test_baro_board: optionally enable IMU for barometers connected as IMU I2C slaves

- add new configuration option (IMU_INIT) to test_progs Makefile. Example use:
    <target name="test_baro_board"          board="apogee_1.0">
      <subsystem name="imu" type="apogee"/>
      <configure name="IMU_INIT" value="1"/>
    </target>

- add overridable functions -
  test_baro_board_imu_{init,periodic_task,event_task} to the main
  test_baro_board program.

- add a new C module with implementation that enables and manages
  IMU so that the baro board works as slave

conf/firmwares/test_progs.makefile

@@ -378,6 +378,9 @@ include $(CFG_SHARED)/baro_board.makefile
 endif
 test_baro_board.CFLAGS += $(BARO_BOARD_CFLAGS)
 test_baro_board.srcs += $(BARO_BOARD_SRCS)
+ifeq ($(IMU_INIT),1)
+test_baro_board.srcs += test/test_baro_board_imu.c
+endif
 
 
 #

sw/airborne/test/test_baro_board.c

@@ -39,10 +39,32 @@
 #define ABI_C
 #include "subsystems/abi.h"
 
+#include "test_baro_board_imu.h"
+
 static inline void main_init(void);
 static inline void main_periodic_task(void);
 static inline void main_event_task(void);
 
+
+
+__attribute__((weak)) void test_baro_board_imu_init(void)
+{
+  /* Optionally, to be overriden by board specific code */
+}
+
+
+__attribute__((weak)) void test_baro_board_imu_periodic_task(void)
+{
+  /* Optionally, to be overriden by board specific code */
+}
+
+
+__attribute__((weak)) void test_baro_board_imu_event_task(void)
+{
+  /* Optionally, to be overriden by board specific code */
+}
+
+
 #ifndef BARO_PERIODIC_FREQUENCY
 #define BARO_PERIODIC_FREQUENCY 50
 #endif
@@ -90,6 +112,7 @@ static inline void main_init(void)
   mcu_init();
   sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
   downlink_init();
+  test_baro_board_imu_init();
   baro_init();
 
   baro_tid = sys_time_register_timer(1. / BARO_PERIODIC_FREQUENCY, NULL);
@@ -101,10 +124,12 @@ static inline void main_periodic_task(void)
 {
   LED_PERIODIC();
   RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
+  test_baro_board_imu_periodic_task();
 }
 
 static inline void main_event_task(void)
 {
   mcu_event();
+  test_baro_board_imu_event_task();
   BaroEvent();
 }

sw/airborne/test/test_baro_board_imu.c

@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2015 Braiins Systems <jan.capek@braiins.cz>
+ *
+ * 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.
+ */
+
+/*
+ *
+ * IMU initialization functions for boards where barometer is an I2C
+ * slave of IMU chip.
+ *
+ */
+
+#include BOARD_CONFIG
+
+#include "mcu_periph/sys_time.h"
+
+#include "subsystems/imu.h"
+#include "test_baro_board_imu.h"
+
+void test_baro_board_imu_init(void)
+{
+  imu_init();
+}
+
+
+void test_baro_board_imu_periodic_task(void)
+{
+  if (sys_time.nb_sec > 1) {
+    imu_periodic();
+  }
+}
+
+
+void test_baro_board_imu_event_task(void)
+{
+  ImuEvent();
+}

sw/airborne/test/test_baro_board_imu.h

@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2015 Braiins Systems <jan.capek@braiins.cz>
+ *
+ * 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.
+ */
+
+
+/**
+ * Initializes the IMU when baro board is IMU slave
+ */
+void test_baro_board_imu_init(void);
+
+/**
+ * Periodic task for IMU subsystem
+ */
+void test_baro_board_imu_periodic_task(void);
+
+/**
+ * Event task for IMU subsystem
+ */
+void test_baro_board_imu_event_task(void);