[paparazzi-commits] [5163] peripheral test programs

[antoine drouin]

Revision: 5163
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5163
Author:   poine
Date:     2010-07-26 21:18:18 +0000 (Mon, 26 Jul 2010)
Log Message:
-----------
peripheral test programs

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

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/lisa/test/hs_gyro.c
    paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_adxl345_dma.c

Added: paparazzi3/trunk/sw/airborne/lisa/test/hs_gyro.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/hs_gyro.c                            
(rev 0)
+++ paparazzi3/trunk/sw/airborne/lisa/test/hs_gyro.c    2010-07-26 21:18:18 UTC 
(rev 5163)
@@ -0,0 +1,111 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 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 <inttypes.h>
+
+#include "std.h"
+#include "init_hw.h"
+#include "sys_time.h"
+#include "led.h"
+#include "uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+#include "booz_imu.h"
+
+#include "interrupt_hw.h"
+
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+static inline void main_event_task( void );
+
+static inline void on_gyro_accel_event(void);
+static inline void on_mag_event(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();
+  booz_imu_init();
+
+  int_enable();
+}
+
+static inline void main_periodic_task( void ) {
+  RunOnceEvery(100, {
+      LED_TOGGLE(3);
+      DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+    });
+  booz_imu_periodic();
+  RunOnceEvery(10, { LED_PERIODIC();});
+}
+
+static inline void main_event_task( void ) {
+
+  BoozImuEvent(on_gyro_accel_event, on_mag_event);
+
+}
+
+#define NB_SAMPLES 20
+
+static inline void on_gyro_accel_event(void) {
+  BoozImuScaleGyro();
+  BoozImuScaleAccel();
+  
+  LED_TOGGLE(2);
+  
+  static uint8_t cnt;
+  static int32_t samples[NB_SAMPLES];
+  const uint8_t axis = 2;
+  cnt++;
+  if (cnt > NB_SAMPLES) cnt = 0;
+  samples[cnt] = booz_imu.gyro_unscaled.r;
+  if (cnt == 19) {
+    DOWNLINK_SEND_IMU_HS_GYRO(DefaultChannel, &axis, NB_SAMPLES, samples);
+  }
+
+  if (cnt == 10) {
+    DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel,
+                              &booz_imu.gyro_unscaled.p,
+                              &booz_imu.gyro_unscaled.q,
+                              &booz_imu.gyro_unscaled.r);
+  }
+  
+
+}
+
+
+static inline void on_mag_event(void) {
+  
+}

Modified: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_adxl345.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_adxl345.c  2010-07-26 
21:17:15 UTC (rev 5162)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_adxl345.c  2010-07-26 
21:18:18 UTC (rev 5163)
@@ -32,8 +32,8 @@
 #include "sys_time.h"
 #include "downlink.h"
 
-#include "peripherals/booz_itg3200.h"
-#include "peripherals/booz_hmc5843.h"
+#include "peripherals/booz_adxl345.h"
+#include "my_debug_servo.h"
 
 static inline void main_init( void );
 static inline void main_periodic_task( void );
@@ -41,7 +41,7 @@
 
 static inline void main_init_hw(void);
 
-extern void exti4_irq_handler(void);
+void exti2_irq_handler(void);
 
 int main(void) {
   main_init();
@@ -64,25 +64,11 @@
 
 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;
+#define CONFIGURED 6
+static uint8_t acc_status=0;
+static volatile uint8_t acc_ready_for_read = 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
@@ -116,7 +102,7 @@
   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);
+  uint8_t __attribute__ ((unused)) foo = SPI_I2S_ReceiveData(SPI2);
 
   SPI_I2S_SendData(SPI2, 0x00);
   while (SPI_I2S_GetFlagStatus(SPI2, SPI_I2S_FLAG_TXE) == RESET);
@@ -154,54 +140,57 @@
 
 
   RunOnceEvery(10, 
-              {
-                DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
-                LED_PERIODIC();
-              });
+    {
+      DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+      LED_PERIODIC();
+    });
 
