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replaced i2c_xxx functions with i2c0_xxx

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This commit is contained in:
Antoine Drouin
2009-07-15 01:03:51 +00:00
parent 467f04cbd5
commit 6ba151b787
23 changed files with 255 additions and 182 deletions
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conf/autopilot/booz2_autopilot.makefile
+2
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@@ -41,6 +41,8 @@ ap.CFLAGS += -DCONFIG=$(BOARD_CFG)
ap.srcs += $(SRC_BOOZ)/booz2_main.c
ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
# -DTIME_LED=1
ap.CFLAGS += -DPERIPHERALS_AUTO_INIT
ap.CFLAGS += -DLED
ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
conf/autopilot/booz2_imu_b2v1.makefile
+2 -3
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@@ -47,7 +47,7 @@
#
# imu Booz2 v1
ap.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
ap.CFLAGS += -DBOOZ2_IMU_TYPE_H=\"booz2_imu_b2.h\"
ap.CFLAGS += -DSSP_VIC_SLOT=9
ap.srcs += $(SRC_BOOZ)/booz2_imu_b2.c $(SRC_BOOZ_ARCH)/booz2_imu_b2_hw.c
ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
@@ -56,12 +56,11 @@ ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2
#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ap.CFLAGS += -DUSE_AMI601
ap.srcs += AMI601.c
ap.CFLAGS += -DFLOAT_T=float
ap.srcs += $(SRC_BOOZ)/booz2_imu.c
sim.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
sim.CFLAGS += -DBOOZ2_IMU_TYPE_H=\"booz2_imu_b2.h\"
sim.srcs += $(SRC_BOOZ)/booz2_imu.c \
$(SRC_BOOZ)/booz2_imu_b2.c \
$(SRC_BOOZ_SIM)/booz2_imu_b2_hw.c \
conf/autopilot/booz2_imu_b2v1_1.makefile
+1 -2
View File
@@ -47,14 +47,13 @@
#
# imu Booz2 v1.1
ap.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
ap.CFLAGS += -DBOOZ2_IMU_TYPE_H=\"booz2_imu_b2.h\"
ap.CFLAGS += -DSSP_VIC_SLOT=9 -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
ap.srcs += $(SRC_BOOZ)/booz2_imu_b2.c $(SRC_BOOZ_ARCH)/booz2_imu_b2_hw.c
ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
ap.srcs += $(SRC_BOOZ)/booz2_max1168.c $(SRC_BOOZ_ARCH)/booz2_max1168_hw.c
ap.CFLAGS += -DUSE_MICROMAG -DMICROMAG_DRDY_VIC_SLOT=11
ap.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
ap.CFLAGS += -DFLOAT_T=float
ap.srcs += $(SRC_BOOZ)/booz2_imu.c
conf/autopilot/booz2_imu_crista.makefile
+2 -5
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@@ -48,22 +48,19 @@
ap.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_crista.h\"
ap.CFLAGS += -DBOOZ2_IMU_TYPE_H=\"booz2_imu_crista.h\"
ap.srcs += $(SRC_BOOZ)/booz2_imu_crista.c $(SRC_BOOZ_ARCH)/booz2_imu_crista_hw.c
ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
ap.CFLAGS += -DUSE_AMI601
ap.srcs += AMI601.c
ap.CFLAGS += -DFLOAT_T=float
ap.srcs += $(SRC_BOOZ)/booz2_imu.c
sim.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_crista.h\"
sim.CFLAGS += -DBOOZ2_IMU_TYPE_H=\"booz2_imu_crista.h\"
sim.srcs += $(SRC_BOOZ)/booz2_imu.c \
$(SRC_BOOZ)/booz2_imu_crista.c \
sim.CFLAGS += -DUSE_I2C1
