[paparazzi-commits] [5141] adding test progs for aspirin

[antoine drouin]

Revision: 5141
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5141
Author:   poine
Date:     2010-07-23 17:06:11 +0000 (Fri, 23 Jul 2010)
Log Message:
-----------
adding test progs for aspirin

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_adxl345.c
    paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_aspirin.c
    paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_itg3200.c

Added: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_adxl345.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_adxl345.c                  
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_adxl345.c  2010-07-23 
17:06:11 UTC (rev 5141)
@@ -0,0 +1,283 @@
+/*
+ * $Id$
+ *  
+ * 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. 
+ */
+
+#include <stm32/gpio.h>
+#include <stm32/flash.h>
+#include <stm32/misc.h>
+#include <stm32/exti.h>
+#include <stm32/spi.h>
+
+#include BOARD_CONFIG
+#include "init_hw.h"
+#include "sys_time.h"
+#include "downlink.h"
+
+#include "peripherals/booz_itg3200.h"
+#include "peripherals/booz_hmc5843.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_init_hw(void);
+
+extern void exti4_irq_handler(void);
+
+int main(void) {
+  main_init();
+
+  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_init_hw();
+
+}
+
+static void write_to_reg(uint8_t addr, uint8_t val);
+static uint8_t read_fom_reg(uint8_t addr);
+
+static uint8_t foo=0;
+static volatile uint8_t inted = FALSE;
+static uint8_t values[6];
+
+
+#define ADXL345_REG_BW_RATE     0x2C
+#define ADXL345_REG_POWER_CTL   0x2D
+#define ADXL345_REG_INT_ENABLE  0x2E
+#define ADXL345_REG_DATA_FORMAT 0x31
+#define ADXL345_REG_DATA_X0     0x32
+#define ADXL345_REG_DATA_X1     0x33
+#define ADXL345_REG_DATA_Y0     0x34
+#define ADXL345_REG_DATA_Y1     0x35
+#define ADXL345_REG_DATA_Z0     0x36
+#define ADXL345_REG_DATA_Z1     0x37
+
+
+
+#define AccUnselect() GPIOB->BSRR = GPIO_Pin_12
+#define AccSelect() GPIOB->BRR = GPIO_Pin_12
+#define AccToggleSelect() GPIOB->ODR ^= GPIO_Pin_12
+
+static void write_to_reg(uint8_t addr, uint8_t val) {
+
+  AccSelect();
+  SPI_I2S_SendData(SPI2, addr);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+  SPI_I2S_SendData(SPI2, val);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+  AccUnselect();
+
+}
+
+static uint8_t read_fom_reg(uint8_t addr) {
+  AccSelect();
+  SPI_I2S_SendData(SPI2, (1<<7|addr));
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+  SPI_I2S_SendData(SPI2, 0x00);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+  uint8_t ret = SPI_I2S_ReceiveData(SPI2);
+  AccUnselect();
+  return ret;
+}
+
+static void read_data(void) {
+  AccSelect();
+  SPI_I2S_SendData(SPI2, (1<<7|1<<6|ADXL345_REG_DATA_X0));
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+  uint8_t foo = SPI_I2S_ReceiveData(SPI2);
+
+  SPI_I2S_SendData(SPI2, 0x00);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+  values[0] = SPI_I2S_ReceiveData(SPI2);
+  SPI_I2S_SendData(SPI2, 0x00);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET); 
+  values[1] = SPI_I2S_ReceiveData(SPI2);
+
+  SPI_I2S_SendData(SPI2, 0x00);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+  values[2] = SPI_I2S_ReceiveData(SPI2);
+  SPI_I2S_SendData(SPI2, 0x00);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET); 
+  values[3] = SPI_I2S_ReceiveData(SPI2);
+
+  SPI_I2S_SendData(SPI2, 0x00);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET);
+  values[4] = SPI_I2S_ReceiveData(SPI2);
+  SPI_I2S_SendData(SPI2, 0x00);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
+  while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_BSY) == SET); 
+  values[5] = SPI_I2S_ReceiveData(SPI2);
+
+  AccUnselect();
+
+}
+
+
+static inline void main_periodic_task( void ) {
+
+
+  RunOnceEvery(10, 
+              {
+                DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+                LED_PERIODIC();
+              });
+
+  switch (foo) {
+  case 1: 
+    {
+      /* read data rate */
