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baro on spi (doesn't work yet)

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This commit is contained in:
Gautier Hattenberger
2008-10-09 07:51:24 +00:00
parent 07323278de
commit eb8853cb5b
4 changed files with 213 additions and 1 deletions
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conf/autopilot/conf_wt.h
+29
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@@ -0,0 +1,29 @@
#ifndef CONFIG_WT_H
#define CONFIG_WT_H
/* Master oscillator freq. */
#define FOSC (12000000)
/* PLL multiplier */
#define PLL_MUL (5)
/* CPU clock freq. */
#define CCLK (FOSC * PLL_MUL)
/* Peripheral bus speed mask 0x00->4, 0x01-> 1, 0x02 -> 2 */
#define PBSD_BITS 0x00
#define PBSD_VAL 4
/* Peripheral bus clock freq. */
#define PCLK (CCLK / PBSD_VAL)
#define LED_1_BANK 1
#define LED_1_PIN 24
#define SPI_SELECT_SLAVE0_PORT 0
#define SPI_SELECT_SLAVE0_PIN 20
#define SPI1_DRDY_PINSEL PINSEL1
#define SPI1_DRDY_PINSEL_BIT 0
#define SPI1_DRDY_PINSEL_VAL 1
#define SPI1_DRDY_EINT 0
#define SPI1_DRDY_VIC_IT VIC_EINT0
#endif /* CONFIG_WT_H */
sw/airborne/wind_tunnel/main.c
+21 -1
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@@ -14,6 +14,8 @@
#include "wt_servo.h"
#include "spi.h"
#include "wt_baro.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
@@ -45,16 +47,32 @@ static inline void main_init( void ) {
wt_servo_init();
wt_servo_set(500);
spi_init();
wt_baro_init();
int_enable();
}
static inline void main_periodic_task( void ) {
// LED_TOGGLE(1);
LED_TOGGLE(1);
DOWNLINK_SEND_TAKEOFF(&motor_power);
wt_baro_periodic();
DOWNLINK_SEND_DEBUG(3,buf_input);
}
static inline void main_event_task( void ) {
DatalinkEvent();
// spi baro
if (spi_message_received) {
/* Got a message on SPI. */
spi_message_received = FALSE;
wt_baro_event();
uint16_t temp = 0;
float alt = 0.;
DOWNLINK_SEND_BARO_MS5534A(&wt_baro_pressure,&temp,&alt);
}
}
@@ -82,3 +100,5 @@ void dl_parse_msg(void) {
}
}
sw/airborne/wind_tunnel/wt_baro.c
+122
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@@ -0,0 +1,122 @@
/*
* $Id$
*
* Copyright (C) 2007 ENAC
*
* 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.
*
*/
/** \file
* \brief
*
*/
#include "wt_baro.h"
#include "spi.h"
uint32_t wt_baro_pressure;
bool_t wt_baro_available;
static bool_t status_read_data;
#define CMD_INIT_1 0x24 // set chanel AIN1/AIN2 and next operation on filter high
#define CMD_INIT_2 0xCF // set unipolar mode, 24 bits, no boost, filter high
#define CMD_INIT_3 0x34 // set chanel AIN1/AIN2 and next operation on filter low
#define CMD_INIT_4 0x00 // set low filter
#define CMD_INIT_5 0x14 // set chanel AIN1/AIN2 and next operation on mode register
#define CMD_INIT_6 0x20 // set gain to 1, burnout current off, no filter sync, self calibration
#define CMD_MEASUREMENT 0x54 // set chanel AIN1/AIN2 and next operation on data register
uint8_t buf_input[3];
uint8_t buf_output[3];
#define Uint24(buf_input) (((uint32_t)buf_input[0]) << 16 |((uint16_t)buf_input[1]) << 8 | buf_input[2])
static void send1_on_spi(uint8_t d) {
buf_output[0] = d;
spi_buffer_length = 1;
spi_buffer_input = (uint8_t*)&buf_input;
spi_buffer_output = (uint8_t*)&buf_output;
SpiStart();
}
void wt_baro_init( void ) {
wt_baro_pressure = 0;
send1_on_spi(CMD_INIT_1);
send1_on_spi(CMD_INIT_2);
send1_on_spi(CMD_INIT_3);
send1_on_spi(CMD_INIT_4);
send1_on_spi(CMD_INIT_5);
send1_on_spi(CMD_INIT_6);
status_read_data = FALSE;
wt_baro_available = FALSE;
}
void wt_baro_periodic(void) {
if (!SpiCheckAvailable()) {
SpiOverRun();
return;
}
if (status_read_data) {
buf_output[0] = buf_output[1] = buf_output[2] = 0;
spi_buffer_length = 3;
}
else {
buf_output[0] = CMD_MEASUREMENT;
spi_buffer_length = 1;
}
spi_buffer_input = (uint8_t*)&buf_input;
spi_buffer_output = (uint8_t*)&buf_output;
//if (status_read_data)
// SpiSetCPHA();
//else
// SpiClrCPHA();
SpiStart();
}
static uint32_t data;
/* Handle the SPI message, i.e. store the received values in variables */
void wt_baro_event( void ) {
if (status_read_data) {
data = Uint24(buf_input);
/* Compute pressure */
wt_baro_pressure = data;
wt_baro_available = TRUE;
} /* else nothing to read */
status_read_data = !status_read_data;
//if (!status_read_data) {
// /* Ask next conversion now */
// baro_MS5534A_send();
//}
}
sw/airborne/wind_tunnel/wt_baro.h
+41
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@@ -0,0 +1,41 @@
/*
* $Id$
*
* Copyright (C) 2007 ENAC
*
* 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.
*
*/
/** \file
* \brief
*
*/
#include "std.h"
extern uint8_t buf_input[3];
extern uint8_t buf_output[3];
extern bool_t wt_baro_available;
extern uint32_t wt_baro_pressure;
extern void wt_baro_init(void);
extern void wt_baro_periodic(void);
extern void wt_baro_event(void);