# -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
#sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
sim.CFLAGS += -DUSE_AMI601
sim.srcs += AMI601.c
sw/airborne/arm7/i2c_hw.c
+42 -18
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@@ -31,6 +31,9 @@
#include "interrupt_hw.h"
#ifdef USE_I2C0
/* default clock speed 37.5KHz with our 15MHz PCLK
I2C0_CLOCK = PCLK / (I2C0_SCLL + I2C0_SCLH) */
#ifndef I2C0_SCLL
@@ -41,37 +44,21 @@
#define I2C0_SCLH 200
#endif
/* default clock speed 37.5KHz with our 15MHz PCLK
I2C1_CLOCK = PCLK / (I2C1_SCLL + I2C1_SCLH) */
#ifndef I2C1_SCLL
#define I2C1_SCLL 200
#endif
#ifndef I2C1_SCLH
#define I2C1_SCLH 200
#endif
/* adjust for other PCLKs */
#if (PCLK == 15000000)
#define I2C0_SCLL_D I2C0_SCLL
#define I2C0_SCLH_D I2C0_SCLH
#define I2C1_SCLL_D I2C1_SCLL
#define I2C1_SCLH_D I2C1_SCLH
#else
#if (PCLK == 30000000)
#define I2C0_SCLL_D (2*I2C0_SCLL)
#define I2C0_SCLH_D (2*I2C0_SCLH)
#define I2C1_SCLL_D (2*I2C1_SCLL)
#define I2C1_SCLH_D (2*I2C1_SCLH)
#else
#if (PCLK == 60000000)
#define I2C0_SCLL_D (4*I2C0_SCLL)
#define I2C0_SCLH_D (4*I2C0_SCLH)
#define I2C1_SCLL_D (4*I2C1_SCLL)
#define I2C1_SCLH_D (4*I2C1_SCLH)
#else
#error unknown PCLK frequency
@@ -115,15 +102,52 @@ void i2c0_ISR(void)
ISR_ENTRY();
uint32_t state = I2C_STATUS_REG;
I2cAutomaton(state);
I2cClearIT();
I2c0Automaton(state);
I2c0ClearIT();
VICVectAddr = 0x00000000; // clear this interrupt from the VIC
ISR_EXIT(); // recover registers and return
}
#endif /* USE_I2C0 */
#ifdef USE_I2C1
/* default clock speed 37.5KHz with our 15MHz PCLK
I2C1_CLOCK = PCLK / (I2C1_SCLL + I2C1_SCLH) */
#ifndef I2C1_SCLL
#define I2C1_SCLL 200
#endif
#ifndef I2C1_SCLH
#define I2C1_SCLH 200
#endif
/* adjust for other PCLKs */
#if (PCLK == 15000000)
#define I2C1_SCLL_D I2C1_SCLL
#define I2C1_SCLH_D I2C1_SCLH
#else
#if (PCLK == 30000000)
#define I2C1_SCLL_D (2*I2C1_SCLL)
#define I2C1_SCLH_D (2*I2C1_SCLH)
#else
#if (PCLK == 60000000)
#define I2C1_SCLL_D (4*I2C1_SCLL)
#define I2C1_SCLH_D (4*I2C1_SCLH)
#else
#error unknown PCLK frequency
#endif
#endif
#endif
#define I2C1_DATA_REG I2C1DAT
#define I2C1_STATUS_REG I2C1STAT
sw/airborne/arm7/i2c_hw.h
+16 -13
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@@ -4,17 +4,18 @@
#include "LPC21xx.h"
#ifdef USE_I2C0
#ifdef USE_BUSS_TWI_BLMC
#include "actuators_buss_twi_blmc_hw.h"
#define I2cStopHandler() ActuatorsBussTwiBlmcNext()
#define I2c0StopHandler() ActuatorsBussTwiBlmcNext()
#else
#ifdef USE_BUSS_TWI_BLMC_MOTOR
#include "buss_twi_blmc_hw.h"
#define I2cStopHandler() BussTwiBlmcNext()
#define I2c0StopHandler() BussTwiBlmcNext()
#else
#define I2cStopHandler() {}
#define I2c0StopHandler() {}
#endif
#endif
@@ -23,23 +24,25 @@
extern void i2c0_hw_init(void);
#define I2cSendAck() { I2C0CONSET = _BV(AA); }
#define I2cSendStop() { \
#define I2c0SendAck() { I2C0CONSET = _BV(AA); }
#define I2c0SendStop() { \
I2C0CONSET = _BV(STO); \
if (i2c_finished) *i2c_finished = TRUE; \
i2c_status = I2C_IDLE; \
I2cStopHandler(); \
