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[paparazzi-commits] [5552] lisa_l and booz now have different baros impl
|
From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [5552] lisa_l and booz now have different baros implementations |
|
Date: |
Sun, 22 Aug 2010 01:11:10 +0000 |
Revision: 5552
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5552
Author: poine
Date: 2010-08-22 01:11:10 +0000 (Sun, 22 Aug 2010)
Log Message:
-----------
lisa_l and booz now have different baros implementations
Added Paths:
-----------
paparazzi3/trunk/sw/airborne/boards/booz/
paparazzi3/trunk/sw/airborne/boards/booz/baro_board.c
paparazzi3/trunk/sw/airborne/boards/booz/baro_board.h
paparazzi3/trunk/sw/airborne/boards/booz/test_baro.c
paparazzi3/trunk/sw/airborne/boards/lisa_l/
paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.c
paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h
paparazzi3/trunk/sw/airborne/boards/lisa_l/brao_board.c
paparazzi3/trunk/sw/airborne/boards/lisa_l/test_baro.c
Added: paparazzi3/trunk/sw/airborne/boards/booz/baro_board.c
===================================================================
--- paparazzi3/trunk/sw/airborne/boards/booz/baro_board.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/boards/booz/baro_board.c 2010-08-22
01:11:10 UTC (rev 5552)
@@ -0,0 +1,80 @@
+/* $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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 "rotorcraft/baro.h"
+
+#include "airframe.h"
+#include "led.h"
+
+/* threshold >0 && <1023 */
+#ifndef BOOZ_ANALOG_BARO_THRESHOLD
+#define BOOZ_ANALOG_BARO_THRESHOLD 850
+#endif
+
+// pressure on AD0.1 on P0.28
+// offset on DAC on P0.25
+
+struct Baro baro;
+struct BaroBoard baro_board;
+
+void baro_init( void ) {
+
+ baro.status = BS_UNINITIALIZED;
+ baro.absolute = 0;
+ baro.differential = 0; /* not handled on this board */
+
+ baro_board.offset = 1023;
+ Booz2AnalogSetDAC(baro_board.offset);
+
+ baro_board.value_filtered = 0;
+ baro_board.data_available = FALSE;
+#ifdef ROTORCRAFT_BARO_LED
+ LED_OFF(ROTORCRAFT_BARO_LED);
+#endif
+}
+
+void baro_periodic(void) {}
+
+/* decrement offset until adc reading is over a threshold */
+void baro_board_calibrate(void) {
+ if (baro_board.value_filtered < BOOZ_ANALOG_BARO_THRESHOLD &&
baro_board.offset >= 1) {
+ if (baro_board.value_filtered == 0 && baro_board.offset > 15)
+ baro_board.offset -= 15;
+ else
+ baro_board.offset--;
+ Booz2AnalogSetDAC(baro_board.offset);
+#ifdef ROTORCRAFT_BARO_LED
+ LED_TOGGLE(ROTORCRAFT_BARO_LED);
+#endif
+ }
+ else {
+ baro.status = BS_RUNNING;
+#ifdef ROTORCRAFT_BARO_LED
+ LED_ON(ROTORCRAFT_BARO_LED);
+#endif
+ }
+}
+
+
+
+
Added: paparazzi3/trunk/sw/airborne/boards/booz/baro_board.h
===================================================================
--- paparazzi3/trunk/sw/airborne/boards/booz/baro_board.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/boards/booz/baro_board.h 2010-08-22
01:11:10 UTC (rev 5552)
@@ -0,0 +1,46 @@
+#ifndef BOARDS_BOOZ_BARO_H
+#define BOARDS_BOOZ_BARO_H
+
+#include "std.h"
+
+#include "rotorcraft/baro.h"
+#include "booz/booz2_analog.h"
+
+/* we don't need that on this board */
+
+struct BaroBoard {
+ uint16_t offset;
+ uint16_t value_filtered;
+ bool_t data_available;
+};
+
+extern struct BaroBoard baro_board;
+
+extern void baro_board_calibrate(void);
+
+#define BaroEvent(_b_abs_handler, _b_diff_handler) { \
+ if (baro_board.data_available) { \
+ _b_abs_handler(); \
+ baro_board.data_available = FALSE; \
+ } \
+ }
+
+static inline void baro_board_SetOffset(uint16_t _o) {
+ baro_board.offset = _o;
+ Booz2AnalogSetDAC(_o);
+}
+
+static inline void BoozBaroISRHandler(uint16_t _val) {
+ baro.absolute = _val;
+ baro_board.value_filtered = (3*baro_board.value_filtered + baro.absolute)/4;
+ if (baro.status == BS_UNINITIALIZED) {
+ RunOnceEvery(10, { baro_board_calibrate();});
+ }
+ /* else */
+ baro_board.data_available = TRUE;
+}
+
+
+
+
+#endif /* BOARDS_BOOZ_BARO_H */
Added: paparazzi3/trunk/sw/airborne/boards/booz/test_baro.c
===================================================================
--- paparazzi3/trunk/sw/airborne/boards/booz/test_baro.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/boards/booz/test_baro.c 2010-08-22
01:11:10 UTC (rev 5552)
@@ -0,0 +1,89 @@
+/*
+ * $Id$
+ *
+ * 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.
