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[paparazzi-commits] [6220] Move meteo sensors that might be useful for n
|
From: |
Martin Mueller |
|
Subject: |
[paparazzi-commits] [6220] Move meteo sensors that might be useful for navigation over to the sensors / folder |
|
Date: |
Sat, 23 Oct 2010 22:01:00 +0000 |
Revision: 6220
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6220
Author: mmm
Date: 2010-10-23 22:00:57 +0000 (Sat, 23 Oct 2010)
Log Message:
-----------
Move meteo sensors that might be useful for navigation over to the sensors/
folder
Modified Paths:
--------------
paparazzi3/trunk/conf/modules/baro_bmp.xml
paparazzi3/trunk/conf/modules/baro_scp.xml
paparazzi3/trunk/conf/modules/baro_scp_i2c.xml
paparazzi3/trunk/conf/modules/mag_micromag_fw.xml
Added Paths:
-----------
paparazzi3/trunk/sw/airborne/arch/lpc21/modules/sensors/mag_micromag_fw_hw.c
paparazzi3/trunk/sw/airborne/arch/lpc21/modules/sensors/mag_micromag_fw_hw.h
paparazzi3/trunk/sw/airborne/modules/sensors/baro_bmp.c
paparazzi3/trunk/sw/airborne/modules/sensors/baro_bmp.h
paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp.c
paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp.h
paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp_i2c.c
paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp_i2c.h
paparazzi3/trunk/sw/airborne/modules/sensors/mag_micromag_fw.c
paparazzi3/trunk/sw/airborne/modules/sensors/mag_micromag_fw.h
Removed Paths:
-------------
paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.c
paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.h
paparazzi3/trunk/sw/airborne/modules/meteo/baro_bmp.c
paparazzi3/trunk/sw/airborne/modules/meteo/baro_bmp.h
paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp.c
paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp.h
paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp_i2c.c
paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp_i2c.h
paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.c
paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.h
Modified: paparazzi3/trunk/conf/modules/baro_bmp.xml
===================================================================
--- paparazzi3/trunk/conf/modules/baro_bmp.xml 2010-10-23 21:28:08 UTC (rev
6219)
+++ paparazzi3/trunk/conf/modules/baro_bmp.xml 2010-10-23 22:00:57 UTC (rev
6220)
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
-<module name="baro_bmp" dir="meteo">
+<module name="baro_bmp" dir="sensors">
<header>
<file name="baro_bmp.h"/>
</header>
Modified: paparazzi3/trunk/conf/modules/baro_scp.xml
===================================================================
--- paparazzi3/trunk/conf/modules/baro_scp.xml 2010-10-23 21:28:08 UTC (rev
6219)
+++ paparazzi3/trunk/conf/modules/baro_scp.xml 2010-10-23 22:00:57 UTC (rev
6220)
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
-<module name="baro_scp" dir="meteo">
+<module name="baro_scp" dir="sensors">
<header>
<file name="baro_scp.h"/>
</header>
Modified: paparazzi3/trunk/conf/modules/baro_scp_i2c.xml
===================================================================
--- paparazzi3/trunk/conf/modules/baro_scp_i2c.xml 2010-10-23 21:28:08 UTC
(rev 6219)
+++ paparazzi3/trunk/conf/modules/baro_scp_i2c.xml 2010-10-23 22:00:57 UTC
(rev 6220)
@@ -1,6 +1,6 @@
<!DOCTYPE module SYSTEM "module.dtd">
-<module name="baro_scp_i2c" dir="meteo">
+<module name="baro_scp_i2c" dir="sensors">
<header>
<file name="baro_scp_i2c.h"/>
</header>
Modified: paparazzi3/trunk/conf/modules/mag_micromag_fw.xml
===================================================================
--- paparazzi3/trunk/conf/modules/mag_micromag_fw.xml 2010-10-23 21:28:08 UTC
(rev 6219)
+++ paparazzi3/trunk/conf/modules/mag_micromag_fw.xml 2010-10-23 22:00:57 UTC
(rev 6220)
@@ -1,16 +1,16 @@
<!DOCTYPE module SYSTEM "module.dtd">
-<module name="mag_micromag_fw" dir="meteo">
+<module name="mag_micromag_fw" dir="sensors">
<header>
- <file name="micromag_fw_hw.h"/>
- <file name="micromag_fw.h"/>
+ <file name="mag_micromag_fw_hw.h"/>
+ <file name="mag_micromag_fw.h"/>
</header>
<init fun="micromag_init()"/>
<periodic fun="micromag_periodic()" freq="60"/>
<event fun="micromag_event()"/>
<makefile target="ap">
- <file_hw name="micromag_fw_hw.c"/>
- <file name="micromag_fw.c"/>
+ <file_hw name="mag_micromag_fw_hw.c"/>
+ <file name="mag_micromag_fw.c"/>
</makefile>
</module>
Deleted: paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.c
2010-10-23 21:28:08 UTC (rev 6219)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.c
2010-10-23 22:00:57 UTC (rev 6220)
@@ -1,78 +0,0 @@
-/* PNI micromag3 connected on SPI1 */
-/*
- Tiny2 (fixed wing)
- SS on P0.20 (SSEL)
- RESET on P0.29 (ADC5)
- DRDY on P0.16 ( EINT0 )
-*/
-
-#include "led.h"
-#include "micromag_fw_hw.h"
-#include "meteo/micromag_fw.h"
-
-volatile uint8_t micromag_cur_axe;
-
-static void SSP_ISR(void) __attribute__((naked));
-static void EXTINT_ISR(void) __attribute__((naked));
-
-
-static void SSP_ISR(void) {
- ISR_ENTRY();
-
- MmOnSpiIt();
-
- VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
- ISR_EXIT();
-}
-
-void EXTINT_ISR(void) {
- ISR_ENTRY();
-//LED_TOGGLE(3);
-
- /* no, we won't do anything asynchronously, so just notify */
- micromag_status = MM_GOT_EOC;
- /* clear EINT */
- SetBit(EXTINT,MM_DRDY_EINT);
-// EXTINT = (1<<MM_DRDY_EINT);
- VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
- ISR_EXIT();
-}
-
-void micromag_hw_init( void ) {
- /* setup pins for SSP (SCK, MISO, MOSI, SSEL) */
- PINSEL1 |= SSP_PINSEL1_SCK | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;
-
- /* setup SSP */
- SSPCR0 = SSPCR0_VAL;;
- SSPCR1 = SSPCR1_VAL;
- SSPCPSR = 0x02;
-
- /* initialize interrupt vector */
- VICIntSelect &= ~VIC_BIT( VIC_SPI1 ); /* SPI1 selected as IRQ */
- VICIntEnable = VIC_BIT( VIC_SPI1 ); /* enable it */
- _VIC_CNTL(SSP_VIC_SLOT) = VIC_ENABLE | VIC_SPI1;
- _VIC_ADDR(SSP_VIC_SLOT) = (uint32_t)SSP_ISR; /* address of the ISR */
-
- MmUnselect(); /* pin idles high */
- /* configure SS pin */
- SetBit(MM_SS_IODIR, MM_SS_PIN); /* pin is output */
-
- /* configure RESET pin */
- SetBit(MM_RESET_IODIR, MM_RESET_PIN); /* pin is output */
- MmReset(); /* pin idles low */
-
- /* configure DRDY pin */
- /* connected pin to EXINT */
- MM_DRDY_PINSEL |= MM_DRDY_PINSEL_VAL << MM_DRDY_PINSEL_BIT;
- SetBit(EXTMODE, MM_DRDY_EINT); /* EINT is edge trigered */
- SetBit(EXTPOLAR,MM_DRDY_EINT); /* EINT is trigered on rising edge */
- SetBit(EXTINT,MM_DRDY_EINT); /* clear pending EINT */
-
- /* initialize interrupt vector */
- VICIntSelect &= ~VIC_BIT( MM_DRDY_VIC_IT ); /* select
EINT as IRQ source */
- VICIntEnable = VIC_BIT( MM_DRDY_VIC_IT ); /* enable
it */
- _VIC_CNTL(MICROMAG_DRDY_VIC_SLOT) = VIC_ENABLE | MM_DRDY_VIC_IT;
- _VIC_ADDR(MICROMAG_DRDY_VIC_SLOT) = (uint32_t)EXTINT_ISR; // address
of the ISR
-}
-
-
Deleted: paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.h
2010-10-23 21:28:08 UTC (rev 6219)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.h
2010-10-23 22:00:57 UTC (rev 6220)
@@ -1,93 +0,0 @@
-#ifndef MICROMAG_FW_HW_H
-#define MICROMAG_FW_HW_H
-
-#include <stdlib.h> // for abs
-
-#include "std.h"
-#include "LPC21xx.h"
-#include "interrupt_hw.h"
-
-#include "spi_hw.h"
-#include BOARD_CONFIG