if (i2c0_finished) *i2c0_finished = TRUE; \
i2c0_status = I2C_IDLE; \
I2c0StopHandler(); \
}
#define I2cSendStart() { I2C0CONSET = _BV(STA); }
#define I2cSendByte(b) { I2C_DATA_REG = b; }
#define I2c0SendStart() { I2C0CONSET = _BV(STA); }
#define I2c0SendByte(b) { I2C_DATA_REG = b; }
#define I2cReceive(_ack) { \
#define I2c0Receive(_ack) { \
if (_ack) I2C0CONSET = _BV(AA); \
else I2C0CONCLR = _BV(AAC); \
}
#define I2cClearStart() { I2C0CONCLR = _BV(STAC); }
#define I2cClearIT() { I2C0CONCLR = _BV(SIC); }
#define I2c0ClearStart() { I2C0CONCLR = _BV(STAC); }
#define I2c0ClearIT() { I2C0CONCLR = _BV(SIC); }
#endif /* USE_I2C0 */
#ifdef USE_I2C1
sw/airborne/booz/arm7/actuators_asctec_twi_blmc_hw.c
+20 -20
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@@ -63,43 +63,43 @@ void asctec_twi_controller_send() {
switch (actuators_asctec_twi_blmc_command) {
case MB_TWI_CONTROLLER_COMMAND_TEST :
i2c_buf[0] = 251;
i2c_buf[1] = actuators_asctec_twi_blmc_addr;
i2c_buf[2] = 0;
i2c_buf[3] = 231 + actuators_asctec_twi_blmc_addr;
i2c0_buf[0] = 251;
i2c0_buf[1] = actuators_asctec_twi_blmc_addr;
i2c0_buf[2] = 0;
i2c0_buf[3] = 231 + actuators_asctec_twi_blmc_addr;
mb_twi_i2c_done = FALSE;
i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
break;
case MB_TWI_CONTROLLER_COMMAND_REVERSE :
i2c_buf[0] = 254;
i2c_buf[1] = actuators_asctec_twi_blmc_addr;
i2c_buf[2] = 0;
i2c_buf[3] = 234 + actuators_asctec_twi_blmc_addr;
i2c0_buf[0] = 254;
i2c0_buf[1] = actuators_asctec_twi_blmc_addr;
i2c0_buf[2] = 0;
i2c0_buf[3] = 234 + actuators_asctec_twi_blmc_addr;
mb_twi_i2c_done = FALSE;
i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
break;
case MB_TWI_CONTROLLER_COMMAND_SET_ADDR :
i2c_buf[0] = 250;
i2c_buf[1] = actuators_asctec_twi_blmc_addr;
i2c_buf[2] = actuators_asctec_twi_blmc_new_addr;
i2c_buf[3] = 230 + actuators_asctec_twi_blmc_addr +
i2c0_buf[0] = 250;
i2c0_buf[1] = actuators_asctec_twi_blmc_addr;
i2c0_buf[2] = actuators_asctec_twi_blmc_new_addr;
i2c0_buf[3] = 230 + actuators_asctec_twi_blmc_addr +
actuators_asctec_twi_blmc_new_addr;
actuators_asctec_twi_blmc_addr = actuators_asctec_twi_blmc_new_addr;
mb_twi_i2c_done = FALSE;
i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
break;
}
actuators_asctec_twi_blmc_command = MB_TWI_CONTROLLER_COMMAND_NONE;
}
else {
i2c_buf[0] = 100 + asctec_twi_blmc_motor_power[SERVO_PITCH];
i2c_buf[1] = 100 + asctec_twi_blmc_motor_power[SERVO_ROLL];
i2c_buf[2] = 100 + asctec_twi_blmc_motor_power[SERVO_YAW];
i2c_buf[3] = asctec_twi_blmc_motor_power[SERVO_THRUST];
i2c0_buf[0] = 100 + asctec_twi_blmc_motor_power[SERVO_PITCH];
i2c0_buf[1] = 100 + asctec_twi_blmc_motor_power[SERVO_ROLL];
i2c0_buf[2] = 100 + asctec_twi_blmc_motor_power[SERVO_YAW];
i2c0_buf[3] = asctec_twi_blmc_motor_power[SERVO_THRUST];
mb_twi_i2c_done = FALSE;
i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
}
}
sw/airborne/booz/arm7/actuators_buss_twi_blmc_hw.h
+3 -3
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@@ -102,9 +102,9 @@ extern const uint8_t buss_twi_blmc_addr[];
