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[paparazzi-commits] [5787] tweaking I2C - broken - don't update
|
From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [5787] tweaking I2C - broken - don't update |
|
Date: |
Thu, 02 Sep 2010 16:50:14 +0000 |
Revision: 5787
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5787
Author: poine
Date: 2010-09-02 16:50:14 +0000 (Thu, 02 Sep 2010)
Log Message:
-----------
tweaking I2C - broken - don't update
Modified Paths:
--------------
paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile
paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h
paparazzi3/trunk/sw/airborne/booz/ahrs/booz_ahrs_aligner.c
paparazzi3/trunk/sw/airborne/i2c.c
paparazzi3/trunk/sw/airborne/i2c.h
paparazzi3/trunk/sw/airborne/stm32/i2c_hw.c
Modified: paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile 2010-09-02
15:29:00 UTC (rev 5786)
+++ paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile 2010-09-02
16:50:14 UTC (rev 5787)
@@ -124,7 +124,7 @@
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCHI)
#BOARD_CFG=\"boards/olimex_stm32-h103.h\"
-BOARD_CFG=\"boards/lisa_0.99.h\"
+BOARD_CFG=\"boards/lisa_l_1.0.h\"
#FLASH_MODE = SERIAL
FLASH_MODE = JTAG
Modified: paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h
===================================================================
--- paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h 2010-09-02
15:29:00 UTC (rev 5786)
+++ paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h 2010-09-02
16:50:14 UTC (rev 5787)
@@ -37,14 +37,14 @@
#define BaroEvent(_b_abs_handler, _b_diff_handler) { \
if (baro_board.status == LBS_READING_ABS &&
\
- baro_trans.result == I2CTransSuccess) { \
+ baro_trans.status == I2CTransSuccess) { \
int16_t tmp = baro_trans.buf[0]<<8 | baro_trans.buf[1]; \
baro.absolute = tmp; \
baro_board.status = LBS_READ_ABS;
\
_b_abs_handler();
\
} \
else if (baro_board.status == LBS_READING_DIFF && \
- baro_trans.result == I2CTransSuccess) { \
+ baro_trans.status == I2CTransSuccess) { \
int16_t tmp = baro_trans.buf[0]<<8 | baro_trans.buf[1]; \
baro.differential = tmp; \
baro_board.status = LBS_READ_DIFF; \
Modified: paparazzi3/trunk/sw/airborne/booz/ahrs/booz_ahrs_aligner.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/ahrs/booz_ahrs_aligner.c 2010-09-02
15:29:00 UTC (rev 5786)
+++ paparazzi3/trunk/sw/airborne/booz/ahrs/booz_ahrs_aligner.c 2010-09-02
16:50:14 UTC (rev 5787)
@@ -45,7 +45,6 @@
samples_idx = 0;
booz_ahrs_aligner.noise = 0;
booz_ahrs_aligner.low_noise_cnt = 0;
-
}
#define LOW_NOISE_THRESHOLD 90000
Modified: paparazzi3/trunk/sw/airborne/i2c.c
===================================================================
--- paparazzi3/trunk/sw/airborne/i2c.c 2010-09-02 15:29:00 UTC (rev 5786)
+++ paparazzi3/trunk/sw/airborne/i2c.c 2010-09-02 16:50:14 UTC (rev 5787)
@@ -126,71 +126,15 @@
struct i2c_periph i2c2;
-//struct i2c i2c2;
-
void i2c2_init(void) {
- // i2c2.status = I2CIdle;
- // i2c2.finished = NULL;
- // i2c2_hw_init();
i2c_init(&i2c2);
i2c2_hw_init();
}
-#if 0
-void i2c2_receive(uint8_t slave_addr, uint8_t len, volatile bool_t* finished) {
- i2c2.transaction = I2CTransRx;
- i2c2.slave_addr = slave_addr;
- i2c2.len_r = len;
- i2c2.finished = finished;
- if (finished) *finished = FALSE;
- i2c2.index = 0;
- I2C_AcknowledgeConfig(I2C2, ENABLE);
