[paparazzi-commits] [4796]

[antoine drouin]

Revision: 4796
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4796
Author:   poine
Date:     2010-04-14 19:41:39 +0000 (Wed, 14 Apr 2010)
Log Message:
-----------


Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/lisa/test_baro.c

Added: paparazzi3/trunk/sw/airborne/lisa/test_baro.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test_baro.c                               
(rev 0)
+++ paparazzi3/trunk/sw/airborne/lisa/test_baro.c       2010-04-14 19:41:39 UTC 
(rev 4796)
@@ -0,0 +1,303 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2009 Antoine Drouin <address@hidden>
+ *
+ * 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. 
+ */
+
+//
+// scl2 PB10
+// sda2 PB11
+// baro1 drdy PC0 ( differential )
+// baro2 drdy PD1 ( absolute )
+// baro1 has addr to 3V3 0x92
+// baro2 has addr to GND 0x90
+//
+
+
+// absolute
+#define BARO_ADDR 0x90   
+// differential
+//#define BARO_ADDR 0x92
+
+#include <stm32/flash.h>
+#include <stm32/misc.h>
+#include <stm32/i2c.h>
+
+#include BOARD_CONFIG
+#include "init_hw.h"
+#include "sys_time.h"
+#include "downlink.h"
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+static inline void main_event_task( void );
+
+static inline void main_i2c_init( void );
+static inline void main_send_config( void );
+static inline void main_send_reset(void);
+static inline void main_read_register(uint8_t reg);
+static inline void write_to_register(uint8_t reg_addr, uint8_t val_msb, 
uint8_t val_lsb);
+
+
+uint16_t foo;
+uint16_t bar;
+int initialised;
+
+
+void Delay(__IO uint32_t nCount) {
+  for(; nCount != 0; nCount--);
+}
+
+
+
+int main(void) {
+  main_init();
+  //  Delay(50000);
+  while(1) {
+    if (sys_time_periodic())
+      main_periodic_task();
+    main_event_task();
+  }
+
+  return 0;
+}
+
+
+static inline void main_init( void ) {
+  hw_init();
+  sys_time_init();
+  main_i2c_init();
+  initialised = FALSE;
+}
+
+static inline void main_periodic_task( void ) {
+  RunOnceEvery(7, {
+      if (!initialised) {
+       main_send_reset();
+       //main_send_config();
+       //      uint8_t cfg_msb = 0x84;
+       uint8_t cfg_msb = 0x86;
+       uint8_t cfg_lsb = 0x83;
+       write_to_register(0x01, cfg_msb, cfg_lsb);
+       // low tresh  msb to 0
+       //      write_to_register(0x02, 0x00, 0x00);
+       // high tresh  msb to 1
+       write_to_register(0x03, 0xFF, 0xFF);
+       initialised = TRUE;
+      }
+      
+      main_read_register(0X00);
+      //      main_read_register(0x02);
+      
+      int16_t adc = foo<<8 | bar;
+      uint16_t adc1 = 255* foo + bar;
+      DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, &adc, &foo, &bar);
+      DOWNLINK_SEND_BOOT(DefaultChannel, &adc1);
+      LED_PERIODIC();
+    });
+  
+}
+
+static inline void main_event_task( void ) {
+
+}
+
+
+static inline void main_i2c_init( void ) {
+
+  //  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
+  /* enable pullup on PC0 */
+ GPIO_InitTypeDef GPIO_InitStructure;
+ GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_0;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+ GPIO_Init(GPIOC, &GPIO_InitStructure);
+
+  /* Enable peripheral clocks 
--------------------------------------------------*/
+  /* Enable I2C2 clock */
+  RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);
+  /* Enable GPIOB clock */
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
+
+
+  /* Configure I2C2 pins: SCL and SDA 
------------------------------------------*/
+  //  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_10 | GPIO_Pin_11;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
+  GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+
+  /* I2C configuration 
----------------------------------------------------------*/
+  I2C_InitTypeDef  I2C_InitStructure; 
+  I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
+  I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
+  I2C_InitStructure.I2C_OwnAddress1 = 0x0;
+  I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