buss_twi_blmc_status = BUSS_TWI_BLMC_STATUS_IDLE; \
}
#define ActuatorsBussTwiBlmcSend() { \
i2c_buf[0] = buss_twi_blmc_motor_power[buss_twi_blmc_idx]; \
i2c_transmit(buss_twi_blmc_addr[buss_twi_blmc_idx], 1, &buss_twi_blmc_i2c_done); \
#define ActuatorsBussTwiBlmcSend() { \
i2c0_buf[0] = buss_twi_blmc_motor_power[buss_twi_blmc_idx]; \
i2c0_transmit(buss_twi_blmc_addr[buss_twi_blmc_idx], 1, &buss_twi_blmc_i2c_done); \
}
sw/airborne/booz/arm7/booz2_imu_crista_hw.c
+9 -13
View File
@@ -26,8 +26,7 @@
#include "LPC21xx.h"
#include "armVIC.h"
#include CONFIG
#include "led.h"
#include "spi_hw.h"
#include "ssp_hw.h"
#define ADS8344_SS_IODIR IO0DIR
#define ADS8344_SS_IOSET IO0SET
@@ -93,19 +92,17 @@ static inline void read_values( void ) {
static inline void send_request( void ) {
uint8_t control = 1 << 7 | channel << 4 | SGL_DIF << 2 | POWER_MODE;
SSPDR = control;
SSPDR = 0;
SSPDR = 0;
SSPDR = 0;
SSP_Send(control);
SSP_Send(0);
SSP_Send(0);
SSP_Send(0);
}
void ADS8344_start( void ) {
LED_ON(2);
ADS8344Select();
SpiClearRti();
SpiEnableRti();
SpiEnable();
SSP_ClearRti();
SSP_EnableRti();
SSP_Enable();
send_request();
}
@@ -116,14 +113,13 @@ void SPI1_ISR(void) {
if (channel > 7-1) {
channel = 0;
ADS8344_available = TRUE;
LED_OFF(2);
ADS8344Unselect();
}
else {
send_request();
}
SpiClearRti();
SSP_ClearRti();
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
sw/airborne/booz/booz2_imu.h
+1 -1
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@@ -26,7 +26,7 @@
#include "pprz_algebra_int.h"
#include BOOZ2_IMU_TYPE
#include BOOZ2_IMU_TYPE_H
struct BoozImu {
struct Int32Rates gyro;
sw/airborne/booz/booz2_imu_crista.c
+8
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@@ -21,6 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
#include "booz2_imu.h"
#include "booz2_imu_crista.h"
void booz2_imu_impl_init(void) {
@@ -29,10 +30,17 @@ void booz2_imu_impl_init(void) {
booz2_imu_crista_hw_init();
#ifdef USE_AMI601
ami601_init();
#endif
}
void booz2_imu_periodic(void) {
Booz2ImuCristaHwPeriodic();
#ifdef USE_AMI601
RunOnceEvery(10, { ami601_read(); });
#endif
}
sw/airborne/booz/booz2_imu_crista.h
+18
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@@ -47,7 +47,25 @@ extern bool_t ADS8344_available;
/* spare 3, temp 7 */ \
_gyro_accel_handler(); \
} \
Booz2ImuMagEvent(_mag_handler); \
}
#ifdef USE_AMI601
#include "AMI601.h"
#define foo_handler() {}
#define Booz2ImuMagEvent(_mag_handler) { \
AMI601Event(foo_handler); \
if (ami601_status == AMI601_DATA_AVAILABLE) { \
booz_imu.mag_unscaled.x = ami601_val[IMU_MAG_X_CHAN]; \
booz_imu.mag_unscaled.y = ami601_val[IMU_MAG_Y_CHAN]; \
booz_imu.mag_unscaled.z = ami601_val[IMU_MAG_Z_CHAN]; \
ami601_status = AMI601_IDLE; \
_mag_handler(); \
} \
}
#else
#define Booz2ImuMagEvent(_mag_handler) {}
#endif
#endif /* BOOZ2_IMU_CRISTA_H */
sw/airborne/booz/booz2_main.c
+2 -2
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@@ -88,7 +88,7 @@ STATIC_INLINE void booz2_main_init( void ) {
