mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 15:30:08 +08:00
[airborne] removed unused and obsolete micromag
if the micromag sensor itself is still needed/used, update the mag_micromag_fw module to use new spi subsystem and make it arch/firmware independent
This commit is contained in:
Felix Ruess
@@ -79,30 +79,6 @@ test_max1168.CFLAGS += -DMAX1168_EOC_VIC_SLOT=11
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test_max1168.srcs += peripherals/max1168.c \
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$(SRC_ARCH)/peripherals/max1168_arch.c
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#
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# test MICROMAG
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#
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test_micromag.ARCHDIR = $(ARCH)
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test_micromag.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
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test_micromag.srcs += $(SRC_BOOZ_TEST)/booz2_test_micromag.c
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test_micromag.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
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test_micromag.CFLAGS += -DUSE_LED
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test_micromag.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
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test_micromag.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
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test_micromag.srcs += mcu_periph/uart.c
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test_micromag.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
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test_micromag.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
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test_micromag.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
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#test_micromag.CFLAGS += -I$(BOOZ)
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#test_micromag.srcs += pprz_debug.c
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test_micromag.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12
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test_micromag.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
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#
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@@ -287,30 +263,6 @@ test_crista.srcs += $(SRC_BOOZ)/booz2_imu_crista.c $(SRC_BOOZ_ARCH)/booz2_imu_cr
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#
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# test MICROMAG
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#
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test_micromag2.ARCHDIR = $(ARCH)
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test_micromag2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
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test_micromag2.srcs += $(SRC_BOOZ_TEST)/booz2_test_micromag_2.c
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test_micromag2.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12
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test_micromag2.CFLAGS += -DPERIODIC_FREQUENCY='50.' -DSYS_TIME_LED=1
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test_micromag2.CFLAGS += -DUSE_LED
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test_micromag2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
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test_micromag2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
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test_micromag2.srcs += mcu_periph/uart.c
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test_micromag2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
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test_micromag2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
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test_micromag2.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
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#
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# test IMU b2
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#
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@@ -1,64 +0,0 @@
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/* PNI micromag3 connected on SPI1 */
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/*
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Twisted Logic
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SS on P0.20
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RESET on P0.29
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DRDY on P0.30 ( EINT3 )
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*/
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/*
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IMU v3
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SS on P0.20
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RESET on P1.21
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DRDY on P0.15 ( EINT2 )
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*/
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/*
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IMU b2
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SS on P1.28
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RESET on P1.19
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DRDY on P0.30 ( EINT3)
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*/
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#include "micromag.h"
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volatile uint8_t micromag_cur_axe;
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static void EXTINT_ISR(void) __attribute__((naked));
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void micromag_hw_init( void ) {
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MmUnselect(); /* pin idles high */
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/* configure SS pin */
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SetBit(MM_SS_IODIR, MM_SS_PIN); /* pin is output */
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/* configure RESET pin */
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SetBit(MM_RESET_IODIR, MM_RESET_PIN); /* pin is output */
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MmReset(); /* pin idles low */
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/* configure DRDY pin */
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/* connected pin to EXINT */
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MM_DRDY_PINSEL |= MM_DRDY_PINSEL_VAL << MM_DRDY_PINSEL_BIT;
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SetBit(EXTMODE, MM_DRDY_EINT); /* EINT is edge trigered */
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SetBit(EXTPOLAR,MM_DRDY_EINT); /* EINT is trigered on rising edge */
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SetBit(EXTINT,MM_DRDY_EINT); /* clear pending EINT */
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/* initialize interrupt vector */
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VICIntSelect &= ~VIC_BIT( MM_DRDY_VIC_IT ); /* select EINT as IRQ source */
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VICIntEnable = VIC_BIT( MM_DRDY_VIC_IT ); /* enable it */
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_VIC_CNTL(MICROMAG_DRDY_VIC_SLOT) = VIC_ENABLE | MM_DRDY_VIC_IT;
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_VIC_ADDR(MICROMAG_DRDY_VIC_SLOT) = (uint32_t)EXTINT_ISR; // address of the ISR
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}
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void EXTINT_ISR(void) {
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ISR_ENTRY();
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/* no, we won't do anything asynchronously, so just notify */
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micromag_status = MM_GOT_EOC;
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/* clear EINT */
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//SetBit(EXTINT,MM_DRDY_EINT);
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EXTINT = (1<<MM_DRDY_EINT);
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VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