+      //      uint8_t bar = read_fom_reg(ADXL345_REG_BW_RATE);
+      write_to_reg(ADXL345_REG_BW_RATE, 0x0D);
+    }
+    break;
+  case 2:
+    /* switch to measurememnt mode */
+    write_to_reg(ADXL345_REG_POWER_CTL, 1<<3);
+    break;
+  case 3:
+    /* switch to measurememnt mode */
+    write_to_reg(ADXL345_REG_INT_ENABLE, 1<<7);
+    break;
+  case 4:
+     write_to_reg(ADXL345_REG_DATA_FORMAT, 1<<3|1<<5);
+    break;
+  case 5:
+    //    read_data();
+    break;
+  }
+  
+  if (foo < 5) foo++;
+
+}
+
+
+static inline void main_event_task( void ) {
+
+  if (inted) {
+    LED_TOGGLE(6);
+    read_data();
+    inted = FALSE;
+        int16_t* iax = &values[0];
+        int16_t* iay = &values[2];
+        int16_t* iaz = &values[4];
+        RunOnceEvery(10, {DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, iax, iay, 
iaz);});
+    //uint16_t* ax = &values[0];
+    //uint16_t* ay = &values[2];
+    //uint16_t* az = &values[4];
+    //RunOnceEvery(10, {DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, ax, ay, 
az);});
+  }
+
+}
+
+static inline void main_init_hw( void ) {
+  
+  /* configure acc slave select */
+  /* set acc slave select as output and assert it ( on PB12) */
+  AccUnselect();
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
+  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+  /* configure external interrupt exti2 on PD2( accel int ) */
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO, ENABLE);
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOD, &GPIO_InitStructure);
+  EXTI_InitTypeDef EXTI_InitStructure;
+  GPIO_EXTILineConfig(GPIO_PortSourceGPIOD, GPIO_PinSource2);
+  EXTI_InitStructure.EXTI_Line = EXTI_Line2;
+  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+  EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
+  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+  EXTI_Init(&EXTI_InitStructure);
+  NVIC_InitTypeDef NVIC_InitStructure;
+  NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQn;
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
+  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
+  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+  NVIC_Init(&NVIC_InitStructure); 
+
+
+  /* Enable SPI2 Periph clock 
-------------------------------------------------*/
+  RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
+  
+  /* Configure GPIOs: SCK, MISO and MOSI  --------------------------------*/
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+  GPIO_Init(GPIOB, &GPIO_InitStructure);
+  
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO , ENABLE);
+  SPI_Cmd(SPI2, ENABLE);
+
+  /* configure SPI */
+  SPI_InitTypeDef SPI_InitStructure;                                   
+  SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;   
+  SPI_InitStructure.SPI_Mode = SPI_Mode_Master;                        
+  SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;                    
+  SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;                          
+  SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;                 
+  SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;                            
+  SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32;  
+  SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;                   
+  SPI_InitStructure.SPI_CRCPolynomial = 7;                             
+  SPI_Init(SPI2, &SPI_InitStructure);                                  
+
+
+}
+
+
+void exti2_irq_handler(void) {
+
+  /* clear EXTI */
+  if(EXTI_GetITStatus(EXTI_Line2) != RESET)
+    EXTI_ClearITPendingBit(EXTI_Line2);
+
+  //  AccToggleSelect();
+  LED_ON(6);
+  inted = TRUE;
+
+
+}
+

Added: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_aspirin.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_aspirin.c                  
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_aspirin.c  2010-07-23 
17:06:11 UTC (rev 5141)
@@ -0,0 +1,307 @@
+/*
+ * $Id$
+ *  
+ * 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. 