sys_time_init();
led_init();
uart0_init();
i2c_init();
i2c0_init();
actuators_init();
#if defined USE_BOOZ2_SERVOS_DIRECT
booz2_servos_direct_init();
@@ -106,7 +106,7 @@ STATIC_INLINE void booz2_main_init( void ) {
booz2_imu_init();
#ifdef USE_AMI601
i2c1_init();
ami601_init();
// ami601_init();
#endif
booz_fms_init();
sw/airborne/booz/booz_radio_control_spektrum.h
+5 -4
View File
@@ -76,10 +76,11 @@ extern const int16_t rc_spk_throw[RADIO_CONTROL_NB_CHANNEL];
radio_control.status = RADIO_CONTROL_OK; \
uint8_t i; \
for (i=0;i<RADIO_CONTROL_NB_CHANNEL;i++) { \
radio_control.values[i] = rc_spk_parser_buf[2*i]<<8; \
radio_control.values[i] += rc_spk_parser_buf[2*i+1]; \
radio_control.values[i] &= 0x03FF; \
radio_control.values[i] -= 512; \
const int16_t tmp = (rc_spk_parser_buf[2*i]<<8) + \
rc_spk_parser_buf[2*i+1]; \
const int16_t chan = (tmp&0xFC00) >> 10; \
const int16_t val = (tmp&0x03FF) - 512; \
radio_control.values[i] = val; \
radio_control.values[i] *= rc_spk_throw[i]; \
if (i==RADIO_CONTROL_THROTTLE) { \
radio_control.values[i] += MAX_PPRZ; \
sw/airborne/booz/booz_radio_control_spektrum_dx7se.h
+7 -1
View File
@@ -41,6 +41,12 @@
MAX_PPRZ/MAX_SPK, \
MAX_PPRZ/MAX_SPK }
/*
aileron 1
elevator 2
rudder 3
gear 4
throttle 5
*/
#endif /* BOOZ_RADIO_CONTROL_SPEKTRUM_DX7SE_H */
sw/airborne/booz/test/booz2_test_ami.c
+1 -1
View File
@@ -62,7 +62,7 @@ static inline void main_init( void ) {
// LED_ON(6);
// LED_ON(7);
uart1_init_tx();
uart1_init();
#if 0
/* set P0.11 and P0.14 to I2C1 */
sw/airborne/dpicco.c
+4 -4
View File
@@ -40,18 +40,18 @@ void dpicco_periodic( void ) {
/* init first read */
dpicco_status = DPICCO_MEASURING_RD;
dpicco_i2c_done = FALSE;
i2c_receive(DPICCO_SLAVE_ADDR, 4, &dpicco_i2c_done);
i2c0_receive(DPICCO_SLAVE_ADDR, 4, &dpicco_i2c_done);
// LED_ON(2);
}
else if (dpicco_status == DPICCO_MEASURING_RD) {
/* get data */
dpicco_val[0] = (i2c_buf[0]<<8) | i2c_buf[1];
dpicco_val[1] = (i2c_buf[2]<<8) | i2c_buf[3];
dpicco_val[0] = (i2c0_buf[0]<<8) | i2c0_buf[1];
dpicco_val[1] = (i2c0_buf[2]<<8) | i2c0_buf[3];
/* start next one right away */
dpicco_i2c_done = FALSE;
i2c_receive(DPICCO_SLAVE_ADDR, 4, &dpicco_i2c_done);
i2c0_receive(DPICCO_SLAVE_ADDR, 4, &dpicco_i2c_done);
// LED_TOGGLE(2);
}
sw/airborne/enose.c
+8 -8
View File
@@ -50,31 +50,31 @@ void enose_periodic( void ) {
if (enose_i2c_done) {
if (enose_conf_requested) {
const uint8_t msg[] = { ENOSE_PWM_ADDR, enose_heat[0], enose_heat[1], enose_heat[2] };
memcpy((void*)i2c_buf, msg, sizeof(msg));
i2c_transmit(ENOSE_SLAVE_ADDR, sizeof(msg), &enose_i2c_done);
memcpy((void*)i2c0_buf, msg, sizeof(msg));
i2c0_transmit(ENOSE_SLAVE_ADDR, sizeof(msg), &enose_i2c_done);
enose_i2c_done = FALSE;
enose_conf_requested = FALSE;
}
else if (enose_status == ENOSE_IDLE) {
enose_status = ENOSE_MEASURING_WR;
const uint8_t msg[] = { ENOSE_DATA_ADDR };
memcpy((void*)i2c_buf, msg, sizeof(msg));
i2c_transmit(ENOSE_SLAVE_ADDR, sizeof(msg), &enose_i2c_done);
