Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-09 22:49:53 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

Port HMC5843 to new i2c format, enable i2c for test_imu_b2

Browse Source
This commit is contained in:
Allen Ibara
2010-10-06 23:45:54 +00:00
parent 1ffdf28399
commit a0075eb0d3
3 changed files with 28 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/autopilot/lisa_l_test_progs.makefile
+3 -1
View File
@@ -360,7 +360,9 @@ test_imu_b2_2.CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
test_imu_b2_2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
test_imu_b2_2.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
test_imu_b2_2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
test_imu_b2_2.srcs += $(SRC_BOOZ)/peripherals/booz_hmc5843.c # $(SRC_BOOZ_ARCH)/peripherals/booz_hmc5843.c
test_imu_b2_2.CFLAGS += -DUSE_I2C2
test_imu_b2_2.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
test_imu_b2_2.srcs += $(SRC_BOOZ)/peripherals/booz_hmc5843.c
sw/airborne/booz/peripherals/booz_hmc5843.c
+24 -11
View File
@@ -3,36 +3,49 @@
#include "i2c.h"
struct Hmc5843 hmc5843;
static struct i2c_transaction hmc5843_i2c_trans;
void hmc5843_init(void) {
hmc5843.status = HMC5843_UNINITIALIZED1;
hmc5843.i2c_done = TRUE;
hmc5843_i2c_trans.status = I2CTransSuccess;
hmc5843_i2c_trans.slave_addr = HMC5843_ADDR;
hmc5843_i2c_trans.stop_after_transmit = TRUE;
}
void hmc5843_periodic(void) {
if (!hmc5843.i2c_done) return;
if (hmc5843_i2c_trans.status != I2CTransSuccess) return;
switch (hmc5843.status) {
case HMC5843_UNINITIALIZED1:
i2c2.buf[0] = HMC5843_REG_CFGA; // set to rate to 50Hz
i2c2.buf[1] = 0x00 | (0x06 << 2);
i2c2_transmit(HMC5843_ADDR, 2, &hmc5843.i2c_done);
hmc5843_i2c_trans.buf[0] = HMC5843_REG_CFGA; // set to rate to 50Hz
hmc5843_i2c_trans.buf[1] = 0x00 | (0x06 << 2);
hmc5843_i2c_trans.type = I2CTransTx;
hmc5843_i2c_trans.len_w = 2;
i2c_submit(&i2c2, &hmc5843_i2c_trans);
hmc5843.status = HMC5843_UNINITIALIZED2;
break;
case HMC5843_UNINITIALIZED2:
i2c2.buf[0] = HMC5843_REG_CFGB; // set to gain to 1 Gauss
i2c2.buf[1] = 0x01<<5;
i2c2_transmit(HMC5843_ADDR, 2, &hmc5843.i2c_done);
hmc5843_i2c_trans.buf[0] = HMC5843_REG_CFGB; // set to gain to 1 Gauss
hmc5843_i2c_trans.buf[1] = 0x01<<5;
hmc5843_i2c_trans.type = I2CTransTx;
hmc5843_i2c_trans.len_w = 2;
i2c_submit(&i2c2, &hmc5843_i2c_trans);
hmc5843.status = HMC5843_UNINITIALIZED3;
break;
case HMC5843_UNINITIALIZED3:
i2c2.buf[0] = HMC5843_REG_MODE; // set to continuous mode
i2c2.buf[1] = 0x00;
i2c2_transmit(HMC5843_ADDR, 2, &hmc5843.i2c_done);
hmc5843_i2c_trans.buf[0] = HMC5843_REG_MODE; // set to continuous mode
hmc5843_i2c_trans.buf[1] = 0x00;
hmc5843_i2c_trans.type = I2CTransTx;
hmc5843_i2c_trans.len_w = 2;
i2c_submit(&i2c2, &hmc5843_i2c_trans);
hmc5843.status = HMC5843_IDLE;
break;
case HMC5843_IDLE:
i2c2_receive(HMC5843_ADDR, 6, &hmc5843.i2c_done);
hmc5843_i2c_trans.type = I2CTransRx;
hmc5843_i2c_trans.len_w = 6;
i2c_submit(&i2c2, &hmc5843_i2c_trans);
hmc5843.status = HMC5843_READING;
break;
default:
sw/airborne/booz/peripherals/booz_hmc5843.h
+1 -1
View File
@@ -69,7 +69,7 @@ extern void hmc5843_periodic(void);
#include <string.h>
#define MagEvent(_m_handler) { \
if (hmc5843.status == HMC5843_READING && hmc5843.i2c_done) { \
if (hmc5843.status == HMC5843_READING && hmc5843_i2c_trans.status == I2CTransSuccess) { \
memcpy(hmc5843.data.buf, (const void*)i2c2.buf, 6); \
_m_handler(); \
hmc5843.status = HMC5843_IDLE; \