- i2c2.status = I2CStartRequested;
- I2C_ZERO_EVENTS();
- // I2c2SendStart();
- I2C_ITConfig(I2C2, I2C_IT_EVT, ENABLE);
- I2C_GenerateSTART(I2C2, ENABLE);
-}
-
-void i2c2_transmit(uint8_t slave_addr, uint8_t len, volatile bool_t* finished)
{
- //MY_ASSERT((i2c2.status == I2CIdle) || (i2c2.status == I2CComplete) ||
(i2c2.status == I2CFailed));
- i2c2.transaction = I2CTransTx;
- i2c2.slave_addr = slave_addr;
- i2c2.len_w = len;
- i2c2.finished = finished;
- if (finished) *finished = FALSE;
- i2c2.index = 0;
- i2c2.status = I2CStartRequested;
- I2C_ZERO_EVENTS();
- // I2c2SendStart();
- I2C_ITConfig(I2C2, I2C_IT_EVT, ENABLE);
- I2C_GenerateSTART(I2C2, ENABLE);
-}
-
-void i2c2_transceive(uint8_t slave_addr, uint8_t len_w, uint16_t len_r,
volatile bool_t* finished) {
- //MY_ASSERT((i2c2.status == I2CIdle) || (i2c2.status == I2CComplete) ||
(i2c2.status == I2CFailed));
- i2c2.transaction = I2CTransTxRx;
- i2c2.slave_addr = slave_addr;
- i2c2.len_w = len_w;
- i2c2.len_r = len_r;
- i2c2.finished = finished;
- if (finished) *finished = FALSE;
- i2c2.index = 0;
- I2C_AcknowledgeConfig(I2C2, ENABLE);
- i2c2.status = I2CStartRequested;
- I2C_ZERO_EVENTS();
- // I2c2SendStart();
- I2C_ITConfig(I2C2, I2C_IT_EVT, ENABLE);
- I2C_GenerateSTART(I2C2, ENABLE);
-}
-#endif
-
void i2c_init(struct i2c_periph* p) {
-
p->trans_insert_idx = 0;
p->trans_extract_idx = 0;
p->status = I2CIdle;
-
}
Modified: paparazzi3/trunk/sw/airborne/i2c.h
===================================================================
--- paparazzi3/trunk/sw/airborne/i2c.h 2010-09-02 15:29:00 UTC (rev 5786)
+++ paparazzi3/trunk/sw/airborne/i2c.h 2010-09-02 16:50:14 UTC (rev 5787)
@@ -128,6 +128,10 @@
extern volatile bool_t* i2c1_finished;
+
+extern struct i2c_periph i2c1;
+extern void i2c1_init(void);
+
#endif /* USE_I2C1 */
@@ -135,7 +139,6 @@
#ifdef USE_I2C2
extern struct i2c_periph i2c2;
-
extern void i2c2_init(void);
#endif /* USE_I2C2 */
Modified: paparazzi3/trunk/sw/airborne/stm32/i2c_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/i2c_hw.c 2010-09-02 15:29:00 UTC (rev
5786)
+++ paparazzi3/trunk/sw/airborne/stm32/i2c_hw.c 2010-09-02 16:50:14 UTC (rev
5787)
@@ -5,19 +5,17 @@
#include <stm32/flash.h>
#include <stm32/misc.h>
-#include "led.h"
-
-#define ZEROS_ERR_COUNTER(_i2c) { \
- _i2c.ack_fail_cnt = 0; \
- _i2c.miss_start_stop_cnt = 0; \
- _i2c.arb_lost_cnt = 0; \
- _i2c.over_under_cnt = 0; \
- _i2c.pec_recep_cnt = 0; \
- _i2c.timeout_tlow_cnt = 0; \
- _i2c.smbus_alert_cnt = 0; \
- _i2c.unexpected_event_cnt = 0; \
- _i2c.last_unexpected_event = 0; \
- _i2c.er_irq_cnt = 0; \
+#define ZEROS_ERR_COUNTER(_i2c_err) { \
+ _i2c_err.ack_fail_cnt = 0; \
+ _i2c_err.miss_start_stop_cnt = 0; \
+ _i2c_err.arb_lost_cnt = 0; \
+ _i2c_err.over_under_cnt = 0; \
+ _i2c_err.pec_recep_cnt = 0; \
+ _i2c_err.timeout_tlow_cnt = 0; \
+ _i2c_err.smbus_alert_cnt = 0; \
+ _i2c_err.unexpected_event_cnt = 0; \
+ _i2c_err.last_unexpected_event = 0; \
+ _i2c_err.er_irq_cnt = 0; \
}
@@ -311,22 +309,22 @@
I2C_ITConfig(I2C2, I2C_IT_ERR, ENABLE);
// DEBUG_SERVO1_INIT();
- // DEBUG_SERVO2_INIT();
+ DEBUG_SERVO2_INIT();
}
-static inline void on_status_start_requested(const struct i2c_transaction*
trans, uint32_t event);
-static inline void on_status_addr_wr_sent(uint32_t event);
-static inline void on_status_sending_byte(uint32_t event);
