mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-08 11:01:12 +08:00
replaced by sw/airborne/boards/lisa_l/test_baro.c
This commit is contained in:
Antoine Drouin
@@ -1,310 +0,0 @@
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/*
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* $Id$
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*
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* Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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//
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// scl2 PB10
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// sda2 PB11
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// baro1 drdy PC0 ( differential )
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// baro2 drdy PD1 ( absolute )
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// baro1 has addr to 3V3 0x92
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// baro2 has addr to GND 0x90
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//
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// absolute
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#define BARO_ADDR 0x90
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// differential
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//#define BARO_ADDR 0x92
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#include <stm32/flash.h>
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#include <stm32/misc.h>
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#include <stm32/i2c.h>
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#include BOARD_CONFIG
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#include "init_hw.h"
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#include "sys_time.h"
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#include "downlink.h"
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static inline void main_init( void );
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static inline void main_periodic_task( void );
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static inline void main_event_task( void );
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static inline void main_i2c_init( void );
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static inline void main_send_config( void );
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static inline void main_send_reset(void);
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static inline void main_read_register(uint8_t reg);
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static inline void write_to_register(uint8_t reg_addr, uint8_t val_msb, uint8_t val_lsb);
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uint16_t foo;
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uint16_t bar;
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int initialised;
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void Delay(__IO uint32_t nCount) {
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for(; nCount != 0; nCount--);
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}
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int main(void) {
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main_init();
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Delay(50000);
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while(1) {
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if (sys_time_periodic())
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main_periodic_task();
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main_event_task();
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}
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return 0;
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}
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static inline void main_init( void ) {
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hw_init();
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sys_time_init();
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main_i2c_init();
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initialised = FALSE;
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}
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static inline void main_periodic_task( void ) {
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RunOnceEvery(7, {
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if (!initialised) {
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main_send_reset();
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//main_send_config();
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uint8_t cfg_msb = 0x84;
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// double gain ??
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// uint8_t cfg_msb = 0x86;
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uint8_t cfg_lsb = 0x83;
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write_to_register(0x01, cfg_msb, cfg_lsb);
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// low tresh msb to 0
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// write_to_register(0x02, 0x00, 0x00);
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// high tresh msb to 1
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write_to_register(0x03, 0xFF, 0xFF);
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initialised = TRUE;
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}
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main_read_register(0X00);
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// main_read_register(0x02);
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int16_t adc = foo<<8 | bar;
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uint16_t adc1 = 255* foo + bar;
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int16_t bla = 0;
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DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, &adc, &foo, &bar);
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//DOWNLINK_SEND_BOOT(DefaultChannel, &adc1);
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// uint16_t bla = 0;
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// DOWNLINK_SEND_BOOZ2_BARO_RAW(DefaultChannel, &bla, &adc, &bla);
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LED_PERIODIC();
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});
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RunOnceEvery(100, {
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LED_TOGGLE(3);
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DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
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});
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}
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static inline void main_event_task( void ) {
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}
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static inline void main_i2c_init( void ) {
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// RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
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/* enable pullup on PC0 */
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
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GPIO_Init(GPIOC, &GPIO_InitStructure);
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/* Enable peripheral clocks --------------------------------------------------*/
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/* Enable I2C2 clock */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);
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/* Enable GPIOB clock */
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
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/* Configure I2C2 pins: SCL and SDA ------------------------------------------*/
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// GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
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GPIO_Init(GPIOB, &GPIO_InitStructure);
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I2C_DeInit(I2C2);
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/* I2C configuration ----------------------------------------------------------*/
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I2C_InitTypeDef I2C_InitStructure;
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I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
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I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
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I2C_InitStructure.I2C_OwnAddress1 = 0x0;
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I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
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// I2C_InitStructure.I2C_Ack = I2C_Ack_Disable;
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I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
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I2C_InitStructure.I2C_ClockSpeed = 400000;
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/* I2C Peripheral Enable */
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I2C_Cmd(I2C2, ENABLE);
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/* Apply I2C configuration after enabling it */
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I2C_Init(I2C2, &I2C_InitStructure);
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}
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static inline void main_send_config( void ) {
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/* Send START condition */
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I2C_GenerateSTART(I2C2, ENABLE);
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/* Test on EV5 and clear it */
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT));
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/* Send address */
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I2C_Send7bitAddress(I2C2, BARO_ADDR, I2C_Direction_Transmitter);
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/* Test on EV6 and clear it */
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
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/* Snd data */
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I2C_SendData(I2C2, 0x01); // points to Config register
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/* Test on EV8 and clear it */
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
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// Third byte: 0b10000100 (MSB of the Config register to be written)
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uint8_t cfg_msb = 0x84;
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I2C_SendData(I2C2, cfg_msb);
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/* Test on EV8 and clear it */
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
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// Fourth byte: 0b10000011 (LSB of the Config register to be written)
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uint8_t cfg_lsb = 0x83;
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I2C_SendData(I2C2, cfg_lsb);
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
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/* Send STOP condition */
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I2C_GenerateSTOP(I2C2, ENABLE);
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}
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static void write_to_register(uint8_t reg_addr, uint8_t val_msb, uint8_t val_lsb) {
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/* Send START condition */
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I2C_GenerateSTART(I2C2, ENABLE);
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT));
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/* Send slave address */
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I2C_Send7bitAddress(I2C2, BARO_ADDR, I2C_Direction_Transmitter);
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
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/* Send register address */
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I2C_SendData(I2C2, reg_addr);
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
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/* Send val msb */
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I2C_SendData(I2C2, val_msb);
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
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/* Send val lsb */
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I2C_SendData(I2C2, val_lsb);
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
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/* Send STOP condition */
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I2C_GenerateSTOP(I2C2, ENABLE);
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}
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static inline void main_send_reset(void) {
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/* Send START condition */
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I2C_GenerateSTART(I2C2, ENABLE);
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/* Test on EV5 and clear it */
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT));
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/* Send address : general call */
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I2C_Send7bitAddress(I2C2, 0x00, I2C_Direction_Transmitter);
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/* Test on EV6 and clear it */
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
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/* Snd data */
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I2C_SendData(I2C2, 0x06); // reset command
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/* Test on EV8 and clear it */
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
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I2C_GenerateSTOP(I2C2, ENABLE);
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}
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static void main_read_register( uint8_t reg) {
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I2C_AcknowledgeConfig(I2C2, ENABLE);
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/* Send START condition */
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I2C_GenerateSTART(I2C2, ENABLE);
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/* Test on EV5 and clear it */
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT));
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/* Send address */
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I2C_Send7bitAddress(I2C2, BARO_ADDR, I2C_Direction_Transmitter);
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/* Test on EV6 and clear it */
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
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/* Snd data */
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I2C_SendData(I2C2, reg); // points to conversion register
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/* Test on EV8 and clear it */
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
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/* Send STOP condition */
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I2C_GenerateSTOP(I2C2, ENABLE);
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/* Send START condition */
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I2C_GenerateSTART(I2C2, ENABLE);
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/* Test on EV5 and clear it */
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT));
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/* Send address */
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I2C_Send7bitAddress(I2C2, BARO_ADDR, I2C_Direction_Receiver);
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/* Test on EV6 and clear it */
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while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));
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while (!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_RECEIVED));
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foo = I2C_ReceiveData(I2C2);
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I2C_AcknowledgeConfig(I2C2, DISABLE);
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I2C_GenerateSTOP(I2C2, ENABLE);
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while (!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_RECEIVED));
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bar = I2C_ReceiveData(I2C2);
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}
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