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[paparazzi-commits] [6214] moved peripherals arch
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [6214] moved peripherals arch |
|
Date: |
Sat, 23 Oct 2010 21:12:06 +0000 |
Revision: 6214
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6214
Author: flixr
Date: 2010-10-23 21:12:06 +0000 (Sat, 23 Oct 2010)
Log Message:
-----------
moved peripherals arch
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/Poine/beth.xml
paparazzi3/trunk/conf/autopilot/booz2_test_progs.makefile
paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile
paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile
paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
paparazzi3/trunk/sw/airborne/arch/lpc21/sys_time_hw.c
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/hmc5843_arch.c
paparazzi3/trunk/sw/airborne/booz/test/booz2_test_max1168.c
paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_aspirin.c
paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_hmc5843.c
paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_max1168.c
paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_ms2001.c
paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_ms2100.c
paparazzi3/trunk/sw/airborne/peripherals/adxl345.h
paparazzi3/trunk/sw/airborne/peripherals/ami601.c
paparazzi3/trunk/sw/airborne/peripherals/ami601.h
paparazzi3/trunk/sw/airborne/peripherals/hmc5843.c
paparazzi3/trunk/sw/airborne/peripherals/hmc5843.h
paparazzi3/trunk/sw/airborne/peripherals/itg3200.h
paparazzi3/trunk/sw/airborne/peripherals/max1168.c
paparazzi3/trunk/sw/airborne/peripherals/max1168.h
paparazzi3/trunk/sw/airborne/peripherals/ms2001.c
paparazzi3/trunk/sw/airborne/peripherals/ms2001.h
paparazzi3/trunk/sw/airborne/peripherals/sc18i600.c
paparazzi3/trunk/sw/airborne/peripherals/sc18i600.h
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/lpc21/imu_b2_arch.c
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_b2_arch.c
paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_b2_arch.c
paparazzi3/trunk/sw/airborne/subsystems/imu/imu_aspirin.h
paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.c
paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.h
paparazzi3/trunk/sw/airborne/subsystems/imu/imu_crista.h
paparazzi3/trunk/sw/airborne/test/peripherals/test_ami601.c
Added Paths:
-----------
paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/
paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/max1168_arch.c
paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/max1168_arch.h
paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/ms2001_arch.c
paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/ms2001_arch.h
paparazzi3/trunk/sw/airborne/arch/sim/peripherals/
paparazzi3/trunk/sw/airborne/arch/sim/peripherals/max1168_arch.c
paparazzi3/trunk/sw/airborne/arch/sim/peripherals/max1168_arch.h
paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/
paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/max1168_arch.c
paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/max1168_arch.h
paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/ms2001_arch.c
paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/ms2001_arch.h
Removed Paths:
-------------
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/peripherals/
paparazzi3/trunk/sw/airborne/booz/arch/sim/peripherals/
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.c
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.h
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.c
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.h
Modified: paparazzi3/trunk/conf/airframes/Poine/beth.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/beth.xml 2010-10-23 21:11:54 UTC
(rev 6213)
+++ paparazzi3/trunk/conf/airframes/Poine/beth.xml 2010-10-23 21:12:06 UTC
(rev 6214)
@@ -129,8 +129,8 @@
#main_stm32.srcs += $(SRC_FIRMWARE)/imu.c
#main_stm32.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ
-DUSE_SPI2_IRQ
#main_stm32.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c
$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
-#main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c
$(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
-#main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c
$(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+#main_stm32.srcs += peripherals/max1168.c
$(SRC_ARCH)/peripherals/max1168_arch.c
+#main_stm32.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c
#main_stm32.srcs += math/pprz_trig_int.c
#crista IMU
Modified: paparazzi3/trunk/conf/autopilot/booz2_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/booz2_test_progs.makefile 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/conf/autopilot/booz2_test_progs.makefile 2010-10-23
21:12:06 UTC (rev 6214)
@@ -72,8 +72,8 @@
test_max1168.srcs += downlink.c pprz_transport.c
test_max1168.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8 -DSSP_VIC_SLOT=9
-test_max1168.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
-
$(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+test_max1168.srcs += peripherals/max1168.c \
+
$(SRC_ARCH)/peripherals/max1168_arch.c
#
# test MICROMAG
Modified: paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile 2010-10-23
21:12:06 UTC (rev 6214)
@@ -229,6 +229,6 @@
test_ami601.srcs += downlink.c pprz_transport.c
test_ami601.CFLAGS += -DUSE_AMI601
-test_ami601.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+test_ami601.srcs += peripherals/ami601.c
test_ami601.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150
-DI2C1_VIC_SLOT=11
test_ami601.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
Modified: paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile 2010-10-23
21:12:06 UTC (rev 6214)
@@ -318,8 +318,8 @@
test_imu_b2.CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
test_imu_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ
-DUSE_SPI2_IRQ
test_imu_b2.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c
$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
-test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c
$(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
-test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c
$(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+test_imu_b2.srcs += peripherals/max1168.c
$(SRC_ARCH)/peripherals/max1168_arch.c
+test_imu_b2.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c
#
# test IMU b2 1.2
@@ -359,10 +359,10 @@
test_imu_b2_2.CFLAGS +=
-DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
test_imu_b2_2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ
-DUSE_SPI2_IRQ
test_imu_b2_2.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c
$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
-test_imu_b2_2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c
$(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+test_imu_b2_2.srcs += peripherals/max1168.c
$(SRC_ARCH)/peripherals/max1168_arch.c
test_imu_b2_2.CFLAGS += -DUSE_I2C2
test_imu_b2_2.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-test_imu_b2_2.srcs += $(SRC_BOOZ)/peripherals/booz_hmc5843.c
$(SRC_BOOZ_ARCH)/peripherals/hmc5843_arch.c
+test_imu_b2_2.srcs += peripherals/hmc5843.c
$(SRC_BOOZ_ARCH)/peripherals/hmc5843_arch.c
test_imu_b2_2.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
Modified: paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile 2010-10-23
21:12:06 UTC (rev 6214)
@@ -427,8 +427,8 @@
test_imu_b2.srcs += $(SRC_FIRMWARE)/imu.c
test_imu_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ
-DUSE_SPI2_IRQ
test_imu_b2.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c
$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
-test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c
$(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
-test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c
$(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+test_imu_b2.srcs += peripherals/max1168.c
$(SRC_ARCH)/peripherals/max1168_arch.c
+test_imu_b2.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c
#
@@ -851,8 +851,8 @@
test_sc18is600.srcs += math/pprz_trig_int.c
test_sc18is600.CFLAGS += -DUSE_EXTI2_IRQ -DUSE_DMA1_C4_IRQ
-test_sc18is600.srcs += $(SRC_BOOZ)/peripherals/booz_sc18is600.c \
- $(SRC_BOOZ_ARCH)/peripherals/booz_sc18is600_arch.c
+test_sc18is600.srcs += peripherals/booz_sc18is600.c \
+ $(SRC_ARCH)/peripherals/sc18is600_arch.c
#
@@ -873,8 +873,8 @@
test_max1168.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_max1168.CFLAGS += -DUSE_SPI2 -DUSE_EXTI2_IRQ -DUSE_DMA1_C4_IRQ
-DMAX1168_HANDLES_DMA_IRQ
-test_max1168.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
- $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+test_max1168.srcs += peripherals/max1168.c \
+ $(SRC_ARCH)/peripherals/max1168_arch.c
test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_max1168.srcs += $(SRC_ARCH)/uart_hw.c
@@ -902,8 +902,8 @@
test_ms2001.CFLAGS += -DUSE_SPI2
test_ms2001.CFLAGS += -DUSE_DMA1_C4_IRQ -DMS2001_HANDLES_DMA_IRQ
test_ms2001.CFLAGS += -DUSE_SPI2_IRQ -DMS2001_HANDLES_SPI_IRQ
-test_ms2001.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c \
- $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+test_ms2001.srcs += peripherals/ms2001.c \
+ $(SRC_ARCH)/peripherals/ms2001_arch.c
test_ms2001.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_ms2001.srcs += $(SRC_ARCH)/uart_hw.c
@@ -1095,8 +1095,8 @@
ptw.srcs += $(SRC_FIRMWARE)/imu.c
ptw.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
ptw.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c
$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
-ptw.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c
$(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
-ptw.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c
$(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+ptw.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
+ptw.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c
ptw.srcs += math/pprz_trig_int.c
ptw.srcs += $(SRC_BOOZ)/booz2_commands.c
@@ -1354,8 +1354,8 @@
hs_gyro_b2.srcs += $(SRC_FIRMWARE)/imu.c
hs_gyro_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ
-DUSE_SPI2_IRQ
hs_gyro_b2.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c
$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
