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[logger] high_speed_logger_spi_link

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This commit is contained in:
Christophe De Wagter
2013-03-04 16:20:14 +01:00
parent 6a7154d95f
commit b39ad7a5c5
6 changed files with 146 additions and 174 deletions
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conf/modules/high_speed_logger_spi_link.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="loggers">
<doc>
<description>Connect to external High-Speed SD-logger via SPI</description>
</doc>
<header>
<file name="high_speed_logger_spi_link.h"/>
</header>
<init fun="high_speed_logger_spi_link_init()"/>
<periodic fun="high_speed_logger_spi_link_periodic()" autorun="TRUE"/>
<makefile>
<define name="SPI_MASTER" value="1" />
<define name="USE_SPI1" value="1" />
<define name="HIGH_SPEED_LOGGER_SPI_LINK_DEVICE" value="spi1" />
<define name="USE_SPI_SLAVE5" value="1" />
<define name="HIGH_SPEED_LOGGER_SPI_LINK_SLAVE_NUMBER" value="SPI_SLAVE5" />
<file name="high_speed_logger_spi_link.c"/>
</makefile>
</module>
conf/modules/logger_spi_link.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="openlog">
<doc>
<description>Openlog on-board data logger</description>
</doc>
<header>
<file name="openlog.h"/>
</header>
<init fun="init_openlog()"/>
<periodic fun="periodic_2Hz_openlog()" freq="2." autorun="TRUE"/>
<makefile>
<file name="openlog.c"/>
</makefile>
</module>
sw/airborne/modules/loggers/high_speed_logger_spi_link.c
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/*
* Copyright (C) 2005-2013 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 "high_speed_logger_spi_link.h"
#include "subsystems/imu.h"
#include "mcu_periph/spi.h"
struct high_speed_logger_spi_link_data high_speed_logger_spi_link_data;
uint16_t testData = 1234;
struct spi_transaction high_speed_logger_spi_link_transaction;
static void high_speed_logger_spi_link_trans_cb( struct spi_transaction *trans );
void high_speed_logger_spi_link_init(void) {
high_speed_logger_spi_link_data.id = 0;
high_speed_logger_spi_link_transaction.select = SPISelectUnselect;
high_speed_logger_spi_link_transaction.cpol = SPICpolIdleHigh;
high_speed_logger_spi_link_transaction.cpha = SPICphaEdge2;
high_speed_logger_spi_link_transaction.dss = SPIDss8bit;
high_speed_logger_spi_link_transaction.bitorder = SPIMSBFirst;
high_speed_logger_spi_link_transaction.cdiv = SPIDiv64;
high_speed_logger_spi_link_transaction.slave_idx = HIGH_SPEED_LOGGER_SPI_LINK_SLAVE_NUMBER;
high_speed_logger_spi_link_transaction.output_length = sizeof(high_speed_logger_spi_link_data);
high_speed_logger_spi_link_transaction.output_buf = (uint8_t*) &high_speed_logger_spi_link_data;
high_speed_logger_spi_link_transaction.input_length = 0;
high_speed_logger_spi_link_transaction.input_buf = NULL;
high_speed_logger_spi_link_transaction.after_cb = high_speed_logger_spi_link_trans_cb;
}
void high_speed_logger_spi_link_periodic(void)
{
high_speed_logger_spi_link_data.gyro_p = imu.gyro_unscaled.p;
high_speed_logger_spi_link_data.gyro_q = imu.gyro_unscaled.q;
high_speed_logger_spi_link_data.gyro_r = imu.gyro_unscaled.r;
high_speed_logger_spi_link_data.acc_x = imu.accel_unscaled.x;
high_speed_logger_spi_link_data.acc_y = imu.accel_unscaled.y;
high_speed_logger_spi_link_data.acc_z = imu.accel_unscaled.z;
high_speed_logger_spi_link_data.mag_x = imu.mag_unscaled.x;
high_speed_logger_spi_link_data.mag_y = imu.mag_unscaled.x;
high_speed_logger_spi_link_data.mag_z = imu.mag_unscaled.x;
spi_submit(&(HIGH_SPEED_LOGGER_SPI_LINK_DEVICE), &high_speed_logger_spi_link_transaction);
high_speed_logger_spi_link_data.id++;
}
static void high_speed_logger_spi_link_trans_cb( struct spi_transaction *trans ) {
}
sw/airborne/modules/loggers/high_speed_logger_spi_link.h
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/*
* Copyright (C) 2005-2013 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.