memcpy((void*)i2c0_buf, msg, sizeof(msg));
i2c0_transmit(ENOSE_SLAVE_ADDR, sizeof(msg), &enose_i2c_done);
enose_i2c_done = FALSE;
}
else if (enose_status == ENOSE_MEASURING_WR) {
enose_status = ENOSE_MEASURING_RD;
i2c_receive(ENOSE_SLAVE_ADDR, 6, &enose_i2c_done);
i2c0_receive(ENOSE_SLAVE_ADDR, 6, &enose_i2c_done);
enose_i2c_done = FALSE;
}
else if (enose_status == ENOSE_MEASURING_RD) {
uint16_t val = (i2c_buf[0]<<8) | i2c_buf[1];
uint16_t val = (i2c0_buf[0]<<8) | i2c0_buf[1];
if (val < 5000)
enose_val[0] = val;
val = (i2c_buf[2]<<8) | i2c_buf[3];
val = (i2c0_buf[2]<<8) | i2c0_buf[3];
if (val < 5000)
enose_val[1] = val;
val = (i2c_buf[4]<<8) | i2c_buf[5];
val = (i2c0_buf[4]<<8) | i2c0_buf[5];
if (val < 5000)
enose_val[2] = val;
enose_status = ENOSE_IDLE;
sw/airborne/fms/Makefile
+20 -2
View File
@@ -17,10 +17,28 @@ TT_LDFLAGS = -levent
TT_CFLAGS += -DDOWNLINK
TT_CFLAGS += -DDOWNLINK_TRANSPORT=UdpTransport
TT_SRCS += fms_network.c udp_transport.c ../downlink.c
test_telemetry: $(TT_SRCS)
$(CC) $(TT_CFLAGS) -o $@ $^ $(TT_LDFLAGS)
#test_telemetry: $(TT_SRCS)
# $(CC) $(TT_CFLAGS) -o $@ $^ $(TT_LDFLAGS)
# http://groups.google.com/group/beagleboard/browse_frm/thread/15d9488c1ec314ef/ca50640b9c51cef2
# http://www.nabble.com/Overo-oe-SPI-questions-td22194463.html
# http://docwiki.gumstix.org/Sample_code/C/SPI
# http://www.nabble.com/SPI-Bus-td23307852.html
# http://groups.google.com/group/beagleboard/browse_thread/thread/42988f0e14db0f01/3200cce7400bb6b8?lnk=gst&q=mcspi#3200cce7400bb6b8
#<s4wrxttcs2> "export PATH=${PATH}:/home/gumstix/oe/tmp/staging/i686-linux/usr/bin"
#<s4wrxttcs2> I just use "export PATH=${PATH}:/home/gumstix/oe/tmp/cross/armv7a/bin" and
#<s4wrxttcs2> or "make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi-" if I have a makefile
CROSS_CC=/home/poine/overo-oe/tmp/cross/armv7a/bin/arm-angstrom-linux-gnueabi-gcc
CROSS_CFLAGS = -Wall
CROSS_LDFLAGS =
test_telemetry: test_telemetry.c
$(CROSS_CC) $(CROSS_CFLAGS) -o $@ $^ $(CROSS_LDFLAGS)
test_spi: test_spi.c
$(CROSS_CC) $(CROSS_CFLAGS) -o $@ $^ $(CROSS_LDFLAGS)
sw/airborne/i2c.c
+24 -25
View File
@@ -3,38 +3,40 @@
#define I2C_RECEIVE 1
volatile uint8_t i2c_status;
volatile uint8_t i2c_buf[I2C_BUF_LEN];
volatile uint8_t i2c_len;
volatile uint8_t i2c_index;
volatile uint8_t i2c_slave_addr;
#ifdef USE_I2C0
volatile bool_t* i2c_finished;
volatile uint8_t i2c0_status;
volatile uint8_t i2c0_buf[I2C0_BUF_LEN];
volatile uint8_t i2c0_len;
volatile uint8_t i2c0_index;
volatile uint8_t i2c0_slave_addr;
void i2c_init(void) {
i2c_status = I2C_IDLE;
volatile bool_t* i2c0_finished;
void i2c0_init(void) {
i2c0_status = I2C_IDLE;
i2c0_hw_init();
i2c_finished = NULL;
i2c0_finished = NULL;
}
void i2c_receive(uint8_t slave_addr, uint8_t len, volatile bool_t* finished) {
i2c_len = len;
i2c_slave_addr = slave_addr | I2C_RECEIVE;
i2c_finished = finished;
i2c_status = I2C_BUSY;
I2cSendStart();
void i2c0_receive(uint8_t slave_addr, uint8_t len, volatile bool_t* finished) {
i2c0_len = len;
