[paparazzi-commits] [4781]

[Pascal Brisset]

Revision: 4781
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4781
Author:   hecto
Date:     2010-04-02 10:59:29 +0000 (Fri, 02 Apr 2010)
Log Message:
-----------


Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.c
    paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.h

Modified: paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.c 2010-04-02 
08:19:03 UTC (rev 4780)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.c 2010-04-02 
10:59:29 UTC (rev 4781)
@@ -23,76 +23,47 @@
 #include "infrared_i2c.h"
 #include "i2c.h"
 
-#include "uart.h"
-#include "messages.h"
-#include "downlink.h"
+#define IR_VERT_I2C_ADDR (0x68 << 1)
+#define OC_BIT (1 << 4)
 
-// Macros
-#define IR_VERT_I2C_ADDR 0xEA
-#define IR_VERT_I2C_REG 0x07
+#define IR_I2C_IDLE            0
+#define IR_I2C_READ_TOP        1
+#define IR_I2C_CONFIGURE_TOP   2
 
-#ifndef IR_IR1_SIGN
-#define IR_IR1_SIGN 1
-#endif // IR_IR1_SIGN
-
-#ifndef IR_IR2_SIGN
-#define IR_IR2_SIGN 1
-#endif // IR_IR2_SIGN
-
-#ifndef IR_TOP_SIGN
-#define IR_TOP_SIGN 1
-#endif // IR_TOP_SIGN
-
-/* Sensor installation */
-#if defined IR_HORIZ_SENSOR_ALIGNED
-/* IR1 on the lateral axis, IR2 on the longitudal axis */
-#define IR_RollOfIrs(_ir1, _ir2) (_ir1)
-#define IR_PitchOfIrs(_ir1, _ir2) (_ir2)
-#elif IR_HORIZ_SENSOR_TILTED
-/* IR1 rear-left -- front-right, IR2 rear-right -- front-left
-   IR1_SIGN and IR2_SIGN give positive values when it's warm on the right side
-*/
-#define IR_RollOfIrs(_ir1, _ir2) (_ir1 + _ir2)
-#define IR_PitchOfIrs(_ir1, _ir2) (-(_ir1) + _ir2)
-#endif
-/* Vertical sensor */
-#ifndef IR_TopOfIr
-#define IR_TopOfIr(_ir) ((IR_TOP_SIGN)*(_ir))
-#endif
-
-#define IR_I2C_IDLE       0
-#define IR_I2C_READ_TOP   1
-
-// Global variables
-float ir_i2c_roll_neutral;
-float ir_i2c_pitch_neutral;
-
-int16_t ir_i2c_ir1;
-int16_t ir_i2c_ir2;
-int16_t ir_i2c_roll;
-int16_t ir_i2c_pitch;
 int16_t ir_i2c_top;
 
 // Local variables
 volatile bool_t ir_i2c_done;
+bool_t ir_i2c_data_available;
 static uint8_t ir_i2c_status;
+uint8_t ir_i2c_conf_word;
 
-void infrared_i2c_init( void ) {
-  ir_i2c_roll_neutral  = RadOfDeg(IR_ROLL_NEUTRAL_DEFAULT);
-  ir_i2c_pitch_neutral = RadOfDeg(IR_PITCH_NEUTRAL_DEFAULT);
+#define NO_CONF_WORD 0xff
+#define ValidConfWord(_x) (_x < 0x4)
 
-  ir_i2c_status = IR_I2C_IDLE;
 
-  // Transmit sensor conf
-  // TODO
+void infrared_i2c_init( void ) {
+  ir_i2c_done = TRUE;
+  ir_i2c_data_available = FALSE;
+  ir_i2c_status = IR_I2C_IDLE;
+  ir_i2c_conf_word = IR_I2C_DEFAULT_CONF;
 }
 
 void infrared_i2c_update( void ) {
   if (ir_i2c_done && ir_i2c_status == IR_I2C_IDLE) {
-    // Read next value TOP sensor
-    i2c0_receive(IR_VERT_I2C_ADDR, 2, &ir_i2c_done);
-    ir_i2c_status = IR_I2C_READ_TOP;
-    ir_i2c_done = FALSE;
+    if (ValidConfWord(ir_i2c_conf_word)) {
+      i2c0_buf[0] = ir_i2c_conf_word | OC_BIT;
+      i2c0_transmit(IR_VERT_I2C_ADDR, 1, &ir_i2c_done);
+      ir_i2c_done = FALSE;
+      ir_i2c_status = IR_I2C_CONFIGURE_TOP;
+      ir_i2c_conf_word = NO_CONF_WORD;
+    } else {
+      // Read next value TOP sensor
+      i2c0_receive(IR_VERT_I2C_ADDR, 2, &ir_i2c_done);
+      ir_i2c_done = FALSE;
+      ir_i2c_data_available = FALSE;
+      ir_i2c_status = IR_I2C_READ_TOP;
+    }
   }
 }
 
@@ -102,10 +73,11 @@
       break;
     case IR_I2C_READ_TOP :
       ir_i2c_top = (i2c0_buf[0]<<8) | i2c0_buf[1];
+      ir_i2c_data_available = TRUE;
       ir_i2c_status = IR_I2C_IDLE;
       break;
+    case IR_I2C_CONFIGURE_TOP :
+      ir_i2c_status = IR_I2C_IDLE;
+      break;
   }
-
 }
-
-

Modified: paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.h 2010-04-02 
08:19:03 UTC (rev 4780)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.h 2010-04-02 
10:59:29 UTC (rev 4781)
@@ -30,16 +30,17 @@
 #include "std.h"
 #include "airframe.h"
 
-extern float ir_i2c_roll_neutral; /* Rad */
-extern float ir_i2c_pitch_neutral; /* Rad */
-
-extern int16_t ir_i2c_ir1; /* First horizontal channel */
-extern int16_t ir_i2c_ir2; /* Second horizontal channel */
-extern int16_t ir_i2c_roll;  /* averaged roll adc */
-extern int16_t ir_i2c_pitch; /* averaged pitch adc */
 extern int16_t ir_i2c_top;  /* averaged vertical ir adc */
+extern volatile bool_t ir_i2c_done;
+extern bool_t ir_i2c_data_available;
+extern uint8_t ir_i2c_conf_word;
 
 extern void infrared_i2c_init( void );
 extern void infrared_i2c_update( void );
+extern void infrared_i2c_event( void );
 
+#define infrared_i2cEvent() { if (ir_i2c_done) infrared_i2c_event();   }
+
+#define infrared_i2cDownlink() DOWNLINK_SEND_DEBUG_IR_I2C(DefaultChannel, 
&ir_i2c_top)
+
 #endif // INFRARED_I2C_H