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ISR_EXIT();
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}
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@@ -1,93 +0,0 @@
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#ifndef MICROMAG_HW_H
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#define MICROMAG_HW_H
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#include <stdlib.h> // for abs
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#include "std.h"
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#include "LPC21xx.h"
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#include "interrupt_hw.h"
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#include "ssp_hw.h"
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#include BOARD_CONFIG
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#include "generated/airframe.h"
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#define MM_DIVISOR_128 2
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#define MM_DIVISOR_256 3
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#define MM_DIVISOR_512 4
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#define MM_DIVISOR_1024 5
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#define MM_DIVISOR MM_DIVISOR_512
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extern volatile uint8_t micromag_cur_axe;
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#define MmSelect() SetBit(MM_SS_IOCLR,MM_SS_PIN)
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#define MmUnselect() SetBit(MM_SS_IOSET,MM_SS_PIN)
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#define MmReset() SetBit(MM_RESET_IOCLR,MM_RESET_PIN)
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#define MmSet() SetBit(MM_RESET_IOSET,MM_RESET_PIN)
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#define MmOnSpiIt() { \
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switch (micromag_status) { \
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case MM_SENDING_REQ: \
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{ \
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/* read dummy control byte reply */ \
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uint8_t foo __attribute__ ((unused)) = SSPDR; \
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micromag_status = MM_WAITING_EOC; \
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MmUnselect(); \
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SSP_ClearRti(); \
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SSP_DisableRti(); \
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SSP_Disable(); \
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} \
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break; \
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case MM_READING_RES: \
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{ \
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int16_t new_val; \
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new_val = SSPDR << 8; \
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new_val += SSPDR; \
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if (abs(new_val) < 2000) \
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micromag_values[micromag_cur_axe] = new_val; \
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MmUnselect(); \
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SSP_ClearRti(); \
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SSP_DisableRti(); \
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SSP_Disable(); \
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micromag_cur_axe++; \
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if (micromag_cur_axe > 2) { \
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micromag_cur_axe = 0; \
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micromag_status = MM_DATA_AVAILABLE; \
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} \
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else \
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micromag_status = MM_IDLE; \
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} \
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break; \
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} \
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}
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#define MmSendReq() { \
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MmSelect(); \
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micromag_status = MM_SENDING_REQ; \
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MmSet(); \
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SSP_ClearRti(); \
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SSP_EnableRti(); \
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MmReset(); \
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uint8_t control_byte = (micromag_cur_axe+1) << 0 | MM_DIVISOR_1024 << 4; \
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SSP_Send(control_byte); \
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SSP_Enable(); \
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}
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#define MmReadRes() { \
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micromag_status = MM_READING_RES; \
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MmSelect(); \
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/* trigger 2 bytes read */ \
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SSP_Send(0); \
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SSP_Send(0); \
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SSP_Enable(); \
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SSP_ClearRti(); \
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SSP_EnableRti(); \
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}
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#endif /* MICROMAG_HW_H */
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@@ -1,40 +0,0 @@
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/*
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* Copyright (C) 2008 Antoine Drouin
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/*
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* Simulator hardware implementation of the PNI micromag magnetometer
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*/
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#include "micromag.h"
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void micromag_hw_init( void ) {}
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void micromag_read( void ) {}
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void micromag_hw_feed_value(VEC* mag) {
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micromag_values[0] = mag->ve[0];
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micromag_values[1] = mag->ve[1];
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micromag_values[2] = mag->ve[2];
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micromag_status = MM_DATA_AVAILABLE;
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}
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@@ -1,35 +0,0 @@
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/*
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* Copyright (C) 2008 Antoine Drouin
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/*
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* Simulator hardware implementation of the PNI micromag magnetometer
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*/
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#ifndef MICROMAG_HW_H
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#define MICROMAG_HW_H
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#include <matrix.h>
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extern void micromag_hw_feed_value(VEC* mag);
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#endif /* MICROMAG_HW_H */
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@@ -1,170 +0,0 @@
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/*
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* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
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*
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* This file is part of paparazzi.