-//static inline void on_status_sending_last_byte(uint32_t event);
-static inline void on_status_stop_requested(uint32_t event);
-static inline void on_status_addr_rd_sent(uint32_t event);
-static inline void on_status_reading_byte(uint32_t event);
-static inline void on_status_reading_last_byte(uint32_t event);
-static inline void on_status_restart_requested(uint32_t event);
+static inline void on_status_start_requested(struct i2c_transaction* trans,
uint32_t event);
+static inline void on_status_addr_wr_sent(struct i2c_transaction* trans,
uint32_t event);
+static inline void on_status_sending_byte(struct i2c_transaction* trans,
uint32_t event);
+//static inline void on_status_sending_last_byte(struct i2c_transaction*
trans, uint32_t event);
+static inline void on_status_stop_requested(struct i2c_transaction* trans,
uint32_t event);
+static inline void on_status_addr_rd_sent(struct i2c_transaction* trans,
uint32_t event);
+static inline void on_status_reading_byte(struct i2c_transaction* trans,
uint32_t event);
+static inline void on_status_reading_last_byte(struct i2c_transaction* trans,
uint32_t event);
+static inline void on_status_restart_requested(struct i2c_transaction* trans,
uint32_t event);
#ifdef DEBUG_I2C
#define SPURIOUS_INTERRUPT(_status, _event) { while(1); }
@@ -340,7 +338,7 @@
* Start Requested
*
*/
-static inline void on_status_start_requested(const struct i2c_transaction*
trans, uint32_t event) {
+static inline void on_status_start_requested(struct i2c_transaction* trans,
uint32_t event) {
if (event & I2C_FLAG_SB) {
if(trans->type == I2CTransRx) {
I2C_Send7bitAddress(I2C2, trans->slave_addr, I2C_Direction_Receiver);
@@ -359,9 +357,8 @@
* Addr WR sent
*
*/
-static inline void on_status_addr_wr_sent(uint32_t event) {
+static inline void on_status_addr_wr_sent(struct i2c_transaction* trans,
uint32_t event) {
if ((event & I2C_FLAG_ADDR) && (event & I2C_FLAG_TRA)) {
- struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
I2C_SendData(I2C2, trans->buf[0]);
if (trans->len_w > 1) {
I2C_SendData(I2C2, trans->buf[1]);
@@ -389,9 +386,8 @@
* Sending Byte
*
*/
-static inline void on_status_sending_byte(uint32_t event) {
+static inline void on_status_sending_byte(struct i2c_transaction* trans,
uint32_t event) {
if (event & I2C_FLAG_TXE) {
- struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
if (i2c2.idx_buf < trans->len_w) {
I2C_SendData(I2C2, trans->buf[i2c2.idx_buf]);
i2c2.idx_buf++;
@@ -417,7 +413,7 @@
* Sending last byte
*
*/
-static inline void on_status_sending_last_byte(uint32_t event) {
+static inline void on_status_sending_last_byte(struct i2c_transaction* trans,
uint32_t event) {
if (event & I2C_FLAG_TXE) { // should really be BTF as we're supposed to
have disabled buf it already
struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
if (trans->type == I2CTransTx) {
@@ -440,9 +436,8 @@
* Stop Requested
*
*/
-static inline void on_status_stop_requested(uint32_t event) {
+static inline void on_status_stop_requested(struct i2c_transaction* trans,
uint32_t event) {
/* bummer.... */
- struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
if (event & I2C_FLAG_RXNE) {
uint8_t read_byte = I2C_ReceiveData(I2C2);
if (i2c2.idx_buf < trans->len_r) {
@@ -459,9 +454,8 @@
* Addr RD sent
*
*/
-static inline void on_status_addr_rd_sent(uint32_t event) {
