE i2c0
#endif
/*
* Macros to generate i2cx_buf and i2cx_transmit from
* ACTUATORS_ASCTEC_DEVICE
*
*/
#define __Device(dev, _z) dev##_##_z
#define _Device(dev, _z) __Device(dev, _z)
#define Device( _z) _Device(ACTUATORS_ASCTEC_DEVICE, _z)
#define DeviceBuf Device(buf)
#define DeviceTransmit(_x, _y, _z) Device(transmit(_x, _y, _z))
struct ActuatorsAsctec actuators_asctec; struct ActuatorsAsctec actuators_asctec;
uint32_t actuators_delay_time; uint32_t actuators_delay_time;
@@ -38,6 +20,13 @@ void actuators_init(void) {
actuators_asctec.cur_addr = FRONT; actuators_asctec.cur_addr = FRONT;
actuators_asctec.new_addr = FRONT; actuators_asctec.new_addr = FRONT;
actuators_asctec.i2c_trans.status = I2CTransSuccess; actuators_asctec.i2c_trans.status = I2CTransSuccess;
actuators_asctec.i2c_trans.type = I2CTransTx;
actuators_asctec.i2c_trans.slave_addr = 0x02;
#ifdef ACTUATORS_ASCTEC_V2_PROTOCOL
actuators_asctec.i2c_trans.len_w = 5;
#else
actuators_asctec.i2c_trans.len_w = 4;
#endif
actuators_asctec.nb_err = 0; actuators_asctec.nb_err = 0;
#if defined BOOZ_START_DELAY && ! defined SITL #if defined BOOZ_START_DELAY && ! defined SITL
@@ -117,9 +106,7 @@ void actuators_set(bool_t motors_on) {
} }
actuators_asctec.cmd = NONE; actuators_asctec.cmd = NONE;
i2c_submit(&i2c1,&actuators_asctec.i2c_trans); i2c_submit(&ACTUATORS_ASCTEC_DEVICE, &actuators_asctec.i2c_trans);
// actuators_asctec.i2c_done = FALSE;
// DeviceTransmit(0x02, 4, &actuators_asctec.i2c_done);
} }
#else /* ! ACTUATORS_ASCTEC_V2_PROTOCOL */ #else /* ! ACTUATORS_ASCTEC_V2_PROTOCOL */
@@ -141,12 +128,7 @@ void actuators_set(bool_t motors_on) {
actuators_asctec.i2c_trans.buf[2] + actuators_asctec.i2c_trans.buf[3]; actuators_asctec.i2c_trans.buf[2] + actuators_asctec.i2c_trans.buf[3];
#endif #endif
i2c_submit(&i2c1,&actuators_asctec.i2c_trans); i2c_submit(&ACTUATORS_ASCTEC_DEVICE, &actuators_asctec.i2c_trans);
// if (actuators_asctec.i2c_done) {
//actuators_asctec.i2c_done = FALSE;
// DeviceTransmit(0x02, 5, &actuators_asctec.i2c_done);
// }
} }
#endif /* ACTUATORS_ASCTEC_V2_PROTOCOL */ #endif /* ACTUATORS_ASCTEC_V2_PROTOCOL */
sw/airborne/booz/actuators/booz_actuators_mkk.c
+16 -18
View File
@@ -21,8 +21,8 @@
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
#include "booz_actuators.h" #include "booz/booz_actuators.h"
#include "actuators/booz_actuators_mkk.h" #include "booz/actuators/booz_actuators_mkk.h"
#include "booz/booz2_commands.h" #include "booz/booz2_commands.h"
#include "i2c.h" #include "i2c.h"
@@ -31,7 +31,6 @@
struct ActuatorsMkk actuators_mkk; struct ActuatorsMkk actuators_mkk;
const uint8_t actuators_addr[ACTUATORS_MKK_NB] = ACTUATORS_MKK_ADDR;
uint32_t actuators_delay_time; uint32_t actuators_delay_time;
bool_t actuators_delay_done; bool_t actuators_delay_done;
@@ -39,10 +38,14 @@ bool_t actuators_delay_done;
void actuators_init(void) { void actuators_init(void) {
supervision_init(); supervision_init();
actuators_mkk.status = IDLE; const uint8_t actuators_addr[ACTUATORS_MKK_NB] = ACTUATORS_MKK_ADDR;
actuators_mkk.i2c_done = TRUE; for (uint8_t i=0; i<ACTUATORS_MKK_NB; i++) {
actuators_mkk.idx = 0; 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].status = I2CTransSuccess;
}
#if defined BOOZ_START_DELAY && ! defined SITL #if defined BOOZ_START_DELAY && ! defined SITL
