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updated for new i2c errors message

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This commit is contained in:
Antoine Drouin
2010-08-12 00:44:49 +00:00
parent 94d5699ff8
commit d33f8e2731
2 changed files with 77 additions and 36 deletions
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sw/airborne/lisa/test/lisa_test_hmc5843.c
+14 -9
View File
@@ -77,13 +77,19 @@ static inline void main_periodic_task( void ) {
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);
});
{
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
&i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt,
&i2c2_errors.over_under_cnt,
&i2c2_errors.pec_recep_cnt,
&i2c2_errors.timeout_tlow_cnt,
&i2c2_errors.smbus_alert_cnt,
&i2c2_errors.unexpected_event_cnt,
&i2c2_errors.last_unexpected_event);
});
switch (mag_state) {
case 2:
i2c2.buf[0] = HMC5843_REG_CFGA; // set to rate to 50Hz
@@ -176,6 +182,7 @@ static inline void main_init_hw( void ) {
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
DEBUG_SERVO1_INIT();
DEBUG_SERVO2_INIT();
}
@@ -188,7 +195,5 @@ void exti9_5_irq_handler(void) {
if(EXTI_GetITStatus(EXTI_Line5) != RESET)
EXTI_ClearITPendingBit(EXTI_Line5);
DEBUG_S4_TOGGLE();
mag_ready_for_read = TRUE;
}
sw/airborne/lisa/test/lisa_test_itg3200.c
+63 -27
View File
@@ -44,12 +44,12 @@ static inline void main_event_task( void );
static inline void main_init_hw(void);
static uint8_t i2c_done = FALSE;
#define INITIALISZED 5
#define INITIALISZED 6
static uint8_t gyro_state = 0;
static volatile uint8_t gyro_ready_for_read = FALSE;
static uint8_t reading_gyro = FALSE;
extern void exti2_irq_handler(void);
void exti15_10_irq_handler(void);
int main(void) {
main_init();
@@ -76,29 +76,39 @@ static inline void main_periodic_task( void ) {
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);
});
RunOnceEvery(256, {
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
&i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt,
&i2c2_errors.over_under_cnt,
&i2c2_errors.pec_recep_cnt,
&i2c2_errors.timeout_tlow_cnt,
&i2c2_errors.smbus_alert_cnt,
&i2c2_errors.unexpected_event_cnt,
&i2c2_errors.last_unexpected_event);
});
switch (gyro_state) {
case 2:
/* set gyro range to 2000deg/s and low pass at 256Hz */
i2c2.buf[0] = ITG3200_REG_DLPF_FS;
i2c2.buf[1] = 0x03;
i2c2.buf[1] = (0x03<<3);
i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
break;
case 3:
/* set sample rate to 533Hz */
i2c2.buf[0] = ITG3200_REG_SMPLRT_DIV;
i2c2.buf[1] = 0x0E;
i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
break;
case 4:
/* switch to gyroX clock */
i2c2.buf[0] = ITG3200_REG_PWR_MGM;
i2c2.buf[1] = 0x01;
i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
break;
case 4:
case 5:
/* enable interrupt on data ready, idle hight */
i2c2.buf[0] = ITG3200_REG_INT_CFG;
i2c2.buf[1] = (0x01 | 0x01<<7);
@@ -118,36 +128,57 @@ static inline void main_periodic_task( void ) {
}
#if 0
#endif
static inline void main_event_task( void ) {
if (gyro_state == INITIALISZED && gyro_ready_for_read) {
/* reads 8 bytes from address 0x1b */
i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
i2c2_transceive(ITG3200_ADDR,1, 8, &i2c_done);
// i2c2.buf[0] = ITG3200_REG_GYRO_XOUT_H;
// i2c2_transceive(ITG3200_ADDR,1, 6, &i2c_done);
gyro_ready_for_read = FALSE;
reading_gyro = TRUE;
}
if (reading_gyro && i2c_done) {
// DEBUG_S5_ON();
reading_gyro = FALSE;
int16_t tgp, tgq, tgr;
int16_t ttemp = i2c2.buf[0]<<8 | i2c2.buf[1];
#if 1
tgp = i2c2.buf[2]<<8 | i2c2.buf[3];
tgq = i2c2.buf[4]<<8 | i2c2.buf[5];
tgr = i2c2.buf[6]<<8 | i2c2.buf[7];
#endif
#if 0
tgp = __REVSH(*(int16_t*)(i2c2.buf+2));
tgq = __REVSH(*(int16_t*)(i2c2.buf+4));
tgr = __REVSH(*(int16_t*)(i2c2.buf+6));
#endif
#if 0
MyByteSwap16(*(int16_t*)(i2c2.buf+2), tgp);
MyByteSwap16(*(int16_t*)(i2c2.buf+4), tgq);
MyByteSwap16(*(int16_t*)(i2c2.buf+6), tgr);
#endif
struct Int32Rates g;
RATES_ASSIGN(g, tgp, tgq, tgr);
RunOnceEvery(10,
{
int16_t ttemp = i2c2.buf[0]<<8 | i2c2.buf[1];
int16_t tgp = i2c2.buf[2]<<8 | i2c2.buf[3];
int16_t tgq = i2c2.buf[4]<<8 | i2c2.buf[5];
int16_t tgr = i2c2.buf[6]<<8 | i2c2.buf[7];
int32_t temp = ttemp;
struct Int32Rates g;
RATES_ASSIGN(g, tgp, tgq, tgr);
DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &g.p, &g.q, &g.r);
// uint8_t tmp[8];
// memcpy(tmp, i2c2.buf, 8);
// DOWNLINK_SEND_DEBUG(DefaultChannel, 8, tmp);
}
);
reading_gyro = FALSE;
uint8_t tmp[8];
memcpy(tmp, i2c2.buf, 8);
DOWNLINK_SEND_DEBUG(DefaultChannel, 8, tmp);
});
// DEBUG_S5_OFF();
}
}
static inline void main_init_hw( void ) {
@@ -189,6 +220,7 @@ static inline void main_init_hw( void ) {
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
DEBUG_SERVO1_INIT();
DEBUG_SERVO2_INIT();
}
@@ -196,6 +228,8 @@ static inline void main_init_hw( void ) {
void exti15_10_irq_handler(void) {
// DEBUG_S4_ON();
/* clear EXTI */
if(EXTI_GetITStatus(EXTI_Line14) != RESET)
EXTI_ClearITPendingBit(EXTI_Line14);
@@ -204,4 +238,6 @@ void exti15_10_irq_handler(void) {
gyro_ready_for_read = TRUE;
// DEBUG_S4_OFF();
}