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[paparazzi-commits] [4246] Micromag3 magnetic sensor for fixed wing.
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From: |
Martin Mueller |
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Subject: |
[paparazzi-commits] [4246] Micromag3 magnetic sensor for fixed wing. |
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Date: |
Mon, 12 Oct 2009 12:00:27 +0000 |
Revision: 4246
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4246
Author: mmm
Date: 2009-10-12 12:00:26 +0000 (Mon, 12 Oct 2009)
Log Message:
-----------
Micromag3 magnetic sensor for fixed wing.
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/funjetmm.xml
Added Paths:
-----------
paparazzi3/trunk/sw/airborne/arm7/micromag_fw_hw.c
paparazzi3/trunk/sw/airborne/arm7/micromag_fw_hw.h
paparazzi3/trunk/sw/airborne/micromag_fw.c
paparazzi3/trunk/sw/airborne/micromag_fw.h
Modified: paparazzi3/trunk/conf/airframes/funjetmm.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjetmm.xml 2009-10-12 09:02:46 UTC
(rev 4245)
+++ paparazzi3/trunk/conf/airframes/funjetmm.xml 2009-10-12 12:00:26 UTC
(rev 4246)
@@ -257,8 +257,8 @@
#ap.srcs += baro_scp.c
#ap.CFLAGS += -DUSE_BARO_SCP
-#ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=9 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG
-#ap.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
+ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=9 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
+ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
ap.srcs += joystick.c
ap.CFLAGS += -DUSE_JOYSTICK
Added: paparazzi3/trunk/sw/airborne/arm7/micromag_fw_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arm7/micromag_fw_hw.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arm7/micromag_fw_hw.c 2009-10-12 12:00:26 UTC
(rev 4246)
@@ -0,0 +1,52 @@
+/* PNI micromag3 connected on SPI1 */
+/*
+ Tiny2 (fixed wing)
+ SS on P0.20 (SSEL)
+ RESET on P0.29 (ADC5)
+ DRDY on P0.16 ( EINT0 )
+*/
+
+#include "led.h"
+#include "micromag_fw.h"
+
+volatile uint8_t micromag_cur_axe;
+
+static void EXTINT_ISR(void) __attribute__((naked));
+
+void micromag_hw_init( void ) {
+
+ MmUnselect(); /* pin idles high */
+ /* configure SS pin */
+ SetBit(MM_SS_IODIR, MM_SS_PIN); /* pin is output */
+
+ /* configure RESET pin */
+ SetBit(MM_RESET_IODIR, MM_RESET_PIN); /* pin is output */
+ MmReset(); /* pin idles low */
+
+ /* configure DRDY pin */
+ /* connected pin to EXINT */
+ MM_DRDY_PINSEL |= MM_DRDY_PINSEL_VAL << MM_DRDY_PINSEL_BIT;
+ SetBit(EXTMODE, MM_DRDY_EINT); /* EINT is edge trigered */
+ SetBit(EXTPOLAR,MM_DRDY_EINT); /* EINT is trigered on rising edge */
+ SetBit(EXTINT,MM_DRDY_EINT); /* clear pending EINT */
+
+ /* initialize interrupt vector */
+ VICIntSelect &= ~VIC_BIT( MM_DRDY_VIC_IT ); /* select
EINT as IRQ source */
+ VICIntEnable = VIC_BIT( MM_DRDY_VIC_IT ); /* enable
it */
+ _VIC_CNTL(MICROMAG_DRDY_VIC_SLOT) = VIC_ENABLE | MM_DRDY_VIC_IT;
+ _VIC_ADDR(MICROMAG_DRDY_VIC_SLOT) = (uint32_t)EXTINT_ISR; // address
of the ISR
+}
+
+void EXTINT_ISR(void) {
+ ISR_ENTRY();
+//LED_TOGGLE(3);
+
+ /* no, we won't do anything asynchronously, so just notify */
+ micromag_status = MM_GOT_EOC;
+ /* clear EINT */
+ SetBit(EXTINT,MM_DRDY_EINT);
+// EXTINT = (1<<MM_DRDY_EINT);