actuators_delay_done = FALSE; actuators_delay_done = FALSE;
SysTimeTimerStart(actuators_delay_time); SysTimeTimerStart(actuators_delay_time);
@@ -50,9 +53,7 @@ void actuators_init(void) {
actuators_delay_done = TRUE; actuators_delay_done = TRUE;
actuators_delay_time = 0; actuators_delay_time = 0;
#endif #endif
booz_actuators_mkk_arch_init();
} }
@@ -65,15 +66,12 @@ void actuators_set(bool_t motors_on) {
#endif #endif
supervision_run(motors_on, FALSE, booz2_commands); supervision_run(motors_on, FALSE, booz2_commands);
actuators_mkk.status = BUSY; for (uint8_t i=0; i<ACTUATORS_MKK_NB; i++) {
actuators_mkk.i2c_done = FALSE;
actuators_mkk.idx = 0;
BoozActuatorsMkkArchSend();
#ifdef KILL_MOTORS #ifdef KILL_MOTORS
DeviceBuf[0] = 0; actuators_mkk.trans[i].buf[0] = 0;
#else #else
DeviceBuf[0] = supervision.commands[actuators_mkk.idx]; actuators_mkk.trans[i].buf[0] = supervision.commands[i];
#endif #endif
DeviceTransmit(actuators_addr[actuators_mkk.idx], 1, &actuators_mkk.i2c_done); i2c_submit(&ACTUATORS_MKK_DEVICE, &actuators_mkk.trans[i]);
}
} }
sw/airborne/booz/actuators/booz_actuators_mkk.h
+3 -41
View File
@@ -25,58 +25,20 @@
#define BOOZ_ACTUATORS_MKK_H #define BOOZ_ACTUATORS_MKK_H
#include "std.h" #include "std.h"
#include "i2c.h"
#ifndef ACTUATORS_MKK_DEVICE #include "airframe.h"
#define ACTUATORS_MKK_DEVICE i2c0
#endif
#define __Device(dev, _z) dev##_##_z
#define _Device(dev, _z) __Device(dev, _z)
#define Device( _z) _Device(ACTUATORS_MKK_DEVICE, _z)
#define DeviceBuf Device(buf)
#define DeviceTransmit(_x, _y, _z) Device(transmit(_x, _y, _z))
enum actuators_mkk_status {IDLE, BUSY};
struct ActuatorsMkk { struct ActuatorsMkk {
volatile enum actuators_mkk_status status; struct i2c_transaction trans[ACTUATORS_MKK_NB];
volatile bool_t i2c_done;
volatile uint8_t idx;
}; };
extern struct ActuatorsMkk actuators_mkk; extern struct ActuatorsMkk actuators_mkk;
#include "actuators/booz_actuators_mkk_arch.h"
/* must be defined by underlying achitecture */
extern void booz_actuators_mkk_arch_init(void);
#include "airframe.h"
#include "actuators/booz_supervision.h" #include "actuators/booz_supervision.h"
extern const uint8_t actuators_addr[];
#ifdef KILL_MOTORS
#define ActuatorsMkkI2cHandler() { \
actuators_mkk.idx++; \
if (actuators_mkk.idx<ACTUATORS_MKK_NB) { \
DeviceBuf[0] = 0; \
DeviceTransmit(actuators_addr[actuators_mkk.idx], 1, &actuators_mkk.i2c_done); \
} \
else \
actuators_mkk.status = IDLE; \
}
#else /* KILL_MOTORS */
#define ActuatorsMkkI2cHandler() { \
actuators_mkk.idx++; \
if (actuators_mkk.idx<ACTUATORS_MKK_NB) { \
DeviceBuf[0] = supervision.commands[actuators_mkk.idx]; \
DeviceTransmit(actuators_addr[actuators_mkk.idx], 1, &actuators_mkk.i2c_done); \
} \
else \
actuators_mkk.status = IDLE; \
}
#endif /* KILL_MOTORS */
#endif /* BOOZ_ACTUATORS_MKK_H */ #endif /* BOOZ_ACTUATORS_MKK_H */
sw/airborne/booz/arch/lpc21/actuators/booz_actuators_mkk_arch.c
-3
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@@ -1,3 +0,0 @@
#include "actuators/booz_actuators_mkk.h"
void booz_actuators_mkk_arch_init(void) {}
sw/airborne/booz/arch/stm32/actuators/booz_actuators_mkk_arch.c
-63
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@@ -1,63 +0,0 @@
#include "actuators/booz_actuators_mkk.h"
