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[paparazzi-commits] [4835] made i2c device configurable, defaulting to i
From: |
antoine drouin |
Subject: |
[paparazzi-commits] [4835] made i2c device configurable, defaulting to i2c0 |
Date: |
Wed, 21 Apr 2010 09:18:16 +0000 |
Revision: 4835
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4835
Author: poine
Date: 2010-04-21 09:18:16 +0000 (Wed, 21 Apr 2010)
Log Message:
-----------
made i2c device configurable, defaulting to i2c0
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.c
paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.h
Modified: paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.c
2010-04-21 09:17:07 UTC (rev 4834)
+++ paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.c
2010-04-21 09:18:16 UTC (rev 4835)
@@ -1,5 +1,5 @@
/*
- * $Id: actuators_buss_twi_blmc_hw.h 3847 2009-08-02 21:47:31Z poine $
+ * $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
@@ -28,6 +28,7 @@
#include "i2c.h"
#include "sys_time.h"
+
struct ActuatorsMkk actuators_mkk;
const uint8_t actuators_addr[ACTUATORS_MKK_NB] = ACTUATORS_MKK_ADDR;
@@ -49,6 +50,9 @@
actuators_delay_done = TRUE;
actuators_delay_time = 0;
#endif
+
+ booz_actuators_mkk_arch_init();
+
}
@@ -64,7 +68,8 @@
actuators_mkk.status = BUSY;
actuators_mkk.i2c_done = FALSE;
actuators_mkk.idx = 0;
- i2c0_buf[0] = supervision.commands[actuators_mkk.idx];
- i2c0_transmit(actuators_addr[actuators_mkk.idx], 1, &actuators_mkk.i2c_done);
+ BoozActuatorsMkkArchSend();
+ DeviceBuf[0] = supervision.commands[actuators_mkk.idx];
+ DeviceTransmit(actuators_addr[actuators_mkk.idx], 1,
&actuators_mkk.i2c_done);
}
Modified: paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.h
2010-04-21 09:17:07 UTC (rev 4834)
+++ paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_mkk.h
2010-04-21 09:18:16 UTC (rev 4835)
@@ -24,7 +24,19 @@
#ifndef BOOZ_ACTUATORS_MKK_H
#define BOOZ_ACTUATORS_MKK_H
+#include "std.h"
+#ifndef ACTUATORS_MKK_DEVICE
+#define ACTUATORS_MKK_DEVICE i2c0
+#endif
+
+#define __Device(dev, _z) dev##_##_z
+#define _Device(dev, _z) __Device(dev, _z)
+#define Device( _z) _Device(ACTUATORS_MKK_DEVICE, _z)
+
+#define DeviceBuf Device(buf)
+#define DeviceTransmit(_x, _y, _z) Device(transmit(_x, _y, _z))
+
enum actuators_mkk_status {IDLE, BUSY};
struct ActuatorsMkk {
@@ -35,7 +47,11 @@
extern struct ActuatorsMkk actuators_mkk;
+#include "actuators/booz_actuators_mkk_arch.h"
+/* must be defined by underlying achitecture */
+extern void booz_actuators_mkk_arch_init(void);
+
#include "airframe.h"
#include "actuators/booz_supervision.h"
extern const uint8_t actuators_addr[];
@@ -43,8 +59,8 @@
#define ActuatorsMkkI2cHandler() { \
actuators_mkk.idx++; \
if (actuators_mkk.idx<ACTUATORS_MKK_NB) { \
- i2c0_buf[0] = supervision.commands[actuators_mkk.idx]; \
- i2c0_transmit(actuators_addr[actuators_mkk.idx], 1,
&actuators_mkk.i2c_done); \
+ DeviceBuf[0] = supervision.commands[actuators_mkk.idx]; \
+ DeviceTransmit(actuators_addr[actuators_mkk.idx], 1,
&actuators_mkk.i2c_done); \
} \
else \
actuators_mkk.status = IDLE; \
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