-
-#include "airframe.h"
-
-#define MM_DIVISOR_128 2
-#define MM_DIVISOR_256 3
-#define MM_DIVISOR_512 4
-#define MM_DIVISOR_1024 5
-
-#define MM_DIVISOR MM_DIVISOR_512
-
-
-extern volatile uint8_t micromag_cur_axe;
-
-#define MmSelect() SetBit(MM_SS_IOCLR,MM_SS_PIN)
-#define MmUnselect() SetBit(MM_SS_IOSET,MM_SS_PIN)
-
-#define MmReset() SetBit(MM_RESET_IOCLR,MM_RESET_PIN)
-#define MmSet() SetBit(MM_RESET_IOSET,MM_RESET_PIN)
-
-#define MmOnSpiIt() { \
- switch (micromag_status) { \
- case MM_SENDING_REQ: \
- {
\
- /* read dummy control byte reply */ \
- uint8_t foo __attribute__ ((unused)) = SSPDR; \
- micromag_status = MM_WAITING_EOC; \
- MmUnselect(); \
- SpiClearRti(); \
- SpiDisableRti(); \
- SpiDisable(); \
- }
\
- break; \
- case MM_READING_RES: \
- {
\
- int16_t new_val; \
- new_val = SSPDR << 8; \
- new_val += SSPDR; \
- if (abs(new_val) < 2000) \
- micromag_values[micromag_cur_axe] = new_val; \
- MmUnselect(); \
- SpiClearRti(); \
- SpiDisableRti(); \
- SpiDisable(); \
- micromag_cur_axe++; \
- if (micromag_cur_axe > 2) { \
- micromag_cur_axe = 0; \
- micromag_status = MM_DATA_AVAILABLE; \
- } \
- else \
- micromag_status = MM_IDLE; \
- }
\
- break; \
- } \
- }
-
-
-#define MmSendReq() { \
- MmSelect();
\
- micromag_status = MM_SENDING_REQ; \
- MmSet(); \
- SpiClearRti(); \
- SpiEnableRti(); \
- MmReset(); \
- uint8_t control_byte = (micromag_cur_axe+1) << 0 | MM_DIVISOR_1024 << 4; \
- SSPDR = control_byte; \
- SpiEnable(); \
- }
-
-#define MmReadRes() { \
- micromag_status = MM_READING_RES; \
- MmSelect();
\
- /* trigger 2 bytes read */ \
- SSPDR = 0; \
- SSPDR = 0; \
- SpiEnable(); \
- SpiClearRti(); \
- SpiEnableRti(); \
- }
-
-extern void micromag_hw_init( void );
-
-#endif /* MICROMAG_HW_H */
Copied:
paparazzi3/trunk/sw/airborne/arch/lpc21/modules/sensors/mag_micromag_fw_hw.c
(from rev 6206,
paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.c)
===================================================================
---
paparazzi3/trunk/sw/airborne/arch/lpc21/modules/sensors/mag_micromag_fw_hw.c
(rev 0)
+++
paparazzi3/trunk/sw/airborne/arch/lpc21/modules/sensors/mag_micromag_fw_hw.c
2010-10-23 22:00:57 UTC (rev 6220)
@@ -0,0 +1,78 @@
+/* PNI micromag3 connected on SPI1 */
+/*
+ Tiny2 (fixed wing)
+ SS on P0.20 (SSEL)
+ RESET on P0.29 (ADC5)
+ DRDY on P0.16 ( EINT0 )
+*/
+
+#include "led.h"
+#include "mag_micromag_fw_hw.h"
+#include "sensors/mag_micromag_fw.h"
+
+volatile uint8_t micromag_cur_axe;
+
+static void SSP_ISR(void) __attribute__((naked));
+static void EXTINT_ISR(void) __attribute__((naked));
+
+
+static void SSP_ISR(void) {
+ ISR_ENTRY();
+
+ MmOnSpiIt();
+
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+ ISR_EXIT();
+}
+
+void EXTINT_ISR(void) {
+ ISR_ENTRY();
+//LED_TOGGLE(3);
+
+ /* no, we won't do anything asynchronously, so just notify */
+ micromag_status = MM_GOT_EOC;
+ /* clear EINT */
+ SetBit(EXTINT,MM_DRDY_EINT);
+// EXTINT = (1<<MM_DRDY_EINT);
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+ ISR_EXIT();
+}
+
+void micromag_hw_init( void ) {
+ /* setup pins for SSP (SCK, MISO, MOSI, SSEL) */
+ PINSEL1 |= SSP_PINSEL1_SCK | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;
+
+ /* setup SSP */
+ SSPCR0 = SSPCR0_VAL;;
+ SSPCR1 = SSPCR1_VAL;
+ SSPCPSR = 0x02;
+
+ /* initialize interrupt vector */
+ VICIntSelect &= ~VIC_BIT( VIC_SPI1 ); /* SPI1 selected as IRQ */
+ VICIntEnable = VIC_BIT( VIC_SPI1 ); /* enable it */
+ _VIC_CNTL(SSP_VIC_SLOT) = VIC_ENABLE | VIC_SPI1;
+ _VIC_ADDR(SSP_VIC_SLOT) = (uint32_t)SSP_ISR; /* address of the ISR */
+
+ MmUnselect(); /* pin idles high */
+ /* configure SS pin */
+ SetBit(MM_SS_IODIR, MM_SS_PIN); /* pin is output */
+
+ /* configure RESET pin */
+ SetBit(MM_RESET_IODIR, MM_RESET_PIN); /* pin is output */
+ MmReset(); /* pin idles low */
+
+ /* configure DRDY pin */
+ /* connected pin to EXINT */
+ MM_DRDY_PINSEL |= MM_DRDY_PINSEL_VAL << MM_DRDY_PINSEL_BIT;
+ SetBit(EXTMODE, MM_DRDY_EINT); /* EINT is edge trigered */
+ SetBit(EXTPOLAR,MM_DRDY_EINT); /* EINT is trigered on rising edge */
+ SetBit(EXTINT,MM_DRDY_EINT); /* clear pending EINT */
+
+ /* initialize interrupt vector */
+ VICIntSelect &= ~VIC_BIT( MM_DRDY_VIC_IT ); /* select
EINT as IRQ source */
+ VICIntEnable = VIC_BIT( MM_DRDY_VIC_IT ); /* enable
it */
+ _VIC_CNTL(MICROMAG_DRDY_VIC_SLOT) = VIC_ENABLE | MM_DRDY_VIC_IT;
+ _VIC_ADDR(MICROMAG_DRDY_VIC_SLOT) = (uint32_t)EXTINT_ISR; // address
of the ISR
+}
+
+
Copied:
paparazzi3/trunk/sw/airborne/arch/lpc21/modules/sensors/mag_micromag_fw_hw.h
(from rev 6206,
paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.h)
===================================================================
---
paparazzi3/trunk/sw/airborne/arch/lpc21/modules/sensors/mag_micromag_fw_hw.h
(rev 0)
+++
paparazzi3/trunk/sw/airborne/arch/lpc21/modules/sensors/mag_micromag_fw_hw.h
2010-10-23 22:00:57 UTC (rev 6220)
@@ -0,0 +1,93 @@
+#ifndef MICROMAG_FW_HW_H
+#define MICROMAG_FW_HW_H
+
+#include <stdlib.h> // for abs
+
+#include "std.h"
+#include "LPC21xx.h"
+#include "interrupt_hw.h"
+
+#include "spi_hw.h"
+#include BOARD_CONFIG
+
+#include "airframe.h"
+
+#define MM_DIVISOR_128 2
+#define MM_DIVISOR_256 3
+#define MM_DIVISOR_512 4
+#define MM_DIVISOR_1024 5
+
+#define MM_DIVISOR MM_DIVISOR_512
+
+
+extern volatile uint8_t micromag_cur_axe;
+
+#define MmSelect() SetBit(MM_SS_IOCLR,MM_SS_PIN)
+#define MmUnselect() SetBit(MM_SS_IOSET,MM_SS_PIN)
+
+#define MmReset() SetBit(MM_RESET_IOCLR,MM_RESET_PIN)
+#define MmSet() SetBit(MM_RESET_IOSET,MM_RESET_PIN)
+
+#define MmOnSpiIt() { \
+ switch (micromag_status) { \
+ case MM_SENDING_REQ: \
+ {
\
+ /* read dummy control byte reply */ \
+ uint8_t foo __attribute__ ((unused)) = SSPDR; \
+ micromag_status = MM_WAITING_EOC; \
+ MmUnselect(); \
+ SpiClearRti(); \
+ SpiDisableRti(); \
+ SpiDisable(); \
+ }
\
+ break; \
+ case MM_READING_RES: \
+ {
\
+ int16_t new_val; \
+ new_val = SSPDR << 8; \
+ new_val += SSPDR; \
+ if (abs(new_val) < 2000) \
+ micromag_values[micromag_cur_axe] = new_val; \
+ MmUnselect(); \
+ SpiClearRti(); \
+ SpiDisableRti(); \
+ SpiDisable(); \
+ micromag_cur_axe++; \
+ if (micromag_cur_axe > 2) { \
+ micromag_cur_axe = 0; \
+ micromag_status = MM_DATA_AVAILABLE; \
+ } \
+ else \
+ micromag_status = MM_IDLE; \
+ }
\
+ break; \
+ } \
+ }
+
+
+#define MmSendReq() { \
+ MmSelect();
\
+ micromag_status = MM_SENDING_REQ; \
+ MmSet(); \
+ SpiClearRti(); \
+ SpiEnableRti(); \
+ MmReset(); \
+ uint8_t control_byte = (micromag_cur_axe+1) << 0 | MM_DIVISOR_1024 << 4; \
+ SSPDR = control_byte; \
+ SpiEnable(); \
+ }
+
+#define MmReadRes() { \
+ micromag_status = MM_READING_RES; \
+ MmSelect();
\
+ /* trigger 2 bytes read */ \
+ SSPDR = 0; \
+ SSPDR = 0; \
+ SpiEnable(); \
+ SpiClearRti(); \
+ SpiEnableRti(); \
+ }
+
+extern void micromag_hw_init( void );
+
+#endif /* MICROMAG_HW_H */
Deleted: paparazzi3/trunk/sw/airborne/modules/meteo/baro_bmp.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/meteo/baro_bmp.c 2010-10-23
21:28:08 UTC (rev 6219)
+++ paparazzi3/trunk/sw/airborne/modules/meteo/baro_bmp.c 2010-10-23
22:00:57 UTC (rev 6220)
@@ -1,164 +0,0 @@
-/*
- * $Id: baro_bmp.c $
- *
- * Copyright (C) 2010 Martin Mueller
- *
- * 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.