-  switch (foo) {
+  switch (acc_status) {
   case 1: 
     {
       /* read data rate */
       //      uint8_t bar = read_fom_reg(ADXL345_REG_BW_RATE);
-      write_to_reg(ADXL345_REG_BW_RATE, 0x0D);
     }
+    /* set data rate to 800Hz */
+    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 */
+    /* enable data ready interrupt */
     write_to_reg(ADXL345_REG_INT_ENABLE, 1<<7);
     break;
   case 4:
+    /* Enable full res and interrupt active low */
      write_to_reg(ADXL345_REG_DATA_FORMAT, 1<<3|1<<5);
     break;
   case 5:
+    /* reads data once to bring interrupt line up */
+    read_data();
+    break;
+  case CONFIGURED:
     //    read_data();
     break;
+  default:
+    break;
   }
   
-  if (foo < 5) foo++;
+  if (acc_status < CONFIGURED) acc_status++;
 
 }
 
 
 static inline void main_event_task( void ) {
 
-  if (inted) {
-    LED_TOGGLE(6);
+  if (acc_status >= CONFIGURED && acc_ready_for_read) {
     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);});
+    acc_ready_for_read = FALSE;
+    int32_t iax = *((int16_t*)&values[0]);
+    int32_t iay = *((int16_t*)&values[2]);
+    int32_t iaz = *((int16_t*)&values[4]);
+    RunOnceEvery(10, {DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &iax, &iay, 
&iaz);});
   }
 
 }
@@ -264,6 +253,7 @@
   SPI_InitStructure.SPI_CRCPolynomial = 7;                             
   SPI_Init(SPI2, &SPI_InitStructure);                                  
 
+  DEBUG_SERVO2_INIT();
 
 }
 
@@ -274,10 +264,10 @@
   if(EXTI_GetITStatus(EXTI_Line2) != RESET)
     EXTI_ClearITPendingBit(EXTI_Line2);
 
-  //  AccToggleSelect();
-  LED_ON(6);
-  inted = TRUE;
+  DEBUG_S4_TOGGLE();
 