*
*/
#ifndef HIGH_SPEED_LOGGER_SPI_LINK_H_
#define HIGH_SPEED_LOGGER_SPI_LINK_H_
#include "std.h"
extern void high_speed_logger_spi_link_init(void);
extern void high_speed_logger_spi_link_periodic(void);
#define PACKED __attribute__((__packed__))
struct PACKED high_speed_logger_spi_link_data {
int32_t id; // 1
int32_t gyro_p; // 2
int32_t gyro_q;
int32_t gyro_r;
int32_t acc_x; // 5
int32_t acc_y;
int32_t acc_z;
int32_t mag_x; // 8
int32_t mag_y;
int32_t mag_z;
int32_t phi; // 11
int32_t theta;
int32_t psi;
int32_t extra1; // 14
int32_t extra2; // 15
int32_t extra3; // 16
};
#endif /* HIGH_SPEED_LOGGER_SPI_LINK_H_ */
sw/airborne/modules/loggers/spiLink.c
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#include "spiLink.h"
#include <stm32/gpio.h>
#include <stm32/misc.h>
#include <stm32/rcc.h>
#include <stm32/exti.h>
#include <stm32/spi.h>
#include <stm32/dma.h>
#include "subsystems/imu.h"
struct LoggerData loggerData;
uint16_t testData = 1234;
volatile bool_t previousSpi1TransferComplete = TRUE;
DMA_InitTypeDef DMA_InitStructure;
void logger_spiLink_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
//NVIC_InitTypeDef NVIC_InitStructure;
SPI_InitTypeDef SPI_InitStructure;
// Enable SPI1 Clock (APB2)
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_SPI1 | RCC_APB2Periph_AFIO, ENABLE);
// Configure SPI pins as Alternative Functions pins
// Output pins (push/pull: MOSI,SCK,SS)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7;
//sck, miso, mosi
//GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_5 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// Input pin (open drain: MISO)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// SPI1 config
SPI_I2S_DeInit(SPI1);
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_16b;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32;
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_Init(SPI1, &SPI_InitStructure);
SPI_Cmd(SPI1, ENABLE);
SPI_SSOutputCmd(SPI1,ENABLE);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
DMA_DeInit(DMA1_Channel3);
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
DMA_InitStructure.DMA_MemoryBaseAddr = &loggerData;
DMA_InitStructure.DMA_BufferSize = sizeof(loggerData);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(&SPI1->DR);
//DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(SPI1_BASE+0x0C);
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel3, &DMA_InitStructure);
// Enable DMA1 channel4 IRQ Channel ( SPI RX)
NVIC_InitTypeDef NVIC_Init_Structure;
NVIC_Init_Structure.NVIC_IRQChannel = DMA1_Channel3_IRQn;
NVIC_Init_Structure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_Init_Structure.NVIC_IRQChannelSubPriority = 0;
NVIC_Init_Structure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_Init_Structure);
// Enable the SPI1 Tx DMA requests
SPI_I2S_DMACmd(SPI1, SPI_I2S_DMAReq_Tx, ENABLE);
// Enable the SPI1 Tx DMA stream
DMA_Cmd(DMA1_Channel3, ENABLE);
DMA_ITConfig(DMA1_Channel3, DMA_IT_TC, ENABLE);
}
void dma1_c3_irq_handler(void)
{
if (DMA_GetITStatus(DMA1_IT_TC3)) {
DMA_ClearITPendingBit(DMA1_IT_GL3 | DMA1_IT_TC3);
previousSpi1TransferComplete = TRUE;
DMA_ClearFlag(DMA1_FLAG_HT3 | DMA1_FLAG_TC3);
DMA_ITConfig(DMA1_Channel3, DMA_IT_TC, DISABLE);
SPI_I2S_DMACmd(SPI1, SPI_I2S_DMAReq_Tx, DISABLE);
DMA_Cmd(DMA1_Channel3, DISABLE);
DMA_DeInit(DMA1_Channel3);
}
}
void logger_spiLink_periodic(void)
{
if (previousSpi1TransferComplete) {
loggerData.gyro_p = imu.gyro_unscaled.p;
loggerData.gyro_q = imu.gyro_unscaled.q;
loggerData.gyro_r = imu.gyro_unscaled.r;
loggerData.acc_x = imu.accel_unscaled.x;
loggerData.acc_y = imu.accel_unscaled.y;
loggerData.acc_z = imu.accel_unscaled.z;
loggerData.mag_x = imu.mag_unscaled.x;
loggerData.mag_y = imu.mag_unscaled.x;
loggerData.mag_z = imu.mag_unscaled.x;
previousSpi1TransferComplete = FALSE;
DMA_Init(DMA1_Channel3, &DMA_InitStructure);
// Enable the SPI1 Tx DMA requests
SPI_I2S_DMACmd(SPI1, SPI_I2S_DMAReq_Tx, ENABLE);
// Enable the SPI1 Tx DMA stream
DMA_Cmd(DMA1_Channel3, ENABLE);
DMA_ITConfig(DMA1_Channel3, DMA_IT_TC, ENABLE);
//SPI_I2S_SendData(SPI1,testData);
}
}
sw/airborne/modules/loggers/spiLink.h
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#ifndef LOGGER_SPILINK_H_
#define LOGGER_SPILINK_H_
#include "std.h"
#define USE_DMA1_C3_IRQ
extern void logger_spiLink_init(void);
extern void logger_spiLink_periodic(void);
#define PACKED __attribute__((__packed__))
struct PACKED LoggerData {
int32_t gyro_p;
int32_t gyro_q;
int32_t gyro_r;
int32_t acc_x;
int32_t acc_y;
int32_t acc_z;
int32_t mag_x;
int32_t mag_y;
int32_t mag_z;
};
#endif /* LOGGER_SPILINK_H_ */