rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-18 03:52:11 +01:00
Code Issues Releases Activity

Start using 2 I2C devices from 2 different threads - Untested

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@566 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
fredericg 2010-05-01 14:57:26 +00:00 committed by fredericg
parent 192134967d
commit 8cdd056d84
1 changed files with 64 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

83
flight/OpenPilot/Tests/test_i2c_PCF8570.c
View File

@ -38,7 +38,9 @@
#define USE_DEBUG_PINS
#define DEVICE_ADDRESS 0x51
#define DEVICE_1_ADDRESS 0x50
#define DEVICE_2_ADDRESS 0x51
/* Task Priorities */
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
@ -57,7 +59,8 @@
/* Local Variables */
/* Function Prototypes */
static void TestTask(void *pvParameters);
static void Task1(void *pvParameters);
static void Task2(void *pvParameters);
/**
@ -73,8 +76,14 @@ int main()
PIOS_USB_Init(0);
PIOS_I2C_Init();
// Both leds off
PIOS_LED_Off(LED1);
PIOS_LED_Off(LED2);
// Create task
xTaskCreate(TestTask, (signed portCHAR *)"Test", configMINIMAL_STACK_SIZE , NULL, 1, NULL);
xTaskCreate(Task1, (signed portCHAR *)"Task1", configMINIMAL_STACK_SIZE , NULL, 1, NULL);
xTaskCreate(Task2, (signed portCHAR *)"Task2", configMINIMAL_STACK_SIZE , NULL, 2, NULL);
// Start the FreeRTOS scheduler
vTaskStartScheduler();
@ -95,47 +104,41 @@ static void OnError(void)
}
static void TestTask(void *pvParameters)
static void Task1(void *pvParameters)
{
int i = 0;
portTickType xLastExecutionTime;
// Both leds off
PIOS_LED_Off(LED1);
PIOS_LED_Off(LED2);
xLastExecutionTime = xTaskGetTickCount();
PIOS_I2C_Transfer(I2C_Write, DEVICE_ADDRESS<<1, (uint8_t*)"\x20\xB0\xB1\xB2", 4);
PIOS_I2C_Transfer(I2C_Write, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x20\xB0\xB1\xB2", 4);
for(;;)
{
i++;
if (i==10)
if (i==100)
{
PIOS_LED_Toggle(LED1);
i = 0;
}
if (PIOS_I2C_LockDevice(0))
if (PIOS_I2C_LockDevice(100))
{
uint8_t buf[20];
if (PIOS_I2C_Transfer(I2C_Write, DEVICE_ADDRESS<<1, (uint8_t*)"\x10\xA0\xA1\xA2", 4) != 0)
if (PIOS_I2C_Transfer(I2C_Write, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x10\xA0\xA1\xA2", 4) != 0)
OnError();
if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, DEVICE_ADDRESS<<1, (uint8_t*)"\x20", 1) != 0)
if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x20", 1) != 0)
OnError();
if (PIOS_I2C_Transfer(I2C_Read, DEVICE_ADDRESS<<1, buf, 3) != 0)
if (PIOS_I2C_Transfer(I2C_Read, DEVICE_1_ADDRESS<<1, buf, 3) != 0)
OnError();
if (memcmp(buf, "\xB0\xB1\xB2",3) != 0)
OnError();
if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, DEVICE_ADDRESS<<1, (uint8_t*)"\x10", 1) != 0)
if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x10", 1) != 0)
OnError();
if (PIOS_I2C_Transfer(I2C_Read, DEVICE_ADDRESS<<1, buf, 3) != 0)
if (PIOS_I2C_Transfer(I2C_Read, DEVICE_1_ADDRESS<<1, buf, 3) != 0)
OnError();
if (memcmp(buf, "\xA0\xA1\xA2",3) != 0)
@ -145,7 +148,49 @@ static void TestTask(void *pvParameters)
}
else
{
// Could not lock device
OnError();
}
}
}
static void Task2(void *pvParameters)
{
portTickType xLastExecutionTime;
xLastExecutionTime = xTaskGetTickCount();
for(;;)
{
uint8_t buf[20];
if (PIOS_I2C_LockDevice(100))
{
if (PIOS_I2C_Transfer(I2C_Write, DEVICE_2_ADDRESS<<1, (uint8_t*)"\x10\xF0\xF1\xF2", 4) != 0)
OnError();
PIOS_I2C_UnlockDevice();
}
else
{
OnError();
}
vTaskDelayUntil(&xLastExecutionTime, 10 / portTICK_RATE_MS);
if (PIOS_I2C_LockDevice(100))
{
if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, DEVICE_1_ADDRESS<<1, (uint8_t*)"\x10", 1) != 0)
OnError();
if (PIOS_I2C_Transfer(I2C_Read, DEVICE_1_ADDRESS<<1, buf, 3) != 0)
OnError();
if (memcmp(buf, "\xF0\xF1\xF2",3) != 0)
OnError();
PIOS_I2C_UnlockDevice();
}
else
{
OnError();
}