-hs_gyro_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c
$(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
-hs_gyro_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c
$(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+hs_gyro_b2.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
+hs_gyro_b2.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c
#
# Spits every samples of one axis of gyro on IMU crista
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
2010-10-23 21:11:54 UTC (rev 6213)
+++
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
2010-10-23 21:12:06 UTC (rev 6214)
@@ -47,11 +47,11 @@
$(SRC_FIRMWARE)/imu/imu_b2.c \
$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
-$(TARGET).srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
- $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+$(TARGET).srcs += peripherals/max1168.c \
+ $(SRC_ARCH)/peripherals/max1168_arch.c
-$(TARGET).srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c \
- $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+$(TARGET).srcs += peripherals/ms2001.c \
+ $(SRC_ARCH)/peripherals/ms2001_arch.c
ifeq ($(ARCH), lpc21)
$(TARGET).CFLAGS += -DSSP_VIC_SLOT=9
@@ -75,9 +75,9 @@
$(SRC_BOOZ_SIM)/imu/imu_b2_arch.c
-sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
- $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c
+sim.srcs += peripherals/max1168.c \
+ $(SRC_BOOZ_SIM)/peripherals/max1168_arch.c
sim.CFLAGS += -DUSE_AMI601
-sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+sim.srcs += peripherals/ami601.c
sim.CFLAGS += -DUSE_I2C1
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile
2010-10-23 21:11:54 UTC (rev 6213)
+++
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile
2010-10-23 21:12:06 UTC (rev 6214)
@@ -51,10 +51,10 @@
$(SRC_FIRMWARE)/imu/imu_b2.c \
$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
-imu_srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
- $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+imu_srcs += peripherals/max1168.c \
+ $(SRC_ARCH)/peripherals/max1168_arch.c
-imu_srcs += $(SRC_BOOZ)/peripherals/booz_hmc5843.c \
+imu_srcs += peripherals/hmc5843.c \
$(SRC_BOOZ_ARCH)/peripherals/hmc5843_arch.c
ifeq ($(ARCH), lpc21)
@@ -87,9 +87,9 @@
$(SRC_FIRMWARE)/imu/imu_b2.c \
$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
-sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
- $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c
+sim.srcs += peripherals/max1168.c \
+ $(SRC_BOOZ_SIM)/peripherals/max1168_arch.c
sim.CFLAGS += -DUSE_AMI601
-sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+sim.srcs += peripherals/ami601.c
sim.CFLAGS += -DUSE_I2C1
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
2010-10-23 21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
2010-10-23 21:12:06 UTC (rev 6214)
@@ -48,11 +48,11 @@
$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c
ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
-ap.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
- $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+ap.srcs += peripherals/max1168.c \
+ $(SRC_ARCH)/peripherals/max1168_arch.c
ap.CFLAGS += -DUSE_AMI601
-ap.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+ap.srcs += peripherals/ami601.c
ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11
@@ -70,9 +70,9 @@
$(SRC_SUBSYSTEMS)/imu/imu_b2.c \
$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c
-sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
- $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c
+sim.srcs += peripherals/max1168.c \
+ $(SRC_BOOZ_SIM)/peripherals/max1168_arch.c
sim.CFLAGS += -DUSE_AMI601
-sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+sim.srcs += peripherals/ami601.c
sim.CFLAGS += -DUSE_I2C1
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
2010-10-23 21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
2010-10-23 21:12:06 UTC (rev 6214)
@@ -51,11 +51,11 @@
$(SRC_SUBSYSTEMS)/imu/imu_b2.c \
$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c
-imu_srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
- $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+imu_srcs += peripherals/max1168.c \
+ $(SRC_ARCH)/peripherals/max1168_arch.c
-imu_srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c \
- $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+imu_srcs += peripherals/ms2001.c \
+ $(SRC_ARCH)/peripherals/ms2001_arch.c
ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DSSP_VIC_SLOT=9
@@ -86,9 +86,9 @@
$(SRC_SUBSYSTEMS)/imu/imu_b2.c \
$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c
-sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
- $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c
+sim.srcs += peripherals/max1168.c \
+ $(SRC_BOOZ_SIM)/peripherals/max1168_arch.c
sim.CFLAGS += -DUSE_AMI601
-sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+sim.srcs += peripherals/ami601.c
sim.CFLAGS += -DUSE_I2C1
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile
2010-10-23 21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile
2010-10-23 21:12:06 UTC (rev 6214)
@@ -51,11 +51,11 @@
$(SRC_SUBSYSTEMS)/imu/imu_b2.c \
$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c
-imu_srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
- $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+imu_srcs += peripherals/max1168.c \
+ $(SRC_ARCH)/peripherals/max1168_arch.c
imu_srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-imu_srcs += $(SRC_BOOZ)/peripherals/booz_hmc5843.c \
+imu_srcs += peripherals/hmc5843.c \
$(SRC_BOOZ_ARCH)/peripherals/hmc5843_arch.c
ifeq ($(ARCH), lpc21)
@@ -88,9 +88,9 @@
$(SRC_SUBSYSTEMS)/imu/imu_b2.c \
$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c
-sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
- $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c
+sim.srcs += peripherals/max1168.c \
+ $(SRC_BOOZ_SIM)/peripherals/max1168_arch.c
sim.CFLAGS += -DUSE_AMI601
-sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+sim.srcs += peripherals/ami601.c
sim.CFLAGS += -DUSE_I2C1
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
2010-10-23 21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
2010-10-23 21:12:06 UTC (rev 6214)
@@ -69,7 +69,7 @@
$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_crista_arch.c
ap.CFLAGS += -DUSE_AMI601
-ap.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+ap.srcs += peripherals/ami601.c
ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11
-DI2C1_BUF_LEN=16
@@ -86,5 +86,5 @@
$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_crista_arch.c
sim.CFLAGS += -DUSE_AMI601
-sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+sim.srcs += peripherals/ami601.c
sim.CFLAGS += -DUSE_I2C1
Copied: paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/max1168_arch.c
(from rev 6213,
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/peripherals/booz_max1168_arch.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/max1168_arch.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/max1168_arch.c
2010-10-23 21:12:06 UTC (rev 6214)
@@ -0,0 +1,91 @@
+/*
+ * $Id$
+ *
+ * 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 "peripherals/max1168.h"
+
+static void EXTINT0_ISR(void) __attribute__((naked));
+
+void max1168_arch_init( void ) {
+
+ /* unselected max1168 */
+ Max1168Unselect();
+ /* SS pin is output */
+ SetBit(MAX1168_SS_IODIR, MAX1168_SS_PIN);
+
+ /* connect P0.16 to extint0 (EOC) */
+ MAX1168_EOC_PINSEL |= MAX1168_EOC_PINSEL_VAL << MAX1168_EOC_PINSEL_BIT;
+ /* extint0 is edge trigered */
+ SetBit(EXTMODE, MAX1168_EOC_EINT);
+ /* extint0 is trigered on falling edge */
+ ClearBit(EXTPOLAR, MAX1168_EOC_EINT);
+ /* clear pending extint0 before enabling interrupts */
+ SetBit(EXTINT, MAX1168_EOC_EINT);
+
+ /* initialize interrupt vector */
+ VICIntSelect &= ~VIC_BIT( VIC_EINT0 ); // EXTINT0
selected as IRQ
+ VICIntEnable = VIC_BIT( VIC_EINT0 ); // EXTINT0
interrupt enabled
+ _VIC_CNTL(MAX1168_EOC_VIC_SLOT) = VIC_ENABLE | VIC_EINT0;
+ _VIC_ADDR(MAX1168_EOC_VIC_SLOT) = (uint32_t)EXTINT0_ISR; // address of the
ISR
+}
+
+
+void max1168_read( void ) {
+ ASSERT((max1168_status == STA_MAX1168_IDLE), \
+ DEBUG_MAX_1168, MAX1168_ERR_READ_OVERUN);
+ /* select max1168 */
+ Max1168Select();
+ /* enable SPI */
+ SSP_ClearRti();
+ SSP_DisableRti();
+ SSP_Enable();
+ /* write control byte - wait EOC on extint */
+ SSPDR = (1 << 0 | 1 << 3 | 7 << 5) << 8;
+ max1168_status = STA_MAX1168_SENDING_REQ;
+
+}
+
+void EXTINT0_ISR(void) {
+ ISR_ENTRY();
+ ASSERT((max1168_status == STA_MAX1168_SENDING_REQ), \
+ DEBUG_MAX_1168, MAX1168_ERR_SPURIOUS_EOC);
+ /* read dummy control byte reply */
+ uint16_t foo __attribute__ ((unused));
+ foo = SSPDR;
+ /* trigger 8 frames read */
+ SSP_Send(0);
+ SSP_Send(0);
+ SSP_Send(0);
+ SSP_Send(0);
+ SSP_Send(0);
+ SSP_Send(0);
+ SSP_Send(0);
+ SSP_Send(0);
+ SSP_ClearRti();
+ SSP_EnableRti();
+ max1168_status = STA_MAX1168_READING_RES;
+ //SetBit(EXTINT, MAX1168_EOC_EINT); /* clear extint0 */
+ EXTINT = (1<<MAX1168_EOC_EINT);
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+
+ ISR_EXIT();
+}
Copied: paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/max1168_arch.h
(from rev 6213,
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/peripherals/booz_max1168_arch.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/max1168_arch.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/max1168_arch.h
2010-10-23 21:12:06 UTC (rev 6214)
@@ -0,0 +1,79 @@
+/*
+ * $Id$
+ *
+ * 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.
+ */
+
+
+#ifndef MAX1168_ARCH_H
+#define MAX1168_ARCH_H
+
+
+/*
+ MAX1168 SPI ADC connected on SPI1
+ SS on P0.20
+ EOC on P0.16 ( EINT0 )
+*/
+
+#include "std.h"
+#include "LPC21xx.h"
+#include "interrupt_hw.h"
+#include "ssp_hw.h"
+
+#include "pprz_debug.h"
+
+#define MAX1168_ERR_ISR_STATUS 0
+#define MAX1168_ERR_READ_OVERUN 1
+#define MAX1168_ERR_SPURIOUS_EOC 2
+
+#define MAX1168_SS_PIN 20
+#define MAX1168_SS_IODIR IO0DIR
+#define MAX1168_SS_IOSET IO0SET
+#define MAX1168_SS_IOCLR IO0CLR
+
+#define MAX1168_EOC_PIN 16
+#define MAX1168_EOC_PINSEL PINSEL1
+#define MAX1168_EOC_PINSEL_BIT 0
+#define MAX1168_EOC_PINSEL_VAL 1
+#define MAX1168_EOC_EINT 0
+
+#define Max1168Unselect() SetBit(MAX1168_SS_IOSET, MAX1168_SS_PIN)