+ */
+
+#include <stm32/gpio.h>
+#include <stm32/flash.h>
+#include <stm32/misc.h>
+#include <stm32/exti.h>
+#include <stm32/spi.h>
+
+#include BOARD_CONFIG
+#include "init_hw.h"
+#include "sys_time.h"
+#include "downlink.h"
+
+#include "peripherals/booz_itg3200.h"
+#include "peripherals/booz_hmc5843.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_init_hw(void);
+
+static uint8_t i2c_done;
+static volatile uint8_t gyro_ready_for_read;
+
+extern void exti2_irq_handler(void);
+extern void exti3_irq_handler(void);
+extern void exti4_irq_handler(void);
+
+int main(void) {
+  main_init();
+
+  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_init_hw();
+
+  gyro_ready_for_read = FALSE;
+
+}
+
+static uint8_t foo=0;
+
+
+#define AccUnselect() GPIOB->BSRR = GPIO_Pin_12
+#define AccSelect() GPIOB->BRR = GPIO_Pin_12
+#define AccToggleSelect() GPIOB->ODR ^= GPIO_Pin_12
+
+
+static inline void main_periodic_task( void ) {
+  //  LED_TOGGLE(6);
+  RunOnceEvery(10, 
+              {
+                DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+                LED_PERIODIC();
+              });
+
+
+  switch (foo) {
+  case 2:
+    /* set gyro range to 2000deg/s and low pass at 256Hz */
+    i2c2.buf[0] = ITG3200_REG_DLPF_FS;
+    i2c2.buf[1] = 0x03;
+    i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
+    break;
+  case 3:
+    /* switch to gyroX clock */
+    i2c2.buf[0] = ITG3200_REG_PWR_MGM;
+    i2c2.buf[1] = 0x01;
+    i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
+    break;
+  case 4:
+    /* enable interrupt on data ready, idle hight */
+    i2c2.buf[0] = ITG3200_REG_INT_CFG;
+    i2c2.buf[1] = (0x01 | 0x01<<7);
+    i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
+    break;
+  case 5:
+    /* set mag rate to 50Hz */
+    i2c2.buf[0] = HMC5843_REG_CFGA;
+    i2c2.buf[1] = 0x00 | (0x06 << 2);
+    i2c2_transmit(HMC5843_ADDR, 2, &i2c_done);
+    break;
+  case 6:
+    /* Set mag gain to 1 Gauss */
+    i2c2.buf[0] = HMC5843_REG_CFGB;
+    i2c2.buf[1] = 0x01<<5;
+    i2c2_transmit(HMC5843_ADDR, 2, &i2c_done);
+    break;
+  case 7:
+    /* set mag to continuous measurements */
+    i2c2.buf[0] = HMC5843_REG_MODE; 
+    i2c2.buf[1] = 0x00;
+    i2c2_transmit(HMC5843_ADDR, 2, &i2c_done);
+    break;
+  case 8:
+    /* reads 8 bytes from address 0x1b */
+    //    i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
+    //    i2c2_transceive(ITG3200_ADDR,1, 8, &i2c_done);
+    break;
+  default:
+    break;
+  }
+
+  if (foo< 8) foo++;
+
+
+  //  AccToggleSelect();
+ 
+}
+
+
+static inline void main_event_task( void ) {
+
+
+}
+
+static inline void main_init_hw( void ) {
+  
+  /* set mag ss as output and assert it (on PC12)    = sda         
------------------------------*/
+  /*     mag drdy  (on PB5)                          = mag int                 
                  */
+  /* set mag reset as output and assert it (on PC13) = scl         
------------------------------*/
+  /* set eeprom ss as output and assert it (on PC14) = gyro int    
------------------------------*/
+  GPIOC->BSRR = GPIO_Pin_12;
+  GPIOC->BSRR = GPIO_Pin_13;
+  GPIOC->BSRR = GPIO_Pin_14;
+
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
+  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13|GPIO_Pin_14;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOC, &GPIO_InitStructure);
+
+  /* configure acc slave select */
+  /* set acc slave select as output and assert it ( on PB12) */
+  AccUnselect();
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+  /* configure external interrupt exti4 on PD2( accel int ) */
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO, ENABLE);
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOD, &GPIO_InitStructure);
+  EXTI_InitTypeDef EXTI_InitStructure;
+  GPIO_EXTILineConfig(GPIO_PortSourceGPIOD, GPIO_PinSource2);
+  EXTI_InitStructure.EXTI_Line = EXTI_Line4;
+  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+  EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
+  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+  EXTI_Init(&EXTI_InitStructure);
+  NVIC_InitTypeDef NVIC_InitStructure;
