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test_imu.c
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test_imu.c
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/*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi 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 2, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#include <inttypes.h>
#define DATALINK_C
#define ABI_C
#define MODULES_C
#ifdef BOARD_CONFIG
#include BOARD_CONFIG
#endif
#include "std.h"
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "led.h"
#include "mcu_periph/i2c.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"
#include "modules/datalink/pprz_dl.h"
#include "subsystems/imu.h"
#include "subsystems/abi.h"
#include "generated/modules.h"
static abi_event gyro_ev;
static abi_event accel_ev;
static abi_event mag_ev;
static void gyro_cb(uint8_t sender_id __attribute__((unused)),
uint32_t stamp __attribute__((unused)),
struct Int32Rates *gyro);
static void accel_cb(uint8_t sender_id __attribute__((unused)),
uint32_t stamp __attribute__((unused)),
struct Int32Vect3 *accel);
static void mag_cb(uint8_t sender_id __attribute__((unused)),
uint32_t stamp __attribute__((unused)),
struct Int32Vect3 *mag);
static inline void main_init(void);
static inline void main_periodic_task(void);
static inline void main_event_task(void);
int main(void)
{
main_init();
while (1) {
if (sys_time_check_and_ack_timer(0)) {
main_periodic_task();
}
main_event_task();
}
return 0;
}
static inline void main_init(void)
{
mcu_init();
sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
modules_init();
mcu_int_enable();
downlink_init();
pprz_dl_init();
AbiBindMsgIMU_GYRO_INT32(ABI_BROADCAST, &gyro_ev, gyro_cb);
AbiBindMsgIMU_ACCEL_INT32(ABI_BROADCAST, &accel_ev, accel_cb);
AbiBindMsgIMU_MAG_INT32(ABI_BROADCAST, &mag_ev, mag_cb);
}
static inline void led_toggle(void)
{
#ifdef BOARD_LISA_L
LED_TOGGLE(7);
#endif
}
static inline void main_periodic_task(void)
{
RunOnceEvery(100, {
led_toggle();
DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
});
#if USE_I2C1
RunOnceEvery(111, {
uint16_t i2c1_wd_reset_cnt = i2c1.errors->wd_reset_cnt;
uint16_t i2c1_queue_full_cnt = i2c1.errors->queue_full_cnt;
uint16_t i2c1_ack_fail_cnt = i2c1.errors->ack_fail_cnt;
uint16_t i2c1_miss_start_stop_cnt = i2c1.errors->miss_start_stop_cnt;
uint16_t i2c1_arb_lost_cnt = i2c1.errors->arb_lost_cnt;
uint16_t i2c1_over_under_cnt = i2c1.errors->over_under_cnt;
uint16_t i2c1_pec_recep_cnt = i2c1.errors->pec_recep_cnt;
uint16_t i2c1_timeout_tlow_cnt = i2c1.errors->timeout_tlow_cnt;
uint16_t i2c1_smbus_alert_cnt = i2c1.errors->smbus_alert_cnt;
uint16_t i2c1_unexpected_event_cnt = i2c1.errors->unexpected_event_cnt;
uint32_t i2c1_last_unexpected_event = i2c1.errors->last_unexpected_event;
uint8_t _bus1 = 1;
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c1_wd_reset_cnt,
&i2c1_queue_full_cnt,
&i2c1_ack_fail_cnt,
&i2c1_miss_start_stop_cnt,
&i2c1_arb_lost_cnt,
&i2c1_over_under_cnt,
&i2c1_pec_recep_cnt,