+#define Max1168Select() SetBit(MAX1168_SS_IOCLR, MAX1168_SS_PIN)
+
+#define Max1168OnSpiInt() { \
+ ASSERT((max1168_status == STA_MAX1168_READING_RES), \
+ DEBUG_MAX_1168, MAX1168_ERR_ISR_STATUS); \
+ /* store convertion result */ \
+ max1168_values[0] = SSPDR; \
+ max1168_values[1] = SSPDR; \
+ max1168_values[2] = SSPDR; \
+ max1168_values[3] = SSPDR; \
+ max1168_values[4] = SSPDR; \
+ max1168_values[5] = SSPDR; \
+ max1168_values[6] = SSPDR; \
+ max1168_values[7] = SSPDR; \
+ SSP_ClearRti(); \
+ SSP_DisableRti(); \
+ SSP_Disable(); \
+ Max1168Unselect(); \
+ max1168_status = STA_MAX1168_DATA_AVAILABLE; \
+ }
+
+#endif /* MAX1168_ARCH_H */
Copied: paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/ms2001_arch.c (from
rev 6213,
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/peripherals/booz_ms2001_arch.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/ms2001_arch.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/ms2001_arch.c
2010-10-23 21:12:06 UTC (rev 6214)
@@ -0,0 +1,50 @@
+/* PNI ms2001 connected on SPI1 */
+/*
+ IMU b2
+ SS on P1.28
+ RESET on P1.19
+ DRDY on P0.30 ( EINT3)
+*/
+
+#include "peripherals/ms2001.h"
+
+volatile uint8_t ms2001_cur_axe;
+
+static void EXTINT_ISR(void) __attribute__((naked));
+
+void ms2001_arch_init( void ) {
+
+ ms2001_cur_axe = 0;
+
+ /* configure SS pin */
+ Ms2001Unselect(); /* pin idles high */
+ SetBit(MS2001_SS_IODIR, MS2001_SS_PIN); /* pin is output */
+
+ /* configure RESET pin */
+ Ms2001Reset(); /* pin idles low */
+ SetBit(MS2001_RESET_IODIR, MS2001_RESET_PIN); /* pin is output */
+
+ /* configure DRDY pin */
+ /* connected pin to EXINT */
+ MS2001_DRDY_PINSEL |= MS2001_DRDY_PINSEL_VAL << MS2001_DRDY_PINSEL_BIT;
+ SetBit(EXTMODE, MS2001_DRDY_EINT); /* EINT is edge trigered */
+ SetBit(EXTPOLAR,MS2001_DRDY_EINT); /* EINT is trigered on rising edge */
+ SetBit(EXTINT,MS2001_DRDY_EINT); /* clear pending EINT */
+
+ /* initialize interrupt vector */
+ VICIntSelect &= ~VIC_BIT( MS2001_DRDY_VIC_IT ); /*
select EINT as IRQ source */
+ VICIntEnable = VIC_BIT( MS2001_DRDY_VIC_IT ); /*
enable it */
+ _VIC_CNTL(MS2001_DRDY_VIC_SLOT) = VIC_ENABLE | MS2001_DRDY_VIC_IT;
+ _VIC_ADDR(MS2001_DRDY_VIC_SLOT) = (uint32_t)EXTINT_ISR; // address
of the ISR
+
+}
+
+void EXTINT_ISR(void) {
+ ISR_ENTRY();
+ /* no, we won't do anything asynchronously, so just notify */
+ ms2001_status = MS2001_GOT_EOC;
+ /* clear EINT */
+ EXTINT = (1<<MS2001_DRDY_EINT);
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+ ISR_EXIT();
+}
Copied: paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/ms2001_arch.h (from
rev 6213,
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/peripherals/booz_ms2001_arch.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/ms2001_arch.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/peripherals/ms2001_arch.h
2010-10-23 21:12:06 UTC (rev 6214)
@@ -0,0 +1,88 @@
+#ifndef MS2001_ARCH_H
+#define MS2001_ARCH_H
+
+#include <stdlib.h> // for abs
+
+#include "std.h"
+#include "LPC21xx.h"
+#include "interrupt_hw.h"
+
+#include "ssp_hw.h"
+#include BOARD_CONFIG
+
+#include "airframe.h"
+
+
+
+extern volatile uint8_t ms2001_cur_axe;
+
+#define Ms2001Select() SetBit(MS2001_SS_IOCLR,MS2001_SS_PIN)
+#define Ms2001Unselect() SetBit(MS2001_SS_IOSET,MS2001_SS_PIN)
+
+#define Ms2001Reset() SetBit(MS2001_RESET_IOCLR,MS2001_RESET_PIN)
+#define Ms2001Set() SetBit(MS2001_RESET_IOSET,MS2001_RESET_PIN)
+
+#define Ms2001OnSpiIt() { \
+ switch (ms2001_status) { \
+ case MS2001_SENDING_REQ: \
+ {
\
+ /* read dummy control byte reply */ \
+ uint8_t foo __attribute__ ((unused)) = SSPDR; \
+ ms2001_status = MS2001_WAITING_EOC; \
+ Ms2001Unselect(); \
+ SSP_ClearRti(); \
+ SSP_DisableRti(); \
+ SSP_Disable(); \
+ }
\
+ break; \
+ case MS2001_READING_RES: \
+ {
\
+ int16_t new_val; \
+ new_val = SSPDR << 8; \
+ new_val += SSPDR; \
+ if (abs(new_val) < 2000) \
+ ms2001_values[ms2001_cur_axe] = new_val; \
+ Ms2001Unselect(); \
+ SSP_ClearRti(); \
+ SSP_DisableRti(); \
+ SSP_Disable(); \
+ ms2001_cur_axe++; \
+ if (ms2001_cur_axe > 2) { \
+ ms2001_cur_axe = 0; \
+ ms2001_status = MS2001_DATA_AVAILABLE; \
+ } \
+ else \
+ ms2001_status = MS2001_IDLE; \
+ }
\
+ break; \
+ } \
+ }
+
+
+#define Ms2001SendReq() { \
+ Ms2001Select(); \
+ ms2001_status = MS2001_SENDING_REQ;
\
+ Ms2001Set(); \
+ SSP_ClearRti(); \
+ SSP_EnableRti(); \
+ Ms2001Reset(); \
+ uint8_t control_byte = (ms2001_cur_axe+1) << 0 | \
+ MS2001_DIVISOR << 4; \
+ SSP_Send(control_byte); \
+ SSP_Enable(); \
+ }
+
+#define Ms2001ReadRes() { \
+ ms2001_status = MS2001_READING_RES;
\
+ Ms2001Select(); \
+ /* trigger 2 bytes read */ \
+ SSP_Send(0); \
+ SSP_Send(0); \
+ SSP_Enable(); \
+ SSP_ClearRti(); \
+ SSP_EnableRti(); \
+ }
+
+
+
+#endif /* MS2001_ARCH_H */
Modified: paparazzi3/trunk/sw/airborne/arch/lpc21/sys_time_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/sys_time_hw.c 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/sys_time_hw.c 2010-10-23
21:12:06 UTC (rev 6214)
@@ -47,7 +47,7 @@
#endif
#ifdef USE_AMI601
-#include "booz/peripherals/booz_ami601.h"
+#include "booz/peripherals/ami601.h"
#else
#define AMI601_IT 0x00
#endif
Copied: paparazzi3/trunk/sw/airborne/arch/sim/peripherals/max1168_arch.c (from
rev 6213,
paparazzi3/trunk/sw/airborne/booz/arch/sim/peripherals/booz_max1168_arch.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/sim/peripherals/max1168_arch.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/sim/peripherals/max1168_arch.c
2010-10-23 21:12:06 UTC (rev 6214)
@@ -0,0 +1,28 @@
+/*
+ * $Id$
+ *
+ * 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 "peripherals/max1168.h"
+
+void max1168_arch_init( void ) {}
+
+void max1168_read( void ) {}
Copied: paparazzi3/trunk/sw/airborne/arch/sim/peripherals/max1168_arch.h (from
rev 6213,
paparazzi3/trunk/sw/airborne/booz/arch/sim/peripherals/booz_max1168_arch.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/sim/peripherals/max1168_arch.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/sim/peripherals/max1168_arch.h
2010-10-23 21:12:06 UTC (rev 6214)
@@ -0,0 +1,34 @@
+/*
+ * $Id$
+ *
+ * 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.
+ */
+
+/*
+ *
+ * simulator plug for max1168 SPI Analog to Digital converter
+ *
+ */
+
+#ifndef MAX1168_HW_H
+#define MAX1168_HW_H
+
+
+#endif /* MAX1168_HW_H */
Copied: paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/max1168_arch.c
(from rev 6213,
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/max1168_arch.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/max1168_arch.c
2010-10-23 21:12:06 UTC (rev 6214)
@@ -0,0 +1,174 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 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 "peripherals/max1168.h"
+
+#include <stm32/rcc.h>
+#include <stm32/spi.h>
+#include <stm32/exti.h>
+#include <stm32/misc.h>
+#include <stm32/dma.h>
+
+
+/* I can't use GPIOD as it's already defined in some system header */
+#define __DRDY_PORT(dev, _x) _x##dev
+#define _DRDY_PORT(dev, _x) __DRDY_PORT(dev, _x)
+#define DRDY_PORT(_x) _DRDY_PORT(MAX_1168_DRDY_PORT, _x)
+
+#define __DRDY_PORT_SOURCE(dev, _x) _x##dev
+#define _DRDY_PORT_SOURCE(dev, _x) __DRDY_PORT_SOURCE(dev, _x)
+#define DRDY_PORT_SOURCE(_x) _DRDY_PORT_SOURCE(MAX_1168_DRDY_PORT_SOURCE, _x)
+
+void exti2_irq_handler(void);
+
+void max1168_arch_init( void ) {
+
+ /* set slave select as output and assert it ( on PB12) */
+ Max1168Unselect();
+ 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( data ready ) v1.0*/
+ /* PB2( data ready ) v1.1*/
+ // RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO,
ENABLE);
+ RCC_APB2PeriphClockCmd(DRDY_PORT(RCC_APB2Periph) | 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);
+ GPIO_EXTILineConfig(DRDY_PORT_SOURCE(GPIO_), 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);
+
+#ifdef MAX1168_HANDLES_DMA_IRQ
+ /* Enable DMA1 channel4 IRQ Channel */
+ NVIC_InitTypeDef NVIC_init_struct = {
+ .NVIC_IRQChannel = DMA1_Channel4_IRQn,
+ .NVIC_IRQChannelPreemptionPriority = 0,
+ .NVIC_IRQChannelSubPriority = 0,
+ .NVIC_IRQChannelCmd = ENABLE
+ };
+ NVIC_Init(&NVIC_init_struct);
+#endif /* MAX1168_HANDLES_DMA_IRQ */
+}
+
+void max1168_read( void ) {
+ /* ASSERT((max1168_status == STA_MAX1168_IDLE), \
+ * DEBUG_MAX_1168, MAX1168_ERR_READ_OVERUN);
+ */
+ /* select max1168 */
+ Max1168Select();
+
+ /* write control byte - wait EOC on extint */
+ const uint16_t ctl_byte = (1 << 0 | 1 << 3 | 7 << 5) << 8;
+ SPI_I2S_SendData(SPI2, ctl_byte);
+ max1168_status = STA_MAX1168_SENDING_REQ;
+
+}
+
+void exti2_irq_handler(void) {
+
+ /* ASSERT((max1168_status == STA_MAX1168_SENDING_REQ), \
+ * DEBUG_MAX_1168, MAX1168_ERR_SPURIOUS_EOC);
+ */
+
+ /* clear EXTI */
+ if(EXTI_GetITStatus(EXTI_Line2) != RESET)
+ EXTI_ClearITPendingBit(EXTI_Line2);
+
+ /* read control byte FIXME: is this needed ?, yes*/
+ uint16_t foo __attribute__ ((unused)) = SPI_I2S_ReceiveData(SPI2);
+
+ /* trigger 8 frames read */
+ /* 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)max1168_values,
+ .DMA_DIR = DMA_DIR_PeripheralSRC,
+ .DMA_BufferSize = MAX1168_NB_CHAN,
+ .DMA_PeripheralInc = DMA_PeripheralInc_Disable,
+ .DMA_MemoryInc = DMA_MemoryInc_Enable,
+ .DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord,
+ .DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord,
+ .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)max1168_values,
+ .DMA_DIR = DMA_DIR_PeripheralDST,
+ .DMA_BufferSize = MAX1168_NB_CHAN,
+ .DMA_PeripheralInc = DMA_PeripheralInc_Disable,
+ .DMA_MemoryInc = DMA_MemoryInc_Enable,
+ .DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord,
+ .DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord,
+ .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);
+
+ max1168_status = STA_MAX1168_READING_RES;
+}
+
+#ifdef MAX1168_HANDLES_DMA_IRQ
+void dma1_c4_irq_handler(void) {
+ Max1168OnDmaIrq();
+}
+#endif /*MAX1168_HANDLES_DMA_IRQ */
Copied: paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/max1168_arch.h
(from rev 6213,
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/max1168_arch.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/max1168_arch.h
2010-10-23 21:12:06 UTC (rev 6214)
@@ -0,0 +1,69 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 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.
