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removed obsolete IMU_ACC_DRDY_x and libstm based adxl345 test code

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This commit is contained in:
Felix Ruess
2013-02-26 15:18:46 +01:00
parent a7139f9bdb
commit b57cc583d6
5 changed files with 0 additions and 313 deletions
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sw/airborne/boards/lia_1.1.h
-6
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@@ -115,12 +115,6 @@
#define LED_12_AFIO_REMAP ((void)0) #define LED_12_AFIO_REMAP ((void)0)
/* configuration for aspirin - and more generaly IMUs */
#define IMU_ACC_DRDY_RCC_GPIO RCC_APB2ENR_IOPBEN
#define IMU_ACC_DRDY_GPIO GPIOB
#define IMU_ACC_DRDY_GPIO_PORTSOURCE GPIO_PortSourceGPIOB
/* Default actuators driver */ /* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h" #define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y) #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
sw/airborne/boards/lisa_l_1.0.h
-4
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@@ -16,10 +16,6 @@
// FIXME, this is just to make it compile // FIXME, this is just to make it compile
#define POWER_SWITCH_LED 5 #define POWER_SWITCH_LED 5
/* configuration for aspirin - and more generaly IMUs */
#define IMU_ACC_DRDY_RCC_GPIO RCC_APB2Periph_GPIOD
#define IMU_ACC_DRDY_GPIO GPIOD
#define IMU_ACC_DRDY_GPIO_PORTSOURCE GPIO_PortSourceGPIOD
/* Default actuators driver */ /* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h" #define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
sw/airborne/boards/lisa_m_1.0.h
-5
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@@ -70,11 +70,6 @@
#define LED_BODY_GPIO_OFF GPIO_BRR #define LED_BODY_GPIO_OFF GPIO_BRR
#define LED_BODY_AFIO_REMAP ((void)0) #define LED_BODY_AFIO_REMAP ((void)0)
/* configuration for aspirin - and more generaly IMUs */
#define IMU_ACC_DRDY_RCC_GPIO RCC_APB2ENR_IOPBEN
#define IMU_ACC_DRDY_GPIO GPIOB
#define IMU_ACC_DRDY_GPIO_PORTSOURCE GPIO_PortSourceGPIOB
/* Default actuators driver */ /* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h" #define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
sw/airborne/boards/lisa_m_2.0.h
-6
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@@ -115,12 +115,6 @@
#define LED_12_AFIO_REMAP ((void)0) #define LED_12_AFIO_REMAP ((void)0)
/* configuration for aspirin - and more generaly IMUs */
#define IMU_ACC_DRDY_RCC_GPIO RCC_APB2ENR_IOPBEN
#define IMU_ACC_DRDY_GPIO GPIOB
#define IMU_ACC_DRDY_GPIO_PORTSOURCE GPIO_PortSourceGPIOB
/* Default actuators driver */ /* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h" #define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y) #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
sw/airborne/lisa/test/lisa_test_adxl345.c
-292
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@@ -1,292 +0,0 @@
/*
* 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.
*/
/* lisa/L lisa/M
* ACC_DRDY PD2 PB2
* ACC_SS PB12 PB12
*
*/
#include <libopencm3/stm32/f1/gpio.h>
#include <libopencm3/stm32/exti.h>
#include <libopencm3/stm32/spi.h>
#include BOARD_CONFIG
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/datalink/downlink.h"
#include "peripherals/adxl345.h"
#include "my_debug_servo.h"
#include "led.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);
int main(void) {
main_init();
while(1) {
if (sys_time_check_and_ack_timer(0))
main_periodic_task();
main_event_task();
}
return 0;
}
static inline void main_init( void ) {
mcu_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
main_init_hw();
}
static void write_to_reg(uint8_t addr, uint8_t val);
static uint8_t read_fom_reg(uint8_t addr);
#define CONFIGURED 6
static uint8_t acc_status=0;
static volatile uint8_t acc_ready_for_read = FALSE;
static uint8_t values[6];
#define AccUnselect() GPIOB->BSRR = GPIO_Pin_12
#define AccSelect() GPIOB->BRR = GPIO_Pin_12
#define AccToggleSelect() GPIOB->ODR ^= GPIO_Pin_12
static void write_to_reg(uint8_t addr, uint8_t val) {
#warning "Needs porting to libopencm3 or use the real driver!"