&i2c1_timeout_tlow_cnt,
&i2c1_smbus_alert_cnt,
&i2c1_unexpected_event_cnt,
&i2c1_last_unexpected_event,
&_bus1);
});
#endif
#if USE_I2C2
RunOnceEvery(111, {
uint16_t i2c2_wd_reset_cnt = i2c2.errors->wd_reset_cnt;
uint16_t i2c2_queue_full_cnt = i2c2.errors->queue_full_cnt;
uint16_t i2c2_ack_fail_cnt = i2c2.errors->ack_fail_cnt;
uint16_t i2c2_miss_start_stop_cnt = i2c2.errors->miss_start_stop_cnt;
uint16_t i2c2_arb_lost_cnt = i2c2.errors->arb_lost_cnt;
uint16_t i2c2_over_under_cnt = i2c2.errors->over_under_cnt;
uint16_t i2c2_pec_recep_cnt = i2c2.errors->pec_recep_cnt;
uint16_t i2c2_timeout_tlow_cnt = i2c2.errors->timeout_tlow_cnt;
uint16_t i2c2_smbus_alert_cnt = i2c2.errors->smbus_alert_cnt;
uint16_t i2c2_unexpected_event_cnt = i2c2.errors->unexpected_event_cnt;
uint32_t i2c2_last_unexpected_event = i2c2.errors->last_unexpected_event;
uint8_t _bus2 = 2;
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c2_wd_reset_cnt,
&i2c2_queue_full_cnt,
&i2c2_ack_fail_cnt,
&i2c2_miss_start_stop_cnt,
&i2c2_arb_lost_cnt,
&i2c2_over_under_cnt,
&i2c2_pec_recep_cnt,
&i2c2_timeout_tlow_cnt,
&i2c2_smbus_alert_cnt,
&i2c2_unexpected_event_cnt,
&i2c2_last_unexpected_event,
&_bus2);
});
#endif
if (sys_time.nb_sec > 1) { modules_periodic_task(); }
RunOnceEvery(10, { LED_PERIODIC();});
}
static inline void main_event_task(void)
{
mcu_event();
modules_event_task();
}
static void accel_cb(uint8_t sender_id __attribute__((unused)),
uint32_t stamp __attribute__((unused)),
struct Int32Vect3 *accel)
{
#if USE_LED_3
RunOnceEvery(50, LED_TOGGLE(3));
#endif
static uint8_t cnt;
cnt++;
if (cnt > 15) { cnt = 0; }
if (cnt == 0) {
DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice,
&imu.accel_unscaled.x,
&imu.accel_unscaled.y,
&imu.accel_unscaled.z);
} else if (cnt == 7) {
DOWNLINK_SEND_IMU_ACCEL_SCALED(DefaultChannel, DefaultDevice,
&accel->x,
&accel->y,
&accel->z);
}
}
static void gyro_cb(uint8_t sender_id __attribute__((unused)),
uint32_t stamp __attribute__((unused)),
struct Int32Rates *gyro)
{
#if USE_LED_2
RunOnceEvery(50, LED_TOGGLE(2));
#endif
static uint8_t cnt;
cnt++;
if (cnt > 15) { cnt = 0; }
if (cnt == 0) {
DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, DefaultDevice,
&imu.gyro_unscaled.p,
&imu.gyro_unscaled.q,
&imu.gyro_unscaled.r);
} else if (cnt == 7) {
DOWNLINK_SEND_IMU_GYRO_SCALED(DefaultChannel, DefaultDevice,
&gyro->p,
&gyro->q,
&gyro->r);
}
}
static void mag_cb(uint8_t sender_id __attribute__((unused)),
uint32_t stamp __attribute__((unused)),
struct Int32Vect3 *mag)
{
static uint8_t cnt;
cnt++;
if (cnt > 10) { cnt = 0; }
if (cnt == 0) {
DOWNLINK_SEND_IMU_MAG_SCALED(DefaultChannel, DefaultDevice,
&mag->x,
&mag->y,
&mag->z);
} else if (cnt == 5) {
DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice,
&imu.mag_unscaled.x,
&imu.mag_unscaled.y,
&imu.mag_unscaled.z);
}
}
void dl_parse_msg(struct link_device *dev __attribute__((unused)),
struct transport_tx *trans __attribute__((unused)),
uint8_t *buf __attribute__((unused)))
{
}