+static inline void on_status_addr_rd_sent(struct i2c_transaction* trans,
uint32_t event) {
if ((event & I2C_FLAG_ADDR) && !(event & I2C_FLAG_TRA)) {
- struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
i2c2.idx_buf = 0;
if(trans->len_r == 1) { // If
we're going to read only one byte
I2C_AcknowledgeConfig(I2C2, DISABLE); // make sure
it's gonna be nacked
@@ -483,9 +477,8 @@
* Reading byte
*
*/
-static inline void on_status_reading_byte(uint32_t event) {
+static inline void on_status_reading_byte(struct i2c_transaction* trans,
uint32_t event) {
if (event & I2C_FLAG_RXNE) {
- struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
uint8_t read_byte = I2C_ReceiveData(I2C2);
if (i2c2.idx_buf < trans->len_r) {
trans->buf[i2c2.idx_buf] = read_byte;
@@ -505,8 +498,7 @@
* Reading last byte
*
*/
-static inline void on_status_reading_last_byte(uint32_t event) {
- struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
+static inline void on_status_reading_last_byte(struct i2c_transaction* trans,
uint32_t event) {
if (event & I2C_FLAG_BTF) {
uint8_t read_byte = I2C_ReceiveData(I2C2);
trans->buf[i2c2.idx_buf] = read_byte;
@@ -526,8 +518,7 @@
* Restart requested
*
*/
-static inline void on_status_restart_requested(uint32_t event) {
- struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
+static inline void on_status_restart_requested(struct i2c_transaction* trans,
uint32_t event) {
// DEBUG_S6_ON();
if (event & I2C_FLAG_SB) {
// DEBUG_S2_ON();
@@ -561,7 +552,7 @@
}
void i2c2_ev_irq_handler(void) {
- // DEBUG_S4_ON();
+ DEBUG_S4_ON();
uint32_t event = I2C_GetLastEvent(I2C2);
struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
//#if 0
@@ -576,48 +567,48 @@
on_status_start_requested(trans, event);
break;
case I2CAddrWrSent:
- on_status_addr_wr_sent(event);
+ on_status_addr_wr_sent(trans, event);
break;
case I2CSendingByte:
// DEBUG_S4_ON();
- on_status_sending_byte(event);
+ on_status_sending_byte(trans, event);
// DEBUG_S4_OFF();
break;
#if 0
case I2CSendingLastByte:
// DEBUG_S5_ON();
- on_status_sending_last_byte(event);
+ on_status_sending_last_byte(trans, event);
// DEBUG_S5_OFF();
break;
#endif
case I2CStopRequested:
// DEBUG_S1_ON();
- on_status_stop_requested(event);
+ on_status_stop_requested(trans, event);
// DEBUG_S1_OFF();
break;
case I2CAddrRdSent:
- on_status_addr_rd_sent(event);
+ on_status_addr_rd_sent(trans, event);
break;
case I2CReadingByte:
// DEBUG_S2_ON();
- on_status_reading_byte(event);
+ on_status_reading_byte(trans, event);
// DEBUG_S2_OFF();
break;
case I2CReadingLastByte:
// DEBUG_S5_ON();
- on_status_reading_last_byte(event);
+ on_status_reading_last_byte(trans, event);
// DEBUG_S5_OFF();
break;
case I2CRestartRequested:
// DEBUG_S5_ON();
- on_status_restart_requested(event);
+ on_status_restart_requested(trans, event);
// DEBUG_S5_OFF();
break;
default:
OUT_OF_SYNC_STATE_MACHINE(i2c2.status, event);
break;
}
- // DEBUG_S4_OFF();
+ DEBUG_S4_OFF();
}
@@ -676,133 +667,6 @@
}
-
-
-
-/* old code, left just for reference. New should do the same */
-#if 0
-
-/* disable IRQ, notifiy caller, update status */
-#define TransactionComplete() { \
- I2C_ITConfig(I2C2, I2C_IT_EVT|I2C_IT_BUF, DISABLE); \
- \
- if (i2c2.finished) *i2c2.finished = TRUE; \
- i2c2.status = I2CComplete; \
- I2c2StopHandler(); \
- }
-
-
-void i2c2_ev_irq_handler(void) {
-
- // DEBUG_S6_ON();
- uint32_t event = I2C_GetLastEvent(I2C2);