+  NVIC_InitStructure.NVIC_IRQChannel = EXTI4_IRQn;
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
+  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
+  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+
+
+
+  /* configure external interrupt exti2 on PC14( gyro int ) */
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOC, &GPIO_InitStructure);
+
+  GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource14);
+  EXTI_InitStructure.EXTI_Line = EXTI_Line2;
+  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+  EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
+  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+  EXTI_Init(&EXTI_InitStructure);
+
+  NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQn;
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
+  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
+  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+  
+  NVIC_Init(&NVIC_InitStructure); 
+
+
+
+   /* configure external interrupt exti3 on PB5( mag int ) */
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOB, &GPIO_InitStructure);
+  
+  GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource5);
+  EXTI_InitStructure.EXTI_Line = EXTI_Line3;
+  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+  EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
+  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+  EXTI_Init(&EXTI_InitStructure);
+  
+  NVIC_InitStructure.NVIC_IRQChannel = EXTI3_IRQn;
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
+  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
+  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+  
+  NVIC_Init(&NVIC_InitStructure); 
+
+  
+  /* Enable SPI2 Periph clock 
-------------------------------------------------*/
+  RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
+  
+  /* Configure GPIOs: SCK, MISO and MOSI  --------------------------------*/
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+  GPIO_Init(GPIOB, &GPIO_InitStructure);
+  
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO , ENABLE);
+  SPI_Cmd(SPI2, ENABLE);
+
+  /* configure SPI */
+  SPI_InitTypeDef SPI_InitStructure;                                   
+  SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;   
+  SPI_InitStructure.SPI_Mode = SPI_Mode_Master;                        
+  SPI_InitStructure.SPI_DataSize = SPI_DataSize_16b;                   
+  SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;                          
+  SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;                 
+  SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;                            
+  SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16;  
+  SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;                   
+  SPI_InitStructure.SPI_CRCPolynomial = 7;                             
+  SPI_Init(SPI2, &SPI_InitStructure);                                  
+
+
+}
+
+void exti2_irq_handler(void) {
+  /* clear EXTI */
+  if(EXTI_GetITStatus(EXTI_Line2) != RESET)
+    EXTI_ClearITPendingBit(EXTI_Line2);
+
+  AccToggleSelect();
+#if 0
+  gyro_ready_for_read = TRUE;
+
+  if (gyro_ready_for_read && i2c_done && foo>=5) {
+    /* read gyros */
+    /* reads 8 bytes from address 0x1b */
+    i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
+    i2c2_transceive(ITG3200_ADDR,1, 8, &i2c_done);
+    gyro_ready_for_read = FALSE;
+  }
+#endif
+}
+
+void exti3_irq_handler(void) {
+  /* clear EXTI */
+  if(EXTI_GetITStatus(EXTI_Line3) != RESET)
+    EXTI_ClearITPendingBit(EXTI_Line3);
+
+  //  AccToggleSelect();
+
+
+}
+
+
+void exti4_irq_handler(void) {
+  /* clear EXTI */
+  if(EXTI_GetITStatus(EXTI_Line4) != RESET)
+    EXTI_ClearITPendingBit(EXTI_Line4);
+
+  //  AccToggleSelect();
+
+
+}
+

Added: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_itg3200.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_itg3200.c                  
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_itg3200.c  2010-07-23 
17:06:11 UTC (rev 5141)
@@ -0,0 +1,201 @@
+/*
+ * $Id$
+ *  
+ * 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. 
