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Code Issues Releases Activity

OP-1477 - move to PIOS_I2C

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This commit is contained in:
Alessio Morale 2014-09-07 22:37:20 +02:00
parent 36bb58755b
commit 11522ccbb0
1 changed files with 47 additions and 165 deletions
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212
flight/modules/gpsp/gpsdsysmod.c
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@ -51,7 +51,7 @@ SystemStatsData systemStats;
#define DEBUG_THIS_FILE #define DEBUG_THIS_FILE
extern uint32_t pios_com_main_id; extern uint32_t pios_com_main_id;
//#define PIOS_COM_DEBUG pios_com_main_id // #define PIOS_COM_DEBUG pios_com_main_id
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(DEBUG_THIS_FILE) #if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(DEBUG_THIS_FILE)
#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(PIOS_COM_DEBUG, format,##__VA_ARGS__) #define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(PIOS_COM_DEBUG, format,##__VA_ARGS__)
#else #else
@ -64,13 +64,14 @@ extern uint32_t pios_com_main_id;
#define GPS_I2C_STREAM_SIZE_LOW_REG 0xFE #define GPS_I2C_STREAM_SIZE_LOW_REG 0xFE
// Private constants // Private constants
#define SYSTEM_UPDATE_PERIOD_MS 10 #define SYSTEM_UPDATE_PERIOD_MS 2
#define STACK_SIZE_BYTES 450 #define STACK_SIZE_BYTES 450
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1) #define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
#define BUFFER_SIZE 128 #define BUFFER_SIZE 128
uint8_t buffer[BUFFER_SIZE]; uint8_t buffer[BUFFER_SIZE];
char outbuf[40];
// Private types // Private types
@ -80,13 +81,12 @@ static enum { STACKOVERFLOW_NONE = 0, STACKOVERFLOW_WARNING = 1, STACKOVERFLOW_C
static bool mallocFailed; static bool mallocFailed;
static void ReadGPS(); static void ReadGPS();
static void ReadMag(); static void ReadMag();
static void InitGPS();
// Private functions // Private functions
static void updateStats(); static void updateStats();
static void gps_lowlevel_init();
static void gpspSystemTask(void *parameters); static void gpspSystemTask(void *parameters);
static uint32_t I2C_ReadBuffer(I2C_TypeDef* I2Cx,uint8_t* pBuffer, uint8_t reg, uint16_t* NumByteToRead, uint8_t deviceAddress);
/** /**
* Create the module task. * Create the module task.
@ -109,7 +109,6 @@ int32_t GPSPSystemModStart(void)
*/ */
int32_t GPSPSystemModInitialize(void) int32_t GPSPSystemModInitialize(void)
{ {
GPSPSystemModStart(); GPSPSystemModStart();
return 0; return 0;
@ -123,9 +122,6 @@ static void gpspSystemTask(__attribute__((unused)) void *parameters)
{ {
/* create all modules thread */ /* create all modules thread */
MODULE_TASKCREATE_ALL; MODULE_TASKCREATE_ALL;
InitGPS();
/* start the delayed callback scheduler */
// PIOS_CALLBACKSCHEDULER_Start();
if (mallocFailed) { if (mallocFailed) {
/* We failed to malloc during task creation, /* We failed to malloc during task creation,
@ -144,8 +140,6 @@ static void gpspSystemTask(__attribute__((unused)) void *parameters)
// Update the system statistics // Update the system statistics
updateStats(); updateStats();
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT); PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
// Update the system alarms
PIOS_COM_SendBuffer(pios_com_main_id, (uint8_t *)&"0000", 4);