#include "i2c.h"
#include <stm32/rcc.h>
#include <stm32/misc.h>
void tim2_irq_handler(void);
/* ---------------------------------------------------------------
TIM2 Configuration: Output Compare Timing Mode:
TIM2CLK = 36 MHz, Prescaler = 4, TIM2 counter clock = 7.2 MHz
*/
void booz_actuators_mkk_arch_init(void) {
/* TIM2 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
/* Time base configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 3072;
// TIM_TimeBaseStructure.TIM_Period = 2048;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* Prescaler configuration */
TIM_PrescalerConfig(TIM2, 4, TIM_PSCReloadMode_Immediate);
/* Enable the TIM2 global Interrupt */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// DEBUG5_INIT();
TIM_Cmd(TIM2, ENABLE);
}
void tim2_irq_handler(void) {
// DEBUG5_T();
/* Clear TIM2 update interrupt */
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
actuators_mkk.idx++;
if (actuators_mkk.idx<ACTUATORS_MKK_NB) {
#ifdef KILL_MOTORS
DeviceBuf[0] = 0;
#else
DeviceBuf[0] = supervision.commands[actuators_mkk.idx];
#endif
DeviceTransmit(actuators_addr[actuators_mkk.idx], 1, &actuators_mkk.i2c_done);
}
else {
actuators_mkk.status = IDLE;
TIM_ITConfig(TIM2, TIM_IT_Update, DISABLE);
}
}
sw/airborne/i2c.c
+2 -2
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@@ -74,8 +74,8 @@ void i2c0_transceive(uint8_t slave_addr, uint8_t len_w, uint16_t len_r, volatile
struct i2c_periph i2c1; struct i2c_periph i2c1;
void i2c1_init(void) { void i2c1_init(void) {
i2c_init(&i2c2); i2c_init(&i2c1);
i2c2_hw_init(); i2c1_hw_init();
} }
#endif /* USE_I2C1 */ #endif /* USE_I2C1 */
sw/airborne/i2c.h
+21
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@@ -78,6 +78,27 @@ struct i2c_errors {
}; };
#include <string.h>
#define I2C_ZERO_EVENTS(_err) { \
_err.irq_cnt = 0; \
memset((void*)_err.event_chain, 0, sizeof(_err.event_chain)); \
memset((void*)_err.status_chain, 0, sizeof(_err.status_chain)); \
}
#define ZEROS_ERR_COUNTER(_i2c_err) { \
_i2c_err.ack_fail_cnt = 0; \
_i2c_err.miss_start_stop_cnt = 0; \
_i2c_err.arb_lost_cnt = 0; \
_i2c_err.over_under_cnt = 0; \
_i2c_err.pec_recep_cnt = 0; \
_i2c_err.timeout_tlow_cnt = 0; \
_i2c_err.smbus_alert_cnt = 0; \
_i2c_err.unexpected_event_cnt = 0; \
_i2c_err.last_unexpected_event = 0; \
_i2c_err.er_irq_cnt = 0; \
}
#ifdef USE_I2C0 #ifdef USE_I2C0
extern void i2c0_init(void); extern void i2c0_init(void);
sw/airborne/stm32/i2c_hw.c
+10 -22
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@@ -5,18 +5,6 @@
#include <stm32/flash.h> #include <stm32/flash.h>
#include <stm32/misc.h> #include <stm32/misc.h>
#define ZEROS_ERR_COUNTER(_i2c_err) { \
_i2c_err.ack_fail_cnt = 0; \
_i2c_err.miss_start_stop_cnt = 0; \
_i2c_err.arb_lost_cnt = 0; \
_i2c_err.over_under_cnt = 0; \
_i2c_err.pec_recep_cnt = 0; \
_i2c_err.timeout_tlow_cnt = 0; \
_i2c_err.smbus_alert_cnt = 0; \
_i2c_err.unexpected_event_cnt = 0; \
_i2c_err.last_unexpected_event = 0; \
_i2c_err.er_irq_cnt = 0; \
}
static void start_transaction(struct i2c_periph* p); static void start_transaction(struct i2c_periph* p);
@@ -52,8 +40,8 @@ struct i2c_errors i2c1_errors;
} }
#define I2C1_ABORT_AND_RESET() { \ #define I2C1_ABORT_AND_RESET() { \
