[paparazzi-commits] [4835] made i2c device configurable, defaulting to i2c0

[antoine drouin]

Revision: 4835
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4835
Author:   poine
Date:     2010-04-21 09:18:16 +0000 (Wed, 21 Apr 2010)
Log Message:
-----------
made i2c device configurable, defaulting to i2c0

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.c
    paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.h

Modified: paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.c    
2010-04-21 09:17:07 UTC (rev 4834)
+++ paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.c    
2010-04-21 09:18:16 UTC (rev 4835)
@@ -1,5 +1,5 @@
 /*
- * $Id: actuators_buss_twi_blmc_hw.h 3847 2009-08-02 21:47:31Z poine $
+ * $Id$
  *
  * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
  *
@@ -28,6 +28,7 @@
 #include "i2c.h"
 #include "sys_time.h"
 
+
 struct ActuatorsMkk actuators_mkk;
 
 const uint8_t actuators_addr[ACTUATORS_MKK_NB] = ACTUATORS_MKK_ADDR;
@@ -49,6 +50,9 @@
   actuators_delay_done = TRUE;
   actuators_delay_time = 0;
 #endif
+
+  booz_actuators_mkk_arch_init();
+
 }
 
 
@@ -64,7 +68,8 @@
   actuators_mkk.status = BUSY;
   actuators_mkk.i2c_done = FALSE;
   actuators_mkk.idx = 0;
-  i2c0_buf[0] = supervision.commands[actuators_mkk.idx];
-  i2c0_transmit(actuators_addr[actuators_mkk.idx], 1, &actuators_mkk.i2c_done);
+  BoozActuatorsMkkArchSend();
+  DeviceBuf[0] = supervision.commands[actuators_mkk.idx];
+  DeviceTransmit(actuators_addr[actuators_mkk.idx], 1, 
&actuators_mkk.i2c_done);
 
 }

Modified: paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.h    
2010-04-21 09:17:07 UTC (rev 4834)
+++ paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.h    
2010-04-21 09:18:16 UTC (rev 4835)
@@ -24,7 +24,19 @@
 #ifndef BOOZ_ACTUATORS_MKK_H
 #define BOOZ_ACTUATORS_MKK_H
 
+#include "std.h"
 
+#ifndef ACTUATORS_MKK_DEVICE
+#define ACTUATORS_MKK_DEVICE i2c0
+#endif
+
+#define __Device(dev, _z) dev##_##_z 
+#define  _Device(dev, _z) __Device(dev, _z)
+#define  Device( _z) _Device(ACTUATORS_MKK_DEVICE, _z)
+
+#define   DeviceBuf                    Device(buf)
+#define   DeviceTransmit(_x, _y, _z)   Device(transmit(_x, _y, _z))
+
 enum actuators_mkk_status {IDLE, BUSY};
 
 struct ActuatorsMkk {
@@ -35,7 +47,11 @@
 
 extern struct ActuatorsMkk actuators_mkk; 
 
+#include "actuators/booz_actuators_mkk_arch.h"
+/* must be defined by underlying achitecture */
+extern void booz_actuators_mkk_arch_init(void);
 
+
 #include "airframe.h"
 #include "actuators/booz_supervision.h"
 extern const uint8_t actuators_addr[];
@@ -43,8 +59,8 @@
 #define ActuatorsMkkI2cHandler() {                                     \
     actuators_mkk.idx++;                                               \
     if (actuators_mkk.idx<ACTUATORS_MKK_NB) {                          \
-      i2c0_buf[0] = supervision.commands[actuators_mkk.idx];           \
-      i2c0_transmit(actuators_addr[actuators_mkk.idx], 1, 
&actuators_mkk.i2c_done); \
+      DeviceBuf[0] = supervision.commands[actuators_mkk.idx];          \
+      DeviceTransmit(actuators_addr[actuators_mkk.idx], 1, 
&actuators_mkk.i2c_done); \
     }                                                                  \
     else                                                               \
       actuators_mkk.status = IDLE;                                     \