+  acc_ready_for_read = TRUE;
+  
 
 }
 

Added: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_adxl345_dma.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_adxl345_dma.c              
                (rev 0)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_adxl345_dma.c      
2010-07-26 21:18:18 UTC (rev 5163)
@@ -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. 
+ */
+
+#include <stm32/gpio.h>
+#include <stm32/flash.h>
+#include <stm32/misc.h>
+#include <stm32/exti.h>
+#include <stm32/spi.h>
+#include <stm32/dma.h>
+
+#include BOARD_CONFIG
+#include "init_hw.h"
+#include "sys_time.h"
+#include "downlink.h"
+
+#include "peripherals/booz_adxl345.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);
+
+void exti2_irq_handler(void);
+void dma1_c4_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);
+#define CONFIGURED 6
+static uint8_t acc_status=0;
+static volatile uint8_t acc_data_available = FALSE;
+
+static uint8_t dma_tx_buf[7];
+static uint8_t dma_rx_buf[7];
+
+#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();
+ 
+  dma_tx_buf[0] = (1<<7|1<<6|ADXL345_REG_DATA_X0);
+  
+  /* SPI2_Rx_DMA_Channel configuration ------------------------------------*/
+  DMA_DeInit(DMA1_Channel4);                                           
+  DMA_InitTypeDef DMA_initStructure_4 = {
+    .DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C),
+    .DMA_MemoryBaseAddr = (uint32_t)dma_rx_buf,
+    .DMA_DIR = DMA_DIR_PeripheralSRC,                  
+    .DMA_BufferSize = 7,
+    .DMA_PeripheralInc = DMA_PeripheralInc_Disable,    
+    .DMA_MemoryInc = DMA_MemoryInc_Enable,
+    .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+    .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,     
+    .DMA_Mode = DMA_Mode_Normal,
+    .DMA_Priority = DMA_Priority_VeryHigh,             
+    .DMA_M2M = DMA_M2M_Disable
+  };
+  DMA_Init(DMA1_Channel4, &DMA_initStructure_4);
+
+  /* SPI2_Tx_DMA_Channel configuration ------------------------------------*/
+  DMA_DeInit(DMA1_Channel5);  
+  DMA_InitTypeDef DMA_initStructure_5 = {
+    .DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C),
+    .DMA_MemoryBaseAddr = (uint32_t)dma_tx_buf,
+    .DMA_DIR = DMA_DIR_PeripheralDST,
+    .DMA_BufferSize = 7,
+    .DMA_PeripheralInc = DMA_PeripheralInc_Disable,
+    .DMA_MemoryInc = DMA_MemoryInc_Enable,
+    .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+    .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,     
+    .DMA_Mode = DMA_Mode_Normal,
+    .DMA_Priority = DMA_Priority_Medium,
+    .DMA_M2M = DMA_M2M_Disable
+  };
+  DMA_Init(DMA1_Channel5, &DMA_initStructure_5);
+  
+  /* Enable SPI_2 Rx request */
+  SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Rx, ENABLE);
+  /* Enable DMA1 Channel4 */
+  DMA_Cmd(DMA1_Channel4, ENABLE);
+  
+  /* Enable SPI_2 Tx request */
+  SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Tx, ENABLE);
+  /* Enable DMA1 Channel5 */
+  DMA_Cmd(DMA1_Channel5, ENABLE);
+  
+  /* Enable DMA1 Channel4 Transfer Complete interrupt */
+  DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, ENABLE);
+
+}
+
+
+static inline void main_periodic_task( void ) {
+
+
+  RunOnceEvery(10, 
+    {
+      DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+      LED_PERIODIC();
+    });
+
+  if (acc_status != CONFIGURED) {
+    {
+      /* read data rate */
+      //      uint8_t bar = read_fom_reg(ADXL345_REG_BW_RATE);
+    }
+    /* set data rate to 800Hz */
+    write_to_reg(ADXL345_REG_BW_RATE, 0x0D);
+    /* switch to measurememnt mode */
+    write_to_reg(ADXL345_REG_POWER_CTL, 1<<3);
+    /* enable data ready interrupt */
+    write_to_reg(ADXL345_REG_INT_ENABLE, 1<<7);
+    /* Enable full res and interrupt active low */
+    write_to_reg(ADXL345_REG_DATA_FORMAT, 1<<3|1<<5);
+    /* reads data once to bring interrupt line up */
+    uint8_t ret = SPI_I2S_ReceiveData(SPI2);
+    read_data();
+    acc_status = CONFIGURED;
+  }
+
+}
+
+
+static inline void main_event_task( void ) {
+
+  if (acc_status >= CONFIGURED && acc_data_available) {
+    acc_data_available = FALSE;
+    int16_t ax = dma_rx_buf[1] | (dma_rx_buf[2]<<8);
+    int16_t ay = dma_rx_buf[3] | (dma_rx_buf[4]<<8);
+    int16_t az = dma_rx_buf[5] | (dma_rx_buf[6]<<8);
+    int32_t iax = ax;
+    int32_t iay = ay;
+    int32_t iaz = az;
+    RunOnceEvery(10, {DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &iax, &iay, 
&iaz);});
+  }
+
+}
+
+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);                                  
+  
+  /* Enable DMA1 channel4 IRQ Channel ( SPI RX) */
+  NVIC_InitTypeDef NVIC_init_struct = {
+    .NVIC_IRQChannel = DMA1_Channel4_IRQn,
+    .NVIC_IRQChannelPreemptionPriority = 0,
+    .NVIC_IRQChannelSubPriority = 0,
+    .NVIC_IRQChannelCmd = ENABLE 
+  };
+  NVIC_Init(&NVIC_init_struct);
+
+  /* Enable SPI_2 DMA clock 
---------------------------------------------------*/
+  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
+
+  DEBUG_SERVO2_INIT();
+
+}
+
+
+void exti2_irq_handler(void) {
+
+  /* clear EXTI */
+  if(EXTI_GetITStatus(EXTI_Line2) != RESET)
+    EXTI_ClearITPendingBit(EXTI_Line2);
+
+  DEBUG_S4_TOGGLE();
+  
+  read_data();
+
+}
+
+void dma1_c4_irq_handler(void) {
+  AccUnselect();
+  DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, DISABLE);
+  /* Disable SPI_2 Rx and TX request */                        
+  SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Rx, DISABLE);    
+  SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Tx, DISABLE);    
+  /* Disable DMA1 Channel4 and 5 */                    
+  DMA_Cmd(DMA1_Channel4, DISABLE);                     
+  DMA_Cmd(DMA1_Channel5, DISABLE);                     
+                                                       
+  acc_data_available = TRUE;   
+}