struct i2c_transaction* trans = i2c1.trans[i2c1.trans_extract_idx]; \ struct i2c_transaction* trans2 = i2c1.trans[i2c1.trans_extract_idx]; \
trans->status = I2CTransFailed; \ trans2->status = I2CTransFailed; \
i2c1.status = I2CFailed; \ i2c1.status = I2CFailed; \
I2C_ITConfig(I2C1, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR, DISABLE); \ I2C_ITConfig(I2C1, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR, DISABLE); \
I2C_Cmd(I2C1, DISABLE); \ I2C_Cmd(I2C1, DISABLE); \
@@ -130,7 +118,7 @@ void i2c1_hw_init(void) {
void i2c1_ev_irq_handler(void) { void i2c1_ev_irq_handler(void) {
uint32_t event = I2C_GetLastEvent(I2C1); uint32_t event = I2C_GetLastEvent(I2C1);
struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx]; struct i2c_transaction* trans = i2c1.trans[i2c1.trans_extract_idx];
switch (event) { switch (event) {
/* EV5 */ /* EV5 */
case I2C_EVENT_MASTER_MODE_SELECT: case I2C_EVENT_MASTER_MODE_SELECT:
@@ -321,7 +309,7 @@ void i2c2_hw_init(void) {
I2C_ITConfig(I2C2, I2C_IT_ERR, ENABLE); I2C_ITConfig(I2C2, I2C_IT_ERR, ENABLE);
// DEBUG_SERVO1_INIT(); // DEBUG_SERVO1_INIT();
DEBUG_SERVO2_INIT(); // DEBUG_SERVO2_INIT();
} }
@@ -590,14 +578,14 @@ static inline void on_status_restart_requested(struct i2c_transaction* trans, ui
} }
void i2c2_ev_irq_handler(void) { void i2c2_ev_irq_handler(void) {
DEBUG_S4_ON(); // DEBUG_S4_ON();
uint32_t event = I2C_GetLastEvent(I2C2); uint32_t event = I2C_GetLastEvent(I2C2);
struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx]; struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
//#if 0 //#if 0
// if (i2c2_errors.irq_cnt < 16) { // if (i2c2_errors.irq_cnt < 16) {
i2c2_errors.event_chain[i2c2_errors.irq_cnt] = event; // i2c2_errors.event_chain[i2c2_errors.irq_cnt] = event;
i2c2_errors.status_chain[i2c2_errors.irq_cnt] = i2c2.status; // i2c2_errors.status_chain[i2c2_errors.irq_cnt] = i2c2.status;
i2c2_errors.irq_cnt++; // i2c2_errors.irq_cnt++;
// } else { while (1);} // } else { while (1);}
//#endif //#endif
switch (i2c2.status) { switch (i2c2.status) {
@@ -646,7 +634,7 @@ void i2c2_ev_irq_handler(void) {
OUT_OF_SYNC_STATE_MACHINE(i2c2.status, event); OUT_OF_SYNC_STATE_MACHINE(i2c2.status, event);
break; break;
} }
DEBUG_S4_OFF(); // DEBUG_S4_OFF();
} }
@@ -725,7 +713,7 @@ bool_t i2c_submit(struct i2c_periph* p, struct i2c_transaction* t) {
static void start_transaction(struct i2c_periph* p) { static void start_transaction(struct i2c_periph* p) {
p->idx_buf = 0; p->idx_buf = 0;
p->status = I2CStartRequested; p->status = I2CStartRequested;
I2C_ZERO_EVENTS(); // I2C_ZERO_EVENTS();
I2C_ITConfig(p->reg_addr, I2C_IT_EVT, ENABLE); I2C_ITConfig(p->reg_addr, I2C_IT_EVT, ENABLE);
I2C_GenerateSTART(p->reg_addr, ENABLE); I2C_GenerateSTART(p->reg_addr, ENABLE);
} }
sw/airborne/stm32/i2c_hw.h
-6
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@@ -52,12 +52,6 @@ extern void i2c2_hw_init(void);
extern void i2c2_ev_irq_handler(void); extern void i2c2_ev_irq_handler(void);
extern void i2c2_er_irq_handler(void); extern void i2c2_er_irq_handler(void);
#include <string.h>
#define I2C_ZERO_EVENTS() { \
i2c2_errors.irq_cnt = 0; \
memset((void*)i2c2_errors.event_chain, 0, sizeof(i2c2_errors.event_chain)); \
memset((void*)i2c2_errors.status_chain, 0, sizeof(i2c2_errors.status_chain)); \
}
#endif /* USE_I2C2 */ #endif /* USE_I2C2 */