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+ ISR_EXIT();
+}
+
Added: paparazzi3/trunk/sw/airborne/arm7/micromag_fw_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/arm7/micromag_fw_hw.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arm7/micromag_fw_hw.h 2009-10-12 12:00:26 UTC
(rev 4246)
@@ -0,0 +1,93 @@
+#ifndef MICROMAG_FW_HW_H
+#define MICROMAG_FW_HW_H
+
+#include <stdlib.h> // for abs
+
+#include "std.h"
+#include "LPC21xx.h"
+#include "interrupt_hw.h"
+
+#include "spi_hw.h"
+#include BOARD_CONFIG
+
+#include "airframe.h"
+
+#define MM_DIVISOR_128 2
+#define MM_DIVISOR_256 3
+#define MM_DIVISOR_512 4
+#define MM_DIVISOR_1024 5
+
+#define MM_DIVISOR MM_DIVISOR_512
+
+
+extern volatile uint8_t micromag_cur_axe;
+
+#define MmSelect() SetBit(MM_SS_IOCLR,MM_SS_PIN)
+#define MmUnselect() SetBit(MM_SS_IOSET,MM_SS_PIN)
+
+#define MmReset() SetBit(MM_RESET_IOCLR,MM_RESET_PIN)
+#define MmSet() SetBit(MM_RESET_IOSET,MM_RESET_PIN)
+
+#define MmOnSpiIt() { \
+ switch (micromag_status) { \
+ case MM_SENDING_REQ: \
+ {
\
+ /* read dummy control byte reply */ \
+ uint8_t foo __attribute__ ((unused)) = SSPDR; \
+ micromag_status = MM_WAITING_EOC; \
+ MmUnselect(); \
+ SpiClearRti(); \
+ SpiDisableRti(); \
+ SpiDisable(); \
+ }
\
+ break; \
+ case MM_READING_RES: \
+ {
\
+ int16_t new_val; \
+ new_val = SSPDR << 8; \
+ new_val += SSPDR; \
+ if (abs(new_val) < 2000) \
+ micromag_values[micromag_cur_axe] = new_val; \
+ MmUnselect(); \
+ SpiClearRti(); \
+ SpiDisableRti(); \
+ SpiDisable(); \
+ micromag_cur_axe++; \
+ if (micromag_cur_axe > 2) { \
+ micromag_cur_axe = 0; \
+ micromag_status = MM_DATA_AVAILABLE; \
+ } \
+ else \
+ micromag_status = MM_IDLE; \
+ }
\
+ break; \
+ } \
+ }
+
+
+#define MmSendReq() { \
+ MmSelect();
\
+ micromag_status = MM_SENDING_REQ; \
+ MmSet(); \
+ SpiClearRti(); \
+ SpiEnableRti(); \
+ MmReset(); \
+ uint8_t control_byte = (micromag_cur_axe+1) << 0 | MM_DIVISOR_1024 << 4; \
+ SSPDR = control_byte; \
+ SpiEnable(); \
+ }
+
+#define MmReadRes() { \
+ micromag_status = MM_READING_RES; \
+ MmSelect();
\
+ /* trigger 2 bytes read */ \
+ SSPDR = 0; \
+ SSPDR = 0; \
+ SpiEnable(); \
+ SpiClearRti(); \
+ SpiEnableRti(); \
+ }
+
+
+
+#endif /* MICROMAG_HW_H */
Added: paparazzi3/trunk/sw/airborne/micromag_fw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/micromag_fw.c (rev 0)
+++ paparazzi3/trunk/sw/airborne/micromag_fw.c 2009-10-12 12:00:26 UTC (rev
4246)
@@ -0,0 +1,110 @@
+#include "micromag_fw.h"
+#include "led.h"
+
+
+/* SSPCR0 settings */
+#define SSP_DDS 0x07 << 0 /* data size : 8 bits */
+#define SSP_FRF 0x00 << 4 /* frame format : SPI */
+#define SSP_CPOL 0x00 << 6 /* clock polarity : data captured on first
clock transition */
+#define SSP_CPHA 0x00 << 7 /* clock phase : SCK idles low */
+#define SSP_SCR 0x0F << 8 /* serial clock rate : divide by 16 */
+
+/* SSPCR1 settings */
+#define SSP_LBM 0x00 << 0 /* loopback mode : disabled */
+#define SSP_SSE 0x00 << 1 /* SSP enable : disabled */
+#define SSP_MS 0x00 << 2 /* master slave mode : master */
+#define SSP_SOD 0x00 << 3 /* slave output disable : don't care when master */
+
+#define SSPCR0_VAL (SSP_DDS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR )
+#define SSPCR1_VAL (SSP_LBM | SSP_SSE | SSP_MS | SSP_SOD )
+
+#define SSP_PINSEL1_SCK (2<<2)
+#define SSP_PINSEL1_MISO (2<<4)
