/
test_imu.c
181 lines (154 loc) · 5.03 KB
/
test_imu.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
/*
* $Id$
*
* 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>
#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/uart.h"
#include "mcu_periph/i2c.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/imu.h"
#include "interrupt_hw.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
static inline void on_gyro_accel_event(void);
static inline void on_accel_event(void);
static inline void on_mag_event(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);
imu_init();
mcu_int_enable();
}
static inline void led_toggle ( void ) {
#ifdef BOARD_LISA_L
LED_TOGGLE(3);
#endif
}
static inline void main_periodic_task( void ) {
RunOnceEvery(100, {
led_toggle();
DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
});
#ifdef USE_I2C2
RunOnceEvery(111, {
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);
});
#endif
if (sys_time.nb_sec > 1) imu_periodic();
RunOnceEvery(10, { LED_PERIODIC();});
}
static inline void main_event_task( void ) {
ImuEvent(on_gyro_accel_event, on_accel_event, on_mag_event);
}
static inline void on_accel_event(void) {
ImuScaleAccel(imu);
RunOnceEvery(50, LED_TOGGLE(3));
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,
&imu.accel.x,
&imu.accel.y,
&imu.accel.z);
}
}
static inline void on_gyro_accel_event(void) {
ImuScaleGyro(imu);
RunOnceEvery(50, LED_TOGGLE(2));
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,
&imu.gyro.p,
&imu.gyro.q,
&imu.gyro.r);
}
}
static inline void on_mag_event(void) {
ImuScaleMag(imu);
static uint8_t cnt;
cnt++;
if (cnt > 10) cnt = 0;
if (cnt == 0) {
DOWNLINK_SEND_IMU_MAG_SCALED(DefaultChannel, DefaultDevice,
&imu.mag.x,
&imu.mag.y,
&imu.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);
}
}