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test_baro.c
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/
test_baro.c
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/*
* $Id$
*
* Copyright (C) 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.
*/
/*
*
* test baro using interrupts
*
*/
#include BOARD_CONFIG
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "mcu_periph/uart.h"
#include "led.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/sensors/baro.h"
//#include "my_debug_servo.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
static inline void main_on_baro_diff(void);
static inline void main_on_baro_abs(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);
baro_init();
// DEBUG_SERVO1_INIT();
// DEBUG_SERVO2_INIT();
}
static inline void main_periodic_task( void ) {
RunOnceEvery(2, {baro_periodic();});
LED_PERIODIC();
RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
RunOnceEvery(256,
{
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;
const uint8_t _bus2 = 2;
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&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);
});
}
static inline void main_event_task( void ) {
BaroEvent(main_on_baro_abs, main_on_baro_diff);
}
static inline void main_on_baro_diff(void) {
}
static inline void main_on_baro_abs(void) {
RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice, &baro.absolute, &baro.differential);});
}