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test_ms2100.c
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test_ms2100.c
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/*
* Copyright (C) 2010 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 BOARD_CONFIG
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "mcu_periph/uart.h"
#include "subsystems/datalink/downlink.h"
#include "peripherals/ms2100.h"
#include "led.h"
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./50), NULL);
ms2100_init(&ms2100, &(MS2100_SPI_DEV), MS2100_SLAVE_IDX);
mcu_int_enable();
}
static inline void main_periodic_task( void ) {
RunOnceEvery(10,
{
DOWNLINK_SEND_BOOT(DefaultChannel, DefaultDevice, &sys_time.nb_sec);
LED_TOGGLE(2);
LED_PERIODIC();
});
ms2100_periodic(&ms2100);
}
static inline void main_event_task( void ) {
ms2100_event(&ms2100);
if (ms2100.status == MS2100_DATA_AVAILABLE) {
RunOnceEvery(10, {
DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice,
&ms2100.data.vect.x,
&ms2100.data.vect.y,
&ms2100.data.vect.z);
});
ms2100.status = MS2100_IDLE;
}
}