+ */
+
+#ifndef MAX1168_ARCH_H
+#define MAX1168_ARCH_H
+
+/*
+ * max1168 analog to digital converter
+ * connected on spi2
+ * select on PB12
+ * drdy on PD2
+ */
+#include <stm32/gpio.h>
+
+#define Max1168Unselect() GPIOB->BSRR = GPIO_Pin_12
+#define Max1168Select() GPIOB->BRR = GPIO_Pin_12
+
+#define Max1168OnDmaIrq() { \
+ /* ASSERT((max1168_status == STA_MAX1168_READING_RES), \
+ * DEBUG_MAX_1168, MAX1168_ERR_SPURIOUS_DMA_IRQ); \
+ */
\
+ Max1168Unselect(); \
+ 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); \
+ \
+ max1168_status = STA_MAX1168_DATA_AVAILABLE; \
+ }
+
+
+#define Max1168ConfigureSPI() {
\
+ 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_Low; \
+ SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge; \
+ 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);
\
+ }
+
+#endif /* MAX1168_ARCH_H */
Copied: paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/ms2001_arch.c (from
rev 6213,
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/ms2001_arch.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/ms2001_arch.c
2010-10-23 21:12:06 UTC (rev 6214)
@@ -0,0 +1,95 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 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 "peripherals/ms2001.h"
+
+#include <stm32/rcc.h>
+#include <stm32/spi.h>
+#include <stm32/exti.h>
+#include <stm32/misc.h>
+#include <stm32/dma.h>
+
+uint8_t ms2001_cur_axe;
+int16_t ms2001_last_reading; // can't write in place because that stupid beast
+ // stips stupid values once in a while that I need
+ // to filter - high time we get rid of this crap
hardware
+ // and no, I checked with the logic analyzer,
timing are
+ // within specs
+
+void ms2001_arch_init( void ) {
+
+ ms2001_cur_axe = 0;
+
+ /* set mag SS and reset as output and assert them (SS on PC12 reset on
PC13) ----*/
+ Ms2001Unselect();
+ Ms2001Set();
+
+ 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_Out_PP;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOC, &GPIO_InitStructure);
+
+ /* configure data ready on PB5 */
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+#ifdef MS2001_HANDLES_DMA_IRQ
+ /* Enable DMA1 channel4 IRQ Channel */
+ NVIC_InitTypeDef NVIC_init_structure_dma = {
+ .NVIC_IRQChannel = DMA1_Channel4_IRQn,
+ .NVIC_IRQChannelPreemptionPriority = 0,
+ .NVIC_IRQChannelSubPriority = 0,
+ .NVIC_IRQChannelCmd = ENABLE
+ };
+ NVIC_Init(&NVIC_init_structure_dma);
+#endif /* MS2001_HANDLES_DMA_IRQ */
+
+#ifdef MS2001_HANDLES_SPI_IRQ
+ NVIC_InitTypeDef NVIC_init_structure_spi = {
+ .NVIC_IRQChannel = SPI2_IRQn,
+ .NVIC_IRQChannelPreemptionPriority = 0,
+ .NVIC_IRQChannelSubPriority = 1,
+ .NVIC_IRQChannelCmd = ENABLE
+ };
+ NVIC_Init(&NVIC_init_structure_spi);
+#endif /* MS2001_HANDLES_SPI_IRQ */
+
+}
+
+#ifdef MS2001_HANDLES_SPI_IRQ
+void spi2_irq_handler(void) {
+ Ms2001OnSpiIrq();
+}
+#endif
+
+
+#ifdef MS2001_HANDLES_DMA_IRQ
+void dma1_c4_irq_handler(void) {
+ Ms2001OnDmaIrq();
+}
+#endif /* MS2001_HANDLES_DMA_IRQ */
Copied: paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/ms2001_arch.h (from
rev 6213,
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/ms2001_arch.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/stm32/peripherals/ms2001_arch.h
2010-10-23 21:12:06 UTC (rev 6214)
@@ -0,0 +1,155 @@
+#ifndef MS2001_ARCH_H
+#define MS2001_ARCH_H
+
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 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/spi.h>
+
+extern uint8_t ms2001_cur_axe;
+extern int16_t ms2001_last_reading;
+
+#define Ms2001Select() GPIOC->BRR = GPIO_Pin_12
+#define Ms2001Unselect() GPIOC->BSRR = GPIO_Pin_12
+
+#define Ms2001Reset() GPIOC->BSRR = GPIO_Pin_13;
+#define Ms2001Set() GPIOC->BRR = GPIO_Pin_13
+
+#define Ms2001HasEOC() GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_5)
+
+#define Ms2001SendReq() { \
+ Ms2001Select(); \
+ __IO uint32_t nCount = 4;for(; nCount != 0; nCount--); \
+ Ms2001Reset(); \
+ ms2001_status = MS2001_SENDING_REQ;
\
+ nCount = 4;for(; nCount != 0; nCount--); \
+ Ms2001Set(); \
+ uint16_t ctl_byte = ((ms2001_cur_axe+1) | (MS2001_DIVISOR << 4)); \
+ nCount = 20;for(; nCount != 0; nCount--); \
+ SPI_Cmd(SPI2, DISABLE); \
+ SPI_InitTypeDef SPI_InitStructure = { \
+ .SPI_Direction = SPI_Direction_2Lines_FullDuplex,
\
+ .SPI_Mode = SPI_Mode_Master, \
+ .SPI_DataSize = SPI_DataSize_8b, \
+ .SPI_CPOL = SPI_CPOL_Low,
\
+ .SPI_CPHA = SPI_CPHA_1Edge, \
+ .SPI_NSS = SPI_NSS_Soft, \
+ .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64, \
+ .SPI_FirstBit = SPI_FirstBit_MSB,
\
+ .SPI_CRCPolynomial = 7 \
+ }; \
+ SPI_Init(SPI2, &SPI_InitStructure);
\
+ SPI_I2S_ITConfig(SPI2, SPI_I2S_IT_RXNE, ENABLE); \
+ SPI_Cmd(SPI2, ENABLE); \
+ SPI_I2S_SendData(SPI2, ctl_byte); \
+ }
+
+#define Ms2001ReadRes() { \
+ ms2001_status = MS2001_READING_RES;
\
+ Ms2001Select(); \
+ SPI_Cmd(SPI2, DISABLE); \
+ SPI_InitTypeDef SPI_InitStructure = { \
+ .SPI_Direction = SPI_Direction_2Lines_FullDuplex,
\
+ .SPI_Mode = SPI_Mode_Master, \
+ .SPI_DataSize = SPI_DataSize_16b,
\
+ .SPI_CPOL = SPI_CPOL_Low,
\
+ .SPI_CPHA = SPI_CPHA_1Edge, \
+ .SPI_NSS = SPI_NSS_Soft, \
+ .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64, \
+ .SPI_FirstBit = SPI_FirstBit_MSB,
\
+ .SPI_CRCPolynomial = 7 \
+ }; \
+ SPI_Init(SPI2, &SPI_InitStructure);
\
+ SPI_Cmd(SPI2, ENABLE); \
+ \
+ /* trigger 2 frames read */
\
+ /* SPI2_Rx_DMA_Channel configuration
------------------------------------*/ \
+ DMA_InitTypeDef DMA_InitStructure;
\
+ DMA_DeInit(DMA1_Channel4); \
+ DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C); \
+ DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)(&ms2001_last_reading); \
+ DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC; \
+ DMA_InitStructure.DMA_BufferSize = 1; \
+ DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; \
+ DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; \
+ DMA_InitStructure.DMA_PeripheralDataSize =
DMA_PeripheralDataSize_HalfWord; \
+ DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
\
+ DMA_InitStructure.DMA_Mode = DMA_Mode_Normal; \
+ DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh; \
+ DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; \
+ DMA_Init(DMA1_Channel4, &DMA_InitStructure); \
+ /* SPI2_Tx_DMA_Channel configuration
------------------------------------*/ \
+ DMA_DeInit(DMA1_Channel5); \
+ DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C); \
+ DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&ms2001_values; \
+ DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST; \
+ DMA_InitStructure.DMA_Priority = DMA_Priority_Medium; \
+ DMA_Init(DMA1_Channel5, &DMA_InitStructure); \
+ \
+ /* 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); \
+ \
+ }
+
+#define Ms2001OnDmaIrq() { \
+ /* ASSERT((ms2001_status == MS2001_READING_RES), \
+ * DEBUG_MS2001, MS2001_ERR_SPURIOUS_DMA_IRQ); \
+ */ \
+ if (abs(ms2001_last_reading) < 1000) \
+ ms2001_values[ms2001_cur_axe] = ms2001_last_reading; \
+ Ms2001Unselect(); \
+ ms2001_cur_axe++; \
+ if (ms2001_cur_axe > 2) { \
+ ms2001_cur_axe = 0; \
+ ms2001_status = MS2001_DATA_AVAILABLE; \
+ } \
+ else \
+ ms2001_status = MS2001_IDLE; \
+ SPI_Cmd(SPI2, DISABLE); \
+ DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, DISABLE); \
+ }
+
+#define Ms2001OnSpiIrq() { \
+ /* ASSERT((ms2001_status == MS2001_SENDING_REQ), \
+ * DEBUG_MS2001, MS2001_ERR_SPURIOUS_SPI_IRQ); \
+ */
\
+ /* read unused control byte reply */ \
+ uint8_t foo __attribute__ ((unused)) = SPI_I2S_ReceiveData(SPI2); \
+ Ms2001Unselect(); \
+ ms2001_status = MS2001_WAITING_EOC;
\
+ SPI_Cmd(SPI2, DISABLE); \
+ SPI_I2S_ITConfig(SPI2, SPI_I2S_IT_RXNE, DISABLE); \
+ }
+
+#endif /* MS2001_ARCH_H */
Deleted:
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.c
2010-10-23 21:11:54 UTC (rev 6213)
+++
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.c
2010-10-23 21:12:06 UTC (rev 6214)
@@ -1,174 +0,0 @@
-/*
- * $Id$
- *
- * Copyright (C) 2010 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 "peripherals/booz_max1168.h"
-
-#include <stm32/rcc.h>
-#include <stm32/spi.h>
-#include <stm32/exti.h>
-#include <stm32/misc.h>
-#include <stm32/dma.h>
-
-
-/* I can't use GPIOD as it's already defined in some system header */
-#define __DRDY_PORT(dev, _x) _x##dev
-#define _DRDY_PORT(dev, _x) __DRDY_PORT(dev, _x)
-#define DRDY_PORT(_x) _DRDY_PORT(MAX_1168_DRDY_PORT, _x)
-
