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updated test_itg3200 for new I2C interface

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This commit is contained in:
Antoine Drouin
2010-09-02 18:29:43 +00:00
parent e6b3f0bee7
commit 663290b0a9
4 changed files with 94 additions and 42 deletions
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conf/airframes/Poine/booz2_a7.xml
+1
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@@ -209,6 +209,7 @@
<target name="test_rc_ppm" 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_itg3200" board="lisa_l_1.0"/>
</firmware>
<firmware name="lisa_passthrough">
conf/autopilot/lisa_l_test_progs.makefile
+31 -1
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@@ -303,4 +303,34 @@ test_hmc5843.srcs += downlink.c pprz_transport.c
test_hmc5843.CFLAGS += -DUSE_I2C2
test_hmc5843.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
test_hmc5843.CFLAGS += -DIMU_OVERRIDE_CHANNELS
test_hmc5843.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
test_hmc5843.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
#
# test ITG3200
#
test_itg3200.ARCHDIR = $(ARCHI)
test_itg3200.TARGET = test_itg3200
test_itg3200.TARGETDIR = test_itg3200
test_itg3200.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_itg3200.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_itg3200.srcs += 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=1
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_UART2 -DUART2_BAUD=B57600
test_itg3200.srcs += $(SRC_ARCH)/uart_hw.c
test_itg3200.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_itg3200.srcs += downlink.c pprz_transport.c
test_itg3200.CFLAGS += -DUSE_I2C2
test_itg3200.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
test_itg3200.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
sw/airborne/lisa/test/lisa_test_hmc5843.c
+5 -5
View File
@@ -45,7 +45,7 @@ static inline void main_init_hw(void);
//static uint8_t i2c_done = FALSE;
static struct i2c_transaction i2c_trans;
#define INITIALISZED 6
#define INITIALIZED 6
static uint8_t mag_state = 0;
static volatile uint8_t mag_ready_for_read = FALSE;
static uint8_t reading_mag = FALSE;
@@ -118,7 +118,7 @@ static inline void main_periodic_task( void ) {
break;
case 5:
break;
case INITIALISZED:
case INITIALIZED:
// i2c2_receive(HMC5843_ADDR, 7, &i2c_done);
// reading_mag = TRUE;
break;
@@ -128,14 +128,14 @@ static inline void main_periodic_task( void ) {
// if (mag_state == 4) mag_state=1;
if (mag_state < INITIALISZED) mag_state++;
if (mag_state < INITIALIZED) mag_state++;
}
static inline void main_event_task( void ) {
if (mag_state == INITIALISZED && mag_ready_for_read && i2c_trans.status==I2CTransSuccess) {
if (mag_state == INITIALIZED && mag_ready_for_read && i2c_trans.status==I2CTransSuccess) {
/* read mag */
i2c_trans.type = I2CTransRx;
i2c_trans.slave_addr = HMC5843_ADDR;
@@ -210,5 +210,5 @@ void exti9_5_irq_handler(void) {
if(EXTI_GetITStatus(EXTI_Line5) != RESET)
EXTI_ClearITPendingBit(EXTI_Line5);
if (mag_state == INITIALISZED) mag_ready_for_read = TRUE;
if (mag_state == INITIALIZED) mag_ready_for_read = TRUE;
}
sw/airborne/lisa/test/lisa_test_itg3200.c
+57 -36
View File
@@ -1,7 +1,7 @@
/*
* $Id$
*
* Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
*
@@ -43,8 +43,8 @@ static inline void main_event_task( void );
static inline void main_init_hw(void);
static uint8_t i2c_done = FALSE;
#define INITIALISZED 6
static struct i2c_transaction i2c_trans;
#define INITIALIZED 6
static uint8_t gyro_state = 0;
static volatile uint8_t gyro_ready_for_read = FALSE;
static uint8_t reading_gyro = FALSE;
@@ -92,34 +92,50 @@ static inline void main_periodic_task( void ) {
switch (gyro_state) {
case 1:
i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
i2c2_transmit(ITG3200_ADDR,1, &i2c_done);
/* dummy one byte write for testing */
i2c_trans.type = I2CTransTx;
i2c_trans.slave_addr = ITG3200_ADDR;
i2c_trans.buf[0] = ITG3200_REG_TEMP_OUT_H;
i2c_trans.len_w = 1;
i2c_submit(&i2c2,&i2c_trans);
break;
case 2:
/* set gyro range to 2000deg/s and low pass at 256Hz */
i2c2.buf[0] = ITG3200_REG_DLPF_FS;
