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Code Issues Releases Activity

More debug state info

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@631 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
FredericG 2010-05-16 18:07:41 +00:00 committed by FredericG
parent 66fa56a1da
commit 3f79770f7f
1 changed files with 66 additions and 11 deletions
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77
flight/OpenPilot/Tests/test_i2c_PCF8570.c
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@ -41,12 +41,14 @@
#define DEVICE_1_ADDRESS 0x50
#define DEVICE_2_ADDRESS 0x51
/* Task Priorities */
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
#ifdef USE_DEBUG_PINS
#define DEBUG_PIN_IDLE 5
#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
@ -54,6 +56,14 @@
#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 */
@ -98,8 +108,10 @@ 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);
}
}
@ -109,7 +121,7 @@ static void Task1(void *pvParameters)
int i = 0;
if (PIOS_I2C_LockDevice(100))
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();
@ -129,30 +141,49 @@ static void Task1(void *pvParameters)
i = 0;
}
if (PIOS_I2C_LockDevice(100))
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();
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
@ -174,12 +205,21 @@ static void Task2(void *pvParameters)
{
uint8_t buf[20];
if (PIOS_I2C_LockDevice(100))
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
@ -187,19 +227,33 @@ static void Task2(void *pvParameters)
OnError();
}
vTaskDelayUntil(&xLastExecutionTime, 10 / portTICK_RATE_MS);
//vTaskDelayUntil(&xLastExecutionTime, 5 / portTICK_RATE_MS);
vTaskDelay(2 / portTICK_RATE_MS);
if (PIOS_I2C_LockDevice(100))
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
@ -207,7 +261,8 @@ static void Task2(void *pvParameters)
OnError();
}
vTaskDelayUntil(&xLastExecutionTime, 10 / portTICK_RATE_MS);
//vTaskDelayUntil(&xLastExecutionTime, 10 / portTICK_RATE_MS);
vTaskDelay(5 / portTICK_RATE_MS);
count++;
}