-#define __DRDY_PORT_SOURCE(dev, _x) _x##dev
-#define _DRDY_PORT_SOURCE(dev, _x) __DRDY_PORT_SOURCE(dev, _x)
-#define DRDY_PORT_SOURCE(_x) _DRDY_PORT_SOURCE(MAX_1168_DRDY_PORT_SOURCE, _x)
-
-void exti2_irq_handler(void);
-
-void booz_max1168_arch_init( void ) {
-
- /* set slave select as output and assert it ( on PB12) */
- Max1168Unselect();
- 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( data ready ) v1.0*/
- /* PB2( data ready ) v1.1*/
- // RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO,
ENABLE);
- RCC_APB2PeriphClockCmd(DRDY_PORT(RCC_APB2Periph) | 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);
- GPIO_EXTILineConfig(DRDY_PORT_SOURCE(GPIO_), 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);
-
-#ifdef MAX1168_HANDLES_DMA_IRQ
- /* Enable DMA1 channel4 IRQ Channel */
- NVIC_InitTypeDef NVIC_init_struct = {
- .NVIC_IRQChannel = DMA1_Channel4_IRQn,
- .NVIC_IRQChannelPreemptionPriority = 0,
- .NVIC_IRQChannelSubPriority = 0,
- .NVIC_IRQChannelCmd = ENABLE
- };
- NVIC_Init(&NVIC_init_struct);
-#endif /* MAX1168_HANDLES_DMA_IRQ */
-}
-
-void booz_max1168_read( void ) {
- /* ASSERT((booz_max1168_status == STA_MAX1168_IDLE), \
- * DEBUG_MAX_1168, MAX1168_ERR_READ_OVERUN);
- */
- /* select max1168 */
- Max1168Select();
-
- /* write control byte - wait EOC on extint */
- const uint16_t ctl_byte = (1 << 0 | 1 << 3 | 7 << 5) << 8;
- SPI_I2S_SendData(SPI2, ctl_byte);
- booz_max1168_status = STA_MAX1168_SENDING_REQ;
-
-}
-
-void exti2_irq_handler(void) {
-
- /* ASSERT((booz_max1168_status == STA_MAX1168_SENDING_REQ), \
- * DEBUG_MAX_1168, MAX1168_ERR_SPURIOUS_EOC);
- */
-
- /* clear EXTI */
- if(EXTI_GetITStatus(EXTI_Line2) != RESET)
- EXTI_ClearITPendingBit(EXTI_Line2);
-
- /* read control byte FIXME: is this needed ?, yes*/
- uint16_t foo __attribute__ ((unused)) = SPI_I2S_ReceiveData(SPI2);
-
- /* trigger 8 frames read */
- /* 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)booz_max1168_values,
- .DMA_DIR = DMA_DIR_PeripheralSRC,
- .DMA_BufferSize = MAX1168_NB_CHAN,
- .DMA_PeripheralInc = DMA_PeripheralInc_Disable,
- .DMA_MemoryInc = DMA_MemoryInc_Enable,
- .DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord,
- .DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord,
- .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)booz_max1168_values,
- .DMA_DIR = DMA_DIR_PeripheralDST,
- .DMA_BufferSize = MAX1168_NB_CHAN,
- .DMA_PeripheralInc = DMA_PeripheralInc_Disable,
- .DMA_MemoryInc = DMA_MemoryInc_Enable,
- .DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord,
- .DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord,
- .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);
-
- booz_max1168_status = STA_MAX1168_READING_RES;
-}
-
-#ifdef MAX1168_HANDLES_DMA_IRQ
-void dma1_c4_irq_handler(void) {
- Max1168OnDmaIrq();
-}
-#endif /*MAX1168_HANDLES_DMA_IRQ */
Deleted:
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.h
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.h
2010-10-23 21:11:54 UTC (rev 6213)
+++
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_max1168_arch.h
2010-10-23 21:12:06 UTC (rev 6214)
@@ -1,69 +0,0 @@
-/*
- * $Id$
- *
- * Copyright (C) 2010 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.
- */
-
-#ifndef BOOZ_MAX1168_ARCH_H
-#define BOOZ_MAX1168_ARCH_H
-
-/*
- * max1168 analog to digital converter
- * connected on spi2
- * select on PB12
- * drdy on PD2
- */
-#include <stm32/gpio.h>
-
-#define Max1168Unselect() GPIOB->BSRR = GPIO_Pin_12
-#define Max1168Select() GPIOB->BRR = GPIO_Pin_12
-
-#define Max1168OnDmaIrq() { \
- /* ASSERT((booz_max1168_status == STA_MAX1168_READING_RES), \
- * DEBUG_MAX_1168, MAX1168_ERR_SPURIOUS_DMA_IRQ); \
- */
\
- Max1168Unselect(); \
- 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); \
- \
- booz_max1168_status = STA_MAX1168_DATA_AVAILABLE; \
- }
-
-
-#define Max1168ConfigureSPI() {
\
- 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_Low; \
- SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge; \
- 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);
\
- }
-
-#endif /* BOOZ_MAX1168_ARCH_H */
Deleted:
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.c
2010-10-23 21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.c
2010-10-23 21:12:06 UTC (rev 6214)
@@ -1,95 +0,0 @@
-/*
- * $Id$
- *
- * Copyright (C) 2010 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 "peripherals/booz_ms2001.h"
-
-#include <stm32/rcc.h>
-#include <stm32/spi.h>
-#include <stm32/exti.h>
-#include <stm32/misc.h>
-#include <stm32/dma.h>
-
-uint8_t ms2001_cur_axe;
-int16_t ms2001_last_reading; // can't write in place because that stupid beast
- // stips stupid values once in a while that I need
- // to filter - high time we get rid of this crap
hardware
- // and no, I checked with the logic analyzer,
timing are
- // within specs
-
-void ms2001_arch_init( void ) {
-
- ms2001_cur_axe = 0;
-
- /* set mag SS and reset as output and assert them (SS on PC12 reset on
PC13) ----*/
- Ms2001Unselect();
- Ms2001Set();
-
- 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_Out_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_Init(GPIOC, &GPIO_InitStructure);
-
- /* configure data ready on PB5 */
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_Init(GPIOB, &GPIO_InitStructure);
-
-#ifdef MS2001_HANDLES_DMA_IRQ
- /* Enable DMA1 channel4 IRQ Channel */
- NVIC_InitTypeDef NVIC_init_structure_dma = {
- .NVIC_IRQChannel = DMA1_Channel4_IRQn,
- .NVIC_IRQChannelPreemptionPriority = 0,
- .NVIC_IRQChannelSubPriority = 0,
- .NVIC_IRQChannelCmd = ENABLE
- };
- NVIC_Init(&NVIC_init_structure_dma);
-#endif /* MS2001_HANDLES_DMA_IRQ */
-
-#ifdef MS2001_HANDLES_SPI_IRQ
- NVIC_InitTypeDef NVIC_init_structure_spi = {
- .NVIC_IRQChannel = SPI2_IRQn,
- .NVIC_IRQChannelPreemptionPriority = 0,
- .NVIC_IRQChannelSubPriority = 1,
- .NVIC_IRQChannelCmd = ENABLE
- };
- NVIC_Init(&NVIC_init_structure_spi);
-#endif /* MS2001_HANDLES_SPI_IRQ */
-
-}
-
-#ifdef MS2001_HANDLES_SPI_IRQ
-void spi2_irq_handler(void) {
- Ms2001OnSpiIrq();
-}
-#endif
-
-
-#ifdef MS2001_HANDLES_DMA_IRQ
-void dma1_c4_irq_handler(void) {
- Ms2001OnDmaIrq();
-}
-#endif /* MS2001_HANDLES_DMA_IRQ */
Deleted:
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.h
2010-10-23 21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/booz_ms2001_arch.h
2010-10-23 21:12:06 UTC (rev 6214)
@@ -1,155 +0,0 @@
-#ifndef BOOZ_MS2001_ARCH_H
-#define BOOZ_MS2001_ARCH_H
-
-/*
- * $Id$
- *
- * Copyright (C) 2010 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/spi.h>
-
-extern uint8_t ms2001_cur_axe;
-extern int16_t ms2001_last_reading;
-
-#define Ms2001Select() GPIOC->BRR = GPIO_Pin_12
-#define Ms2001Unselect() GPIOC->BSRR = GPIO_Pin_12
-
-#define Ms2001Reset() GPIOC->BSRR = GPIO_Pin_13;
-#define Ms2001Set() GPIOC->BRR = GPIO_Pin_13
-
-#define Ms2001HasEOC() GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_5)
-
-#define Ms2001SendReq() { \
- Ms2001Select(); \
- __IO uint32_t nCount = 4;for(; nCount != 0; nCount--); \
- Ms2001Reset(); \
- ms2001_status = MS2001_SENDING_REQ;
\
- nCount = 4;for(; nCount != 0; nCount--); \
- Ms2001Set(); \
- uint16_t ctl_byte = ((ms2001_cur_axe+1) | (MS2001_DIVISOR << 4)); \
- nCount = 20;for(; nCount != 0; nCount--); \
- SPI_Cmd(SPI2, DISABLE); \
- SPI_InitTypeDef SPI_InitStructure = { \
- .SPI_Direction = SPI_Direction_2Lines_FullDuplex,
\
- .SPI_Mode = SPI_Mode_Master, \
- .SPI_DataSize = SPI_DataSize_8b, \
- .SPI_CPOL = SPI_CPOL_Low,
\
- .SPI_CPHA = SPI_CPHA_1Edge, \
- .SPI_NSS = SPI_NSS_Soft, \
- .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64, \
- .SPI_FirstBit = SPI_FirstBit_MSB,
\
- .SPI_CRCPolynomial = 7 \
- }; \
- SPI_Init(SPI2, &SPI_InitStructure);
\
- SPI_I2S_ITConfig(SPI2, SPI_I2S_IT_RXNE, ENABLE); \
- SPI_Cmd(SPI2, ENABLE); \
- SPI_I2S_SendData(SPI2, ctl_byte); \
- }
-
-#define Ms2001ReadRes() { \
- ms2001_status = MS2001_READING_RES;
\
- Ms2001Select(); \
- SPI_Cmd(SPI2, DISABLE); \
- SPI_InitTypeDef SPI_InitStructure = { \
- .SPI_Direction = SPI_Direction_2Lines_FullDuplex,
\
- .SPI_Mode = SPI_Mode_Master, \
- .SPI_DataSize = SPI_DataSize_16b,
\
- .SPI_CPOL = SPI_CPOL_Low,
\
- .SPI_CPHA = SPI_CPHA_1Edge, \
- .SPI_NSS = SPI_NSS_Soft, \
- .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64, \
- .SPI_FirstBit = SPI_FirstBit_MSB,
\
- .SPI_CRCPolynomial = 7 \
- }; \
- SPI_Init(SPI2, &SPI_InitStructure);
\