-
- if (event & I2C_FLAG_RXNE) { // We're
reading
- // DEBUG_S2_ON();
- uint8_t read_byte = I2C_ReceiveData(I2C2);
- if (i2c2.index < i2c2.len_r) {
- i2c2.buf[i2c2.index] = read_byte;
- i2c2.index++;
- } // else { something wrong happened }
- if (i2c2.status == I2CStopRequested) {
- TransactionComplete();
- }
- else if (i2c2.index >= i2c2.len_r-1) { // We're
reading our last byte
- I2C_AcknowledgeConfig(I2C2, DISABLE); // give them
a nack once it's done
- I2C_GenerateSTOP(I2C2, ENABLE); // and
follow with a stop
- i2c2.status = I2CStopRequested; // remember
we already trigered the stop
- // I2C_ITConfig(I2C2, I2C_IT_BUF, DISABLE);
- // DEBUG_S1_OFF();
- }
- // DEBUG_S2_OFF();
- }
- else if ((event & I2C_FLAG_ADDR) && !(event & I2C_FLAG_TRA)) { // We got an
address flag for reading
- // DEBUG_S4_ON();
- i2c2.index = 0; // zero our
buffer index
- if(i2c2.len_r == 1) { // If we're
going to read only one byte
- I2C_AcknowledgeConfig(I2C2, DISABLE); // make sure
it's gonna be nacked
- I2C_GenerateSTOP(I2C2, ENABLE); // and
followed by a stop
- i2c2.status = I2CStopRequested; // and
remember we did
- }
- else {
- I2C_AcknowledgeConfig(I2C2, ENABLE); // if it's
more than one byte, ack it
- I2C_ITConfig(I2C2, I2C_IT_BUF, ENABLE);
- // DEBUG_S1_ON();
- }
- // DEBUG_S4_OFF();
- }
- else if (event & I2C_FLAG_TXE) { // TX empty
- if (i2c2.status == I2CStopRequested) { // last byte
already transfered
- TransactionComplete(); // we're
done
- }
- else if (i2c2.status == I2CRestartRequested) { // we've
- i2c2.status = I2CReadingByte;
- }
- else if (i2c2.index < i2c2.len_w) { //
transfering non last byte
- I2C_SendData(I2C2, i2c2.buf[i2c2.index]);
- i2c2.index++;
- if (i2c2.index >= i2c2.len_w) {
- I2C_ITConfig(I2C2, I2C_IT_BUF, DISABLE);
- // DEBUG_S1_OFF();
- }
- }
- else { //
transfering last byte
- if (i2c2.transaction == I2CTransTx) {
- I2C_GenerateSTOP(I2C2, ENABLE);
- i2c2.status = I2CStopRequested;
- }
- else {
- I2C_GenerateSTART(I2C2, ENABLE);
- i2c2.status = I2CRestartRequested;
- }
- I2C_ITConfig(I2C2, I2C_IT_BUF, DISABLE);
- // DEBUG_S1_OFF();
- }
- }
- else if (event & I2C_FLAG_SB) { // start
- // DEBUG_S5_TOGGLE();
- /* in case we haven't had the TXempty it yet */
- if((i2c2.transaction == I2CTransTxRx) && (i2c2.status ==
I2CRestartRequested)) {
- i2c2.status = I2CReadingByte;
- }
- if(i2c2.transaction == I2CTransRx ||
- (i2c2.transaction == I2CTransTxRx && i2c2.status == I2CReadingByte))
- I2C_Send7bitAddress(I2C2, i2c2.slave_addr, I2C_Direction_Receiver);
- else
- I2C_Send7bitAddress(I2C2, i2c2.slave_addr, I2C_Direction_Transmitter);
- }
- else if ((event & I2C_FLAG_BUSY) && (event & I2C_FLAG_MSL)) { /* 0x30000
196608 */
- }
- else if ((event & I2C_FLAG_BUSY)) { /* 0x20000 131072 */
- }
- else {
- // DEBUG_S2_ON();
- // I2C_ITConfig(I2C2, I2C_IT_EVT | I2C_IT_BUF, DISABLE);
- i2c2_errors.unexpected_event_cnt++;
- i2c2_errors.last_unexpected_event = event;
- // while (TRUE);
- // I2C_AcknowledgeConfig(I2C2, DISABLE);
- // uint8_t dummy __attribute__ ((unused)) = I2C_ReceiveData(I2C2);
- // I2C_GenerateSTOP(I2C2, ENABLE);
- // DEBUG_S2_OFF();
- }
- // DEBUG_S6_OFF();
-}
-
-#endif
-
-
-
-
-
-
-
-
-
-
-
-
-
#endif /* USE_I2C2 */
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- [paparazzi-commits] [5787] tweaking I2C - broken - don't update,
antoine drouin <=