[test] more tests updates for linux arch

conf/firmwares/test_progs.makefile

@@ -82,6 +82,9 @@ COMMON_TELEMETRY_CFLAGS += -DPPRZ_UART=$(MODEM_DEV)
 COMMON_TELEMETRY_CFLAGS += -DDOWNLINK_DEVICE=$(UDP_MODEM_PORT_LOWER)
 else
 # via UART
+#ifeq ($(MODEM_PORT),)
+#$(error MODEM_PORT not defined)
+#endif
 COMMON_TELEMETRY_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
 COMMON_TELEMETRY_CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 COMMON_TELEMETRY_CFLAGS += -DPPRZ_UART=$(MODEM_PORT)
@@ -138,7 +141,6 @@ test_uart.ARCHDIR = $(ARCH)
 test_uart.CFLAGS += $(COMMON_TEST_CFLAGS)
 test_uart.srcs   += $(COMMON_TEST_SRCS)
 
-test_uart.CFLAGS += -I$(SRC_LISA) -DUSE_UART
 #test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 #test_uart.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 #test_uart.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
@@ -146,6 +148,27 @@ test_uart.CFLAGS += -I$(SRC_LISA) -DUSE_UART
 test_uart.srcs += mcu_periph/uart.c
 test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_uart.srcs += test/mcu_periph/test_uart.c
+ifeq ($(ARCH), linux)
+test_uart.srcs += $(SRC_ARCH)/serial_port.c
+endif
+
+
+#
+# test uart_echo
+#
+# required configuration:
+#   -DUSE_UARTx
+#   -DUARTx_BAUD=B57600
+#
+test_uart_echo.ARCHDIR = $(ARCH)
+test_uart_echo.CFLAGS += $(COMMON_TEST_CFLAGS)
+test_uart_echo.srcs   += $(COMMON_TEST_SRCS)
+test_uart_echo.srcs += mcu_periph/uart.c
+test_uart_echo.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
+test_uart_echo.srcs += test/mcu_periph/test_uart_echo.c
+ifeq ($(ARCH), linux)
+test_uart_echo.srcs += $(SRC_ARCH)/serial_port.c
+endif
 
 
 #

sw/airborne/test/mcu_periph/test_uart.c

@@ -37,6 +37,7 @@ int main(void)
     if (sys_time_check_and_ack_timer(0)) {
       main_periodic();
     }
+    uart_event();
   }
 
   return 0;
@@ -61,8 +62,11 @@ static inline void main_periodic(void)
 #if USE_UART3
   uart_transmit(&uart3, 'c');
 #endif
+#if USE_UART4
+  uart_transmit(&uart4, 'd');
+#endif
 #if USE_UART5
-  uart_transmit(&uart5, 'd');
+  uart_transmit(&uart5, 'e');
 #endif
 
   LED_OFF(1);
@@ -101,9 +105,9 @@ static inline void main_periodic(void)
   }
 #endif
 
-#if USE_UART5
-  if (uart_char_available(&uart5)) {
-    ch =  uart_getch(&uart5);
+#if USE_UART4
+  if (uart_char_available(&uart4)) {
+    ch =  uart_getch(&uart4);
     if (ch == 'd') {
       LED_ON(1);
     } else {
@@ -111,4 +115,15 @@ static inline void main_periodic(void)
     }
   }
 #endif
+
+#if USE_UART5
+  if (uart_char_available(&uart5)) {
+    ch =  uart_getch(&uart5);
+    if (ch == 'e') {
+      LED_ON(1);
+    } else {
+      LED_ON(2);
+    }
+  }
+#endif
 }

sw/airborne/test/mcu_periph/test_uart_echo.c

@@ -0,0 +1,88 @@
+/*
+ * Copyright (C) 2015 Felix Ruess <felix.ruess@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/uart.h"
+#include "mcu_periph/sys_time.h"
+#include "std.h"
+
+#include <stdio.h>
+#include <string.h>
+
+#ifndef TEST_UART
+#if USE_UART1
+#define TEST_UART uart1
+#endif
+#if USE_UART4
+#define TEST_UART uart4
+#endif
+#endif
+PRINT_CONFIG_VAR(TEST_UART)
+
+static inline void main_init(void);
+static inline void main_periodic(void);
+static inline void main_event(void);
+
+int main(void)
+{
+  main_init();
+
+  while (1) {
+    if (sys_time_check_and_ack_timer(0)) {
+      main_periodic();
+    }
+    main_event();
+  }
+
+  return 0;
+}
+
+static inline void main_init(void)
+{
+  mcu_init();
+  sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
+}
+
+static inline void main_periodic(void)
+{
+  const char *foo = "FooBarBaz";
+  static int i = 0;
+
+  if (i == strlen(foo)) {
+    i = 0;
+  }
+
+  uart_transmit(&TEST_UART, foo[i]);
+  printf("%f, transmit: '%c'\n", get_sys_time_float(), foo[i]);
+
+  if (uart_char_available(&TEST_UART)) {
+    char c =  uart_getch(&TEST_UART);
+    printf("%f, received: '%c'\n", get_sys_time_float(), c);
+  }
+
+  i++;
+}
+
+static inline void main_event(void)
+{
+  uart_event();
+}

sw/airborne/test/subsystems/test_ahrs.c

@@ -82,6 +82,8 @@ static inline void main_event_task(void)
 {
 #if USE_UDP
   udp_event();
+#else
+  uart_event();
 #endif
   ImuEvent(on_gyro_event, on_accel_event, on_mag_event);
 }

sw/airborne/test/subsystems/test_imu.c

@@ -118,6 +118,8 @@ static inline void main_event_task(void)
 {
 #if USE_UDP
   udp_event();
+#else
+  uart_event();
 #endif
   ImuEvent(on_gyro_event, on_accel_event, on_mag_event);
 }

sw/airborne/test/subsystems/test_radio_control.c

@@ -88,6 +88,8 @@ static inline void main_event_task(void)
 {
 #if USE_UDP
   udp_event();
+#else
+  uart_event();
 #endif
   RadioControlEvent(main_on_radio_control_frame);
 }

sw/airborne/test/subsystems/test_settings.c

@@ -90,6 +90,8 @@ static inline void main_event(void)
 {
 #if USE_UDP
   udp_event();
+#else
+  uart_event();
 #endif
   DatalinkEvent();
 }

sw/airborne/test/test_telemetry.c

@@ -67,5 +67,7 @@ static inline void main_event(void)
 {
 #if USE_UDP
   udp_event();
+#else
+  uart_event();
 #endif
 }