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converted hmc5843 test program to new i2c interface

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This commit is contained in:
Antoine Drouin
2010-09-02 18:05:09 +00:00
parent 2c69bf4982
commit e6b3f0bee7
4 changed files with 67 additions and 24 deletions
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conf/airframes/Poine/booz2_a7.xml
+2 -1
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@@ -182,7 +182,7 @@
-->
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.1">
<target name="ap" board="lisa_l_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum">
<param name="RADIO_CONTROL_SPEKTRUM_MODEL"
@@ -208,6 +208,7 @@
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
<target name="test_rc_ppm" board="lisa_l_1.0"/>
<target name="test_adc" board="lisa_l_1.0"/>
<target name="test_hmc5843" board="lisa_l_1.0"/>
</firmware>
<firmware name="lisa_passthrough">
conf/autopilot/lisa_l_test_progs.makefile
+28 -1
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@@ -224,7 +224,7 @@ test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_adc.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_adc.srcs += $(SRC_ARCH)/uart_hw.c
test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=$(MODEM_PORT)
test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_adc.srcs += downlink.c pprz_transport.c
@@ -277,3 +277,30 @@ test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peri
test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
#
# test hmc5843
#
test_hmc5843.ARCHDIR = $(ARCHI)
test_hmc5843.TARGET = test_hmc5843
test_hmc5843.TARGETDIR = test_hmc5843
test_hmc5843.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -Ibooz -DPERIPHERALS_AUTO_INIT
test_hmc5843.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_hmc5843.srcs = lisa/test/lisa_test_hmc5843.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_hmc5843.CFLAGS += -DUSE_LED
test_hmc5843.srcs += $(SRC_ARCH)/led_hw.c
test_hmc5843.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
test_hmc5843.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_hmc5843.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_hmc5843.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_hmc5843.srcs += $(SRC_ARCH)/uart_hw.c
test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_hmc5843.srcs += downlink.c pprz_transport.c
test_hmc5843.CFLAGS += -DUSE_I2C2
test_hmc5843.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
test_hmc5843.CFLAGS += -DIMU_OVERRIDE_CHANNELS
test_hmc5843.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
sw/airborne/lisa/test/lisa_test_hmc5843.c
+34 -21
View File
@@ -1,7 +1,7 @@
/*
* $Id$
*
* Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
*
@@ -43,7 +43,8 @@ static inline void main_event_task( void );
static inline void main_init_hw(void);
static uint8_t i2c_done = FALSE;
//static uint8_t i2c_done = FALSE;
static struct i2c_transaction i2c_trans;
#define INITIALISZED 6
static uint8_t mag_state = 0;
static volatile uint8_t mag_ready_for_read = FALSE;
@@ -92,19 +93,28 @@ static inline void main_periodic_task( void ) {
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);
i2c_trans.type = I2CTransTx;
i2c_trans.slave_addr = HMC5843_ADDR;
i2c_trans.buf[0] = HMC5843_REG_CFGA; // set to rate to 50Hz
i2c_trans.buf[1] = 0x00 | (0x06 << 2);
i2c_trans.len_w = 2;
i2c_submit(&i2c2,&i2c_trans);
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);
i2c_trans.type = I2CTransTx;
i2c_trans.slave_addr = HMC5843_ADDR;
i2c_trans.buf[0] = HMC5843_REG_CFGB; // set to gain to 1 Gauss
i2c_trans.buf[1] = 0x01<<5;
i2c_trans.len_w = 2;
i2c_submit(&i2c2,&i2c_trans);
break;
case 4:
i2c2.buf[0] = HMC5843_REG_MODE; // set to continuous mode
i2c2.buf[1] = 0x00;
i2c2_transmit(HMC5843_ADDR, 2, &i2c_done);
i2c_trans.type = I2CTransTx;
i2c_trans.slave_addr = HMC5843_ADDR;
i2c_trans.buf[0] = HMC5843_REG_MODE; // set to continuous mode
i2c_trans.buf[1] = 0x00;
i2c_trans.len_w = 2;
i2c_submit(&i2c2,&i2c_trans);
break;
case 5:
break;
@@ -115,29 +125,32 @@ static inline void main_periodic_task( void ) {
default:
break;
}
// if (mag_state == 4) mag_state=1;
if (mag_state < INITIALISZED) mag_state++;
}
static inline void main_event_task( void ) {
if (mag_state == INITIALISZED && mag_ready_for_read && i2c_done) {
if (mag_state == INITIALISZED && mag_ready_for_read && i2c_trans.status==I2CTransSuccess) {
/* read mag */
i2c2_receive(HMC5843_ADDR, 7, &i2c_done);
i2c_trans.type = I2CTransRx;
i2c_trans.slave_addr = HMC5843_ADDR;
i2c_trans.len_r = 7;
i2c_submit(&i2c2,&i2c_trans);
reading_mag = TRUE;
mag_ready_for_read = FALSE;
}
if (reading_mag && i2c_done) {
RunOnceEvery(10,
if (reading_mag && i2c_trans.status==I2CTransSuccess) {
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];
int16_t mx = i2c_trans.buf[0]<<8 | i2c_trans.buf[1];
int16_t my = i2c_trans.buf[2]<<8 | i2c_trans.buf[3];
int16_t mz = i2c_trans.buf[4]<<8 | i2c_trans.buf[5];
struct Int32Vect3 m;
VECT3_ASSIGN(m, mx, my, mz);
DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, &m.x, &m.y, &m.z);
sw/airborne/stm32/i2c_hw.c
+3 -1
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@@ -693,8 +693,8 @@ bool_t i2c_submit(struct i2c_periph* p, struct i2c_transaction* t) {
t->status = I2CTransPending;
// FIXME : disable IRQ
__disable_irq();
/* put transacation in queue */
p->trans[p->trans_insert_idx] = t;
p->trans_insert_idx = temp;
@@ -703,6 +703,8 @@ bool_t i2c_submit(struct i2c_periph* p, struct i2c_transaction* t) {
if (p->status == I2CIdle)
start_transaction(p);
__enable_irq();
return TRUE;
}