only one test_imu.c

conf/autopilot/lisa_m_test_progs.makefile

@@ -430,7 +430,7 @@ test_imu_aspirin.srcs = $(SRC_AIRBORNE)/mcu.c \
                  $(SRC_ARCH)/mcu_arch.c \
                  $(SRC_ARCH)/stm32_exceptions.c   \
                  $(SRC_ARCH)/stm32_vector_table.c\
-								 test/test_imu.c
+								 test/subsystems/test_imu.c
 
 test_imu_aspirin.CFLAGS += -DUSE_LED
 test_imu_aspirin.srcs   += $(SRC_ARCH)/led_hw.c

sw/airborne/test/subsystems/test_imu.c

@@ -1,7 +1,7 @@
 /*
  * $Id$
  *
- * Copyright (C) 2008-2011 The Paparazzi Team
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
  *
@@ -23,6 +23,9 @@
 
 #include <inttypes.h>
 
+#ifdef BOARD_CONFIG
+#include BOARD_CONFIG
+#endif
 #include "std.h"
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
@@ -33,7 +36,7 @@
 
 #include "subsystems/imu.h"
 
-#include "my_debug_servo.h"
+#include "interrupt_hw.h"
 
 static inline void main_init( void );
 static inline void main_periodic_task( void );
@@ -46,7 +49,7 @@ static inline void on_mag_event(void);
 int main( void ) {
   main_init();
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
     main_event_task();
   }
@@ -56,19 +59,24 @@ int main( void ) {
 static inline void main_init( void ) {
 
   mcu_init();
-  sys_time_init();
+
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
+
   imu_init();
 
-  //  DEBUG_SERVO1_INIT();
-  //  DEBUG_SERVO2_INIT();
-
-
   mcu_int_enable();
 }
 
+static inline void led_toggle ( void ) {
+
+#ifdef BOARD_LISA_L
+      LED_TOGGLE(3);
+#endif
+}
+
 static inline void main_periodic_task( void ) {
   RunOnceEvery(100, {
-      //      LED_TOGGLE(3);
+      led_toggle();
       DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
     });
 #ifdef USE_I2C2
@@ -93,6 +101,7 @@ static inline void main_event_task( void ) {
 
   ImuEvent(on_gyro_accel_event, on_accel_event, on_mag_event);
 
+
 }
 
 static inline void on_accel_event(void) {
@@ -118,6 +127,7 @@ static inline void on_accel_event(void) {
 static inline void on_gyro_accel_event(void) {
   ImuScaleGyro(imu);
 
+  RunOnceEvery(50, LED_TOGGLE(2));
   static uint8_t cnt;
   cnt++;
   if (cnt > 15) cnt = 0;
@@ -156,4 +166,3 @@ static inline void on_mag_event(void) {
                   &imu.mag_unscaled.z);
   }
 }
-

sw/airborne/test/test_imu.c

@@ -1,168 +0,0 @@
-/*
- * $Id$
- *
- * 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>
-
-#ifdef BOARD_CONFIG
-#include BOARD_CONFIG
-#endif
-#include "std.h"
-#include "mcu.h"
-#include "mcu_periph/sys_time.h"
-#include "led.h"
-#include "mcu_periph/uart.h"
-#include "messages.h"
-#include "subsystems/datalink/downlink.h"
-
-#include "subsystems/imu.h"
-
-#include "interrupt_hw.h"
-
-static inline void main_init( void );
-static inline void main_periodic_task( void );
-static inline void main_event_task( void );
-
-static inline void on_gyro_accel_event(void);
-static inline void on_accel_event(void);
-static inline void on_mag_event(void);
-
-int main( void ) {
-  main_init();
-  while(1) {
-    if (sys_time_check_and_ack_timer(0))
-      main_periodic_task();
-    main_event_task();
-  }
-  return 0;
-}
-
-static inline void main_init( void ) {
-
-  mcu_init();
-
-  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
-
-  imu_init();
-
-  mcu_int_enable();
-}
-
-static inline void led_toggle ( void ) {
-
-#ifdef BOARD_LISA_L
-      LED_TOGGLE(3);
-#endif
-}
-
-static inline void main_periodic_task( void ) {
-  RunOnceEvery(100, {
-      led_toggle();
-      DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
-    });
-#ifdef USE_I2C2
-  RunOnceEvery(111, {
-      DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
-                   &i2c2_errors.ack_fail_cnt,
-                   &i2c2_errors.miss_start_stop_cnt,
-                   &i2c2_errors.arb_lost_cnt,
-                   &i2c2_errors.over_under_cnt,
-                   &i2c2_errors.pec_recep_cnt,
-                   &i2c2_errors.timeout_tlow_cnt,
-                   &i2c2_errors.smbus_alert_cnt,
-                   &i2c2_errors.unexpected_event_cnt,
-                   &i2c2_errors.last_unexpected_event);
-    });
-#endif
-  if (cpu_time_sec > 1) imu_periodic();
-  RunOnceEvery(10, { LED_PERIODIC();});
-}
-
-static inline void main_event_task( void ) {
-
-  ImuEvent(on_gyro_accel_event, on_accel_event, on_mag_event);
-
-
-}
-
-static inline void on_accel_event(void) {
-  ImuScaleAccel(imu);
-
-  static uint8_t cnt;
-  cnt++;
-  if (cnt > 15) cnt = 0;
-  if (cnt == 0) {
-    DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice,
-                &imu.accel_unscaled.x,
-                &imu.accel_unscaled.y,
-                &imu.accel_unscaled.z);
-  }
-  else if (cnt == 7) {
-    DOWNLINK_SEND_IMU_ACCEL_SCALED(DefaultChannel, DefaultDevice,
-                  &imu.accel.x,
-                  &imu.accel.y,
-                  &imu.accel.z);
-  }
-}
-
-static inline void on_gyro_accel_event(void) {
-  ImuScaleGyro(imu);
-
-  RunOnceEvery(50, LED_TOGGLE(2));
-  static uint8_t cnt;
-  cnt++;
-  if (cnt > 15) cnt = 0;
-
-  if (cnt == 0) {
-    DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, DefaultDevice,
-                   &imu.gyro_unscaled.p,
-                   &imu.gyro_unscaled.q,
-                   &imu.gyro_unscaled.r);
-  }
-  else if (cnt == 7) {
-    DOWNLINK_SEND_IMU_GYRO_SCALED(DefaultChannel, DefaultDevice,
-                 &imu.gyro.p,
-                 &imu.gyro.q,
-                 &imu.gyro.r);
-  }
-}
-
-
-static inline void on_mag_event(void) {
-  ImuScaleMag(imu);
-  static uint8_t cnt;
-  cnt++;
-  if (cnt > 10) cnt = 0;
-
-  if (cnt == 0) {
-    DOWNLINK_SEND_IMU_MAG_SCALED(DefaultChannel, DefaultDevice,
-                &imu.mag.x,
-                &imu.mag.y,
-                &imu.mag.z);
-  }
-  else if (cnt == 5) {
-    DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice,
-                  &imu.mag_unscaled.x,
-                  &imu.mag_unscaled.y,
-                  &imu.mag_unscaled.z);
-  }
-}