- SPI_Cmd(SPI2, ENABLE); \
- \
- /* trigger 2 frames read */
\
- /* SPI2_Rx_DMA_Channel configuration
------------------------------------*/ \
- DMA_InitTypeDef DMA_InitStructure;
\
- DMA_DeInit(DMA1_Channel4); \
- DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C); \
- DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)(&ms2001_last_reading); \
- DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC; \
- DMA_InitStructure.DMA_BufferSize = 1; \
- DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; \
- DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; \
- DMA_InitStructure.DMA_PeripheralDataSize =
DMA_PeripheralDataSize_HalfWord; \
- DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
\
- DMA_InitStructure.DMA_Mode = DMA_Mode_Normal; \
- DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh; \
- DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; \
- DMA_Init(DMA1_Channel4, &DMA_InitStructure); \
- /* SPI2_Tx_DMA_Channel configuration
------------------------------------*/ \
- DMA_DeInit(DMA1_Channel5); \
- DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C); \
- DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&ms2001_values; \
- DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST; \
- DMA_InitStructure.DMA_Priority = DMA_Priority_Medium; \
- DMA_Init(DMA1_Channel5, &DMA_InitStructure); \
- \
- /* 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); \
- \
- }
-
-#define Ms2001OnDmaIrq() { \
- /* ASSERT((ms2001_status == MS2001_READING_RES), \
- * DEBUG_MS2001, MS2001_ERR_SPURIOUS_DMA_IRQ); \
- */ \
- if (abs(ms2001_last_reading) < 1000) \
- ms2001_values[ms2001_cur_axe] = ms2001_last_reading; \
- Ms2001Unselect(); \
- ms2001_cur_axe++; \
- if (ms2001_cur_axe > 2) { \
- ms2001_cur_axe = 0; \
- ms2001_status = MS2001_DATA_AVAILABLE; \
- } \
- else \
- ms2001_status = MS2001_IDLE; \
- SPI_Cmd(SPI2, DISABLE); \
- DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, DISABLE); \
- }
-
-#define Ms2001OnSpiIrq() { \
- /* ASSERT((ms2001_status == MS2001_SENDING_REQ), \
- * DEBUG_MS2001, MS2001_ERR_SPURIOUS_SPI_IRQ); \
- */
\
- /* read unused control byte reply */ \
- uint8_t foo __attribute__ ((unused)) = SPI_I2S_ReceiveData(SPI2); \
- Ms2001Unselect(); \
- ms2001_status = MS2001_WAITING_EOC;
\
- SPI_Cmd(SPI2, DISABLE); \
- SPI_I2S_ITConfig(SPI2, SPI_I2S_IT_RXNE, DISABLE); \
- }
-
-#endif /* BOOZ_MS2001_ARCH_H */
Modified:
paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/hmc5843_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/hmc5843_arch.c
2010-10-23 21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/booz/arch/stm32/peripherals/hmc5843_arch.c
2010-10-23 21:12:06 UTC (rev 6214)
@@ -20,7 +20,7 @@
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
-#include "peripherals/booz_hmc5843.h"
+#include "peripherals/hmc5843.h"
#include <stm32/gpio.h>
#include <stm32/rcc.h>
Modified: paparazzi3/trunk/sw/airborne/booz/test/booz2_test_max1168.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/booz2_test_max1168.c 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/booz/test/booz2_test_max1168.c 2010-10-23
21:12:06 UTC (rev 6214)
@@ -32,7 +32,7 @@
#include "armVIC.h"
#include "LPC21xx.h"
-#include "peripherals/booz_max1168.h"
+#include "peripherals/max1168.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
@@ -60,23 +60,23 @@
sys_time_init();
main_init_ssp();
- booz_max1168_init();
+ max1168_init();
int_enable();
}
static inline void main_periodic_task( void ) {
LED_TOGGLE(3);
- booz_max1168_read();
+ max1168_read();
}
static inline void main_event_task( void ) {
- if (booz_max1168_status == STA_MAX1168_DATA_AVAILABLE) {
+ if (max1168_status == STA_MAX1168_DATA_AVAILABLE) {
RunOnceEvery(10, {
- DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &booz_max1168_values[0],
&booz_max1168_values[1], &booz_max1168_values[2]);
- DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &booz_max1168_values[3],
&booz_max1168_values[4], &booz_max1168_values[6]);
- DOWNLINK_SEND_BOOT(DefaultChannel, &booz_max1168_values[7]); });
- booz_max1168_status = STA_MAX1168_IDLE;
+ DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &max1168_values[0],
&max1168_values[1], &max1168_values[2]);
+ DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &max1168_values[3],
&max1168_values[4], &max1168_values[6]);
+ DOWNLINK_SEND_BOOT(DefaultChannel, &max1168_values[7]); });
+ max1168_status = STA_MAX1168_IDLE;
}
}
Modified: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_aspirin.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_aspirin.c 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_aspirin.c 2010-10-23
21:12:06 UTC (rev 6214)
@@ -33,7 +33,7 @@
#include "downlink.h"
#include "peripherals/booz_itg3200.h"
-#include "peripherals/booz_hmc5843.h"
+#include "peripherals/hmc5843.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
Modified: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_hmc5843.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_hmc5843.c 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_hmc5843.c 2010-10-23
21:12:06 UTC (rev 6214)
@@ -33,7 +33,7 @@
#include "downlink.h"
#include "std.h"
-#include "peripherals/booz_hmc5843.h"
+#include "peripherals/hmc5843.h"
#include "my_debug_servo.h"
#include "math/pprz_algebra_int.h"
Modified: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_max1168.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_max1168.c 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_max1168.c 2010-10-23
21:12:06 UTC (rev 6214)
@@ -32,7 +32,7 @@
#include "init_hw.h"
#include "sys_time.h"
#include "downlink.h"
-#include "peripherals/booz_max1168.h"
+#include "peripherals/max1168.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
@@ -56,13 +56,13 @@
static inline void main_init( void ) {
hw_init();
sys_time_init();
- booz_max1168_init();
+ max1168_init();
main_spi2_init();
}
static inline void main_periodic_task( void ) {
// LED_TOGGLE(6);
- booz_max1168_read();
+ max1168_read();
RunOnceEvery(10,
{
DOWNLINK_SEND_BOOT(DefaultChannel, &cpu_time_sec);
@@ -72,13 +72,13 @@
}
static inline void main_event_task( void ) {
- if (booz_max1168_status == STA_MAX1168_DATA_AVAILABLE) {
+ if (max1168_status == STA_MAX1168_DATA_AVAILABLE) {
RunOnceEvery(10, {
- DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &booz_max1168_values[0],
&booz_max1168_values[1], &booz_max1168_values[2]);
- DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &booz_max1168_values[3],
&booz_max1168_values[4], &booz_max1168_values[6]);
- // DOWNLINK_SEND_BOOT(DefaultChannel, &booz_max1168_values[7]); });
+ DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &max1168_values[0],
&max1168_values[1], &max1168_values[2]);
+ DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &max1168_values[3],
&max1168_values[4], &max1168_values[6]);
+ // DOWNLINK_SEND_BOOT(DefaultChannel, &max1168_values[7]); });
});
- booz_max1168_status = STA_MAX1168_IDLE;
+ max1168_status = STA_MAX1168_IDLE;
}
}
Modified: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_ms2001.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_ms2001.c 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_ms2001.c 2010-10-23
21:12:06 UTC (rev 6214)
@@ -32,7 +32,7 @@
#include "init_hw.h"
#include "sys_time.h"
#include "downlink.h"
-#include "peripherals/booz_ms2001.h"
+#include "peripherals/ms2001.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
Modified: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_ms2100.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_ms2100.c 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_ms2100.c 2010-10-23
21:12:06 UTC (rev 6214)
@@ -56,13 +56,13 @@
static inline void main_init( void ) {
hw_init();
sys_time_init();
- booz_max1168_init();
+ max1168_init();
main_spi2_init();
}
static inline void main_periodic_task( void ) {
// LED_TOGGLE(6);
- booz_max1168_read();
+ max1168_read();
RunOnceEvery(10,
{
DOWNLINK_SEND_BOOT(DefaultChannel, &cpu_time_sec);
@@ -72,13 +72,13 @@
}
static inline void main_event_task( void ) {
- if (booz_max1168_status == STA_MAX1168_DATA_AVAILABLE) {
+ if (max1168_status == STA_MAX1168_DATA_AVAILABLE) {
RunOnceEvery(10, {
- DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &booz_max1168_values[0],
&booz_max1168_values[1], &booz_max1168_values[2]);
- DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &booz_max1168_values[3],