+  //  I2C_InitStructure.I2C_Ack = I2C_Ack_Disable;
+  I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
+  I2C_InitStructure.I2C_ClockSpeed = 200000;
+  
+  /* I2C Peripheral Enable */
+  I2C_Cmd(I2C2, ENABLE);
+  /* Apply I2C configuration after enabling it */
+  I2C_Init(I2C2, &I2C_InitStructure);
+
+}
+
+static inline void main_send_config( void ) {
+
+  /* Send START condition */
+  I2C_GenerateSTART(I2C2, ENABLE);
+
+  /* Test on EV5 and clear it */
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT));
+
+  /* Send  address */
+  I2C_Send7bitAddress(I2C2, BARO_ADDR, I2C_Direction_Transmitter);
+  
+  /* Test on EV6 and clear it */
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
+
+  /* Snd data */
+  I2C_SendData(I2C2, 0x01); // points to Config register
+
+  /* Test on EV8 and clear it */
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
+
+  // Third byte: 0b10000100 (MSB of the Config register to be written)
+  uint8_t cfg_msb = 0x84;
+
+  I2C_SendData(I2C2, cfg_msb);
+  /* Test on EV8 and clear it */
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
+  // Fourth byte: 0b10000011 (LSB of the Config register to be written)
+  uint8_t cfg_lsb = 0x83;
+  I2C_SendData(I2C2, cfg_lsb);
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
+
+  /* Send STOP condition */
+  I2C_GenerateSTOP(I2C2, ENABLE);
+
+}
+
+static void write_to_register(uint8_t reg_addr, uint8_t val_msb, uint8_t 
val_lsb) {
+    /* Send START condition */
+  I2C_GenerateSTART(I2C2, ENABLE);
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT));
+
+  /* Send  slave address */
+  I2C_Send7bitAddress(I2C2, BARO_ADDR, I2C_Direction_Transmitter);
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
+
+  /* Send  register address */
+  I2C_SendData(I2C2, reg_addr);
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
+  /* Send  val msb */
+  I2C_SendData(I2C2, val_msb);
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
+  /* Send  val lsb */
+  I2C_SendData(I2C2, val_lsb);
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
+
+  /* Send STOP condition */
+  I2C_GenerateSTOP(I2C2, ENABLE);
+}
+
+
+
+
+
+static inline void main_send_reset(void) {
+ 
+  /* Send START condition */
+  I2C_GenerateSTART(I2C2, ENABLE);
+  
+  /* Test on EV5 and clear it */
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT));
+  
+  /* Send  address : general call */
+  I2C_Send7bitAddress(I2C2, 0x00, I2C_Direction_Transmitter);
+  
+  /* Test on EV6 and clear it */
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
+  
+  /* Snd data */
+  I2C_SendData(I2C2, 0x06); // reset command
+
+  /* Test on EV8 and clear it */
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
+
+  I2C_GenerateSTOP(I2C2, ENABLE);
+
+}
+
+
+
+
+
+
+
+static void main_read_register( uint8_t reg) {
+
+  I2C_AcknowledgeConfig(I2C2, ENABLE);
+
+  /* Send START condition */
+  I2C_GenerateSTART(I2C2, ENABLE);
+  /* Test on EV5 and clear it */
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT));
+
+  /* Send  address */
+  I2C_Send7bitAddress(I2C2, BARO_ADDR, I2C_Direction_Transmitter);
+  /* Test on EV6 and clear it */
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
+
+  /* Snd data */
+  I2C_SendData(I2C2, reg); // points to conversion register
+  /* Test on EV8 and clear it */
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
+
+  /* Send STOP condition */
+  I2C_GenerateSTOP(I2C2, ENABLE);
+
+
+ /* Send START condition */
+  I2C_GenerateSTART(I2C2, ENABLE);
+  /* Test on EV5 and clear it */
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT));
+  
+  /* Send  address */
+  I2C_Send7bitAddress(I2C2, BARO_ADDR, I2C_Direction_Receiver);
+  /* Test on EV6 and clear it */
+  while(!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));
+
+  while (!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_RECEIVED));
+  foo = I2C_ReceiveData(I2C2);
+
+  I2C_AcknowledgeConfig(I2C2, DISABLE);
+  I2C_GenerateSTOP(I2C2, ENABLE);
+
+
+
+  while (!I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_RECEIVED));
+  bar = I2C_ReceiveData(I2C2);
+  
+}
+