Modified: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_itg3200.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_itg3200.c  2010-07-26 
21:17:15 UTC (rev 5162)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_itg3200.c  2010-07-26 
21:18:18 UTC (rev 5163)
@@ -32,6 +32,7 @@
 #include "sys_time.h"
 #include "downlink.h"
 #include "std.h"
+#include "math/pprz_algebra_int.h"
 
 #include "peripherals/booz_itg3200.h"
 #include "my_debug_servo.h"
@@ -76,7 +77,9 @@
     LED_PERIODIC();
   });
   RunOnceEvery(256, 
-  {DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, &i2c2.errc_ack_fail, 
&i2c2.errc_miss_start_stop,
+  {DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
+                           &i2c2.got_unexpected_event,
+                           &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);
@@ -103,9 +106,9 @@
     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;
+    //    i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
+    //    i2c2_transceive(ITG3200_ADDR,1, 8, &i2c_done);
+    //    reading_gyro = TRUE;
   default:
     break;
   }
@@ -118,21 +121,24 @@
 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);
+    i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
+    i2c2_transceive(ITG3200_ADDR,1, 8, &i2c_done);
     gyro_ready_for_read = FALSE;
+    reading_gyro = TRUE;
   }
 
   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);
+      int16_t ttemp = i2c2.buf[0]<<8 | i2c2.buf[1];
+      int16_t tgp = i2c2.buf[2]<<8 | i2c2.buf[3];
+      int16_t tgq = i2c2.buf[4]<<8 | i2c2.buf[5];
+      int16_t tgr = i2c2.buf[6]<<8 | i2c2.buf[7];
+      int32_t temp = ttemp;
+      struct Int32Rates g;
+      RATES_ASSIGN(g, tgp, tgq, tgr);
+      DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &g.p, &g.q, &g.r);
       //      uint8_t tmp[8];
       //      memcpy(tmp, i2c2.buf, 8);
       //      DOWNLINK_SEND_DEBUG(DefaultChannel, 8, tmp);
@@ -161,40 +167,40 @@
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
   GPIO_Init(GPIOC, &GPIO_InitStructure);
 
-  /* configure external interrupt exti2 on PC14( gyro int ) */
+  /* configure external interrupt exti15_10 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_Mode = GPIO_Mode_IN_FLOATING;
   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_Line = EXTI_Line14;
   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_IRQChannel = EXTI15_10_IRQn;
   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-  //  NVIC_Init(&NVIC_InitStructure); 
+  NVIC_Init(&NVIC_InitStructure); 
 
   DEBUG_SERVO2_INIT();
 
 }
 
 
-void exti2_irq_handler(void) {
+void exti15_10_irq_handler(void) {
 
   /* clear EXTI */
-  if(EXTI_GetITStatus(EXTI_Line2) != RESET)
-    EXTI_ClearITPendingBit(EXTI_Line2);
+  if(EXTI_GetITStatus(EXTI_Line14) != RESET)
+    EXTI_ClearITPendingBit(EXTI_Line14);
 
-  DEBUG_S4_TOGGLE();
+  //  DEBUG_S4_TOGGLE();
 
   gyro_ready_for_read = TRUE;