[paparazzi-commits] [5042] added support for crista imu on stm32

[antoine drouin]

Revision: 5042
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5042
Author:   poine
Date:     2010-07-12 13:43:59 +0000 (Mon, 12 Jul 2010)
Log Message:
-----------
added support for crista imu on stm32

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/imu/booz_imu_crista.h

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/booz/arch/stm32/imu/booz_imu_crista_arch.c
    paparazzi3/trunk/sw/airborne/booz/arch/stm32/imu/booz_imu_crista_arch.h

Added: paparazzi3/trunk/sw/airborne/booz/arch/stm32/imu/booz_imu_crista_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/arch/stm32/imu/booz_imu_crista_arch.c     
                        (rev 0)
+++ paparazzi3/trunk/sw/airborne/booz/arch/stm32/imu/booz_imu_crista_arch.c     
2010-07-12 13:43:59 UTC (rev 5042)
@@ -0,0 +1,178 @@
+/*
+ * $Id$
+ *  
+ * 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 "booz_imu.h"
+
+#include <stm32/gpio.h>
+#include <stm32/rcc.h>
+#include <stm32/spi.h>
+#include <stm32/misc.h>
+#include <stm32/dma.h>
+
+#include "stm32_vector_table.h"
+
+volatile bool_t ADS8344_available;
+uint16_t ADS8344_values[ADS8344_NB_CHANNELS];
+static volatile uint8_t channel;
+static uint8_t buf_in[4];
+static uint8_t buf_out[4];
+
+#define POWER_MODE (1 << 1 | 1)
+#define SGL_DIF 1 // Single ended
+
+#define ADS8344Unselect() GPIOB->BSRR = GPIO_Pin_12
+#define ADS8344Select()   GPIOB->BRR  = GPIO_Pin_12
+
+
+static void ADS8344_read_channel( void );
+
+void booz_imu_crista_arch_init(void) {
+
+  channel = 0;
+  /* Enable SPI2 Periph clock 
-------------------------------------------------*/
+  RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
+  /* Enable SPI_2 DMA clock 
---------------------------------------------------*/
+  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
+  /* Enable PORTB GPIO clock 
--------------------------------------------------*/
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO , ENABLE);
+  /* Configure GPIOs: SCK, MISO and MOSI  
-------------------------------------*/
+  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+  GPIO_Init(GPIOB, &GPIO_InitStructure);
+  /* set slave select as output and assert it ( on PB12) */
+  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);
+  ADS8344Unselect();
+  /* configure SPI after enabling it*/
+  SPI_Cmd(SPI2, ENABLE);
+  SPI_InitTypeDef SPI_InitStructure;                                   
+  SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;   
+  SPI_InitStructure.SPI_Mode = SPI_Mode_Master;                        
+  SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;                    
+  SPI_InitStructure.SPI_CPOL = SPI_CPOL_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);          
+   
+  /* 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);
+  
+}
+
+
+void ADS8344_start( void ) {
+
+  ADS8344Select();
+  channel = 0;
+  ADS8344_read_channel();
+
+}
+
+static void ADS8344_read_channel( void ) {
+  
+  // control byte
+  buf_out[0] = 1 << 7 | channel << 4 | SGL_DIF << 2 | POWER_MODE;
+    
+  /* trigger 4 bytes 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)buf_in,
+    .DMA_DIR = DMA_DIR_PeripheralSRC,                  
+    .DMA_BufferSize = 4,
+    .DMA_PeripheralInc = DMA_PeripheralInc_Disable,    
+    .DMA_MemoryInc = DMA_MemoryInc_Enable,
+    .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+    .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,     
+    .DMA_Mode = DMA_Mode_Normal,
+    .DMA_Priority = DMA_Priority_VeryHigh,             
+    .DMA_M2M = DMA_M2M_Disable
+  };
+  DMA_Init(DMA1_Channel4, &DMA_initStructure_4);
+
+  /* SPI2_Tx_DMA_Channel configuration ------------------------------------*/
+  DMA_DeInit(DMA1_Channel5);  
+  DMA_InitTypeDef DMA_initStructure_5 = {
+    .DMA_PeripheralBaseAddr = (uint32_t)(SPI2_BASE+0x0C),
+    .DMA_MemoryBaseAddr = (uint32_t)buf_out,
+    .DMA_DIR = DMA_DIR_PeripheralDST,
+    .DMA_BufferSize = 4,
+    .DMA_PeripheralInc = DMA_PeripheralInc_Disable,
+    .DMA_MemoryInc = DMA_MemoryInc_Enable,
+    .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+    .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,     
+    .DMA_Mode = DMA_Mode_Normal,
+    .DMA_Priority = DMA_Priority_Medium,
+    .DMA_M2M = DMA_M2M_Disable
+  };
+  DMA_Init(DMA1_Channel5, &DMA_initStructure_5);
+  
+  /* Enable SPI_2 Rx request */
+  SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Rx, ENABLE);
+  /* Enable DMA1 Channel4 */
+  DMA_Cmd(DMA1_Channel4, ENABLE);
+   
+  /* Enable SPI_2 Tx request */
+  SPI_I2S_DMACmd(SPI2, SPI_I2S_DMAReq_Tx, ENABLE);
+  /* Enable DMA1 Channel5 */
+  DMA_Cmd(DMA1_Channel5, ENABLE);
+
+  /* Enable DMA1 Channel4 Transfer Complete interrupt */
+  DMA_ITConfig(DMA1_Channel4, DMA_IT_TC, ENABLE);
+
+}
+
+
+void dma1_c4_irq_handler(void) {
+  
+  ADS8344_values[channel] = (buf_in[1] << 8 | buf_in[2]) << 1 | buf_in[3] >> 7;
+  channel++;
+  if (channel > 6) {
+    ADS8344_available = TRUE;
+    ADS8344Unselect(); 
+    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);   
+  }
+  else {
+    ADS8344_read_channel();
+  }
+}

Added: paparazzi3/trunk/sw/airborne/booz/arch/stm32/imu/booz_imu_crista_arch.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/arch/stm32/imu/booz_imu_crista_arch.h     
                        (rev 0)
+++ paparazzi3/trunk/sw/airborne/booz/arch/stm32/imu/booz_imu_crista_arch.h     
2010-07-12 13:43:59 UTC (rev 5042)
@@ -0,0 +1,34 @@
+/*
+ * $Id$
+ *  
+ * 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_IMU_CRISTA_ARCH_H
+#define BOOZ_IMU_CRISTA_ARCH_H
+
+
+#define BoozImuCristaArchPeriodic() {          \
+    ADS8344_start();                           \
+  }
+
+extern void ADS8344_start( void );
+
+
+#endif /* BOOZ_IMU_CRISTA_ARCH_H */

Modified: paparazzi3/trunk/sw/airborne/booz/imu/booz_imu_crista.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/imu/booz_imu_crista.h     2010-07-12 
13:43:16 UTC (rev 5041)
+++ paparazzi3/trunk/sw/airborne/booz/imu/booz_imu_crista.h     2010-07-12 
13:43:59 UTC (rev 5042)
@@ -25,11 +25,11 @@
 #define BOOZ_IMU_CRISTA_H
 
 #include "booz_imu.h"
+#include "airframe.h"
 
-
 #define ADS8344_NB_CHANNELS 8
 extern uint16_t ADS8344_values[ADS8344_NB_CHANNELS];
-extern bool_t ADS8344_available;
+extern volatile bool_t ADS8344_available;
 
 #define BoozImuEvent(_gyro_accel_handler, _mag_handler) {              \
     if (ADS8344_available) {                                           \