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lisa_l and booz now have different baros implementations

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This commit is contained in:
Antoine Drouin
2010-08-22 01:11:10 +00:00
parent 5ceab2c491
commit 99b17f0d89
7 changed files with 473 additions and 0 deletions
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sw/airborne/boards/booz/baro_board.c
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/* $Id$
*
* 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.
*/
#include "rotorcraft/baro.h"
#include "airframe.h"
#include "led.h"
/* threshold >0 && <1023 */
#ifndef BOOZ_ANALOG_BARO_THRESHOLD
#define BOOZ_ANALOG_BARO_THRESHOLD 850
#endif
// pressure on AD0.1 on P0.28
// offset on DAC on P0.25
struct Baro baro;
struct BaroBoard baro_board;
void baro_init( void ) {
baro.status = BS_UNINITIALIZED;
baro.absolute = 0;
baro.differential = 0; /* not handled on this board */
baro_board.offset = 1023;
Booz2AnalogSetDAC(baro_board.offset);
baro_board.value_filtered = 0;
baro_board.data_available = FALSE;
#ifdef ROTORCRAFT_BARO_LED
LED_OFF(ROTORCRAFT_BARO_LED);
#endif
}
void baro_periodic(void) {}
/* decrement offset until adc reading is over a threshold */
void baro_board_calibrate(void) {
if (baro_board.value_filtered < BOOZ_ANALOG_BARO_THRESHOLD && baro_board.offset >= 1) {
if (baro_board.value_filtered == 0 && baro_board.offset > 15)
baro_board.offset -= 15;
else
baro_board.offset--;
Booz2AnalogSetDAC(baro_board.offset);
#ifdef ROTORCRAFT_BARO_LED
LED_TOGGLE(ROTORCRAFT_BARO_LED);
#endif
}
else {
baro.status = BS_RUNNING;
#ifdef ROTORCRAFT_BARO_LED
LED_ON(ROTORCRAFT_BARO_LED);
#endif
}
}
sw/airborne/boards/booz/baro_board.h
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#ifndef BOARDS_BOOZ_BARO_H
#define BOARDS_BOOZ_BARO_H
#include "std.h"
#include "rotorcraft/baro.h"
#include "booz/booz2_analog.h"
/* we don't need that on this board */
struct BaroBoard {
uint16_t offset;
uint16_t value_filtered;
bool_t data_available;
};
extern struct BaroBoard baro_board;
extern void baro_board_calibrate(void);
#define BaroEvent(_b_abs_handler, _b_diff_handler) { \
if (baro_board.data_available) { \
_b_abs_handler(); \
baro_board.data_available = FALSE; \
} \
}
static inline void baro_board_SetOffset(uint16_t _o) {
baro_board.offset = _o;
Booz2AnalogSetDAC(_o);
}
static inline void BoozBaroISRHandler(uint16_t _val) {
baro.absolute = _val;
baro_board.value_filtered = (3*baro_board.value_filtered + baro.absolute)/4;
if (baro.status == BS_UNINITIALIZED) {
RunOnceEvery(10, { baro_board_calibrate();});
}
/* else */
baro_board.data_available = TRUE;
}
#endif /* BOARDS_BOOZ_BARO_H */
sw/airborne/boards/booz/test_baro.c
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/*
* $Id$
*
* Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
*
* 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 baro using interrupts
*
*/
#include BOARD_CONFIG
#include "init_hw.h"
#include "sys_time.h"
#include "downlink.h"
#include "rotorcraft/baro.h"
//#include "my_debug_servo.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
static inline void main_on_baro_diff(void);
static inline void main_on_baro_abs(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();
baro_init();
}
static inline void main_periodic_task( void ) {
RunOnceEvery(2, {baro_periodic();});
LED_PERIODIC();
RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);});
}
static inline void main_event_task( void ) {
BaroEvent(main_on_baro_abs, main_on_baro_diff);
}
static inline void main_on_baro_diff(void) {
}
static inline void main_on_baro_abs(void) {
RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, &baro.absolute, &baro.differential);});
}
sw/airborne/boards/lisa_l/baro_board.c
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#include "rotorcraft/baro.h"
struct Baro baro;
struct BaroBoard baro_board;
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
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:
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_reset(void) {
i2c2.buf[0] = 0x06;
i2c2_transmit(0x00, 1, &baro_board.i2c_done);
}
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);
}
static inline void baro_board_write_to_register(uint8_t baro_addr, uint8_t reg_addr, uint8_t val_msb, uint8_t val_lsb) {
i2c2.buf[0] = reg_addr;
i2c2.buf[1] = val_msb;
i2c2.buf[2] = val_lsb;
i2c2_transmit(baro_addr, 3, &baro_board.i2c_done);
}
static inline void baro_board_read_from_register(uint8_t baro_addr, uint8_t reg_addr) {
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) {
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) {
i2c2_receive(baro_addr, 2, &baro_board.i2c_done);
}
sw/airborne/boards/lisa_l/baro_board.h
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#ifndef BOARDS_LISA_L_BARO_H
#define BOARDS_LISA_L_BARO_H
#include "std.h"
#include "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;
bool_t i2c_done;
};
extern struct BaroBoard baro_board;
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_board.i2c_done) { \
int16_t tmp = i2c2.buf[0]<<8 | i2c2.buf[1]; \
baro.absolute = tmp; \
baro_board.status = LBS_READ_ABS; \
_b_abs_handler(); \
} \
else if (baro_board.status == LBS_READING_DIFF && baro_board.i2c_done) { \
int16_t tmp = i2c2.buf[0]<<8 | i2c2.buf[1]; \
baro.differential = tmp; \
baro_board.status = LBS_READ_DIFF; \
_b_diff_handler(); \
} \
}
#endif /* BOARDS_LISA_L_BARO_H */
sw/airborne/boards/lisa_l/brao_board.c
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#include "rotorcraft/baro.h"
sw/airborne/boards/lisa_l/test_baro.c
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/*
* $Id$
*
* Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
*
* 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 baro using interrupts
*
*/
#include BOARD_CONFIG
#include "init_hw.h"
#include "sys_time.h"
#include "downlink.h"
#include "rotorcraft/baro.h"
//#include "my_debug_servo.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
static inline void main_on_baro_diff(void);
static inline void main_on_baro_abs(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();
baro_init();
// DEBUG_SERVO1_INIT();
// DEBUG_SERVO2_INIT();
}
static inline void main_periodic_task( void ) {
RunOnceEvery(2, {baro_periodic();});
LED_PERIODIC();
RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);});
RunOnceEvery(256,
{
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
&i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt,
&i2c2_errors.over_under_cnt,
&i2c2_errors.pec_recep_cnt,
&i2c2_errors.timeout_tlow_cnt,
&i2c2_errors.smbus_alert_cnt,
&i2c2_errors.unexpected_event_cnt,
&i2c2_errors.last_unexpected_event);
});
}
static inline void main_event_task( void ) {
BaroEvent(main_on_baro_abs, main_on_baro_diff);
}
static inline void main_on_baro_diff(void) {
}
static inline void main_on_baro_abs(void) {
RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, &baro.absolute, &baro.differential);});
}