&booz_max1168_values[4], &booz_max1168_values[6]);
- // DOWNLINK_SEND_BOOT(DefaultChannel, &booz_max1168_values[7]); });
+ DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &max1168_values[0],
&max1168_values[1], &max1168_values[2]);
+ DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &max1168_values[3],
&max1168_values[4], &max1168_values[6]);
+ // DOWNLINK_SEND_BOOT(DefaultChannel, &max1168_values[7]); });
});
- booz_max1168_status = STA_MAX1168_IDLE;
+ max1168_status = STA_MAX1168_IDLE;
}
}
Modified: paparazzi3/trunk/sw/airborne/peripherals/adxl345.h
===================================================================
--- paparazzi3/trunk/sw/airborne/peripherals/adxl345.h 2010-10-23 21:11:54 UTC
(rev 6213)
+++ paparazzi3/trunk/sw/airborne/peripherals/adxl345.h 2010-10-23 21:12:06 UTC
(rev 6214)
@@ -1,5 +1,5 @@
-#ifndef BOOZ_ADXL345_H
-#define BOOZ_ADXL345_H
+#ifndef ADXL345_H
+#define ADXL345_H
#define ADXL345_REG_BW_RATE 0x2C
@@ -14,4 +14,4 @@
#define ADXL345_REG_DATA_Z1 0x37
-#endif /* BOOZ_ADXL345_H */
+#endif /* ADXL345_H */
Modified: paparazzi3/trunk/sw/airborne/peripherals/ami601.c
===================================================================
--- paparazzi3/trunk/sw/airborne/peripherals/ami601.c 2010-10-23 21:11:54 UTC
(rev 6213)
+++ paparazzi3/trunk/sw/airborne/peripherals/ami601.c 2010-10-23 21:12:06 UTC
(rev 6214)
@@ -1,4 +1,4 @@
-#include "peripherals/booz_ami601.h"
+#include "peripherals/ami601.h"
uint8_t ami601_foo1;
uint8_t ami601_foo2;
Modified: paparazzi3/trunk/sw/airborne/peripherals/ami601.h
===================================================================
--- paparazzi3/trunk/sw/airborne/peripherals/ami601.h 2010-10-23 21:11:54 UTC
(rev 6213)
+++ paparazzi3/trunk/sw/airborne/peripherals/ami601.h 2010-10-23 21:12:06 UTC
(rev 6214)
@@ -1,5 +1,5 @@
-#ifndef BOOZ_AMI601_H
-#define BOOZ_AMI601_H
+#ifndef AMI601_H
+#define AMI601_H
#include "std.h"
#include "i2c.h"
Modified: paparazzi3/trunk/sw/airborne/peripherals/hmc5843.c
===================================================================
--- paparazzi3/trunk/sw/airborne/peripherals/hmc5843.c 2010-10-23 21:11:54 UTC
(rev 6213)
+++ paparazzi3/trunk/sw/airborne/peripherals/hmc5843.c 2010-10-23 21:12:06 UTC
(rev 6214)
@@ -1,4 +1,4 @@
-#include "peripherals/booz_hmc5843.h"
+#include "peripherals/hmc5843.h"
#define HMC5843_TIMEOUT 100
@@ -9,11 +9,11 @@
void hmc5843_init(void)
{
- hmc5843.i2c_trans.status = I2CTransSuccess;
- hmc5843.i2c_trans.slave_addr = HMC5843_ADDR;
- hmc5843.i2c_trans.stop_after_transmit = TRUE;
+ hmc5843.i2c_trans.status = I2CTransSuccess;
+ hmc5843.i2c_trans.slave_addr = HMC5843_ADDR;
+ hmc5843.i2c_trans.stop_after_transmit = TRUE;
- hmc5843_arch_init();
+ hmc5843_arch_init();
}
// blocking, only intended to be called for initialization
@@ -24,52 +24,52 @@
hmc5843.i2c_trans.buf[1] = 0x00 | (0x06 << 2);
hmc5843.i2c_trans.len_w = 2;
i2c_submit(&i2c2,&hmc5843.i2c_trans);
- while(hmc5843.i2c_trans.status == I2CTransPending);
+ while(hmc5843.i2c_trans.status == I2CTransPending);
hmc5843.i2c_trans.type = I2CTransTx;
hmc5843.i2c_trans.buf[0] = HMC5843_REG_CFGB; // set to gain to 1 Gauss
hmc5843.i2c_trans.buf[1] = 0x01<<5;
hmc5843.i2c_trans.len_w = 2;
i2c_submit(&i2c2,&hmc5843.i2c_trans);
- while(hmc5843.i2c_trans.status == I2CTransPending);
+ while(hmc5843.i2c_trans.status == I2CTransPending);
hmc5843.i2c_trans.type = I2CTransTx;
hmc5843.i2c_trans.buf[0] = HMC5843_REG_MODE; // set to continuous mode
hmc5843.i2c_trans.buf[1] = 0x00;
hmc5843.i2c_trans.len_w = 2;
i2c_submit(&i2c2,&hmc5843.i2c_trans);
- while(hmc5843.i2c_trans.status == I2CTransPending);
+ while(hmc5843.i2c_trans.status == I2CTransPending);
}
void hmc5843_idle_task(void)
{
- if (hmc5843.initialized && hmc5843.ready_for_read &&
(hmc5843.i2c_trans.status == I2CTransSuccess || hmc5843.i2c_trans.status ==
I2CTransFailed)) {
- hmc5843.i2c_trans.type = I2CTransRx;
- hmc5843.i2c_trans.len_r = 7;
- i2c_submit(&i2c2, &hmc5843.i2c_trans);
- hmc5843.reading = TRUE;
- hmc5843.ready_for_read = FALSE;
- }
+ if (hmc5843.initialized && hmc5843.ready_for_read &&
(hmc5843.i2c_trans.status == I2CTransSuccess || hmc5843.i2c_trans.status ==
I2CTransFailed)) {
+ hmc5843.i2c_trans.type = I2CTransRx;
+ hmc5843.i2c_trans.len_r = 7;
+ i2c_submit(&i2c2, &hmc5843.i2c_trans);
+ hmc5843.reading = TRUE;
+ hmc5843.ready_for_read = FALSE;
+ }
- if (hmc5843.reading && hmc5843.i2c_trans.status == I2CTransSuccess) {
- hmc5843.timeout = 0;
- hmc5843.data_available = TRUE;
- hmc5843.reading = FALSE;
- memcpy(hmc5843.data.buf, (const void *) hmc5843.i2c_trans.buf,
6);
- for (int i = 0; i < 3; i++) {
- hmc5843.data.value[i] = bswap_16(hmc5843.data.value[i]);
- }
- }
+ if (hmc5843.reading && hmc5843.i2c_trans.status == I2CTransSuccess) {
+ hmc5843.timeout = 0;
+ hmc5843.data_available = TRUE;
+ hmc5843.reading = FALSE;
+ memcpy(hmc5843.data.buf, (const void *) hmc5843.i2c_trans.buf, 6);
+ for (int i = 0; i < 3; i++) {
+ hmc5843.data.value[i] = bswap_16(hmc5843.data.value[i]);
+ }
+ }
}
void hmc5843_periodic(void)
{
- if (!hmc5843.initialized) {
- send_config();
- hmc5843.initialized = TRUE;
- } else if (hmc5843.timeout++ > HMC5843_TIMEOUT) {
- hmc5843_arch_reset();
- hmc5843.timeout = 0;
- }
+ if (!hmc5843.initialized) {
+ send_config();
+ hmc5843.initialized = TRUE;
+ } else if (hmc5843.timeout++ > HMC5843_TIMEOUT) {
+ hmc5843_arch_reset();
+ hmc5843.timeout = 0;
+ }
}
Modified: paparazzi3/trunk/sw/airborne/peripherals/hmc5843.h
===================================================================
--- paparazzi3/trunk/sw/airborne/peripherals/hmc5843.h 2010-10-23 21:11:54 UTC
(rev 6213)
+++ paparazzi3/trunk/sw/airborne/peripherals/hmc5843.h 2010-10-23 21:12:06 UTC
(rev 6214)
@@ -21,8 +21,8 @@
* Boston, MA 02111-1307, USA.
*/
-#ifndef BOOZ_HMC5843_H
-#define BOOZ_HMC5843_H
+#ifndef HMC5843_H
+#define HMC5843_H
#include "std.h"
#include "i2c.h"
@@ -30,16 +30,16 @@
#include "peripherals/hmc5843_arch.h"
struct Hmc5843 {
- struct i2c_transaction i2c_trans;
+ struct i2c_transaction i2c_trans;
union {
uint8_t buf[7];
int16_t value[3];
} data;
- uint8_t initialized;
- uint8_t reading;
- volatile uint8_t ready_for_read;
- uint8_t data_available;
- uint32_t timeout;
+ uint8_t initialized;
+ uint8_t reading;
+ volatile uint8_t ready_for_read;
+ uint8_t data_available;
+ uint32_t timeout;
};
extern struct Hmc5843 hmc5843;
@@ -72,10 +72,10 @@
#include <string.h>
#define MagEvent(_m_handler) { \
- hmc5843_idle_task(); \
+ hmc5843_idle_task(); \
if (hmc5843.data_available) { \
- _m_handler(); \
+ _m_handler(); \
} \
}
-#endif /* BOOZ_HMC5843_H */
+#endif /* HMC5843_H */
Modified: paparazzi3/trunk/sw/airborne/peripherals/itg3200.h
===================================================================
--- paparazzi3/trunk/sw/airborne/peripherals/itg3200.h 2010-10-23 21:11:54 UTC
(rev 6213)
+++ paparazzi3/trunk/sw/airborne/peripherals/itg3200.h 2010-10-23 21:12:06 UTC
(rev 6214)
@@ -1,5 +1,5 @@
-#ifndef BOOZ_ITG3200
-#define BOOZ_ITG3200
+#ifndef ITG3200
+#define ITG3200
/* default I2C address */
#define ITG3200_ADDR 0xD0
@@ -22,4 +22,4 @@
-#endif /* BOOZ_ITG3200 */
+#endif /* ITG3200 */
Modified: paparazzi3/trunk/sw/airborne/peripherals/max1168.c
===================================================================
--- paparazzi3/trunk/sw/airborne/peripherals/max1168.c 2010-10-23 21:11:54 UTC
(rev 6213)
+++ paparazzi3/trunk/sw/airborne/peripherals/max1168.c 2010-10-23 21:12:06 UTC
(rev 6214)
@@ -22,19 +22,19 @@
*
*/
-#include "booz_max1168.h"
+#include "max1168.h"
-volatile uint8_t booz_max1168_status;
-uint16_t booz_max1168_values[MAX1168_NB_CHAN];
+volatile uint8_t max1168_status;
+uint16_t max1168_values[MAX1168_NB_CHAN];
-extern void booz_max1168_init( void ) {
+extern void max1168_init( void ) {
- booz_max1168_arch_init();
+ max1168_arch_init();
uint8_t i;
for (i=0; i<MAX1168_NB_CHAN; i++)
- booz_max1168_values[i] = 0;
+ max1168_values[i] = 0;
- booz_max1168_status = STA_MAX1168_IDLE;
+ max1168_status = STA_MAX1168_IDLE;
}
Modified: paparazzi3/trunk/sw/airborne/peripherals/max1168.h
===================================================================
--- paparazzi3/trunk/sw/airborne/peripherals/max1168.h 2010-10-23 21:11:54 UTC
(rev 6213)
+++ paparazzi3/trunk/sw/airborne/peripherals/max1168.h 2010-10-23 21:12:06 UTC
(rev 6214)
@@ -21,28 +21,28 @@
* Boston, MA 02111-1307, USA.