i2c2.buf[1] = (0x03<<3);
i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
i2c_trans.type = I2CTransTx;
i2c_trans.slave_addr = ITG3200_ADDR;
i2c_trans.buf[0] = ITG3200_REG_DLPF_FS;
i2c_trans.buf[1] = (0x03<<3);
i2c_trans.len_w = 2;
i2c_submit(&i2c2,&i2c_trans);
break;
case 3:
/* set sample rate to 533Hz */
i2c2.buf[0] = ITG3200_REG_SMPLRT_DIV;
i2c2.buf[1] = 0x0E;
i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
i2c_trans.type = I2CTransTx;
i2c_trans.slave_addr = ITG3200_ADDR;
i2c_trans.buf[0] = ITG3200_REG_SMPLRT_DIV;
i2c_trans.buf[1] = 0x0E;
i2c_trans.len_w = 2;
i2c_submit(&i2c2,&i2c_trans);
break;
case 4:
/* switch to gyroX clock */
i2c2.buf[0] = ITG3200_REG_PWR_MGM;
i2c2.buf[1] = 0x01;
i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
i2c_trans.type = I2CTransTx;
i2c_trans.slave_addr = ITG3200_ADDR;
i2c_trans.buf[0] = ITG3200_REG_PWR_MGM;
i2c_trans.buf[1] = 0x01;
i2c_trans.len_w = 2;
i2c_submit(&i2c2,&i2c_trans);
break;
case 5:
/* enable interrupt on data ready, idle hight */
i2c2.buf[0] = ITG3200_REG_INT_CFG;
i2c2.buf[1] = (0x01 | 0x01<<7);
i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
i2c_trans.type = I2CTransTx;
i2c_trans.slave_addr = ITG3200_ADDR;
i2c_trans.buf[0] = ITG3200_REG_INT_CFG;
i2c_trans.buf[1] = (0x01 | 0x01<<7);
i2c_trans.len_w = 2;
i2c_submit(&i2c2,&i2c_trans);
break;
case INITIALISZED:
case INITIALIZED:
/* reads 8 bytes from address 0x1b */
// i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
// i2c2_transceive(ITG3200_ADDR,1, 8, &i2c_done);
@@ -129,7 +145,7 @@ static inline void main_periodic_task( void ) {
}
// if (gyro_state == 1) gyro_state = 0;
if (gyro_state < INITIALISZED) gyro_state++;
if (gyro_state < INITIALIZED) gyro_state++;
}
@@ -140,36 +156,41 @@ static inline void main_periodic_task( void ) {
static inline void main_event_task( void ) {
if (gyro_state == INITIALISZED && gyro_ready_for_read && i2c_done) {
if (gyro_state == INITIALIZED && gyro_ready_for_read &&
( i2c_trans.status==I2CTransSuccess || i2c_trans.status==I2CTransFailed)) {
/* reads 8 bytes from address 0x1b */
i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
i2c2_transceive(ITG3200_ADDR,1, 8, &i2c_done);
i2c_trans.type = I2CTransTxRx;
i2c_trans.buf[0] = ITG3200_REG_TEMP_OUT_H;
i2c_trans.len_w = 1;
i2c_trans.len_r = 8;
i2c_submit(&i2c2,&i2c_trans);
// i2c2.buf[0] = ITG3200_REG_GYRO_XOUT_H;
// i2c2_transceive(ITG3200_ADDR,1, 6, &i2c_done);
gyro_ready_for_read = FALSE;
reading_gyro = TRUE;
}
if (reading_gyro && i2c_done) {
if (reading_gyro &&
(i2c_trans.status==I2CTransSuccess || i2c_trans.status==I2CTransFailed)) {
// DEBUG_S5_ON();
reading_gyro = FALSE;
int16_t tgp, tgq, tgr;
int16_t ttemp = i2c2.buf[0]<<8 | i2c2.buf[1];
int16_t ttemp = i2c_trans.buf[0]<<8 | i2c_trans.buf[1];
#if 1
tgp = i2c2.buf[2]<<8 | i2c2.buf[3];
tgq = i2c2.buf[4]<<8 | i2c2.buf[5];
tgr = i2c2.buf[6]<<8 | i2c2.buf[7];
tgp = i2c_trans.buf[2]<<8 | i2c_trans.buf[3];
tgq = i2c_trans.buf[4]<<8 | i2c_trans.buf[5];
tgr = i2c_trans.buf[6]<<8 | i2c_trans.buf[7];
#endif
#if 0
tgp = __REVSH(*(int16_t*)(i2c2.buf+2));
tgq = __REVSH(*(int16_t*)(i2c2.buf+4));
tgr = __REVSH(*(int16_t*)(i2c2.buf+6));
tgp = __REVSH(*(int16_t*)(i2c_trans.buf+2));
tgq = __REVSH(*(int16_t*)(i2c_trans.buf+4));
tgr = __REVSH(*(int16_t*)(i2c_trans.buf+6));
#endif
#if 0
MyByteSwap16(*(int16_t*)(i2c2.buf+2), tgp);
MyByteSwap16(*(int16_t*)(i2c2.buf+4), tgq);
MyByteSwap16(*(int16_t*)(i2c2.buf+6), tgr);
MyByteSwap16(*(int16_t*)(i2c_trans.buf+2), tgp);
MyByteSwap16(*(int16_t*)(i2c_trans.buf+4), tgq);
MyByteSwap16(*(int16_t*)(i2c_trans.buf+6), tgr);
#endif
struct Int32Rates g;
RATES_ASSIGN(g, tgp, tgq, tgr);
@@ -178,7 +199,7 @@ static inline void main_event_task( void ) {
DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &g.p, &g.q, &g.r);
uint8_t tmp[8];
memcpy(tmp, i2c2.buf, 8);
memcpy(tmp, i2c_trans.buf, 8);
DOWNLINK_SEND_DEBUG(DefaultChannel, 8, tmp);
@@ -242,7 +263,7 @@ void exti15_10_irq_handler(void) {
// DEBUG_S4_TOGGLE();
if (gyro_state == INITIALISZED) gyro_ready_for_read = TRUE;
if (gyro_state == INITIALIZED) gyro_ready_for_read = TRUE;
// DEBUG_S4_OFF();