- *
- */
-
-/** \file baro_bmp.c
- * \brief Bosch BMP085 I2C sensor interface
- *
- * This reads the values for pressure and temperature from the Bosch BMP085
sensor through I2C.
- */
-
-
-#include "baro_bmp.h"
-
-#include "sys_time.h"
-#include "i2c.h"
-#include "led.h"
-#include "uart.h"
-#include "messages.h"
-#include "downlink.h"
-
-#ifndef BMP_I2C_DEV
-#define BMP_I2C_DEV i2c0
-#endif
-
-#define BMP085_SLAVE_ADDR 0xEE
-
-struct i2c_transaction bmp_trans;
-
-uint8_t baro_bmp_status;
-uint32_t baro_bmp_pressure;
-uint16_t baro_bmp_temperature;
-
-int16_t bmp_ac1, bmp_ac2, bmp_ac3;
-uint16_t bmp_ac4, bmp_ac5, bmp_ac6;
-int16_t bmp_b1, bmp_b2;
-int16_t bmp_mb, bmp_mc, bmp_md;
-int32_t bmp_up, bmp_ut;
-
-void baro_bmp_init( void ) {
- baro_bmp_status = BARO_BMP_UNINIT;
- /* read calibration values */
- bmp_trans.buf[0] = BMP085_EEPROM_AC1;
- I2CTransceive(BMP_I2C_DEV, bmp_trans, BMP085_SLAVE_ADDR, 1, 22);
-}
-
-void baro_bmp_periodic( void ) {
- if (baro_bmp_status == BARO_BMP_IDLE) {
- /* start temp measurement (once) */
- bmp_trans.buf[0] = BMP085_CTRL_REG;
- bmp_trans.buf[1] = BMP085_START_TEMP;
- I2CTransmit(BMP_I2C_DEV, bmp_trans, BMP085_SLAVE_ADDR, 2);
- baro_bmp_status = BARO_BMP_START_TEMP;
- }
- else if (baro_bmp_status == BARO_BMP_START_TEMP) {
- /* read temp measurement */
- bmp_trans.buf[0] = BMP085_DAT_MSB;
- I2CTransceive(BMP_I2C_DEV, bmp_trans, BMP085_SLAVE_ADDR, 1, 2);
- baro_bmp_status = BARO_BMP_READ_TEMP;
- }
- else if (baro_bmp_status == BARO_BMP_START_PRESS) {
- /* read press measurement */
- bmp_trans.buf[0] = BMP085_DAT_MSB;
- I2CTransceive(BMP_I2C_DEV, bmp_trans, BMP085_SLAVE_ADDR, 1, 3);
- baro_bmp_status = BARO_BMP_READ_PRESS;
- }
-}
-
-void baro_bmp_event( void ) {
-
- if (bmp_trans.status == I2CTransSuccess) {
-
- if (baro_bmp_status == BARO_BMP_UNINIT) {
- /* get calibration data */
- bmp_ac1 = (bmp_trans.buf[0] << 8) | bmp_trans.buf[1];
- bmp_ac2 = (bmp_trans.buf[2] << 8) | bmp_trans.buf[3];
- bmp_ac3 = (bmp_trans.buf[4] << 8) | bmp_trans.buf[5];
- bmp_ac4 = (bmp_trans.buf[6] << 8) | bmp_trans.buf[7];
- bmp_ac5 = (bmp_trans.buf[8] << 8) | bmp_trans.buf[9];
- bmp_ac6 = (bmp_trans.buf[10] << 8) | bmp_trans.buf[11];
- bmp_b1 = (bmp_trans.buf[12] << 8) | bmp_trans.buf[13];
- bmp_b2 = (bmp_trans.buf[14] << 8) | bmp_trans.buf[15];
- bmp_mb = (bmp_trans.buf[16] << 8) | bmp_trans.buf[17];
- bmp_mc = (bmp_trans.buf[18] << 8) | bmp_trans.buf[19];
- bmp_md = (bmp_trans.buf[20] << 8) | bmp_trans.buf[21];
- baro_bmp_status = BARO_BMP_IDLE;
- }
- else if (baro_bmp_status == BARO_BMP_READ_TEMP) {
- /* get uncompensated temperature */
- bmp_ut = (bmp_trans.buf[0] << 8) | bmp_trans.buf[1];
- /* start high res pressure measurement */
- bmp_trans.buf[0] = BMP085_CTRL_REG;
- bmp_trans.buf[1] = BMP085_START_P3;
- I2CTransmit(BMP_I2C_DEV, bmp_trans, BMP085_SLAVE_ADDR, 2);
- baro_bmp_status = BARO_BMP_START_PRESS;
- }
- else if (baro_bmp_status == BARO_BMP_READ_PRESS) {
- int32_t bmp_p, bmp_t;
- int32_t bmp_x1, bmp_x2, bmp_x3;
- int32_t bmp_b3, bmp_b5, bmp_b6;
- uint32_t bmp_b4, bmp_b7;
-
- /* get uncompensated pressure, oss=3 */
- bmp_up = (bmp_trans.buf[0] << 11) |
- (bmp_trans.buf[1] << 3) |
- bmp_trans.buf[2];
- /* start temp measurement */
- bmp_trans.buf[0] = BMP085_CTRL_REG;
- bmp_trans.buf[1] = BMP085_START_TEMP;
- I2CTransmit(BMP_I2C_DEV, bmp_trans, BMP085_SLAVE_ADDR, 2);
- baro_bmp_status = BARO_BMP_START_TEMP;
-
- /* compensate temperature */
- bmp_x1 = (bmp_ut - bmp_ac6) * bmp_ac5 / (1<<15);
- bmp_x2 = bmp_mc * (1<<11) / (bmp_x1 + bmp_md);
- bmp_b5 = bmp_x1 + bmp_x2;
- bmp_t = (bmp_b5 + 8) / (1<<4);
-
- /* compensate pressure */
- bmp_b6 = bmp_b5 - 4000;
- bmp_x1 = (bmp_b2 * (bmp_b6 * bmp_b6 / (1<<12))) / (1<<11);
- bmp_x2 = bmp_ac2 *bmp_b6 / (1<<11);
- bmp_x3 = bmp_x1 + bmp_x2;
- bmp_b3 = (((bmp_ac1 * 4 + bmp_x3) << 3) + 2) / 4;
- bmp_x1 = bmp_ac3 * bmp_b6 / (1<<13);
- bmp_x2 = (bmp_b1 * (bmp_b6 * bmp_b6 / (1<<12))) / (1<<16);
- bmp_x3 = ((bmp_x1 + bmp_x2) +2) / (1<<2);
- bmp_b4 = bmp_ac4 * (uint32_t)(bmp_x3 + 32768) / (1<<15);
- bmp_b7 = ((uint32_t)bmp_up - bmp_b3) * (50000>>3);
- if (bmp_b7 < 0x80000000)
- bmp_p = (bmp_b7 * 2) / bmp_b4;
- else
- bmp_p = (bmp_b7 * bmp_b4) * 2;
- bmp_x1 = (bmp_p / (1<<8)) * (bmp_p / (1<<8));
- bmp_x1 = (bmp_x1 * 3038) / (1<<16);
- bmp_x2 = (-7357 * bmp_p) / (1<<16);
- bmp_p = bmp_p + (bmp_x1 + bmp_x2 + 3791) / (1<<4);
-
- baro_bmp_temperature = bmp_t;
- baro_bmp_pressure = bmp_p;
- DOWNLINK_SEND_BMP_STATUS(DefaultChannel, &bmp_p, &bmp_t);
- }
- }
-}
-
Deleted: paparazzi3/trunk/sw/airborne/modules/meteo/baro_bmp.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/meteo/baro_bmp.h 2010-10-23
21:28:08 UTC (rev 6219)
+++ paparazzi3/trunk/sw/airborne/modules/meteo/baro_bmp.h 2010-10-23
22:00:57 UTC (rev 6220)
@@ -1,45 +0,0 @@
-#ifndef BARO_BMP_H
-#define BARO_BMP_H
-
-#include "std.h"
-
-#define BMP085_EEPROM_AC1 0xAA
-#define BMP085_EEPROM_AC2 0xAC
-#define BMP085_EEPROM_AC3 0xAE
-#define BMP085_EEPROM_AC4 0xB0
-#define BMP085_EEPROM_AC5 0xB2
-#define BMP085_EEPROM_AC6 0xB4
-#define BMP085_EEPROM_B1 0xB6
-#define BMP085_EEPROM_B2 0xB8
-#define BMP085_EEPROM_MB 0xBA
-#define BMP085_EEPROM_MC 0xBC
-#define BMP085_EEPROM_MD 0xBE
-
-#define BMP085_CTRL_REG 0xF4
-
-#define BMP085_START_TEMP 0x2E
-#define BMP085_START_P0 0x34
-#define BMP085_START_P1 0x74
-#define BMP085_START_P2 0xB4
-#define BMP085_START_P3 0xF4
-
-#define BMP085_DAT_MSB 0xF6
-#define BMP085_DAT_LSB 0xF7
-#define BMP085_DAT_XLSB 0xF8
-
-#define BARO_BMP_UNINIT 0
-#define BARO_BMP_IDLE 1
-#define BARO_BMP_START_TEMP 2
-#define BARO_BMP_READ_TEMP 3
-#define BARO_BMP_START_PRESS 4
-#define BARO_BMP_READ_PRESS 5
-
-extern uint8_t baro_bmp_status;
-extern uint32_t baro_bmp_pressure;
-extern uint16_t baro_bmp_temperature;
-
-void baro_bmp_init(void);
-void baro_bmp_periodic(void);
-void baro_bmp_event(void);
-
-#endif
Deleted: paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp.c 2010-10-23
21:28:08 UTC (rev 6219)
