peripheral test program

2026-05-23 21:36:28 +08:00 · 2010-07-26 21:18:58 +00:00
parent c364e6345f
commit b5716d4ff9
1 changed files with 194 additions and 0 deletions
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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. 
+ */
+
+#include <stm32/gpio.h>
+#include <stm32/flash.h>
+#include <stm32/misc.h>
+#include <stm32/exti.h>
+#include <stm32/spi.h>
+
+#include BOARD_CONFIG
+#include "init_hw.h"
+#include "sys_time.h"
+#include "downlink.h"
+#include "std.h"
+
+#include "peripherals/booz_hmc5843.h"
+#include "my_debug_servo.h"
+#include "math/pprz_algebra_int.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_init_hw(void);
+
+static uint8_t i2c_done = FALSE;
+#define INITIALISZED 6
+static uint8_t mag_state = 0;
+static volatile uint8_t mag_ready_for_read = FALSE;
+static uint8_t reading_mag = FALSE;
+extern void exti9_5_irq_handler(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();
+  main_init_hw();
+}
+
+static inline void main_periodic_task( void ) {
+  //  LED_TOGGLE(6);
+  RunOnceEvery(10, 
+  {
+    DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+    LED_PERIODIC();
+  });
+  RunOnceEvery(256, 
+	       {DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, &i2c2.got_unexpected_event, 
+					 &i2c2.errc_ack_fail, &i2c2.errc_miss_start_stop,
+					 &i2c2.errc_arb_lost, &i2c2.errc_over_under,
+					 &i2c2.errc_pec_recep, &i2c2.errc_timeout_tlow,
+					 &i2c2.errc_smbus_alert);
+  });
+
+  switch (mag_state) {
+  case 2:
+    i2c2.buf[0] = HMC5843_REG_CFGA;  // set to rate to 50Hz
+    i2c2.buf[1] = 0x00 | (0x06 << 2);
+    i2c2_transmit(HMC5843_ADDR, 2, &i2c_done);
+    break;
+  case 3:
+    i2c2.buf[0] = HMC5843_REG_CFGB;  // set to gain to 1 Gauss
+    i2c2.buf[1] = 0x01<<5;
+    i2c2_transmit(HMC5843_ADDR, 2, &i2c_done);
+    break;
+  case 4:
+    i2c2.buf[0] = HMC5843_REG_MODE;  // set to continuous mode
+    i2c2.buf[1] = 0x00;
+    i2c2_transmit(HMC5843_ADDR, 2, &i2c_done);
+    break;
+  case 5:
+    break;
+  case INITIALISZED:
+    //    i2c2_receive(HMC5843_ADDR, 7, &i2c_done);
+    //    reading_mag = TRUE;
+    break;
+  default:
+    break;
+  }
+
+  if (mag_state  < INITIALISZED) mag_state++;
+
+}
+
+
+static inline void main_event_task( void ) {
+
+  if (mag_state == INITIALISZED && mag_ready_for_read) {
+    /* read mag */
+    i2c2_receive(HMC5843_ADDR, 7, &i2c_done);
+    reading_mag = TRUE;
+    mag_ready_for_read = FALSE;
+  }
+
+  if (reading_mag && i2c_done) {
+    RunOnceEvery(10, 
+    {
+      int16_t mx   = i2c2.buf[0]<<8 | i2c2.buf[1];
+      int16_t my   = i2c2.buf[2]<<8 | i2c2.buf[3];
+      int16_t mz   = i2c2.buf[4]<<8 | i2c2.buf[5];
+      struct Int32Vect3 m;
+      VECT3_ASSIGN(m, mx, my, mz);
+      DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, &m.x, &m.y, &m.z);
+      //      uint8_t tmp[8];
+      //      memcpy(tmp, i2c2.buf, 8);
+      //      DOWNLINK_SEND_DEBUG(DefaultChannel, 8, tmp);
+    }
+		 );
+    reading_mag = FALSE;
+  }
+
+
+}
+
+static inline void main_init_hw( void ) {
+  /* set mag ss as floating input (on PC12)    = shorted to I2C2 sda ----------*/
+  /* set mag reset as floating input (on PC13) = shorted to I2C2 scl ----------*/
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
+  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOC, &GPIO_InitStructure);
+
+  /* configure external interrupt exti5 on PB5( mag int ) */
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+  GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource5);
+  EXTI_InitTypeDef EXTI_InitStructure;
+  EXTI_InitStructure.EXTI_Line = EXTI_Line5;
+  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+  EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
+  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+  EXTI_Init(&EXTI_InitStructure);
+
+  NVIC_InitTypeDef NVIC_InitStructure;
+  NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
+  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
+  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+  NVIC_Init(&NVIC_InitStructure); 
+
+  DEBUG_SERVO2_INIT();
+
+}
+
+
+
+
+void exti9_5_irq_handler(void) {
+  /* clear EXTI */
+  if(EXTI_GetITStatus(EXTI_Line5) != RESET)
+    EXTI_ClearITPendingBit(EXTI_Line5);
+
+  DEBUG_S4_TOGGLE();
+  
+  mag_ready_for_read = TRUE;
+}