#if 0
AccSelect();
SPI_I2S_SendData(SPI2, addr);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
SPI_I2S_SendData(SPI2, val);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
AccUnselect();
#endif
}
static uint8_t read_fom_reg(uint8_t addr) {
#warning "Needs porting to libopencm3 or use the real driver!"
#if 0
AccSelect();
SPI_I2S_SendData(SPI2, (1<<7|addr));
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
SPI_I2S_SendData(SPI2, 0x00);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
uint8_t ret = SPI_I2S_ReceiveData(SPI2);
AccUnselect();
#endif
return ret;
}
static void read_data(void) {
#warning "Needs porting to libopencm3 or use the real driver!"
#if 0
AccSelect();
SPI_I2S_SendData(SPI2, (1<<7|1<<6|ADXL345_REG_DATA_X0));
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
uint8_t __attribute__ ((unused)) foo = SPI_I2S_ReceiveData(SPI2);
SPI_I2S_SendData(SPI2, 0x00);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
values[0] = SPI_I2S_ReceiveData(SPI2);
SPI_I2S_SendData(SPI2, 0x00);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
values[1] = SPI_I2S_ReceiveData(SPI2);
SPI_I2S_SendData(SPI2, 0x00);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
values[2] = SPI_I2S_ReceiveData(SPI2);
SPI_I2S_SendData(SPI2, 0x00);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
values[3] = SPI_I2S_ReceiveData(SPI2);
SPI_I2S_SendData(SPI2, 0x00);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
values[4] = SPI_I2S_ReceiveData(SPI2);
SPI_I2S_SendData(SPI2, 0x00);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
values[5] = SPI_I2S_ReceiveData(SPI2);
AccUnselect();
#endif
}
static inline void main_periodic_task( void ) {
RunOnceEvery(10,
{
DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
LED_PERIODIC();
});
switch (acc_status) {
case 1:
{
/* read data rate */
// uint8_t bar = read_fom_reg(ADXL345_REG_BW_RATE);
}
/* set data rate to 800Hz */
write_to_reg(ADXL345_REG_BW_RATE, 0x0D);
break;
case 2:
/* switch to measurememnt mode */
write_to_reg(ADXL345_REG_POWER_CTL, 1<<3);
break;
case 3:
/* enable data ready interrupt */
write_to_reg(ADXL345_REG_INT_ENABLE, 1<<7);
break;
case 4:
/* Enable full res and interrupt active low */
write_to_reg(ADXL345_REG_DATA_FORMAT, 1<<3|1<<5);
break;
case 5:
/* reads data once to bring interrupt line up */
read_data();
break;
case CONFIGURED:
// read_data();
break;
default:
break;
}
if (acc_status < CONFIGURED) acc_status++;
}
static inline void main_event_task( void ) {
if (acc_status >= CONFIGURED && acc_ready_for_read) {
read_data();
acc_ready_for_read = FALSE;
int32_t iax = *((int16_t*)&values[0]);
int32_t iay = *((int16_t*)&values[2]);
int32_t iaz = *((int16_t*)&values[4]);
RunOnceEvery(10, {DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice, &iax, &iay, &iaz);});
}
}
static inline void main_init_hw( void ) {
#warning "Needs porting to libopencm3 or use the real driver!"
#if 0
/* configure acc slave select */
/* set acc slave select as output and assert it ( on PB12) */
AccUnselect();
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* configure external interrupt exti2 on P(B/D)2( accel int ) */
RCC_APB2PeriphClockCmd(IMU_ACC_DRDY_RCC_GPIO | RCC_APB2Periph_AFIO, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(IMU_ACC_DRDY_GPIO, &GPIO_InitStructure);
EXTI_InitTypeDef EXTI_InitStructure;
GPIO_EXTILineConfig(IMU_ACC_DRDY_GPIO_PORTSOURCE, GPIO_PinSource2);
EXTI_InitStructure.EXTI_Line = EXTI_Line2;
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 = EXTI2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Enable SPI2 Periph clock -------------------------------------------------*/
RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
/* Configure GPIOs: SCK, MISO and MOSI --------------------------------*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO , ENABLE);
SPI_Cmd(SPI2, ENABLE);
/* configure SPI */
SPI_InitTypeDef SPI_InitStructure;
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
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_Init(SPI2, &SPI_InitStructure);
DEBUG_SERVO2_INIT();
#endif
}
void exti2_irq_handler(void) {
/* clear EXTI */
exti_reset_request(EXTI2);
//DEBUG_S4_TOGGLE();
acc_ready_for_read = TRUE;
}