i2c0_slave_addr = slave_addr | I2C_RECEIVE;
i2c0_finished = finished;
i2c0_status = I2C_BUSY;
I2c0SendStart();
}
void i2c_transmit(uint8_t slave_addr, uint8_t len, volatile bool_t* finished) {
i2c_len = len;
i2c_slave_addr = slave_addr & ~I2C_RECEIVE;
i2c_finished = finished;
i2c_status = I2C_BUSY;
I2cSendStart();
void i2c0_transmit(uint8_t slave_addr, uint8_t len, volatile bool_t* finished) {
i2c0_len = len;
i2c0_slave_addr = slave_addr & ~I2C_RECEIVE;
i2c0_finished = finished;
i2c0_status = I2C_BUSY;
I2c0SendStart();
}
#endif /* USE_I2C0 */
#ifdef USE_I2C1
@@ -69,7 +71,4 @@ void i2c1_transmit(uint8_t slave_addr, uint8_t len, volatile bool_t* finished) {
I2c1SendStart();
}
#endif /* USE_I2C1 */
sw/airborne/i2c.h
+36 -35
View File
@@ -3,13 +3,7 @@
#include "std.h"
//#ifndef SITL
#include "i2c_hw.h"
//#endif
extern void i2c_init(void);
extern void i2c_receive(uint8_t slave_addr, uint8_t len, volatile bool_t* finished);
extern void i2c_transmit(uint8_t slave_addr, uint8_t len, volatile bool_t* finished);
#define I2C_START 0x08
#define I2C_RESTART 0x10
@@ -25,67 +19,74 @@ extern void i2c_transmit(uint8_t slave_addr, uint8_t len, volatile bool_t* finis
#define I2C_IDLE 0
#define I2C_BUSY 1
extern volatile uint8_t i2c_status;
#ifdef USE_I2C0
#ifndef I2C_BUF_LEN
#define I2C_BUF_LEN 16
extern void i2c0_init(void);
extern void i2c0_receive(uint8_t slave_addr, uint8_t len, volatile bool_t* finished);
extern void i2c0_transmit(uint8_t slave_addr, uint8_t len, volatile bool_t* finished);
extern volatile uint8_t i2c0_status;
#ifndef I2C0_BUF_LEN
#define I2C0_BUF_LEN 16
#endif
extern volatile uint8_t i2c_buf[I2C_BUF_LEN];
extern volatile uint8_t i2c_len;
extern volatile uint8_t i2c_index;
extern volatile uint8_t i2c_slave_addr;
extern volatile uint8_t i2c0_buf[I2C0_BUF_LEN];
extern volatile uint8_t i2c0_len;
extern volatile uint8_t i2c0_index;
extern volatile uint8_t i2c0_slave_addr;
extern volatile bool_t* i2c_finished;
extern volatile bool_t* i2c0_finished;
#define I2cAutomaton(state) { \
#define I2c0Automaton(state) { \
switch (state) { \
case I2C_START: \
case I2C_RESTART: \
I2cSendByte(i2c_slave_addr); \
I2cClearStart(); \
i2c_index = 0; \
I2c0SendByte(i2c0_slave_addr); \
I2c0ClearStart(); \
i2c0_index = 0; \
break; \
case I2C_MR_DATA_ACK: \
if (i2c_index < i2c_len) { \
i2c_buf[i2c_index] = I2C_DATA_REG; \
i2c_index++; \
I2cReceive(i2c_index < i2c_len - 1); \
if (i2c0_index < i2c0_len) { \
i2c0_buf[i2c0_index] = I2C_DATA_REG; \
i2c0_index++; \
I2c0Receive(i2c0_index < i2c0_len - 1); \
} \
else { \
/* error , we should have got NACK */ \
I2cSendStop(); \
I2c0SendStop(); \
} \
break; \
case I2C_MR_SLA_ACK: /* At least one char */ \
/* Wait and reply with ACK or NACK */ \
I2cReceive(i2c_index < i2c_len - 1); \
I2c0Receive(i2c0_index < i2c0_len - 1); \
break; \
case I2C_MR_SLA_NACK: \
case I2C_MT_SLA_NACK: \
I2cSendStart(); \
I2c0SendStart(); \
break; \
case I2C_MT_SLA_ACK: \
case I2C_MT_DATA_ACK: \
if (i2c_index < i2c_len) { \