+ */
+
+#include <stm32/gpio.h>
+#include <stm32/flash.h>
+#include <stm32/misc.h>
+#include <stm32/exti.h>
+#include <stm32/spi.h>
+
+#include BOARD_CONFIG
+#include "init_hw.h"
+#include "sys_time.h"
+#include "downlink.h"
+#include "std.h"
+
+#include "peripherals/booz_itg3200.h"
+#include "my_debug_servo.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_init_hw(void);
+
+static uint8_t i2c_done = FALSE;
+#define INITIALISZED 5
+static uint8_t gyro_state = 0;
+static volatile uint8_t gyro_ready_for_read = FALSE;
+static uint8_t reading_gyro = FALSE;
+extern void exti2_irq_handler(void);
+
+
+int main(void) {
+  main_init();
+
+  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_init_hw();
+}
+
+static inline void main_periodic_task( void ) {
+  //  LED_TOGGLE(6);
+  RunOnceEvery(10, 
+  {
+    DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+    LED_PERIODIC();
+  });
+  RunOnceEvery(256, 
+  {DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, &i2c2.errc_ack_fail, 
&i2c2.errc_miss_start_stop,
+                           &i2c2.errc_arb_lost, &i2c2.errc_over_under,
+                           &i2c2.errc_pec_recep, &i2c2.errc_timeout_tlow,
+                           &i2c2.errc_smbus_alert);
+  });
+
+  switch (gyro_state) {
+  case 2:
+    /* set gyro range to 2000deg/s and low pass at 256Hz */
+    i2c2.buf[0] = ITG3200_REG_DLPF_FS;
+    i2c2.buf[1] = 0x03;
+    i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
+    break;
+  case 3:
+    /* switch to gyroX clock */
+    i2c2.buf[0] = ITG3200_REG_PWR_MGM;
+    i2c2.buf[1] = 0x01;
+    i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
+    break;
+  case 4:
+    /* enable interrupt on data ready, idle hight */
+    i2c2.buf[0] = ITG3200_REG_INT_CFG;
+    i2c2.buf[1] = (0x01 | 0x01<<7);
+    i2c2_transmit(ITG3200_ADDR, 2, &i2c_done);
+    break;
+  case INITIALISZED:
+    /* reads 8 bytes from address 0x1b */
+    i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
+    i2c2_transceive(ITG3200_ADDR,1, 8, &i2c_done);
+    reading_gyro = TRUE;
+  default:
+    break;
+  }
+
+  if (gyro_state  < INITIALISZED) gyro_state++;
+
+}
+
+
+static inline void main_event_task( void ) {
+
+  if (gyro_state == INITIALISZED && gyro_ready_for_read) {
+    /* read gyros */
+    /* reads 8 bytes from address 0x1b */
+    //    i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
+    //    i2c2_transceive(ITG3200_ADDR,1, 8, &i2c_done);
+    gyro_ready_for_read = FALSE;
+  }
+
+  if (reading_gyro && i2c_done) {
+    RunOnceEvery(10, 
+    {
+      int16_t temp = i2c2.buf[0]<<8 | i2c2.buf[1];
+      int16_t gp   = i2c2.buf[2]<<8 | i2c2.buf[3];
+      int16_t gq   = i2c2.buf[4]<<8 | i2c2.buf[5];
+      int16_t gr   = i2c2.buf[6]<<8 | i2c2.buf[7];
+      DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, &gp, &gq, &gr);
+      //      uint8_t tmp[8];
+      //      memcpy(tmp, i2c2.buf, 8);
+      //      DOWNLINK_SEND_DEBUG(DefaultChannel, 8, tmp);
+    }
+                );
+    reading_gyro = FALSE;
+  }
+
+
+}
+
+static inline void main_init_hw( void ) {
+  /* set mag ss as floating input (on PC12) = shorted to sda         
------------------------------*/
+  /* set mag reset as floating input (on PC13) = shorted to scl      
------------------------------*/
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
+  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOC, &GPIO_InitStructure);
+
+
+  /* set "eeprom ss" as floating input (on PC14) = gyro int          
------------------------------*/
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
+  GPIO_Init(GPIOC, &GPIO_InitStructure);
+
+  /* configure external interrupt exti2 on PC14( gyro int ) */
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOC, &GPIO_InitStructure);
+
+  GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource14);
+  EXTI_InitTypeDef EXTI_InitStructure;
+  EXTI_InitStructure.EXTI_Line = EXTI_Line2;
+  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+  EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
+  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+  EXTI_Init(&EXTI_InitStructure);
+
+  NVIC_InitTypeDef NVIC_InitStructure;
+  NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQn;
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
+  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
+  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+  //  NVIC_Init(&NVIC_InitStructure); 
+
+  DEBUG_SERVO2_INIT();
+
+}
+
+
+void exti2_irq_handler(void) {
+
+  /* clear EXTI */
+  if(EXTI_GetITStatus(EXTI_Line2) != RESET)
+    EXTI_ClearITPendingBit(EXTI_Line2);
+
+  DEBUG_S4_TOGGLE();
+
+  gyro_ready_for_read = TRUE;
+
+}