+++ paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp.c 2010-10-23
22:00:57 UTC (rev 6220)
@@ -1,178 +0,0 @@
-#include "std.h"
-#include "init_hw.h"
-#include "sys_time.h"
-#include "led.h"
-#include "interrupt_hw.h"
-
-#include "uart.h"
-#include "messages.h"
-#include "downlink.h"
-
-#include "spi_hw.h"
-
-#include "baro_scp.h"
-
-#define STA_UNINIT 0
-#define STA_INITIALISING 1
-#define STA_IDLE 2
-
-uint8_t baro_scp_status;
-uint32_t baro_scp_pressure;
-uint16_t baro_scp_temperature;
-bool_t baro_scp_available;
-
-static void baro_scp_start_high_res_measurement(void);
-static void baro_scp_read(void);
-static void EXTINT_ISR(void) __attribute__((naked));
-static void SPI1_ISR(void) __attribute__((naked));
-
-void baro_scp_periodic(void) {
- if (baro_scp_status == STA_UNINIT && cpu_time_sec > 1) {
- baro_scp_start_high_res_measurement();
- baro_scp_status = STA_INITIALISING;
- }
-}
-
-/* ssp input clock 468.75kHz, clock that divided by SCR+1 */
-#define SSP_CLOCK 468750
-
-/* SSPCR0 settings */
-#define SSP_DDS 0x07 << 0 /* data size : 8 bits */
-#define SSP_FRF 0x00 << 4 /* frame format : SPI */
-#define SSP_CPOL 0x00 << 6 /* clock polarity : data captured on first
clock transition */
-#define SSP_CPHA 0x00 << 7 /* clock phase : SCK idles low */
-#define SSP_SCR 0x0F << 8 /* serial clock rate : divide by 16 */
-
-/* SSPCR1 settings */
-#define SSP_LBM 0x00 << 0 /* loopback mode : disabled */
-#define SSP_SSE 0x00 << 1 /* SSP enable : disabled */
-#define SSP_MS 0x00 << 2 /* master slave mode : master */
-#define SSP_SOD 0x00 << 3 /* slave output disable : don't care when master */
-
-#define SS_PIN 20
-#define SS_IODIR IO0DIR
-#define SS_IOSET IO0SET
-#define SS_IOCLR IO0CLR
-
-#define ScpSelect() SetBit(SS_IOCLR,SS_PIN)
-#define ScpUnselect() SetBit(SS_IOSET,SS_PIN)
-
-void baro_scp_init( void ) {
- /* setup pins for SSP (SCK, MISO, MOSI) */
- PINSEL1 |= 2 << 2 | 2 << 4 | 2 << 6;
-
- /* setup SSP */
- SSPCR0 = SSP_DDS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR;
- SSPCR1 = SSP_LBM | SSP_MS | SSP_SOD;
- /* set prescaler for SSP clock */
- SSPCPSR = PCLK/SSP_CLOCK;
-
- /* initialize interrupt vector */
- VICIntSelect &= ~VIC_BIT(VIC_SPI1); // SPI1 selected as IRQ
- VICIntEnable = VIC_BIT(VIC_SPI1); // SPI1 interrupt enabled
- VICVectCntl7 = VIC_ENABLE | VIC_SPI1;
- VICVectAddr7 = (uint32_t)SPI1_ISR; // address of the ISR
-
- /* configure SS pin */
- SetBit(SS_IODIR, SS_PIN); /* pin is output */
- ScpUnselect(); /* pin idles high */
-
- /* configure DRDY pin */
- /* connected pin to EXINT */
- SPI1_DRDY_PINSEL |= SPI1_DRDY_PINSEL_VAL << SPI1_DRDY_PINSEL_BIT;
- SetBit(EXTMODE, SPI1_DRDY_EINT); /* EINT is edge trigered */
- SetBit(EXTPOLAR,SPI1_DRDY_EINT); /* EINT is trigered on rising edge */
- SetBit(EXTINT,SPI1_DRDY_EINT); /* clear pending EINT */
-
- /* initialize interrupt vector */
- VICIntSelect &= ~VIC_BIT( SPI1_DRDY_VIC_IT ); /* select EINT as IRQ source
*/
- VICIntEnable = VIC_BIT( SPI1_DRDY_VIC_IT ); /* enable it */
- VICVectCntl11 = VIC_ENABLE | SPI1_DRDY_VIC_IT;
- VICVectAddr11 = (uint32_t)EXTINT_ISR; // address of the ISR
-
- baro_scp_status = STA_UNINIT;
-}
-
-void SPI1_ISR(void) {
- ISR_ENTRY();
-
- if (baro_scp_status == STA_INITIALISING) {
- uint8_t foo1 = SSPDR;
- uint8_t foo2 = SSPDR;
- baro_scp_status = STA_IDLE;
- foo1=foo2;
- }
- else if (baro_scp_status == STA_IDLE) {
-
- uint8_t foo0 = SSPDR;
- baro_scp_temperature = SSPDR<<8;
- baro_scp_temperature += SSPDR;
- if (baro_scp_temperature & 0x2000) {
- baro_scp_temperature |= 0xC000;
- }
- baro_scp_temperature *= 5;
-
- uint8_t foo1 = SSPDR;
- uint32_t datard8 = SSPDR<<16;
- uint8_t foo2 = SSPDR;
- baro_scp_pressure = SSPDR<<8;
- baro_scp_pressure += SSPDR;
- baro_scp_pressure += datard8;
- baro_scp_pressure *= 25;
- baro_scp_available = TRUE;
- foo1=foo2;
- foo0=foo2;
- }
-
- ScpUnselect();
- SpiClearRti();
- SpiDisable();
-
- VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
- ISR_EXIT();
-}
-
-void EXTINT_ISR(void) {
- ISR_ENTRY();
- baro_scp_read();
-
- SetBit(EXTINT,SPI1_DRDY_EINT); /* clear EINT2 */
- VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
- ISR_EXIT();
-}
-
-/* write 0x0A to 0x03 */
-static void baro_scp_start_high_res_measurement(void) {
- uint8_t cmd = 0x03<<2|0x02;
- uint8_t data = 0x0A;
- ScpSelect();
- SSPDR = cmd;
- SSPDR = data;
- SpiEnableRti();
- SpiEnable();
-}
-
-/* read 0x21 (TEMP), 0x1F (MSB) and 0x20 (LSB) */
-static void baro_scp_read(void) {
- uint8_t cmd0 = 0x21 << 2;
- uint8_t cmd1 = 0x1F << 2;
- uint8_t cmd2 = 0x20 << 2;
- ScpSelect();
- SSPDR = cmd0;
- SSPDR = 0;
- SSPDR = 0;
- SSPDR = cmd1;
- SSPDR = 0;
- SSPDR = cmd2;
- SSPDR = 0;
- SSPDR = 0;
- SpiEnable();
-}
-
-void baro_scp_event( void ) {
- if (baro_scp_available == TRUE) {
- DOWNLINK_SEND_SCP_STATUS(DefaultChannel, &baro_scp_pressure,
&baro_scp_temperature);
- baro_scp_available = FALSE;
- }
-}
-
Deleted: paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp.h 2010-10-23
21:28:08 UTC (rev 6219)
+++ paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp.h 2010-10-23
22:00:57 UTC (rev 6220)
@@ -1,22 +0,0 @@
-#ifndef BARO_SCP_H
-#define BARO_SCP_H
-
-#include "std.h"
-
-#ifdef STM32
-#error LPC21_only
-#endif
-
-#define STA_UNINIT 0
-#define STA_INITIALISING 1
-#define STA_IDLE 2
-
-extern uint8_t baro_scp_status;
-extern uint32_t baro_scp_pressure;
-extern uint16_t baro_scp_temperature;
-extern bool_t baro_scp_available;
-
-void baro_scp_init(void);
-void baro_scp_periodic(void);
-
-#endif
Deleted: paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp_i2c.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp_i2c.c 2010-10-23
21:28:08 UTC (rev 6219)
+++ paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp_i2c.c 2010-10-23
22:00:57 UTC (rev 6220)
@@ -1,102 +0,0 @@
-
-/** \file baro_scp_i2c.c
- * \brief VTI SCP1000 I2C sensor interface
- *
- * This reads the values for pressure and temperature from the VTI SCP1000
sensor through I2C.