sw/airborne/booz/arch/lpc21/actuators/booz_actuators_mkk_arch.h → sw/airborne/test/test_actuators.c
+49 -4
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@@ -21,9 +21,54 @@
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
#ifndef BOOZ_ACTUATORS_MKK_ARCH_H
#define BOOZ_ACTUATORS_MKK_ARCH_H
#define BoozActuatorsMkkArchSend() {} #include "init_hw.h"
#include "sys_time.h"
#include "led.h"
#endif /* BOOZ_ACTUATORS_MKK_ARCH_H */ #include "i2c.h"
#include "booz/booz2_commands.h"
#include "booz/booz_actuators.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
int main(void) {
main_init();
while(1) {
if (sys_time_periodic())
main_periodic_task();
main_event_task();
}
return 0;
}
static inline void main_init( void ) {
hw_init();
sys_time_init();
actuators_init();
}
static inline void main_periodic_task( void ) {
booz2_commands[COMMAND_ROLL]=0;
booz2_commands[COMMAND_PITCH]=0;
booz2_commands[COMMAND_YAW]=0;
booz2_commands[COMMAND_THRUST]=1;
actuators_set(TRUE);
LED_PERIODIC();
}
static inline void main_event_task( void ) {
}
sw/airborne/booz/arch/stm32/actuators/booz_actuators_mkk_arch.h → sw/airborne/test/test_esc_asctecv1_simple.c
+45 -10
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@@ -21,20 +21,55 @@
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
#ifndef BOOZ_ACTUATORS_MKK_ARCH_H
#define BOOZ_ACTUATORS_MKK_ARCH_H
#include <stm32/tim.h> #include "init_hw.h"
#include <stm32/gpio.h> #include "sys_time.h"
#include "led.h"
#include "i2c.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
static struct i2c_transaction trans;
#define BoozActuatorsMkkArchSend() { \ int main(void) {
/*DEBUG5_T();*/ \ main_init();
TIM_SetCounter(TIM2, 0); \
TIM_ClearITPendingBit(TIM2, TIM_IT_Update); \ while(1) {
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); \ if (sys_time_periodic())
main_periodic_task();
main_event_task();
} }
#endif /* BOOZ_ACTUATORS_MKK_ARCH_H */ return 0;
}
static inline void main_init( void ) {
hw_init();
sys_time_init();
}
static inline void main_periodic_task( void ) {
trans.type = I2CTransTx;
trans.slave_addr = 0x02;
trans.len_w = 4;
trans.buf[0] = 100;
trans.buf[1] = 100;
trans.buf[2] = 100;
trans.buf[3] = 1;
i2c_submit(&i2c1,&trans);
LED_PERIODIC();
}
static inline void main_event_task( void ) {
}
sw/airborne/lisa/test_mc2.c → sw/airborne/test/test_esc_mkk_simple.c
+8 -3
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@@ -26,11 +26,13 @@
#include "sys_time.h" #include "sys_time.h"
#include "led.h" #include "led.h"
#include "i2c.h"
static inline void main_init( void ); static inline void main_init( void );
static inline void main_periodic_task( void ); static inline void main_periodic_task( void );
static inline void main_event_task( void ); static inline void main_event_task( void );
static uint8_t i2c_done; static struct i2c_transaction trans;
int main(void) { int main(void) {
main_init(); main_init();
@@ -53,8 +55,11 @@ static inline void main_init( void ) {
static inline void main_periodic_task( void ) { static inline void main_periodic_task( void ) {
i2c1_buf[0] = 0x04; trans.type = I2CTransTx;
i2c1_transmit(0x58, 1, &i2c_done); trans.buf[0] = 0x04;
trans.len_w = 1;
trans.slave_addr = 0x58;
i2c_submit(&i2c1,&trans);
LED_PERIODIC(); LED_PERIODIC();