philip/MDH-UAV-Control-System
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Some sort of comm possible using hardware I2C

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Can get response by hardware but its not very fast since the setting are
not optimized at all
This commit is contained in:
Jonas Holmberg 2016-10-26 15:25:36 +02:00
parent ec395d11e0
commit fe18550ca8
2 changed files with 34 additions and 11 deletions
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13
UAV-ControlSystem/src/drivers/I2C.c
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@ -34,8 +34,8 @@ bool i2c_configure(I2C_TypeDef *i2c,
i2c_port = I2C1_PORT;
sda_pin = I2C1_SDA_PIN;
scl_pin = I2C1_SCL_PIN;
if(__HAL_RCC_I2C1_IS_CLK_DISABLED())
__HAL_RCC_I2C1_CLK_ENABLE();
// if(__HAL_RCC_I2C1_IS_CLK_DISABLED())
// __HAL_RCC_I2C1_CLK_ENABLE();
}
else if(i2c == I2C2)
{
@ -55,15 +55,18 @@ bool i2c_configure(I2C_TypeDef *i2c,
//Initialize pins for SCL and SDA
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.Pin = sda_pin | scl_pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD/*GPIO_MODE_AF_PP*/;
GPIO_InitStruct.Pull = GPIO_NOPULL/*GPIO_PULLUP*/;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = i2c_af;
HAL_GPIO_Init(i2c_port, &GPIO_InitStruct);
HAL_Delay(10);
if(__HAL_RCC_I2C1_IS_CLK_DISABLED())
__HAL_RCC_I2C1_CLK_ENABLE();
//Initialize I2C communication
out_profile->Instance = i2c;
out_profile->Init.ClockSpeed = 400000;
out_profile->Init.ClockSpeed = 100000;
out_profile->Init.DutyCycle = I2C_DUTYCYCLE_2/*I2C_DUTYCYCLE_2*/;
out_profile->Init.OwnAddress1 = my_address;
out_profile->Init.OwnAddress2 = 0;

32
UAV-ControlSystem/src/drivers/barometer.c
View File

@ -367,6 +367,18 @@ bool barometer_reset()
coefficients_arr[i] = rxbuf[0] << 8 | rxbuf[1];
}
uint8_t cobuf2[3] = {0};
cobuf2[0] = CMD_ADC_CONV + (CMD_ADC_D2 + CMD_ADC_4096);
HAL_GPIO_DeInit(I2C1_PORT, I2C1_SCL_PIN);
HAL_GPIO_DeInit(I2C1_PORT, I2C1_SDA_PIN);
i2c_configure(I2C1, &baroI2C_handle, 0x0);
bool isSent = i2c_send(&baroI2C_handle, ADDRESS_BARO, cobuf2, 1);
HAL_Delay(20);
cobuf2[0] = CMD_ADC_READ;
i2c_send(&baroI2C_handle, ADDRESS_BARO, cobuf2, 1);
i2c_receive(&baroI2C_handle, ADDRESS_BARO, cobuf2, 3);
/* Read values and get a calibration value for height */
/* Run loop 5 times since there are 5 state, also need delay to ensure values will be read */
for (int i = 0; i < 5; i ++)
@ -442,26 +454,34 @@ void barometer_CaclulateValues()
switch (currentCalculationState)
{
case CALCSTATE_D2_CALCULATION:
TEST_i2cWrite(&baroI2C_handle, ADDRESS_BARO, CMD_ADC_CONV + (CMD_ADC_D2 + CMD_ADC_4096),1); // send conversion command
//TEST_i2cWrite(&baroI2C_handle, ADDRESS_BARO, CMD_ADC_CONV + (CMD_ADC_D2 + CMD_ADC_4096),1); // send conversion command
cobuf[0] = CMD_ADC_CONV + (CMD_ADC_D2 + CMD_ADC_4096);
i2c_send(&baroI2C_handle, ADDRESS_BARO, cobuf, 1);
currentCalculationState = CALCSTATE_D2_READ; //change the state so we will go to D2 read next time function is called
break;
case CALCSTATE_D2_READ:
//TEST_i2cWrite(&baroI2C_handle, ADDRESS_BARO, CMD_ADC_READ, 1); //Tell the sensor we want to read
//TEST_i2cRead(&baroI2C_handle, ADDRESS_BARO, cobuf, 3, 1000); //Read the adc values
startTime = clock_get_us();
TEST_i2cRead(I2C1, ADDRESS_BARO, CMD_ADC_READ, 3, cobuf); // send PROM READ command
//TEST_i2cRead(I2C1, ADDRESS_BARO, CMD_ADC_READ, 3, cobuf); // send PROM READ command
cobuf[0] = CMD_ADC_READ;
i2c_send(&baroI2C_handle, ADDRESS_BARO, cobuf, 1);
i2c_receive(&baroI2C_handle, ADDRESS_BARO, cobuf, 3);
endTime = clock_get_us() - startTime;
D2 = (cobuf[0] << 16) + (cobuf[1] << 8) + cobuf[2]; //Shift the values to the correct position for the 24 bit D2 value
currentCalculationState = CALCSTATE_D1_CALCULATION;
break;
case CALCSTATE_D1_CALCULATION:
TEST_i2cWrite(&baroI2C_handle, ADDRESS_BARO, CMD_ADC_CONV + (CMD_ADC_D1 + CMD_ADC_4096),1); // send conversion command
//TEST_i2cWrite(&baroI2C_handle, ADDRESS_BARO, CMD_ADC_CONV + (CMD_ADC_D1 + CMD_ADC_4096),1); // send conversion command
cobuf[0] = CMD_ADC_CONV + (CMD_ADC_D1 + CMD_ADC_4096);
i2c_send(&baroI2C_handle, ADDRESS_BARO, cobuf, 1);
currentCalculationState = CALCSTATE_D1_READ; //change the state so we will go to D1 read next time function is called
break;
case CALCSTATE_D1_READ:
//TEST_i2cWrite(&baroI2C_handle, ADDRESS_BARO, CMD_ADC_READ, 1); //Tell the sensor we want to read
//HAL_I2C_Master_Receive(&baroI2C_handle, ADDRESS_BARO, cobuf, 3, 1000); //Read the adc values
TEST_i2cRead(I2C1, ADDRESS_BARO, CMD_ADC_READ, 3, cobuf); // send PROM READ command
//TEST_i2cRead(I2C1, ADDRESS_BARO, CMD_ADC_READ, 3, cobuf); // send PROM READ command
cobuf[0] = CMD_ADC_READ;
i2c_send(&baroI2C_handle, ADDRESS_BARO, cobuf, 1);
i2c_receive(&baroI2C_handle, ADDRESS_BARO, cobuf, 3);
D1 = (cobuf[0] << 16) + (cobuf[1] << 8) + cobuf[2]; //Shift the values to the correct position for the 24 bit D2 value
currentCalculationState = CALCSTATE_CALCULATE_PTA;
break;