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moved test_radio_control out of booz directory

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This commit is contained in:
Antoine Drouin
2011-02-24 15:10:50 +01:00
parent 4326f2a91c
commit 9297e4a8b5
2 changed files with 119 additions and 15 deletions
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conf/autopilot/lisa_l_test_progs.makefile
+15 -15
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@@ -196,11 +196,11 @@ test_rc_spektrum.ARCHDIR = $(ARCH)
test_rc_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_rc_spektrum.srcs += $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_rc_spektrum.srcs += $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
test/subsystems/test_radio_control.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_rc_spektrum.CFLAGS += -DUSE_LED
test_rc_spektrum.srcs += $(SRC_ARCH)/led_hw.c
@@ -397,31 +397,31 @@ test_imu_b2_2.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
test_imu_aspirin.ARCHDIR = $(ARCH)
test_imu_aspirin.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_imu_aspirin.srcs += $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_BOOZ_TEST)/booz_test_imu.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_imu_aspirin.srcs += $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_BOOZ_TEST)/booz_test_imu.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_imu_aspirin.CFLAGS += -DUSE_LED
test_imu_aspirin.srcs += $(SRC_ARCH)/led_hw.c
test_imu_aspirin.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
test_imu_aspirin.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
test_imu_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_imu_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_imu_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_imu_aspirin.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_imu_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_imu_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_imu_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_imu_aspirin.srcs += downlink.c pprz_transport.c
test_imu_aspirin.srcs += math/pprz_trig_int.c
test_imu_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
test_imu_aspirin.srcs += $(SRC_SUBSYSTEMS)/imu.c \
$(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
$(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
$(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
$(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
test_imu_aspirin.srcs += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
test_imu_aspirin.CFLAGS += -DUSE_I2C2
sw/airborne/test/subsystems/test_radio_control.c
+104
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@@ -0,0 +1,104 @@
/*
* $Id$
*
* Copyright (C) 2008-2010 The Paparazzi Team
*
* 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 "mcu.h"
#include "sys_time.h"
#include "interrupt_hw.h"
#include "mcu_periph/uart.h"
#include "downlink.h"
#include "subsystems/radio_control.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
static void main_on_radio_control_frame( void );
//static void main_on_radio_control_status_changed( 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 ) {
mcu_init();
sys_time_init();
radio_control_init();
mcu_int_enable();
}
extern uint32_t debug_len;
static inline void main_periodic_task( void ) {
RunOnceEvery(51, {
/*LED_TOGGLE(2);*/
uint32_t blaaa= cpu_time_sec;
DOWNLINK_SEND_TIME(DefaultChannel, &blaaa);
});
RunOnceEvery(10, {radio_control_periodic_task();});
int16_t foo = 0;//RC_PPM_SIGNED_TICS_OF_USEC(2050-1500);
RunOnceEvery(10,
{DOWNLINK_SEND_BOOZ2_RADIO_CONTROL(DefaultChannel, \
&radio_control.values[RADIO_ROLL], \
&radio_control.values[RADIO_PITCH], \
&radio_control.values[RADIO_YAW], \
&radio_control.values[RADIO_THROTTLE], \
&radio_control.values[RADIO_MODE], \
&foo, \
&radio_control.status);});
#ifdef RADIO_CONTROL_TYPE_PPM
RunOnceEvery(10,
{uint8_t blaa = 0; DOWNLINK_SEND_PPM(DefaultChannel,&blaa, 8, booz_radio_control_ppm_pulses);});
#endif
LED_PERIODIC();
}
static inline void main_event_task( void ) {
RadioControlEvent(main_on_radio_control_frame);
}
static void main_on_radio_control_frame( void ) {
// RunOnceEvery(10, {DOWNLINK_SEND_RC(RADIO_CONTROL_NB_CHANNEL, radio_control.values);});
}
/*
static void main_on_radio_control_status_changed( void ) {
}
*/