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[paparazzi-commits] [4242] add code for GPS I2C
From: |
Pascal Brisset |
Subject: |
[paparazzi-commits] [4242] add code for GPS I2C |
Date: |
Sat, 10 Oct 2009 09:36:54 +0000 |
Revision: 4242
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4242
Author: hecto
Date: 2009-10-10 09:36:54 +0000 (Sat, 10 Oct 2009)
Log Message:
-----------
add code for GPS I2C
Added Paths:
-----------
paparazzi3/trunk/conf/modules/gps_i2c.xml
paparazzi3/trunk/sw/airborne/modules/gps_i2c/
paparazzi3/trunk/sw/airborne/modules/gps_i2c/gps_i2c.c
paparazzi3/trunk/sw/airborne/modules/gps_i2c/gps_i2c.h
Added: paparazzi3/trunk/conf/modules/gps_i2c.xml
===================================================================
--- paparazzi3/trunk/conf/modules/gps_i2c.xml (rev 0)
+++ paparazzi3/trunk/conf/modules/gps_i2c.xml 2009-10-10 09:36:54 UTC (rev
4242)
@@ -0,0 +1,14 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="gps_i2c">
+ <header>
+ <file name="gps_i2c.h"/>
+ </header>
+ <init fun="gps_i2c_init()"/>
+ <periodic fun="gps_i2c_periodic()" freq="4." delay="4" autorun="TRUE"/>
+ <event fun="gps_i2c_event()"/>
+ <makefile target="ap">
+ <file name="gps_i2c.c"/>
+ </makefile>
+</module>
+
Added: paparazzi3/trunk/sw/airborne/modules/gps_i2c/gps_i2c.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/gps_i2c/gps_i2c.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/gps_i2c/gps_i2c.c 2009-10-10
09:36:54 UTC (rev 4242)
@@ -0,0 +1,88 @@
+#include "gps_i2c.h"
+#include "i2c.h"
+
+uint8_t gps_i2c_buf[GPS_I2C_BUF_SIZE];
+uint8_t gps_i2c_insert_idx, gps_i2c_extract_idx;
+
+
+/* u-blox5 protocole, page 4 */
+#define GPS_I2C_SLAVE_ADDR 0x42
+#define GPS_I2C_ADDR_NB_AVAIL_BYTES 0xFD
+#define GPS_I2C_ADDR_DATA 0xFF
+
+#define GPS_I2C_STATUS_IDLE 0
+#define GPS_I2C_STATUS_ASKING_DATA 1
+#define GPS_I2C_STATUS_ASKING_NB_AVAIL_BYTES 2
+#define GPS_I2C_STATUS_READING_NB_AVAIL_BYTES 3
+#define GPS_I2C_STATUS_READING_DATA 4
+
+static uint8_t gps_i2c_status;
+static bool_t gps_i2c_done;
+static uint8_t gps_i2c_nb_avail_bytes;
+static uint8_t data_buf_len;
+
+void
+gps_i2c_init(void) {
+ gps_i2c_status = GPS_I2C_STATUS_IDLE;
+ gps_i2c_done = TRUE;
+}
+
+static inline void
+gps_i2c_ask_read(uint8_t addr) {
+ i2c0_buf[0] = addr;
+ i2c0_transmit(GPS_I2C_SLAVE_ADDR, 1, &gps_i2c_done);
+ gps_i2c_done = FALSE;
+}
+
+static inline void
+continue_reading(void) {
+ if (gps_i2c_nb_avail_bytes > 0) {
+ gps_i2c_ask_read(GPS_I2C_ADDR_DATA);
+ gps_i2c_status = GPS_I2C_STATUS_ASKING_DATA;
+ } else {
+ gps_i2c_status = GPS_I2C_STATUS_IDLE;
+ }
+}
+
+void
+gps_i2c_periodic(void) {
+ // We should check gps_i2c_done == true
+ gps_i2c_ask_read(GPS_I2C_ADDR_NB_AVAIL_BYTES);
+ gps_i2c_status = GPS_I2C_STATUS_ASKING_NB_AVAIL_BYTES;
+}
+
+void
+gps_i2c_event(void) {
+ if (gps_i2c_done) {
+ switch (gps_i2c_status) {
+ case GPS_I2C_STATUS_ASKING_NB_AVAIL_BYTES:
+ i2c0_receive(GPS_I2C_SLAVE_ADDR, 2, &gps_i2c_done);
+ gps_i2c_done = FALSE;
+ gps_i2c_status = GPS_I2C_STATUS_READING_NB_AVAIL_BYTES;
+ break;
+
+ case GPS_I2C_STATUS_READING_NB_AVAIL_BYTES:
+ gps_i2c_nb_avail_bytes = (i2c0_buf[0]<<8) | i2c0_buf[1];
+ continue_reading();
+ break;
+
+ case GPS_I2C_STATUS_ASKING_DATA:
+ data_buf_len = Min(gps_i2c_nb_avail_bytes, I2C0_BUF_LEN);
+ gps_i2c_nb_avail_bytes -= data_buf_len;
+
+ i2c0_receive(GPS_I2C_SLAVE_ADDR, data_buf_len, &gps_i2c_done);
+ gps_i2c_done = FALSE;
+ gps_i2c_status = GPS_I2C_STATUS_READING_DATA;
+ break;
+
+ case GPS_I2C_STATUS_READING_DATA: {
+ uint8_t i;
+ for(i = 0; i < data_buf_len; i++) {
+ gps_i2c_AddCharToBuf(i2c0_buf[i]);
+ }
+ continue_reading();
+ break;
+ }
+ }
+ }
+}
Added: paparazzi3/trunk/sw/airborne/modules/gps_i2c/gps_i2c.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/gps_i2c/gps_i2c.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/gps_i2c/gps_i2c.h 2009-10-10
09:36:54 UTC (rev 4242)
@@ -0,0 +1,19 @@
+#ifndef GPS_I2C
+#define GPS_I2C
+
+#include <inttypes.h>
+
+#define GPS_I2C_BUF_SIZE 256
+extern uint8_t gps_i2c_buf[GPS_I2C_BUF_SIZE];
+extern uint8_t gps_i2c_insert_idx, gps_i2c_extract_idx;
+
+void gps_i2c_init(void);
+void gps_i2c_event(void);
+void gps_i2c_periodic(void);
+
+#define gps_i2c_AddCharToBuf(_x) { \
+ gps_i2c_buf[gps_i2c_insert_idx] = _x; \
+ gps_i2c_insert_idx++; /* size=256, No check for buf overflow */ \
+}
+
+#endif // GPS_I2C
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