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added tunnel between uart1 and uart2 for lisa

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This commit is contained in:
Antoine Drouin
2010-08-05 17:51:26 +00:00
parent f498ad1706
commit 1eedeb19ff
2 changed files with 172 additions and 1 deletions
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conf/autopilot/lisa_test_progs.makefile
+104 -1
View File
@@ -67,6 +67,18 @@ overo_test_telemetry2.srcs += $(SRC_FMS)/udp_transport2.c downlink.c
overo_test_telemetry2.srcs += $(SRC_FMS)/fms_network.c
overo_test_telemetry2.LDFLAGS += -levent
# test gps on overo
overo_test_gps.ARCHDIR = omap
overo_test_gps.CFLAGS += -I$(ACINCLUDE) -I. -I$(PAPARAZZI_HOME)/var/include
overo_test_gps.srcs = $(SRC_FMS)/overo_test_gps.c
overo_test_gps.CFLAGS += -DFMS_PERIODIC_FREQ=500
overo_test_gps.srcs += $(SRC_FMS)/fms_periodic.c
overo_test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
overo_test_gps.srcs += $(SRC_FMS)/udp_transport2.c downlink.c
overo_test_gps.srcs += $(SRC_FMS)/fms_network.c
overo_test_gps.LDFLAGS += -levent
# test periodic tasks on the overo
overo_test_periodic.ARCHDIR = omap
overo_test_periodic.CFLAGS += -I$(ACINCLUDE) -I. -I$(PAPARAZZI_HOME)/var/include
@@ -79,7 +91,7 @@ overo_test_periodic.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
overo_test_periodic.srcs += $(SRC_FMS)/udp_transport.c downlink.c
overo_test_periodic.srcs += $(SRC_FMS)/fms_network.c
overo_test_periodic.LDFLAGS += -levent
overo_test_periodic.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown
overo_test_periodic.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown
overo_test_periodic.srcs += $(SRC_FMS)/fms_spi_link.c
@@ -255,6 +267,38 @@ test_datalink.srcs += downlink.c pprz_transport.c
test_datalink.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
#test_datalink.srcs += $(SRC_BOOZ)/booz2_datalink.c
#
# tunnel
#
tunnel.ARCHDIR = $(ARCHI)
tunnel.TARGET = tunnel
tunnel.TARGETDIR = tunnel
tunnel.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
tunnel.srcs += $(SRC_LISA)/test/lisa_tunnel.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
tunnel.CFLAGS += -DUSE_LED
tunnel.srcs += $(SRC_ARCH)/led_hw.c
tunnel.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
#tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600
#tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B9600
tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B38400
#tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
#tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
#tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200
#tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B115200
tunnel.srcs += $(SRC_ARCH)/uart_hw.c
#
# test float
#
@@ -277,6 +321,17 @@ test_float.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DE
test_float.srcs += downlink.c pprz_transport.c
test_float.srcs += lisa/plug_sys.c
#
# test bswap
#
test_bswap.ARCHDIR = $(ARCHI)
test_bswap.TARGET = test_bswap
test_bswap.TARGETDIR = test_bswap
test_bswap.CFLAGS = -I$(SRC_LISA) -I$(ARCHI)
test_bswap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_bswap.srcs = $(SRC_LISA)/test/test_bswap.c \
#
# test rc 2.4
@@ -1157,6 +1212,54 @@ test_csc_servo.CFLAGS += \
-DCAN_ERR_RESUME=DISABLE
test_csc_servo.srcs += can.c $(SRC_ARCH)/can_hw.c
#
# test GPS
#
test_gps.ARCHDIR = $(ARCHI)
test_gps.TARGET = test_gps
test_gps.TARGETDIR = test_gps
test_gps.CFLAGS = -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_gps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_gps.srcs += $(SRC_BOOZ_TEST)/booz2_test_gps.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_gps.CFLAGS += -DUSE_LED
test_gps.srcs += $(SRC_ARCH)/led_hw.c
test_gps.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
test_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_gps.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_gps.srcs += $(SRC_ARCH)/uart_hw.c
test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_gps.srcs += downlink.c pprz_transport.c
test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
test_gps.CFLAGS += -DGPS_LINK=Uart1 -DGPS_LED=3
test_gps.srcs += $(SRC_BOOZ)/booz_gps.c
#test_gps.CFLAGS += -DBOOZ_GPS_TYPE_H=\"gps/booz_gps_ubx.h\"
#test_gps.srcs += $(SRC_BOOZ)/gps/booz_gps_ubx.c
test_gps.CFLAGS += -DBOOZ_GPS_TYPE_H=\"gps/booz_gps_skytraq.h\"
test_gps.srcs += $(SRC_BOOZ)/gps/booz_gps_skytraq.c
################################################################################
#
#
sw/airborne/lisa/test/lisa_tunnel.c
+68
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@@ -0,0 +1,68 @@
/*
* $Id$
*
* Copyright (C) 2008-2009 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 <inttypes.h>
#include "std.h"
#include "init_hw.h"
#include "sys_time.h"
#include "led.h"
#include "uart.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_periodic())
main_periodic_task();
main_event_task();
}
return 0;
}
static inline void main_init( void ) {
hw_init();
sys_time_init();
}
static inline void main_periodic_task( void ) {
RunOnceEvery(100, {
LED_TOGGLE(4);
LED_PERIODIC();
});
}
static inline void main_event_task( void ) {
if (Uart2ChAvailable())
uart1_transmit(Uart2Getch());
if (Uart1ChAvailable())
uart2_transmit(Uart1Getch());
}