+ */
+
+/*
+ *
+ * test baro using interrupts
+ *
+ */
+
+#include BOARD_CONFIG
+
+#include "init_hw.h"
+#include "sys_time.h"
+
+#include "downlink.h"
+
+#include "rotorcraft/baro.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_on_baro_diff(void);
+static inline void main_on_baro_abs(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();
+ baro_init();
+}
+
+
+
+static inline void main_periodic_task( void ) {
+
+ RunOnceEvery(2, {baro_periodic();});
+ LED_PERIODIC();
+ RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);});
+}
+
+
+
+static inline void main_event_task( void ) {
+ BaroEvent(main_on_baro_abs, main_on_baro_diff);
+}
+
+
+
+static inline void main_on_baro_diff(void) {
+
+}
+
+static inline void main_on_baro_abs(void) {
+ RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, &baro.absolute,
&baro.differential);});
+}
Added: paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.c
===================================================================
--- paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.c 2010-08-22
01:11:10 UTC (rev 5552)
@@ -0,0 +1,97 @@
+
+#include "rotorcraft/baro.h"
+
+struct Baro baro;
+struct BaroBoard baro_board;
+
+static inline void baro_board_write_to_register(uint8_t baro_addr, uint8_t
reg_addr, uint8_t val_msb, uint8_t val_lsb);
+static inline void baro_board_read_from_register(uint8_t baro_addr, uint8_t
reg_addr);
+static inline void baro_board_set_current_register(uint8_t baro_addr, uint8_t
reg_addr);
+static inline void baro_board_read_from_current_register(uint8_t baro_addr);
+
+// absolute
+#define BARO_ABS_ADDR 0x90
+// differential
+#define BARO_DIFF_ADDR 0x92
+
+void baro_init(void) {
+ baro.status = BS_UNINITIALIZED;
+ baro.absolute = 0;
+ baro.differential = 0;
+ baro_board.status = LBS_UNINITIALIZED;
+}
+
+
+void baro_periodic(void) {
+ // check i2c_done
+ switch (baro_board.status) {
+ case LBS_UNINITIALIZED:
+ baro_board_send_reset();
+ baro_board.status = LBS_RESETED;
+ break;
+ case LBS_RESETED:
+ baro_board_send_config_abs();
+ baro_board.status = LBS_INITIALIZING_ABS;
+ break;
+ case LBS_INITIALIZING_ABS:
+ baro_board_set_current_register(BARO_ABS_ADDR, 0x00);
+ baro_board.status = LBS_INITIALIZING_ABS_1;
+ break;
+ case LBS_INITIALIZING_ABS_1:
+ baro_board_send_config_diff();
+ baro_board.status = LBS_INITIALIZING_DIFF;
+ break;
+ case LBS_INITIALIZING_DIFF:
+ baro_board_set_current_register(BARO_DIFF_ADDR, 0x00);
+ baro_board.status = LBS_INITIALIZING_DIFF_1;
+ // baro_board.status = LBS_UNINITIALIZED;
+ break;
+ case LBS_INITIALIZING_DIFF_1:
+ case LBS_READ_DIFF:
+ baro_board_read_from_current_register(BARO_ABS_ADDR);
+ baro_board.status = LBS_READING_ABS;
+ break;
+ case LBS_READ_ABS:
+ baro_board_read_from_current_register(BARO_DIFF_ADDR);
+ baro_board.status = LBS_READING_DIFF;
+ break;
+ default:
+ break;
+ }
+
+}
+
+
+void baro_board_send_reset(void) {
+ i2c2.buf[0] = 0x06;
+ i2c2_transmit(0x00, 1, &baro_board.i2c_done);
+}
+
+void baro_board_send_config_abs(void) {
+ baro_board_write_to_register(BARO_ABS_ADDR, 0x01, 0x86, 0x83);
+}
+
+void baro_board_send_config_diff(void) {
+ baro_board_write_to_register(BARO_DIFF_ADDR, 0x01, 0x84, 0x83);
+}
+
+static inline void baro_board_write_to_register(uint8_t baro_addr, uint8_t
reg_addr, uint8_t val_msb, uint8_t val_lsb) {
+ i2c2.buf[0] = reg_addr;
+ i2c2.buf[1] = val_msb;
+ i2c2.buf[2] = val_lsb;
+ i2c2_transmit(baro_addr, 3, &baro_board.i2c_done);
+}
+
+static inline void baro_board_read_from_register(uint8_t baro_addr, uint8_t
reg_addr) {
+ i2c2.buf[0] = reg_addr;
+ i2c2_transceive(baro_addr, 1, 2, &baro_board.i2c_done);
+}
+
+static inline void baro_board_set_current_register(uint8_t baro_addr, uint8_t
reg_addr) {
+ i2c2.buf[0] = reg_addr;
+ i2c2_transmit(baro_addr, 1, &baro_board.i2c_done);
