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LibrePilot/flight/OpenPilot/Tests/test_i2c_PCF8570.c

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/**
******************************************************************************
*
* @file openpilot.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Sets up ans runs main OpenPilot tasks.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program 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 3 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/*
* I2C Test: communicate with external PCF8570 ram chip
* For this test to function, PCF8570 chips need to be attached to the I2C port
*
* Blinking Blue LED: No errors detected, test continues
* Blinking Red LED: Error detected, test stopped
*
*/
/* OpenPilot Includes */
#include "openpilot.h"
//#define USE_DEBUG_PINS
#define DEVICE_1_ADDRESS 0x50
#define DEVICE_2_ADDRESS 0x51
#ifdef USE_DEBUG_PINS
#define DEBUG_PIN_TASK1_WAIT 0
#define DEBUG_PIN_TASK1_LOCKED 1
#define DEBUG_PIN_TASK2_WAIT 2
#define DEBUG_PIN_TASK2_LOCKED 3
#define DEBUG_PIN_TRANSFER 4
#define DEBUG_PIN_IDLE 6
#define DEBUG_PIN_ERROR 7
#define DebugPinHigh(x) PIOS_DEBUG_PinHigh(x)
#define DebugPinLow(x) PIOS_DEBUG_PinLow(x)
#else
#define DebugPinHigh(x)
#define DebugPinLow(x)
#endif
#define MAX_LOCK_WAIT 2 // Time in ms that a thread can normally block I2C
/* Task Priorities */
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
/* Global Variables */
/* Local Variables */
/* Function Prototypes */
static void Task1(void *pvParameters);
static void Task2(void *pvParameters);
/**
* OpenPilot Main function
*/
int main()
{
// Init
PIOS_SYS_Init();
PIOS_DEBUG_Init();
PIOS_DELAY_Init();
PIOS_COM_Init();
PIOS_USB_Init(0);
PIOS_I2C_Init();
// Both leds off
PIOS_LED_Off(LED1);
PIOS_LED_Off(LED2);
// Create task
xTaskCreate(Task1, (signed portCHAR *)"Task1", 1024 , NULL, 1, NULL);
xTaskCreate(Task2, (signed portCHAR *)"Task2", 1024 , NULL, 2, NULL);
// Start the FreeRTOS scheduler
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* If we do get here, it will most likely be because we ran out of heap space. */
return 0;
}
static void OnError(void)
{
PIOS_LED_Off(LED1);
while(1)
{
DebugPinHigh(DEBUG_PIN_ERROR);
PIOS_LED_Toggle(LED2);
vTaskDelay(50 / portTICK_RATE_MS);
DebugPinLow(DEBUG_PIN_ERROR);
}
}
//
// This is a low priority task that will continuously access one I2C device
// Frequently it will release the I2C device so that others can also use I2C
//
static void Task1(void *pvParameters)
{
int i = 0;
if (PIOS_I2C_LockDevice(MAX_LOCK_WAIT / portTICK_RATE_MS))
{
if (PIOS_I2C_Transfer(I2C_Write, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x20\xB0\xB1\xB2", 4) != 0)
OnError();
PIOS_I2C_UnlockDevice();
}
else
{
OnError();
}
for(;;)
{
i++;
if (i==100)
{
PIOS_LED_Toggle(LED1);
i = 0;
}
DebugPinHigh(DEBUG_PIN_TASK1_WAIT);
if (PIOS_I2C_LockDevice(MAX_LOCK_WAIT / portTICK_RATE_MS))
{
uint8_t buf[20];
DebugPinLow(DEBUG_PIN_TASK1_WAIT);
DebugPinHigh(DEBUG_PIN_TASK1_LOCKED);
// Write A0 A1 A2 at address 0x10
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Write, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x10\xA0\xA1\xA2", 4) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
// Read 3 bytes at address 0x20 and check
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x20", 1) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Read, DEVICE_1_ADDRESS<<1, buf, 3) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
if (memcmp(buf, "\xB0\xB1\xB2",3) != 0)
OnError();
// Read 3 bytes at address 0x10 and check
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x10", 1) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Read, DEVICE_1_ADDRESS<<1, buf, 3) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
if (memcmp(buf, "\xA0\xA1\xA2",3) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TASK1_LOCKED);
PIOS_I2C_UnlockDevice();
}
else
{
OnError();
}
}
}
// This is a high priority task that will periodically perform some actions on the second I2C device
// Most of the time it will have to wait for the other task task to release I2C
static void Task2(void *pvParameters)
{
portTickType xLastExecutionTime;
xLastExecutionTime = xTaskGetTickCount();
uint32_t count = 0;
for(;;)
{
uint8_t buf[20];
DebugPinHigh(DEBUG_PIN_TASK2_WAIT);
if (PIOS_I2C_LockDevice(MAX_LOCK_WAIT / portTICK_RATE_MS))
{
DebugPinLow(DEBUG_PIN_TASK2_WAIT);
DebugPinHigh(DEBUG_PIN_TASK2_LOCKED);
// Write value of count to address 0x10
buf[0] = 0x10; // The address
memcpy(&buf[1], &count, 4); // The data to write
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Write, DEVICE_2_ADDRESS<<1, buf, 5) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
DebugPinLow(DEBUG_PIN_TASK2_LOCKED);
PIOS_I2C_UnlockDevice();
}
else
{
OnError();
}
vTaskDelay(2 / portTICK_RATE_MS);
DebugPinHigh(DEBUG_PIN_TASK2_WAIT);
if (PIOS_I2C_LockDevice(1 / portTICK_RATE_MS))
{
DebugPinLow(DEBUG_PIN_TASK2_WAIT);
DebugPinHigh(DEBUG_PIN_TASK2_LOCKED);
// Read at address 0x10 and check
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, DEVICE_2_ADDRESS<<1, (uint8_t*)"\x10", 1) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (PIOS_I2C_Transfer(I2C_Read, DEVICE_2_ADDRESS<<1, buf, 4) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
DebugPinHigh(DEBUG_PIN_TRANSFER);
if (memcmp(buf, &count, 4) != 0)
OnError();
DebugPinLow(DEBUG_PIN_TRANSFER);
DebugPinLow(DEBUG_PIN_TASK2_LOCKED);
PIOS_I2C_UnlockDevice();
}
else
{
OnError();
}
vTaskDelay(5 / portTICK_RATE_MS);
count++;
}
}
/**
* Idle hook function
*/
void vApplicationIdleHook(void)
{
/* Called when the scheduler has no tasks to run */
DebugPinHigh(DEBUG_PIN_IDLE);
DebugPinLow(DEBUG_PIN_IDLE);
}
/**
* Called by the RTOS when a stack overflow is detected.
*/
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
{
OnError();
}