- */
-
-
-#include "baro_scp_i2c.h"
-
-#include "sys_time.h"
-#include "i2c.h"
-#include "led.h"
-#include "uart.h"
-#include "messages.h"
-#include "downlink.h"
-
-uint8_t baro_scp_status;
-uint32_t baro_scp_pressure;
-uint16_t baro_scp_temperature;
-
-struct i2c_transaction scp_trans;
-
-#ifndef SCP_I2C_DEV
-#define SCP_I2C_DEV i2c0
-#endif
-
-#define SCP1000_SLAVE_ADDR 0x22
-
-static void baro_scp_start_high_res_measurement(void) {
- /* switch to high resolution */
- scp_trans.buf[0] = SCP1000_OPERATION;
- scp_trans.buf[1] = SCP1000_HIGH_RES;
- I2CTransmit(SCP_I2C_DEV, scp_trans, SCP1000_SLAVE_ADDR, 2);
-}
-
-void baro_scp_init( void ) {
- baro_scp_status = BARO_SCP_UNINIT;
-}
-
-void baro_scp_periodic( void ) {
-
- if (baro_scp_status == BARO_SCP_UNINIT && cpu_time_sec > 1) {
-
- baro_scp_start_high_res_measurement();
- baro_scp_status = BARO_SCP_IDLE;
- } else if (baro_scp_status == BARO_SCP_IDLE) {
-
- /* init: start two byte temperature */
- scp_trans.buf[0] = SCP1000_TEMPOUT;
- baro_scp_status = BARO_SCP_RD_TEMP;
- I2CTransceive(SCP_I2C_DEV, scp_trans, SCP1000_SLAVE_ADDR, 1, 2);
- }
-}
-
-void baro_scp_event( void ) {
-
- if (scp_trans.status == I2CTransSuccess) {
-
- if (baro_scp_status == BARO_SCP_RD_TEMP) {
-
- /* read two byte temperature */
- baro_scp_temperature = scp_trans.buf[0] << 8;
- baro_scp_temperature |= scp_trans.buf[1];
- if (baro_scp_temperature & 0x2000) {
- baro_scp_temperature |= 0xC000;
- }
- baro_scp_temperature *= 5;
-
- /* start one byte msb pressure */
- scp_trans.buf[0] = SCP1000_DATARD8;
- baro_scp_status = BARO_SCP_RD_PRESS_0;
- I2CTransceive(SCP_I2C_DEV, scp_trans, SCP1000_SLAVE_ADDR, 1, 1);
- }
-
- else if (baro_scp_status == BARO_SCP_RD_PRESS_0) {
-
- /* read one byte pressure */
- baro_scp_pressure = scp_trans.buf[0] << 16;
-
- /* start two byte lsb pressure */
- scp_trans.buf[0] = SCP1000_DATARD16;
- baro_scp_status = BARO_SCP_RD_PRESS_1;
- I2CTransceive(SCP_I2C_DEV, scp_trans, SCP1000_SLAVE_ADDR, 1, 2);
- }
-
- else if (baro_scp_status == BARO_SCP_RD_PRESS_1) {
-
- /* read two byte pressure */
- baro_scp_pressure |= scp_trans.buf[0] << 8;
- baro_scp_pressure |= scp_trans.buf[1];
- baro_scp_pressure *= 25;
-
- DOWNLINK_SEND_SCP_STATUS(DefaultChannel, &baro_scp_pressure,
&baro_scp_temperature);
-
- baro_scp_status = BARO_SCP_IDLE;
- }
-
- else baro_scp_status = BARO_SCP_IDLE;
- }
-}
-
Deleted: paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp_i2c.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp_i2c.h 2010-10-23
21:28:08 UTC (rev 6219)
+++ paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp_i2c.h 2010-10-23
22:00:57 UTC (rev 6220)
@@ -1,31 +0,0 @@
-#ifndef BARO_SCP_H
-#define BARO_SCP_H
-
-#include "std.h"
-
-#define SCP1000_OPERATION 0x03
-
-#define SCP1000_HIGH_SPEED 0x09
-#define SCP1000_HIGH_RES 0x0A
-#define SCP1000_ULT_LOW_PW 0x0B
-#define SCP1000_LOW_PW 0x0C
-
-#define SCP1000_DATARD8 0x7F
-#define SCP1000_DATARD16 0x80
-#define SCP1000_TEMPOUT 0x81
-
-#define BARO_SCP_UNINIT 0
-#define BARO_SCP_IDLE 1
-#define BARO_SCP_RD_TEMP 2
-#define BARO_SCP_RD_PRESS_0 3
-#define BARO_SCP_RD_PRESS_1 4
-
-extern uint8_t baro_scp_status;
-extern uint32_t baro_scp_pressure;
-extern uint16_t baro_scp_temperature;
-
-void baro_scp_init(void);
-void baro_scp_periodic(void);
-void baro_scp_event(void);
-
-#endif
Deleted: paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.c 2010-10-23
21:28:08 UTC (rev 6219)
+++ paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.c 2010-10-23
22:00:57 UTC (rev 6220)
@@ -1,71 +0,0 @@
-#include "micromag_fw.h"
-#include "meteo/micromag_fw_hw.h"
-#include "led.h"
-#include "uart.h"
-#include "messages.h"
-#include "downlink.h"
-
-volatile uint8_t micromag_status;
-volatile int16_t micromag_values[MM_NB_AXIS];
-
-
-void micromag_periodic( void ) {
-
- static uint8_t cnt = 0;
-
- if (micromag_status == MM_IDLE) {
- // uint8_t * tab = &cnt;
- // DOWNLINK_SEND_DEBUG(1,tab);
- cnt = 0;
- MmSendReq();
- }
- else if (micromag_status == MM_GOT_EOC) {
- MmReadRes();
- }
- else if (micromag_status == MM_WAITING_EOC) {
- cnt++;
- if (cnt > 50) {cnt = 0; micromag_status = MM_IDLE;}
- }
-}
-
-void micromag_event( void ) {
-
- int32_t mx=micromag_values[0];
- int32_t my=micromag_values[1];
- int32_t mz=micromag_values[2];
-
- if (micromag_status == MM_DATA_AVAILABLE) {
- DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,
- &mx,
- &my,
- &mz );
- micromag_status = MM_IDLE;
- }
-}
-
-void micromag_init( void ) {
-
- micromag_hw_init();
-
- uint8_t i;
- for (i=0; i<MM_NB_AXIS; i++)
- micromag_values[i] = 0;
- micromag_status = MM_IDLE;
-}
-
-void micromag_reset() {
- micromag_status = MM_IDLE;
-}
-
-void micromag_read() {
- if (micromag_status == MM_IDLE) {
- MmSendReq();
- }
- else if (micromag_status == MM_GOT_EOC) {
- MmReadRes();
- }
- else if (micromag_status == MM_DATA_AVAILABLE) {
- micromag_status = MM_IDLE;
- }
-}
-
Deleted: paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.h 2010-10-23
21:28:08 UTC (rev 6219)
+++ paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.h 2010-10-23
22:00:57 UTC (rev 6220)
@@ -1,64 +0,0 @@
-#ifndef MICROMAG_FW_H
-#define MICROMAG_FW_H
-
-
-#include "std.h"
-#define MM_NB_AXIS 3
-
-extern void micromag_init( void );
-extern void micromag_read( void );
-
-extern void micromag_reset( void);
-extern void micromag_periodic( void );
-extern void micromag_event( void );
-
-#define MM_IDLE 0
-#define MM_BUSY 1
-#define MM_SENDING_REQ 2
-#define MM_WAITING_EOC 3
-#define MM_GOT_EOC 4
-#define MM_READING_RES 5
-#define MM_DATA_AVAILABLE 6
-
-/* ssp input clock 468.75kHz, clock that divided by SCR+1 */
-#define SSP_CLOCK 468750
-
-/* SSPCR0 settings */
-#define SSP_DDS 0x07 << 0 /* data size : 8 bits */
-#define SSP_FRF 0x00 << 4 /* frame format : SPI */
-#define SSP_CPOL 0x00 << 6 /* clock polarity : data captured on first
clock transition */
-#define SSP_CPHA 0x00 << 7 /* clock phase : SCK idles low */
-#define SSP_SCR 0x0F << 8 /* serial clock rate : divide by 16 */
-
-/* SSPCR1 settings */
-#define SSP_LBM 0x00 << 0 /* loopback mode : disabled */
-#define SSP_SSE 0x00 << 1 /* SSP enable : disabled */
-#define SSP_MS 0x00 << 2 /* master slave mode : master */
-#define SSP_SOD 0x00 << 3 /* slave output disable : don't care when master */
-
-#define SS_PIN 20
-#define SS_IODIR IO0DIR
-#define SS_IOSET IO0SET
-#define SS_IOCLR IO0CLR
-
-#define SSPCR0_VAL (SSP_DDS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR )
-#define SSPCR1_VAL (SSP_LBM | SSP_SSE | SSP_MS | SSP_SOD )
-
-#define SSP_PINSEL1_SCK (2<<2)
-#define SSP_PINSEL1_MISO (2<<4)
-#define SSP_PINSEL1_MOSI (2<<6)
-
-#define SSP_Enable() SetBit(SSPCR1, SSE);
-#define SSP_Disable() ClearBit(SSPCR1, SSE);
-#define SSP_EnableRxi() SetBit(SSPIMSC, RXIM)
-#define SSP_DisableRxi() ClearBit(SSPIMSC, RXIM)
-#define SSP_EnableTxi() SetBit(SSPIMSC, TXIM)
-#define SSP_DisableTxi() ClearBit(SSPIMSC, TXIM)
-#define SSP_EnableRti() SetBit(SSPIMSC, RTIM);
-#define SSP_DisableRti() ClearBit(SSPIMSC, RTIM);
-#define SSP_ClearRti() SetBit(SSPICR, RTIC);
-
-extern volatile uint8_t micromag_status;
-extern volatile int16_t micromag_values[MM_NB_AXIS];
-
-#endif /* MICROMAG_H */
Copied: paparazzi3/trunk/sw/airborne/modules/sensors/baro_bmp.c (from rev 6206,
paparazzi3/trunk/sw/airborne/modules/meteo/baro_bmp.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/baro_bmp.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/baro_bmp.c 2010-10-23
22:00:57 UTC (rev 6220)
@@ -0,0 +1,164 @@
+/*
+ * $Id: baro_bmp.c $
+ *
+ * Copyright (C) 2010 Martin Mueller
+ *
+ * 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.