I2cSendByte(i2c_buf[i2c_index]); \
i2c_index++; \
if (i2c0_index < i2c0_len) { \
I2c0SendByte(i2c0_buf[i2c0_index]); \
i2c0_index++; \
} else { \
I2cSendStop(); \
I2c0SendStop(); \
} \
break; \
case I2C_MR_DATA_NACK: \
if (i2c_index < i2c_len) { \
i2c_buf[i2c_index] = I2C_DATA_REG; \
if (i2c0_index < i2c0_len) { \
i2c0_buf[i2c0_index] = I2C_DATA_REG; \
} \
I2cSendStop(); \
I2c0SendStop(); \
break; \
default: \
I2cSendStop(); \
/* LED_ON(2); FIXME log error */ \
I2c0SendStop(); \
/* FIXME log error */ \
} \
} \
#endif /* USE_I2C0 */
#ifdef USE_I2C1
sw/airborne/srf08.c
+22 -22
View File
@@ -43,51 +43,51 @@ static bool_t dummy_bool;
void srf08_init(void)
{
unsigned int range=0;
i2c_init();
i2c0_init();
I2C_START_TX(address);
i2c_transmit(0);
i2c_transmit(0x51);
i2c0_transmit(0);
i2c0_transmit(0x51);
do{
i2c_start();
i2c0_start();
range=i2c_sla(address);
i2c_stop();
i2c0_stop();
} while(range != I2C_NO_ERROR); /** !!!!!!!!!!!! WARNING : blocking wait */
/** Setting the gain to the minimun value (to avoid echos ?) */
i2c_buf[0]=SRF08_SET_GAIN;
i2c_buf[1]=SRF08_MIN_GAIN;
i2c_send(address, 2, &dummy_bool);
i2c0_buf[0]=SRF08_SET_GAIN;
i2c0_buf[1]=SRF08_MIN_GAIN;
i2c0_send(address, 2, &dummy_bool);
return;
}
/*###########################################################################*/
void srf08_initiate_ranging(void) {
i2c_buf[0]=SRF08_COMMAND;
i2c_buf[1]=SRF08_CENTIMETERS;
i2c_send(address, 2, &dummy_bool);
i2c0_buf[0]=SRF08_COMMAND;
i2c0_buf[1]=SRF08_CENTIMETERS;
i2c0_send(address, 2, &dummy_bool);
}
bool_t srf08_received, srf08_got;
/** Ask the value to the device */
void srf08_receive(void) {
i2c_buf[0]=SRF08_ECHO_1;
i2c0_buf[0]=SRF08_ECHO_1;
srf08_received = FALSE;
i2c_send(address, 1, &srf08_received);
i2c0_send(address, 1, &srf08_received);
}
/** Read values on the bus */
void srf08_read(void) {
srf08_got = FALSE;
i2c_get(address, 2, &srf08_got);
i2c0_get(address, 2, &srf08_got);
}
/** Copy the I2C buffer */
void srf08_copy(void) {
srf08_range = i2c_buf[0] << 8 | i2c_buf[1];
srf08_range = i2c0_buf[0] << 8 | i2c0_buf[1];
}
void srf08_ping()
@@ -95,12 +95,12 @@ void srf08_ping()
uint8_t byte;
srf08_initiate_ranging();
while (!i2c_idle);
while (!i2c0_idle);
do {
i2c_start();
i2c0_start();
byte=i2c_sla(address);
i2c_stop();
i2c0_stop();
} while(byte != I2C_NO_ERROR);
@@ -117,18 +117,18 @@ unsigned int srf08_read_register(unsigned char srf08_register)
I2C_START_TX(address);
i2c_transmit(srf08_register);
i2c0_transmit(srf08_register);
I2C_START_RX(address);
/* get high byte msb first */
if(srf08_register>=2) {
i2c.rx_byte[1]=i2c_receive(I2C_CONTINUE);
i2c.rx_byte[1]=i2c0_receive(I2C_CONTINUE);
}
/* get low byte msb first */
i2c.rx_byte[0]=i2c_receive(I2C_QUIT);
i2c.rx_byte[0]=i2c0_receive(I2C_QUIT);
i2c_stop();
i2c0_stop();
return(i2c.rx_word);
}
sw/airborne/stm32/init_hw.h
+2
View File
@@ -34,6 +34,8 @@
#include CONFIG
#include <stm32/gpio.h>
#include <stm32/rcc.h>
#include <stm32/flash.h>
#include <stm32/misc.h>
#ifdef PERIPHERALS_AUTO_INIT