vTaskDelay(SYSTEM_UPDATE_PERIOD_MS * configTICK_RATE_HZ / 1000); vTaskDelay(SYSTEM_UPDATE_PERIOD_MS * configTICK_RATE_HZ / 1000);
ReadGPS(); ReadGPS();
ReadMag(); ReadMag();
@ -158,7 +152,7 @@ static void gpspSystemTask(__attribute__((unused)) void *parameters)
*/ */
static uint16_t GetFreeIrqStackSize(void) static uint16_t GetFreeIrqStackSize(void)
{ {
uint32_t i = 0x200; uint32_t i = 0x150;
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK) #if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
extern uint32_t _irq_stack_top; extern uint32_t _irq_stack_top;
@ -194,14 +188,18 @@ static uint16_t GetFreeIrqStackSize(void)
static void updateStats() static void updateStats()
{ {
// Get stats and update // Get stats and update
systemStats.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS; systemStats.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
systemStats.HeapRemaining = xPortGetFreeHeapSize(); systemStats.HeapRemaining = xPortGetFreeHeapSize();
systemStats.SystemModStackRemaining = uxTaskGetStackHighWaterMark(NULL) * 4; systemStats.SystemModStackRemaining = uxTaskGetStackHighWaterMark(NULL) * 4;
// Get Irq stack status // Get Irq stack status
systemStats.IRQStackRemaining = GetFreeIrqStackSize(); systemStats.IRQStackRemaining = GetFreeIrqStackSize();
uint8_t len = snprintf(outbuf, 40, "$POPSY,%u,%d,%d,%d*0\n",
systemStats.CPULoad = 100 - PIOS_TASK_MONITOR_GetIdlePercentage(); (uint)systemStats.FlightTime,
systemStats.HeapRemaining,
systemStats.IRQStackRemaining,
systemStats.SystemModStackRemaining);
PIOS_COM_SendBuffer(pios_com_main_id, (uint8_t *)outbuf, len);
} }
/** /**
@ -247,170 +245,54 @@ void vApplicationMallocFailedHook(void)
#endif #endif
} }
union {
uint8_t outbuff[11];
struct {
uint8_t pre;
uint8_t header[3];
int16_t mag[3];
uint8_t tail;
} dataMag;
struct {
uint8_t pre;
uint8_t header[3];
uint8_t data[4];
uint8_t tail;
} dataId;
} magbuf;
int16_t mag[3];
uint8_t data[4];
void ReadMag() void ReadMag()
{ {
PIOS_HMC5x83_ReadID(magbuf.dataId.data); PIOS_HMC5x83_ReadID(data);
magbuf.dataId.data[3] = '!';
magbuf.dataId.pre = '\n';
magbuf.dataId.header[0] = 'M';
magbuf.dataId.header[1] = 'a';
magbuf.dataId.header[2] = 'g';
magbuf.dataId.tail = '\n';
if (PIOS_HMC5x83_ReadMag(mag) == 0) {
if (PIOS_HMC5x83_ReadMag(magbuf.dataMag.mag) < 0) { uint8_t len = snprintf(outbuf, 40, "$POPMG,%s,%d,%d,%d,*0\n", data, mag[0], mag[1], mag[2]);
PIOS_COM_SendBuffer(pios_com_main_id, magbuf.outbuff, 9); PIOS_COM_SendBuffer(pios_com_main_id, (uint8_t *)outbuf, len);
return; return;
} }
PIOS_COM_SendBuffer(pios_com_main_id, magbuf.outbuff, 11);
} }
void ReadGPS(){ void ReadGPS()
uint16_t bytesToRead = 2; {
uint16_t bytesToSend = 0; uint16_t bytesToRead = 2;
uint8_t tmp[2]; uint8_t tmp[2];
if(I2C_ReadBuffer(I2C1,tmp, GPS_I2C_STREAM_SIZE_HIGH_REG,&bytesToRead, GPS_I2C_ADDRESS) == 0){ uint8_t addr_buffer[1] = { GPS_I2C_STREAM_SIZE_HIGH_REG };
bytesToRead = (tmp[0] << 8) | tmp[1]; struct pios_i2c_txn txn_list[] = {
bytesToRead = bytesToRead < 255 ? bytesToRead : 254;
bytesToSend = bytesToRead;
if(bytesToRead > 0 && I2C_ReadBuffer(I2C1,buffer, GPS_I2C_STREAM_REG,&bytesToRead, GPS_I2C_ADDRESS) == 0){
PIOS_COM_SendBuffer(pios_com_main_id,buffer, bytesToSend - bytesToRead);
}
}
}
void InitGPS(){
gps_lowlevel_init();
I2C_InitTypeDef I2C_InitStructure;
memset(buffer,0 ,32);
/* I2C configuration */
/* sEE_I2C configuration */