+ *
+ */
+
+/** \file baro_bmp.c
+ * \brief Bosch BMP085 I2C sensor interface
+ *
+ * This reads the values for pressure and temperature from the Bosch BMP085
sensor through I2C.
+ */
+
+
+#include "baro_bmp.h"
+
+#include "sys_time.h"
+#include "i2c.h"
+#include "led.h"
+#include "uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+#ifndef BMP_I2C_DEV
+#define BMP_I2C_DEV i2c0
+#endif
+
+#define BMP085_SLAVE_ADDR 0xEE
+
+struct i2c_transaction bmp_trans;
+
+uint8_t baro_bmp_status;
+uint32_t baro_bmp_pressure;
+uint16_t baro_bmp_temperature;
+
+int16_t bmp_ac1, bmp_ac2, bmp_ac3;
+uint16_t bmp_ac4, bmp_ac5, bmp_ac6;
+int16_t bmp_b1, bmp_b2;
+int16_t bmp_mb, bmp_mc, bmp_md;
+int32_t bmp_up, bmp_ut;
+
+void baro_bmp_init( void ) {
+ baro_bmp_status = BARO_BMP_UNINIT;
+ /* read calibration values */
+ bmp_trans.buf[0] = BMP085_EEPROM_AC1;
+ I2CTransceive(BMP_I2C_DEV, bmp_trans, BMP085_SLAVE_ADDR, 1, 22);
+}
+
+void baro_bmp_periodic( void ) {
+ if (baro_bmp_status == BARO_BMP_IDLE) {
+ /* start temp measurement (once) */
+ bmp_trans.buf[0] = BMP085_CTRL_REG;
+ bmp_trans.buf[1] = BMP085_START_TEMP;
+ I2CTransmit(BMP_I2C_DEV, bmp_trans, BMP085_SLAVE_ADDR, 2);
+ baro_bmp_status = BARO_BMP_START_TEMP;
+ }
+ else if (baro_bmp_status == BARO_BMP_START_TEMP) {
+ /* read temp measurement */
+ bmp_trans.buf[0] = BMP085_DAT_MSB;
+ I2CTransceive(BMP_I2C_DEV, bmp_trans, BMP085_SLAVE_ADDR, 1, 2);
+ baro_bmp_status = BARO_BMP_READ_TEMP;
+ }
+ else if (baro_bmp_status == BARO_BMP_START_PRESS) {
+ /* read press measurement */
+ bmp_trans.buf[0] = BMP085_DAT_MSB;
+ I2CTransceive(BMP_I2C_DEV, bmp_trans, BMP085_SLAVE_ADDR, 1, 3);
+ baro_bmp_status = BARO_BMP_READ_PRESS;
+ }
+}
+
+void baro_bmp_event( void ) {
+
+ if (bmp_trans.status == I2CTransSuccess) {
+
+ if (baro_bmp_status == BARO_BMP_UNINIT) {
+ /* get calibration data */
+ bmp_ac1 = (bmp_trans.buf[0] << 8) | bmp_trans.buf[1];
+ bmp_ac2 = (bmp_trans.buf[2] << 8) | bmp_trans.buf[3];
+ bmp_ac3 = (bmp_trans.buf[4] << 8) | bmp_trans.buf[5];
+ bmp_ac4 = (bmp_trans.buf[6] << 8) | bmp_trans.buf[7];
+ bmp_ac5 = (bmp_trans.buf[8] << 8) | bmp_trans.buf[9];
+ bmp_ac6 = (bmp_trans.buf[10] << 8) | bmp_trans.buf[11];
+ bmp_b1 = (bmp_trans.buf[12] << 8) | bmp_trans.buf[13];
+ bmp_b2 = (bmp_trans.buf[14] << 8) | bmp_trans.buf[15];
+ bmp_mb = (bmp_trans.buf[16] << 8) | bmp_trans.buf[17];
+ bmp_mc = (bmp_trans.buf[18] << 8) | bmp_trans.buf[19];
+ bmp_md = (bmp_trans.buf[20] << 8) | bmp_trans.buf[21];
+ baro_bmp_status = BARO_BMP_IDLE;
+ }
+ else if (baro_bmp_status == BARO_BMP_READ_TEMP) {
+ /* get uncompensated temperature */
+ bmp_ut = (bmp_trans.buf[0] << 8) | bmp_trans.buf[1];
+ /* start high res pressure measurement */
+ bmp_trans.buf[0] = BMP085_CTRL_REG;
+ bmp_trans.buf[1] = BMP085_START_P3;
+ I2CTransmit(BMP_I2C_DEV, bmp_trans, BMP085_SLAVE_ADDR, 2);
+ baro_bmp_status = BARO_BMP_START_PRESS;
+ }
+ else if (baro_bmp_status == BARO_BMP_READ_PRESS) {
+ int32_t bmp_p, bmp_t;
+ int32_t bmp_x1, bmp_x2, bmp_x3;
+ int32_t bmp_b3, bmp_b5, bmp_b6;
+ uint32_t bmp_b4, bmp_b7;
+
+ /* get uncompensated pressure, oss=3 */
+ bmp_up = (bmp_trans.buf[0] << 11) |
+ (bmp_trans.buf[1] << 3) |
+ bmp_trans.buf[2];
+ /* start temp measurement */
+ bmp_trans.buf[0] = BMP085_CTRL_REG;
+ bmp_trans.buf[1] = BMP085_START_TEMP;
+ I2CTransmit(BMP_I2C_DEV, bmp_trans, BMP085_SLAVE_ADDR, 2);
+ baro_bmp_status = BARO_BMP_START_TEMP;
+
+ /* compensate temperature */
+ bmp_x1 = (bmp_ut - bmp_ac6) * bmp_ac5 / (1<<15);
+ bmp_x2 = bmp_mc * (1<<11) / (bmp_x1 + bmp_md);
+ bmp_b5 = bmp_x1 + bmp_x2;
+ bmp_t = (bmp_b5 + 8) / (1<<4);
+
+ /* compensate pressure */
+ bmp_b6 = bmp_b5 - 4000;
+ bmp_x1 = (bmp_b2 * (bmp_b6 * bmp_b6 / (1<<12))) / (1<<11);
+ bmp_x2 = bmp_ac2 *bmp_b6 / (1<<11);
+ bmp_x3 = bmp_x1 + bmp_x2;
+ bmp_b3 = (((bmp_ac1 * 4 + bmp_x3) << 3) + 2) / 4;
+ bmp_x1 = bmp_ac3 * bmp_b6 / (1<<13);
+ bmp_x2 = (bmp_b1 * (bmp_b6 * bmp_b6 / (1<<12))) / (1<<16);
+ bmp_x3 = ((bmp_x1 + bmp_x2) +2) / (1<<2);
+ bmp_b4 = bmp_ac4 * (uint32_t)(bmp_x3 + 32768) / (1<<15);
+ bmp_b7 = ((uint32_t)bmp_up - bmp_b3) * (50000>>3);
+ if (bmp_b7 < 0x80000000)
+ bmp_p = (bmp_b7 * 2) / bmp_b4;
+ else
+ bmp_p = (bmp_b7 * bmp_b4) * 2;
+ bmp_x1 = (bmp_p / (1<<8)) * (bmp_p / (1<<8));
+ bmp_x1 = (bmp_x1 * 3038) / (1<<16);
+ bmp_x2 = (-7357 * bmp_p) / (1<<16);
+ bmp_p = bmp_p + (bmp_x1 + bmp_x2 + 3791) / (1<<4);
+
+ baro_bmp_temperature = bmp_t;
+ baro_bmp_pressure = bmp_p;
+ DOWNLINK_SEND_BMP_STATUS(DefaultChannel, &bmp_p, &bmp_t);
+ }
+ }
+}
+
Copied: paparazzi3/trunk/sw/airborne/modules/sensors/baro_bmp.h (from rev 6206,
paparazzi3/trunk/sw/airborne/modules/meteo/baro_bmp.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/baro_bmp.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/baro_bmp.h 2010-10-23
22:00:57 UTC (rev 6220)
@@ -0,0 +1,45 @@
+#ifndef BARO_BMP_H
+#define BARO_BMP_H
+
+#include "std.h"
+
+#define BMP085_EEPROM_AC1 0xAA
+#define BMP085_EEPROM_AC2 0xAC
+#define BMP085_EEPROM_AC3 0xAE
+#define BMP085_EEPROM_AC4 0xB0
+#define BMP085_EEPROM_AC5 0xB2
+#define BMP085_EEPROM_AC6 0xB4
+#define BMP085_EEPROM_B1 0xB6
+#define BMP085_EEPROM_B2 0xB8
+#define BMP085_EEPROM_MB 0xBA
+#define BMP085_EEPROM_MC 0xBC
+#define BMP085_EEPROM_MD 0xBE
+
+#define BMP085_CTRL_REG 0xF4
+
+#define BMP085_START_TEMP 0x2E
+#define BMP085_START_P0 0x34
+#define BMP085_START_P1 0x74
+#define BMP085_START_P2 0xB4
+#define BMP085_START_P3 0xF4
+
+#define BMP085_DAT_MSB 0xF6
+#define BMP085_DAT_LSB 0xF7
+#define BMP085_DAT_XLSB 0xF8
+
+#define BARO_BMP_UNINIT 0
+#define BARO_BMP_IDLE 1
+#define BARO_BMP_START_TEMP 2
+#define BARO_BMP_READ_TEMP 3
+#define BARO_BMP_START_PRESS 4
+#define BARO_BMP_READ_PRESS 5
+
+extern uint8_t baro_bmp_status;
+extern uint32_t baro_bmp_pressure;
+extern uint16_t baro_bmp_temperature;
+
+void baro_bmp_init(void);
+void baro_bmp_periodic(void);
+void baro_bmp_event(void);
+
+#endif
Copied: paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp.c (from rev 6206,
paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp.c 2010-10-23
22:00:57 UTC (rev 6220)
@@ -0,0 +1,178 @@
+#include "std.h"
+#include "init_hw.h"
+#include "sys_time.h"
+#include "led.h"
+#include "interrupt_hw.h"
+
+#include "uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+#include "spi_hw.h"
+
+#include "baro_scp.h"
+
+#define STA_UNINIT 0
+#define STA_INITIALISING 1
+#define STA_IDLE 2
+
+uint8_t baro_scp_status;
+uint32_t baro_scp_pressure;
+uint16_t baro_scp_temperature;
+bool_t baro_scp_available;
+
+static void baro_scp_start_high_res_measurement(void);
+static void baro_scp_read(void);
+static void EXTINT_ISR(void) __attribute__((naked));
+static void SPI1_ISR(void) __attribute__((naked));
+
+void baro_scp_periodic(void) {
+ if (baro_scp_status == STA_UNINIT && cpu_time_sec > 1) {
+ baro_scp_start_high_res_measurement();
+ baro_scp_status = STA_INITIALISING;
+ }
+}
+
+/* ssp input clock 468.75kHz, clock that divided by SCR+1 */
+#define SSP_CLOCK 468750
+
+/* SSPCR0 settings */
+#define SSP_DDS 0x07 << 0 /* data size : 8 bits */
+#define SSP_FRF 0x00 << 4 /* frame format : SPI */
+#define SSP_CPOL 0x00 << 6 /* clock polarity : data captured on first
clock transition */
+#define SSP_CPHA 0x00 << 7 /* clock phase : SCK idles low */
+#define SSP_SCR 0x0F << 8 /* serial clock rate : divide by 16 */
+
+/* SSPCR1 settings */
+#define SSP_LBM 0x00 << 0 /* loopback mode : disabled */
+#define SSP_SSE 0x00 << 1 /* SSP enable : disabled */
+#define SSP_MS 0x00 << 2 /* master slave mode : master */
+#define SSP_SOD 0x00 << 3 /* slave output disable : don't care when master */
+
+#define SS_PIN 20
+#define SS_IODIR IO0DIR
+#define SS_IOSET IO0SET
+#define SS_IOCLR IO0CLR
+
+#define ScpSelect() SetBit(SS_IOCLR,SS_PIN)
+#define ScpUnselect() SetBit(SS_IOSET,SS_PIN)
+
+void baro_scp_init( void ) {
+ /* setup pins for SSP (SCK, MISO, MOSI) */
+ PINSEL1 |= 2 << 2 | 2 << 4 | 2 << 6;
+
+ /* setup SSP */
+ SSPCR0 = SSP_DDS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR;
+ SSPCR1 = SSP_LBM | SSP_MS | SSP_SOD;
+ /* set prescaler for SSP clock */
+ SSPCPSR = PCLK/SSP_CLOCK;
+
+ /* initialize interrupt vector */
+ VICIntSelect &= ~VIC_BIT(VIC_SPI1); // SPI1 selected as IRQ
+ VICIntEnable = VIC_BIT(VIC_SPI1); // SPI1 interrupt enabled
+ VICVectCntl7 = VIC_ENABLE | VIC_SPI1;
+ VICVectAddr7 = (uint32_t)SPI1_ISR; // address of the ISR
+
+ /* configure SS pin */
+ SetBit(SS_IODIR, SS_PIN); /* pin is output */
+ ScpUnselect(); /* pin idles high */
+
+ /* configure DRDY pin */
+ /* connected pin to EXINT */
+ SPI1_DRDY_PINSEL |= SPI1_DRDY_PINSEL_VAL << SPI1_DRDY_PINSEL_BIT;
+ SetBit(EXTMODE, SPI1_DRDY_EINT); /* EINT is edge trigered */
+ SetBit(EXTPOLAR,SPI1_DRDY_EINT); /* EINT is trigered on rising edge */
+ SetBit(EXTINT,SPI1_DRDY_EINT); /* clear pending EINT */
+
+ /* initialize interrupt vector */
+ VICIntSelect &= ~VIC_BIT( SPI1_DRDY_VIC_IT ); /* select EINT as IRQ source
*/
+ VICIntEnable = VIC_BIT( SPI1_DRDY_VIC_IT ); /* enable it */
+ VICVectCntl11 = VIC_ENABLE | SPI1_DRDY_VIC_IT;
+ VICVectAddr11 = (uint32_t)EXTINT_ISR; // address of the ISR
+
+ baro_scp_status = STA_UNINIT;
+}
+
+void SPI1_ISR(void) {
+ ISR_ENTRY();
+
+ if (baro_scp_status == STA_INITIALISING) {
+ uint8_t foo1 = SSPDR;
+ uint8_t foo2 = SSPDR;
+ baro_scp_status = STA_IDLE;
+ foo1=foo2;
+ }
+ else if (baro_scp_status == STA_IDLE) {
+
+ uint8_t foo0 = SSPDR;
+ baro_scp_temperature = SSPDR<<8;
+ baro_scp_temperature += SSPDR;
+ if (baro_scp_temperature & 0x2000) {
+ baro_scp_temperature |= 0xC000;
+ }
+ baro_scp_temperature *= 5;
+
+ uint8_t foo1 = SSPDR;
+ uint32_t datard8 = SSPDR<<16;
+ uint8_t foo2 = SSPDR;
+ baro_scp_pressure = SSPDR<<8;
+ baro_scp_pressure += SSPDR;
+ baro_scp_pressure += datard8;
+ baro_scp_pressure *= 25;
+ baro_scp_available = TRUE;
+ foo1=foo2;
+ foo0=foo2;
+ }
+
+ ScpUnselect();
+ SpiClearRti();
+ SpiDisable();
+
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+ ISR_EXIT();
+}
+
+void EXTINT_ISR(void) {
+ ISR_ENTRY();
+ baro_scp_read();
+
+ SetBit(EXTINT,SPI1_DRDY_EINT); /* clear EINT2 */
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+ ISR_EXIT();
+}
+
+/* write 0x0A to 0x03 */
+static void baro_scp_start_high_res_measurement(void) {
+ uint8_t cmd = 0x03<<2|0x02;
+ uint8_t data = 0x0A;
+ ScpSelect();
+ SSPDR = cmd;
+ SSPDR = data;
+ SpiEnableRti();
+ SpiEnable();
+}
+
+/* read 0x21 (TEMP), 0x1F (MSB) and 0x20 (LSB) */
+static void baro_scp_read(void) {
+ uint8_t cmd0 = 0x21 << 2;
+ uint8_t cmd1 = 0x1F << 2;
+ uint8_t cmd2 = 0x20 << 2;
+ ScpSelect();
+ SSPDR = cmd0;
+ SSPDR = 0;
+ SSPDR = 0;
+ SSPDR = cmd1;
+ SSPDR = 0;
+ SSPDR = cmd2;
+ SSPDR = 0;
+ SSPDR = 0;
+ SpiEnable();
+}
+
+void baro_scp_event( void ) {
+ if (baro_scp_available == TRUE) {
+ DOWNLINK_SEND_SCP_STATUS(DefaultChannel, &baro_scp_pressure,
&baro_scp_temperature);
+ baro_scp_available = FALSE;
+ }
+}
+
Copied: paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp.h (from rev 6206,
paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp.h 2010-10-23
22:00:57 UTC (rev 6220)
@@ -0,0 +1,23 @@
+#ifndef BARO_SCP_H
+#define BARO_SCP_H
+
+#include "std.h"
+
+#ifdef STM32
+#error LPC21_only
+#endif
+
+#define STA_UNINIT 0
+#define STA_INITIALISING 1
+#define STA_IDLE 2
+
+extern uint8_t baro_scp_status;
+extern uint32_t baro_scp_pressure;
+extern uint16_t baro_scp_temperature;
+extern bool_t baro_scp_available;
+
+void baro_scp_init(void);
+void baro_scp_periodic(void);
+void baro_scp_event(void);
+
+#endif
Copied: paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp_i2c.c (from rev
6206, paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp_i2c.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp_i2c.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp_i2c.c 2010-10-23
22:00:57 UTC (rev 6220)
@@ -0,0 +1,102 @@
+
+/** \file baro_scp_i2c.c
+ * \brief VTI SCP1000 I2C sensor interface
+ *
+ * This reads the values for pressure and temperature from the VTI SCP1000
sensor through I2C.