*/
-#ifndef BOOZ_MAX1168_H
-#define BOOZ_MAX1168_H
+#ifndef MAX1168_H
+#define MAX1168_H
#include "std.h"
#define MAX1168_NB_CHAN 8
-extern void booz_max1168_init( void );
+extern void max1168_init( void );
#define STA_MAX1168_IDLE 0
#define STA_MAX1168_SENDING_REQ 1
#define STA_MAX1168_READING_RES 2
#define STA_MAX1168_DATA_AVAILABLE 3
-extern volatile uint8_t booz_max1168_status;
+extern volatile uint8_t max1168_status;
-extern uint16_t booz_max1168_values[MAX1168_NB_CHAN];
+extern uint16_t max1168_values[MAX1168_NB_CHAN];
/* underlying architecture */
-#include "peripherals/booz_max1168_arch.h"
+#include "peripherals/max1168_arch.h"
/* must be implemented by underlying architecture */
-extern void booz_max1168_arch_init( void );
-extern void booz_max1168_read( void );
+extern void max1168_arch_init( void );
+extern void max1168_read( void );
-#endif /* BOOZ_MAX1168_H */
+#endif /* MAX1168_H */
Modified: paparazzi3/trunk/sw/airborne/peripherals/ms2001.c
===================================================================
--- paparazzi3/trunk/sw/airborne/peripherals/ms2001.c 2010-10-23 21:11:54 UTC
(rev 6213)
+++ paparazzi3/trunk/sw/airborne/peripherals/ms2001.c 2010-10-23 21:12:06 UTC
(rev 6214)
@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*/
-#include "booz_ms2001.h"
+#include "ms2001.h"
volatile uint8_t ms2001_status;
volatile int16_t ms2001_values[MS2001_NB_AXIS];
Modified: paparazzi3/trunk/sw/airborne/peripherals/ms2001.h
===================================================================
--- paparazzi3/trunk/sw/airborne/peripherals/ms2001.h 2010-10-23 21:11:54 UTC
(rev 6213)
+++ paparazzi3/trunk/sw/airborne/peripherals/ms2001.h 2010-10-23 21:12:06 UTC
(rev 6214)
@@ -21,8 +21,8 @@
* Boston, MA 02111-1307, USA.
*/
-#ifndef BOOZ_MS2001_H
-#define BOOZ_MS2001_H
+#ifndef MS2001_H
+#define MS2001_H
#include "std.h"
@@ -44,7 +44,7 @@
extern volatile int16_t ms2001_values[MS2001_NB_AXIS];
/* underlying architecture */
-#include "peripherals/booz_ms2001_arch.h"
+#include "peripherals/ms2001_arch.h"
/* must be implemented by underlying architecture */
extern void ms2001_arch_init( void );
@@ -56,4 +56,4 @@
#define MS2001_DIVISOR MS2001_DIVISOR_1024
-#endif /* BOOZ_MS2001_H */
+#endif /* MS2001_H */
Modified: paparazzi3/trunk/sw/airborne/peripherals/sc18i600.c
===================================================================
--- paparazzi3/trunk/sw/airborne/peripherals/sc18i600.c 2010-10-23 21:11:54 UTC
(rev 6213)
+++ paparazzi3/trunk/sw/airborne/peripherals/sc18i600.c 2010-10-23 21:12:06 UTC
(rev 6214)
@@ -1,4 +1,4 @@
-#include "booz/peripherals/booz_sc18is600.h"
+#include "booz/peripherals/sc18is600.h"
struct Sc18Is600 sc18is600;
Modified: paparazzi3/trunk/sw/airborne/peripherals/sc18i600.h
===================================================================
--- paparazzi3/trunk/sw/airborne/peripherals/sc18i600.h 2010-10-23 21:11:54 UTC
(rev 6213)
+++ paparazzi3/trunk/sw/airborne/peripherals/sc18i600.h 2010-10-23 21:12:06 UTC
(rev 6214)
@@ -48,7 +48,7 @@
extern void sc18is600_write_to_register(uint8_t addr, uint8_t value);
extern void sc18is600_read_from_register(uint8_t addr);
-#include "peripherals/booz_sc18is600_arch.h"
+#include "peripherals/sc18is600_arch.h"
extern void sc18is600_arch_init(void);
#endif /* SC18IS600_H */
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/arch/lpc21/imu_b2_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/arch/lpc21/imu_b2_arch.c
2010-10-23 21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/arch/lpc21/imu_b2_arch.c
2010-10-23 21:12:06 UTC (rev 6214)
@@ -90,7 +90,7 @@
ImuSetSSP16bits();
// read adc
imu_ssp_status = IMU_SSP_STA_BUSY_MAX1168;
- booz_max1168_read();
+ max1168_read();
#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_AMI601
RunOnceEvery(10, { ami601_read(); });
#endif
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_b2_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_b2_arch.c
2010-10-23 21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/arch/sim/imu_b2_arch.c
2010-10-23 21:12:06 UTC (rev 6214)
@@ -36,13 +36,13 @@
#include "nps_sensors.h"
void imu_feed_gyro_accel(void) {
- booz_max1168_values[IMU_GYRO_P_CHAN] = sensors.gyro.value.x;
- booz_max1168_values[IMU_GYRO_Q_CHAN] = sensors.gyro.value.y;
- booz_max1168_values[IMU_GYRO_R_CHAN] = sensors.gyro.value.z;
- booz_max1168_values[IMU_ACCEL_X_CHAN] = sensors.accel.value.x;
- booz_max1168_values[IMU_ACCEL_Y_CHAN] = sensors.accel.value.y;
- booz_max1168_values[IMU_ACCEL_Z_CHAN] = sensors.accel.value.z;
- booz_max1168_status = STA_MAX1168_DATA_AVAILABLE;
+ max1168_values[IMU_GYRO_P_CHAN] = sensors.gyro.value.x;
+ max1168_values[IMU_GYRO_Q_CHAN] = sensors.gyro.value.y;
+ max1168_values[IMU_GYRO_R_CHAN] = sensors.gyro.value.z;
+ max1168_values[IMU_ACCEL_X_CHAN] = sensors.accel.value.x;
+ max1168_values[IMU_ACCEL_Y_CHAN] = sensors.accel.value.y;
+ max1168_values[IMU_ACCEL_Z_CHAN] = sensors.accel.value.z;
+ max1168_status = STA_MAX1168_DATA_AVAILABLE;
}
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_b2_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_b2_arch.c
2010-10-23 21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/arch/stm32/imu_b2_arch.c
2010-10-23 21:12:06 UTC (rev 6214)
@@ -79,7 +79,7 @@
imu_ssp_status = IMU_SSP_STA_BUSY_MAX1168;
Max1168ConfigureSPI();
SPI_Cmd(SPI2, ENABLE);
- booz_max1168_read();
+ max1168_read();
#if IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC5843
hmc5843_periodic();
#endif
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/imu_aspirin.h
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/imu_aspirin.h 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/imu_aspirin.h 2010-10-23
21:12:06 UTC (rev 6214)
@@ -29,7 +29,7 @@
#include "i2c.h"
#include "booz/peripherals/booz_itg3200.h"
-#include "booz/peripherals/booz_hmc5843.h"
+#include "booz/peripherals/hmc5843.h"
#include "booz/peripherals/booz_adxl345.h"
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.c
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.c 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.c 2010-10-23
21:12:06 UTC (rev 6214)
@@ -27,7 +27,7 @@
imu_b2_arch_init();
- booz_max1168_init();
+ max1168_init();
#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
ms2001_init();
#elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_AMI601
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.h
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.h 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/imu_b2.h 2010-10-23
21:12:06 UTC (rev 6214)
@@ -27,7 +27,7 @@
#include <subsystems/imu.h>
#include "airframe.h"
-#include "peripherals/booz_max1168.h"
+#include "peripherals/max1168.h"
/* type of magnetometer */
#define IMU_B2_MAG_NONE 0
@@ -143,7 +143,7 @@
#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001
-#include "peripherals/booz_ms2001.h"
+#include "peripherals/ms2001.h"
#define ImuMagEvent(_mag_handler) { \
if (ms2001_status == MS2001_DATA_AVAILABLE) { \
imu.mag_unscaled.x = ms2001_values[IMU_MAG_X_CHAN]; \
@@ -154,7 +154,7 @@
} \
}
#elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_AMI601
-#include "peripherals/booz_ami601.h"
+#include "peripherals/ami601.h"
#define foo_handler() {}
#define ImuMagEvent(_mag_handler) { \
AMI601Event(foo_handler); \
@@ -167,7 +167,7 @@
} \
}
#elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC5843
-#include "peripherals/booz_hmc5843.h"
+#include "peripherals/hmc5843.h"
#define foo_handler() {}
#define ImuMagEvent(_mag_handler) { \
MagEvent(foo_handler); \
@@ -185,14 +185,14 @@
#define ImuEvent(_gyro_accel_handler, _mag_handler) { \
- if (booz_max1168_status == STA_MAX1168_DATA_AVAILABLE) { \
- imu.gyro_unscaled.p = booz_max1168_values[IMU_GYRO_P_CHAN]; \
- imu.gyro_unscaled.q = booz_max1168_values[IMU_GYRO_Q_CHAN]; \
- imu.gyro_unscaled.r = booz_max1168_values[IMU_GYRO_R_CHAN]; \
- imu.accel_unscaled.x = booz_max1168_values[IMU_ACCEL_X_CHAN]; \
- imu.accel_unscaled.y = booz_max1168_values[IMU_ACCEL_Y_CHAN]; \
- imu.accel_unscaled.z = booz_max1168_values[IMU_ACCEL_Z_CHAN]; \
- booz_max1168_status = STA_MAX1168_IDLE; \
+ if (max1168_status == STA_MAX1168_DATA_AVAILABLE) { \
+ imu.gyro_unscaled.p = max1168_values[IMU_GYRO_P_CHAN]; \
+ imu.gyro_unscaled.q = max1168_values[IMU_GYRO_Q_CHAN]; \
+ imu.gyro_unscaled.r = max1168_values[IMU_GYRO_R_CHAN]; \
+ imu.accel_unscaled.x = max1168_values[IMU_ACCEL_X_CHAN]; \
+ imu.accel_unscaled.y = max1168_values[IMU_ACCEL_Y_CHAN]; \
+ imu.accel_unscaled.z = max1168_values[IMU_ACCEL_Z_CHAN]; \
+ max1168_status = STA_MAX1168_IDLE; \
_gyro_accel_handler(); \
} \
ImuMagEvent(_mag_handler); \
Modified: paparazzi3/trunk/sw/airborne/subsystems/imu/imu_crista.h
===================================================================
--- paparazzi3/trunk/sw/airborne/subsystems/imu/imu_crista.h 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/subsystems/imu/imu_crista.h 2010-10-23
21:12:06 UTC (rev 6214)
@@ -47,7 +47,7 @@
}
#ifdef USE_AMI601
-#include "peripherals/booz_ami601.h"
+#include "peripherals/ami601.h"
#define foo_handler() {}
#define ImuMagEvent(_mag_handler) { \
AMI601Event(foo_handler); \
Modified: paparazzi3/trunk/sw/airborne/test/peripherals/test_ami601.c
===================================================================
--- paparazzi3/trunk/sw/airborne/test/peripherals/test_ami601.c 2010-10-23
21:11:54 UTC (rev 6213)
+++ paparazzi3/trunk/sw/airborne/test/peripherals/test_ami601.c 2010-10-23
21:12:06 UTC (rev 6214)
@@ -32,7 +32,7 @@
#include "downlink.h"
#include "i2c.h"
-#include "booz/peripherals/booz_ami601.h"
+#include "booz/peripherals/ami601.h"
#include "math/pprz_algebra_int.h"
#include "interrupt_hw.h"
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- [paparazzi-commits] [6214] moved peripherals arch,
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