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*
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* 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.
|
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*
|
||||
* 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,
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* Boston, MA 02111-1307, USA.
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*/
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#include <inttypes.h>
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#include "std.h"
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#include "mcu.h"
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#include "mcu_periph/sys_time.h"
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#include "led.h"
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#include "mcu_periph/uart.h"
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#include "messages.h"
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#include "subsystems/datalink/downlink.h"
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#include "interrupt_hw.h"
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#include "armVIC.h"
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#include "LPC21xx.h"
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#include "micromag.h"
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static inline void main_init( void );
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static inline void main_periodic_task( void );
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static inline void main_event_task( void );
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static void main_init_ssp(void);
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static void SSP_ISR(void) __attribute__((naked));
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int main( void ) {
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main_init();
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while(1) {
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if (sys_time_check_and_ack_timer(0))
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main_periodic_task();
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main_event_task();
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}
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return 0;
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}
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static inline void main_init( void ) {
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mcu_init();
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sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
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led_init();
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uart1_init_tx();
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/* configure SS pin */
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SetBit(IO0DIR, 20); /* pin is output */
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SetBit(IO0SET, 20);
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main_init_ssp();
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micromag_init();
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mcu_int_enable();
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}
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static inline void main_periodic_task( void ) {
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static uint8_t cnt = 0;
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if (micromag_status == MM_IDLE) {
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LED_TOGGLE(4);
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// uint8_t * tab = &cnt;
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// DOWNLINK_SEND_DEBUG(1,tab);
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cnt = 0;
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MmSendReq();
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}
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else if (micromag_status == MM_GOT_EOC) {
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LED_TOGGLE(2);
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MmReadRes();
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}
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else if (micromag_status == MM_WAITING_EOC) {
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cnt++;
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if (cnt > 50) {cnt = 0; micromag_status = MM_IDLE;}
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}
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RunOnceEvery(10, {DOWNLINK_SEND_BOOT(&sys_time.nb_sec);});
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}
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static inline void main_event_task( void ) {
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if (micromag_status == MM_DATA_AVAILABLE) {
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LED_TOGGLE(3);
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DOWNLINK_SEND_IMU_MAG_RAW(µmag_values[0],
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µmag_values[1],
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µmag_values[2] );
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micromag_status = MM_IDLE;