+}
+
+static inline void baro_board_read_from_current_register(uint8_t baro_addr) {
+ i2c2_receive(baro_addr, 2, &baro_board.i2c_done);
+}
Added: paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h
===================================================================
--- paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h 2010-08-22
01:11:10 UTC (rev 5552)
@@ -0,0 +1,50 @@
+#ifndef BOARDS_LISA_L_BARO_H
+#define BOARDS_LISA_L_BARO_H
+
+#include "std.h"
+#include "i2c.h"
+
+enum LisaBaroStatus {
+ LBS_UNINITIALIZED,
+ LBS_RESETED,
+ LBS_INITIALIZING_ABS,
+ LBS_INITIALIZING_ABS_1,
+ LBS_INITIALIZING_DIFF,
+ LBS_INITIALIZING_DIFF_1,
+ LBS_IDLE,
+ LBS_READING_ABS,
+ LBS_READ_ABS,
+ LBS_READING_DIFF,
+ LBS_READ_DIFF
+};
+
+struct BaroBoard {
+ enum LisaBaroStatus status;
+ bool_t i2c_done;
+};
+
+extern struct BaroBoard baro_board;
+
+extern void baro_board_send_reset(void);
+extern void baro_board_send_config_abs(void);
+extern void baro_board_send_config_diff(void);
+
+#define BaroEvent(_b_abs_handler, _b_diff_handler) { \
+ if (baro_board.status == LBS_READING_ABS && baro_board.i2c_done) { \
+ int16_t tmp = i2c2.buf[0]<<8 | i2c2.buf[1]; \
+ baro.absolute = tmp; \
+ baro_board.status = LBS_READ_ABS;
\
+ _b_abs_handler();
\
+ } \
+ else if (baro_board.status == LBS_READING_DIFF && baro_board.i2c_done) { \
+ int16_t tmp = i2c2.buf[0]<<8 | i2c2.buf[1]; \
+ baro.differential = tmp; \
+ baro_board.status = LBS_READ_DIFF; \
+ _b_diff_handler(); \
+ } \
+ }
+
+
+
+
+#endif /* BOARDS_LISA_L_BARO_H */
Added: paparazzi3/trunk/sw/airborne/boards/lisa_l/brao_board.c
===================================================================
--- paparazzi3/trunk/sw/airborne/boards/lisa_l/brao_board.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/boards/lisa_l/brao_board.c 2010-08-22
01:11:10 UTC (rev 5552)
@@ -0,0 +1,4 @@
+
+#include "rotorcraft/baro.h"
+
+
Copied: paparazzi3/trunk/sw/airborne/boards/lisa_l/test_baro.c (from rev 5529,
paparazzi3/trunk/sw/airborne/lisa/test_baro.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/boards/lisa_l/test_baro.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/boards/lisa_l/test_baro.c 2010-08-22
01:11:10 UTC (rev 5552)
@@ -0,0 +1,107 @@
+/*
+ * $Id$
+ *
+ * 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.
+ */
+
+/*
+ *
+ * test baro using interrupts
+ *
+ */
+
+#include BOARD_CONFIG
+
+#include "init_hw.h"
+#include "sys_time.h"
+
+#include "downlink.h"
+
+#include "rotorcraft/baro.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_on_baro_diff(void);
+static inline void main_on_baro_abs(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();
+ baro_init();
+
+ // DEBUG_SERVO1_INIT();
+ // DEBUG_SERVO2_INIT();
+
+
+}
+
+
+
+static inline void main_periodic_task( void ) {
+
+ RunOnceEvery(2, {baro_periodic();});
+ LED_PERIODIC();
+ RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);});
+ RunOnceEvery(256,
+ {
+ DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
+ &i2c2_errors.ack_fail_cnt,
+ &i2c2_errors.miss_start_stop_cnt,
+ &i2c2_errors.arb_lost_cnt,
+ &i2c2_errors.over_under_cnt,
+ &i2c2_errors.pec_recep_cnt,
+ &i2c2_errors.timeout_tlow_cnt,
+ &i2c2_errors.smbus_alert_cnt,
+ &i2c2_errors.unexpected_event_cnt,
+ &i2c2_errors.last_unexpected_event);
+ });
+}
+
+
+
+static inline void main_event_task( void ) {
+ BaroEvent(main_on_baro_abs, main_on_baro_diff);
+}
+
+
+
+static inline void main_on_baro_diff(void) {
+
+}
+
+static inline void main_on_baro_abs(void) {
+ RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, &baro.absolute,
&baro.differential);});
+}
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- [paparazzi-commits] [5552] lisa_l and booz now have different baros implementations,
antoine drouin <=