+ */
+
+
+#include "baro_scp_i2c.h"
+
+#include "sys_time.h"
+#include "i2c.h"
+#include "led.h"
+#include "uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+uint8_t baro_scp_status;
+uint32_t baro_scp_pressure;
+uint16_t baro_scp_temperature;
+
+struct i2c_transaction scp_trans;
+
+#ifndef SCP_I2C_DEV
+#define SCP_I2C_DEV i2c0
+#endif
+
+#define SCP1000_SLAVE_ADDR 0x22
+
+static void baro_scp_start_high_res_measurement(void) {
+ /* switch to high resolution */
+ scp_trans.buf[0] = SCP1000_OPERATION;
+ scp_trans.buf[1] = SCP1000_HIGH_RES;
+ I2CTransmit(SCP_I2C_DEV, scp_trans, SCP1000_SLAVE_ADDR, 2);
+}
+
+void baro_scp_init( void ) {
+ baro_scp_status = BARO_SCP_UNINIT;
+}
+
+void baro_scp_periodic( void ) {
+
+ if (baro_scp_status == BARO_SCP_UNINIT && cpu_time_sec > 1) {
+
+ baro_scp_start_high_res_measurement();
+ baro_scp_status = BARO_SCP_IDLE;
+ } else if (baro_scp_status == BARO_SCP_IDLE) {
+
+ /* init: start two byte temperature */
+ scp_trans.buf[0] = SCP1000_TEMPOUT;
+ baro_scp_status = BARO_SCP_RD_TEMP;
+ I2CTransceive(SCP_I2C_DEV, scp_trans, SCP1000_SLAVE_ADDR, 1, 2);
+ }
+}
+
+void baro_scp_event( void ) {
+
+ if (scp_trans.status == I2CTransSuccess) {
+
+ if (baro_scp_status == BARO_SCP_RD_TEMP) {
+
+ /* read two byte temperature */
+ baro_scp_temperature = scp_trans.buf[0] << 8;
+ baro_scp_temperature |= scp_trans.buf[1];
+ if (baro_scp_temperature & 0x2000) {
+ baro_scp_temperature |= 0xC000;
+ }
+ baro_scp_temperature *= 5;
+
+ /* start one byte msb pressure */
+ scp_trans.buf[0] = SCP1000_DATARD8;
+ baro_scp_status = BARO_SCP_RD_PRESS_0;
+ I2CTransceive(SCP_I2C_DEV, scp_trans, SCP1000_SLAVE_ADDR, 1, 1);
+ }
+
+ else if (baro_scp_status == BARO_SCP_RD_PRESS_0) {
+
+ /* read one byte pressure */
+ baro_scp_pressure = scp_trans.buf[0] << 16;
+
+ /* start two byte lsb pressure */
+ scp_trans.buf[0] = SCP1000_DATARD16;
+ baro_scp_status = BARO_SCP_RD_PRESS_1;
+ I2CTransceive(SCP_I2C_DEV, scp_trans, SCP1000_SLAVE_ADDR, 1, 2);
+ }
+
+ else if (baro_scp_status == BARO_SCP_RD_PRESS_1) {
+
+ /* read two byte pressure */
+ baro_scp_pressure |= scp_trans.buf[0] << 8;
+ baro_scp_pressure |= scp_trans.buf[1];
+ baro_scp_pressure *= 25;
+
+ DOWNLINK_SEND_SCP_STATUS(DefaultChannel, &baro_scp_pressure,
&baro_scp_temperature);
+
+ baro_scp_status = BARO_SCP_IDLE;
+ }
+
+ else baro_scp_status = BARO_SCP_IDLE;
+ }
+}
+
Copied: paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp_i2c.h (from rev
6206, paparazzi3/trunk/sw/airborne/modules/meteo/baro_scp_i2c.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp_i2c.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/baro_scp_i2c.h 2010-10-23
22:00:57 UTC (rev 6220)
@@ -0,0 +1,31 @@
+#ifndef BARO_SCP_H
+#define BARO_SCP_H
+
+#include "std.h"
+
+#define SCP1000_OPERATION 0x03
+
+#define SCP1000_HIGH_SPEED 0x09
+#define SCP1000_HIGH_RES 0x0A
+#define SCP1000_ULT_LOW_PW 0x0B
+#define SCP1000_LOW_PW 0x0C
+
+#define SCP1000_DATARD8 0x7F
+#define SCP1000_DATARD16 0x80
+#define SCP1000_TEMPOUT 0x81
+
+#define BARO_SCP_UNINIT 0
+#define BARO_SCP_IDLE 1
+#define BARO_SCP_RD_TEMP 2
+#define BARO_SCP_RD_PRESS_0 3
+#define BARO_SCP_RD_PRESS_1 4
+
+extern uint8_t baro_scp_status;
+extern uint32_t baro_scp_pressure;
+extern uint16_t baro_scp_temperature;
+
+void baro_scp_init(void);
+void baro_scp_periodic(void);
+void baro_scp_event(void);
+
+#endif
Copied: paparazzi3/trunk/sw/airborne/modules/sensors/mag_micromag_fw.c (from
rev 6206, paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/mag_micromag_fw.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/mag_micromag_fw.c
2010-10-23 22:00:57 UTC (rev 6220)
@@ -0,0 +1,71 @@
+#include "mag_micromag_fw.h"
+#include "sensors/mag_micromag_fw_hw.h"
+#include "led.h"
+#include "uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+volatile uint8_t micromag_status;
+volatile int16_t micromag_values[MM_NB_AXIS];
+
+
+void micromag_periodic( void ) {
+
+ static uint8_t cnt = 0;
+
+ if (micromag_status == MM_IDLE) {
+ // uint8_t * tab = &cnt;
+ // DOWNLINK_SEND_DEBUG(1,tab);
+ cnt = 0;
+ MmSendReq();
+ }
+ else if (micromag_status == MM_GOT_EOC) {
+ MmReadRes();
+ }
+ else if (micromag_status == MM_WAITING_EOC) {
+ cnt++;
+ if (cnt > 50) {cnt = 0; micromag_status = MM_IDLE;}
+ }
+}
+
+void micromag_event( void ) {
+
+ int32_t mx=micromag_values[0];
+ int32_t my=micromag_values[1];
+ int32_t mz=micromag_values[2];
+
+ if (micromag_status == MM_DATA_AVAILABLE) {
+ DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,
+ &mx,
+ &my,
+ &mz );
+ micromag_status = MM_IDLE;
+ }
+}
+
+void micromag_init( void ) {
+
+ micromag_hw_init();
+
+ uint8_t i;
+ for (i=0; i<MM_NB_AXIS; i++)
+ micromag_values[i] = 0;
+ micromag_status = MM_IDLE;
+}
+
+void micromag_reset() {
+ micromag_status = MM_IDLE;
+}
+
+void micromag_read() {
+ if (micromag_status == MM_IDLE) {
+ MmSendReq();
+ }
+ else if (micromag_status == MM_GOT_EOC) {
+ MmReadRes();
+ }
+ else if (micromag_status == MM_DATA_AVAILABLE) {
+ micromag_status = MM_IDLE;
+ }
+}
+
Copied: paparazzi3/trunk/sw/airborne/modules/sensors/mag_micromag_fw.h (from
rev 6206, paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/mag_micromag_fw.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/mag_micromag_fw.h
2010-10-23 22:00:57 UTC (rev 6220)
@@ -0,0 +1,64 @@
+#ifndef MICROMAG_FW_H
+#define MICROMAG_FW_H
+
+
+#include "std.h"
+#define MM_NB_AXIS 3
+
+extern void micromag_init( void );
+extern void micromag_read( void );
+
+extern void micromag_reset( void);
+extern void micromag_periodic( void );
+extern void micromag_event( void );
+
+#define MM_IDLE 0
+#define MM_BUSY 1
+#define MM_SENDING_REQ 2
+#define MM_WAITING_EOC 3
+#define MM_GOT_EOC 4
+#define MM_READING_RES 5
+#define MM_DATA_AVAILABLE 6
+
+/* ssp input clock 468.75kHz, clock that divided by SCR+1 */
+#define SSP_CLOCK 468750
+
+/* SSPCR0 settings */
+#define SSP_DDS 0x07 << 0 /* data size : 8 bits */
+#define SSP_FRF 0x00 << 4 /* frame format : SPI */
+#define SSP_CPOL 0x00 << 6 /* clock polarity : data captured on first
clock transition */
+#define SSP_CPHA 0x00 << 7 /* clock phase : SCK idles low */
+#define SSP_SCR 0x0F << 8 /* serial clock rate : divide by 16 */
+
+/* SSPCR1 settings */
+#define SSP_LBM 0x00 << 0 /* loopback mode : disabled */
+#define SSP_SSE 0x00 << 1 /* SSP enable : disabled */
+#define SSP_MS 0x00 << 2 /* master slave mode : master */
+#define SSP_SOD 0x00 << 3 /* slave output disable : don't care when master */
+
+#define SS_PIN 20
+#define SS_IODIR IO0DIR
+#define SS_IOSET IO0SET
+#define SS_IOCLR IO0CLR
+
+#define SSPCR0_VAL (SSP_DDS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR )
+#define SSPCR1_VAL (SSP_LBM | SSP_SSE | SSP_MS | SSP_SOD )
+
+#define SSP_PINSEL1_SCK (2<<2)
+#define SSP_PINSEL1_MISO (2<<4)
+#define SSP_PINSEL1_MOSI (2<<6)
+
+#define SSP_Enable() SetBit(SSPCR1, SSE);
+#define SSP_Disable() ClearBit(SSPCR1, SSE);
+#define SSP_EnableRxi() SetBit(SSPIMSC, RXIM)
+#define SSP_DisableRxi() ClearBit(SSPIMSC, RXIM)
+#define SSP_EnableTxi() SetBit(SSPIMSC, TXIM)
+#define SSP_DisableTxi() ClearBit(SSPIMSC, TXIM)
+#define SSP_EnableRti() SetBit(SSPIMSC, RTIM);
+#define SSP_DisableRti() ClearBit(SSPIMSC, RTIM);
+#define SSP_ClearRti() SetBit(SSPICR, RTIC);
+
+extern volatile uint8_t micromag_status;
+extern volatile int16_t micromag_values[MM_NB_AXIS];
+
+#endif /* MICROMAG_H */
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- [paparazzi-commits] [6220] Move meteo sensors that might be useful for navigation over to the sensors / folder,
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