+#define SSP_PINSEL1_MOSI (2<<6)
+
+#define SSP_Enable() SetBit(SSPCR1, SSE);
+#define SSP_Disable() ClearBit(SSPCR1, SSE);
+#define SSP_EnableRxi() SetBit(SSPIMSC, RXIM)
+#define SSP_DisableRxi() ClearBit(SSPIMSC, RXIM)
+#define SSP_EnableTxi() SetBit(SSPIMSC, TXIM)
+#define SSP_DisableTxi() ClearBit(SSPIMSC, TXIM)
+#define SSP_EnableRti() SetBit(SSPIMSC, RTIM);
+#define SSP_DisableRti() ClearBit(SSPIMSC, RTIM);
+#define SSP_ClearRti() SetBit(SSPICR, RTIC);
+
+volatile uint8_t micromag_status;
+volatile int16_t micromag_values[MM_NB_AXIS];
+
+static void SSP_ISR(void) __attribute__((naked));
+
+void micromag_periodic( void ) {
+
+ static uint8_t cnt = 0;
+
+ if (micromag_status == MM_IDLE) {
+ // uint8_t * tab = &cnt;
+ // DOWNLINK_SEND_DEBUG(1,tab);
+ cnt = 0;
+ MmSendReq();
+ }
+ else if (micromag_status == MM_GOT_EOC) {
+ MmReadRes();
+ }
+ else if (micromag_status == MM_WAITING_EOC) {
+ cnt++;
+ if (cnt > 50) {cnt = 0; micromag_status = MM_IDLE;}
+ }
+}
+
+static void SSP_ISR(void) {
+ ISR_ENTRY();
+
+ MmOnSpiIt();
+
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+ ISR_EXIT();
+}
+
+void micromag_init_ssp(void) {
+
+ /* setup pins for SSP (SCK, MISO, MOSI, SSEL) */
+ PINSEL1 |= SSP_PINSEL1_SCK | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;
+
+ /* setup SSP */
+ SSPCR0 = SSPCR0_VAL;;
+ SSPCR1 = SSPCR1_VAL;
+ 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 */
+}
+
+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;
+}
+
+void micromag_read() {
+ if (micromag_status == MM_IDLE) {
+ MmSendReq();
+ }
+ else if (micromag_status == MM_GOT_EOC) {
+ MmReadRes();
+ }
+ else if (micromag_status == MM_DATA_AVAILABLE) {
+ micromag_status == MM_IDLE;
+ }
+}
+
Added: paparazzi3/trunk/sw/airborne/micromag_fw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/micromag_fw.h (rev 0)
+++ paparazzi3/trunk/sw/airborne/micromag_fw.h 2009-10-12 12:00:26 UTC (rev
4246)
@@ -0,0 +1,53 @@
+#ifndef MICROMAG_FW_H
+#define MICROMAG_FW_H
+
+
+#include "std.h"
+#define MM_NB_AXIS 3
+
+extern void micromag_init_ssp(void);
+extern void micromag_init( void );
+extern void micromag_read( void );
+
+extern void micromag_reset( void);
+extern void micromag_periodic( 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
+
+/* ssp input clock 468.75kHz, clock that divided by SCR+1 */
+#define SSP_CLOCK 468750
+
+/* SSPCR0 settings */
+#define SSP_DDS 0x07 << 0 /* data size : 8 bits */
+#define SSP_FRF 0x00 << 4 /* frame format : SPI */
+#define SSP_CPOL 0x00 << 6 /* clock polarity : data captured on first
clock transition */
+#define SSP_CPHA 0x00 << 7 /* clock phase : SCK idles low */
+#define SSP_SCR 0x0F << 8 /* serial clock rate : divide by 16 */
+
+/* SSPCR1 settings */
+#define SSP_LBM 0x00 << 0 /* loopback mode : disabled */
+#define SSP_SSE 0x00 << 1 /* SSP enable : disabled */
+#define SSP_MS 0x00 << 2 /* master slave mode : master */
+#define SSP_SOD 0x00 << 3 /* slave output disable : don't care when master */
+
+#define SS_PIN 20
+#define SS_IODIR IO0DIR
+#define SS_IOSET IO0SET
+#define SS_IOCLR IO0CLR
+
+
+extern volatile uint8_t micromag_status;
+extern volatile int16_t micromag_values[MM_NB_AXIS];
+
+extern void micromag_hw_init( void );
+
+#include "micromag_fw_hw.h"
+
+
+#endif /* MICROMAG_H */
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