I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
I2C_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;
I2C_InitStructure.I2C_DigitalFilter = 0x00;
I2C_InitStructure.I2C_OwnAddress1 = 0x00;
I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStructure.I2C_Timing = 0x00210507;
/* Apply sEE_I2C configuration after enabling it */
I2C_Init(I2C1, &I2C_InitStructure);
/* sEE_I2C Peripheral Enable */
I2C_Cmd(I2C1, ENABLE);
}
void gps_lowlevel_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Configure the I2C clock source. The clock is derived from the HSI */
RCC_I2CCLKConfig(RCC_I2C1CLK_HSI);
/* sEE_I2C_SCL_GPIO_CLK and sEE_I2C_SDA_GPIO_CLK Periph clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
/* sEE_I2C Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
/* Connect PXx to I2C_SCL*/
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_1);
/* Connect PXx to I2C_SDA*/
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_1);
/* GPIO configuration */
/* Configure sEE_I2C pins: SCL */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Configure sEE_I2C pins: SDA */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
#define sEE_FLAG_TIMEOUT ((uint32_t)0x1000)
#define sEE_LONG_TIMEOUT ((uint32_t)(10 * sEE_FLAG_TIMEOUT))
uint32_t I2C_ReadBuffer(I2C_TypeDef* I2Cx,uint8_t* pBuffer, uint8_t reg, uint16_t* NumByteToRead, uint8_t deviceAddress)
{
static volatile uint32_t sEETimeout = sEE_LONG_TIMEOUT;
uint32_t NumbOfSingle = 0, DataNum = 0;
/* Get number of reload cycles */
NumbOfSingle = (*NumByteToRead) % 255;
/* Configure slave address, nbytes, reload and generate start */
I2C_TransferHandling(I2Cx, deviceAddress, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
/* Wait until TXIS flag is set */
sEETimeout = sEE_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET)
{
if((sEETimeout--) == 0)
return -2;
}
/* Send memory address */
I2C_SendData(I2Cx, (uint8_t)reg);
/* Wait until TC flag is set */
sEETimeout = sEE_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_TC) == RESET)
{
if((sEETimeout--) == 0)
return -2;
}
/* Update CR2 : set Slave Address , set read request, generate Start and set end mode */
I2C_TransferHandling(I2Cx, deviceAddress, (uint32_t)(NumbOfSingle), I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
/* Reset local variable */
DataNum = 0;
/* Wait until all data are received */
while (DataNum != NumbOfSingle)
{
/* Wait until RXNE flag is set */
sEETimeout = sEE_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_RXNE) == RESET)
{ {
if((sEETimeout--) == 0) .info = __func__,
return -2; .addr = GPS_I2C_ADDRESS,
.rw = PIOS_I2C_TXN_WRITE,
.len = 1,
.buf = addr_buffer,
} }
,
{
.info = __func__,
.addr = GPS_I2C_ADDRESS,
.rw = PIOS_I2C_TXN_READ,
.len = 2,
.buf = tmp,
}
};
/* Read data from RXDR */ if (PIOS_I2C_Transfer(PIOS_I2C_GPS, txn_list, NELEMENTS(txn_list)) == 0) {
pBuffer[DataNum]= I2C_ReceiveData(I2Cx); bytesToRead = (tmp[0] << 8) | tmp[1];
bytesToRead = bytesToRead < 255 ? bytesToRead : 254;
/* Update number of received data */ addr_buffer[0] = GPS_I2C_STREAM_REG;
DataNum++; txn_list[1].len = bytesToRead > BUFFER_SIZE ? BUFFER_SIZE : bytesToRead;
(*NumByteToRead)--; txn_list[1].buf = buffer;
if (bytesToRead > 0 && PIOS_I2C_Transfer(PIOS_I2C_GPS, txn_list, NELEMENTS(txn_list)) == 0) {
PIOS_COM_SendBuffer(pios_com_main_id, buffer, bytesToRead);
}
} }
return 0;
} }
/** /**