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}
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}
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/* SSPCR0 settings */
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#define SSP_DDS 0x07 << 0 /* data size : 8 bits */
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#define SSP_FRF 0x00 << 4 /* frame format : SPI */
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#define SSP_CPOL 0x00 << 6 /* clock polarity : data captured on first clock transition */
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#define SSP_CPHA 0x00 << 7 /* clock phase : SCK idles low */
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#define SSP_SCR 0x0F << 8 /* serial clock rate : divide by 16 */
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/* SSPCR1 settings */
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#define SSP_LBM 0x00 << 0 /* loopback mode : disabled */
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#define SSP_SSE 0x00 << 1 /* SSP enable : disabled */
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#define SSP_MS 0x00 << 2 /* master slave mode : master */
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#define SSP_SOD 0x00 << 3 /* slave output disable : don't care when master */
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#define SSPCR0_VAL (SSP_DDS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR )
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#define SSPCR1_VAL (SSP_LBM | SSP_SSE | SSP_MS | SSP_SOD )
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#define SSP_PINSEL1_SCK (2<<2)
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#define SSP_PINSEL1_MISO (2<<4)
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#define SSP_PINSEL1_MOSI (2<<6)
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#define SSP_Enable() SetBit(SSPCR1, SSE);
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#define SSP_Disable() ClearBit(SSPCR1, SSE);
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#define SSP_EnableRxi() SetBit(SSPIMSC, RXIM)
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#define SSP_DisableRxi() ClearBit(SSPIMSC, RXIM)
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#define SSP_EnableTxi() SetBit(SSPIMSC, TXIM)
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#define SSP_DisableTxi() ClearBit(SSPIMSC, TXIM)
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#define SSP_EnableRti() SetBit(SSPIMSC, RTIM);
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#define SSP_DisableRti() ClearBit(SSPIMSC, RTIM);
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#define SSP_ClearRti() SetBit(SSPICR, RTIC);
|
||||
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||||
#ifndef SSP_VIC_SLOT
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||||
#define SSP_VIC_SLOT 7
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#endif
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||||
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||||
static void main_init_ssp(void) {
|
||||
|
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/* setup pins for SSP (SCK, MISO, MOSI, SSEL) */
|
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PINSEL1 |= SSP_PINSEL1_SCK | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;
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||||
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||||
/* setup SSP */
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SSPCR0 = SSPCR0_VAL;;
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SSPCR1 = SSPCR1_VAL;
|
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SSPCPSR = 0x02;
|
||||
|
||||
/* initialize interrupt vector */
|
||||
VICIntSelect &= ~VIC_BIT( VIC_SPI1 ); /* SPI1 selected as IRQ */
|
||||
VICIntEnable = VIC_BIT( VIC_SPI1 ); /* enable it */
|
||||
_VIC_CNTL(SSP_VIC_SLOT) = VIC_ENABLE | VIC_SPI1;
|
||||
_VIC_ADDR(SSP_VIC_SLOT) = (uint32_t)SSP_ISR; /* address of the ISR */
|
||||
|
||||
}
|
||||
|
||||
static void SSP_ISR(void) {
|
||||
ISR_ENTRY();
|
||||
|
||||
MmOnSpiIt();
|
||||
|
||||
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
|
||||
ISR_EXIT();
|
||||
}
|
||||
@@ -1,18 +0,0 @@
|
||||
#include "micromag.h"
|
||||
|
||||
volatile uint8_t micromag_status;
|
||||
volatile int16_t micromag_values[MM_NB_AXIS];
|
||||
|
||||
void micromag_init( void ) {
|
||||
|
||||
micromag_hw_init();
|
||||
|
||||
uint8_t i;
|
||||
for (i=0; i<MM_NB_AXIS; i++)
|
||||
micromag_values[i] = 0;
|
||||
micromag_status = MM_IDLE;
|
||||
}
|
||||
|
||||
void micromag_reset() {
|
||||
micromag_status = MM_IDLE;
|
||||
}
|
||||
@@ -1,28 +0,0 @@
|
||||
#ifndef MICROMAG_H
|
||||
#define MICROMAG_H
|
||||
|
||||
|
||||
#include "std.h"
|
||||
#define MM_NB_AXIS 3
|
||||
|
||||
extern void micromag_init( void );
|
||||
extern void micromag_read( void );
|
||||
|
||||
extern void micromag_reset( void);
|
||||
|
||||
#define MM_IDLE 0
|
||||
#define MM_BUSY 1
|
||||
#define MM_SENDING_REQ 2
|
||||
#define MM_WAITING_EOC 3
|
||||
#define MM_GOT_EOC 4
|
||||
#define MM_READING_RES 5
|
||||
#define MM_DATA_AVAILABLE 6
|
||||
|
||||
extern volatile uint8_t micromag_status;
|
||||
extern volatile int16_t micromag_values[MM_NB_AXIS];
|
||||
|
||||
extern void micromag_hw_init( void );
|
||||
#include "micromag_hw.h"
|
||||
|
||||
|
||||
#endif /* MICROMAG_H */
|
||||
Reference in New Issue
Block a user