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[tests] add test_radio_control

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This commit is contained in:
Felix Ruess
2014-06-04 02:08:20 +02:00
parent 016115ce29
commit 9910cf9d90
8 changed files with 66 additions and 29 deletions
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conf/airframes/examples/quadrotor_lisa_mx.xml
+6
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@@ -42,6 +42,12 @@
<firmware name="test_progs">
<target name="test_sys_time_timer" board="lisa_mx_2.0"/>
<target name="test_telemetry" board="lisa_mx_2.0"/>
<target name="test_radio_control" board="lisa_mx_2.0">
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="0"/>
</subsystem>
</target>
</firmware>
<modules>
conf/firmwares/subsystems/shared/radio_control_datalink.makefile
+8 -2
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@@ -14,10 +14,10 @@ RADIO_CONTROL_LED ?= none
ifeq ($(NORADIO), False)
ifneq ($(RADIO_CONTROL_DATALINK_LED),none)
ap.CFLAGS += -DRADIO_CONTROL_DATALINK_LED=$(RADIO_CONTROL_DATALINK_LED)
RC_CFLAGS += -DRADIO_CONTROL_DATALINK_LED=$(RADIO_CONTROL_DATALINK_LED)
endif
ifneq ($(RADIO_CONTROL_LED),none)
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
fbw.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
$(TARGET).CFLAGS += -DRADIO_CONTROL
@@ -27,4 +27,10 @@ ifeq ($(NORADIO), False)
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/rc_datalink.c
# arch only with sim target for compatibility (empty functions)
sim.srcs += $(SRC_ARCH)/subsystems/radio_control/rc_datalink.c
ap.CFLAGS += $(RC_CFLAGS)
ap.srcs += $(RC_SRCS)
test_radio_control.CFLAGS += $(RC_CFLAGS)
test_radio_control.srcs += $(RC_SRCS)
endif
conf/firmwares/subsystems/shared/radio_control_ppm.makefile
+1
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@@ -16,6 +16,7 @@ ifeq ($(NORADIO), False)
ifneq ($(RADIO_CONTROL_LED),none)
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
fbw.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
test_radio_control.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_PPM
conf/firmwares/subsystems/shared/radio_control_sbus.makefile
+13 -8
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@@ -5,7 +5,7 @@
RADIO_CONTROL_LED ?= none
ifneq ($(RADIO_CONTROL_LED),none)
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
$(TARGET).CFLAGS += -DRADIO_CONTROL
@@ -14,11 +14,16 @@ $(TARGET).CFLAGS += -DRADIO_CONTROL
SBUS_PORT_UPPER=$(shell echo $(SBUS_PORT) | tr a-z A-Z)
SBUS_PORT_LOWER=$(shell echo $(SBUS_PORT) | tr A-Z a-z)
$(TARGET).CFLAGS += -DUSE_$(SBUS_PORT_UPPER) -D$(SBUS_PORT_UPPER)_BAUD=B100000
$(TARGET).CFLAGS += -DSBUS_UART_DEV=$(SBUS_PORT_LOWER)
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/sbus.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c
RC_CFLAGS += -DUSE_$(SBUS_PORT_UPPER) -D$(SBUS_PORT_UPPER)_BAUD=B100000
RC_CFLAGS += -DSBUS_UART_DEV=$(SBUS_PORT_LOWER)
RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
RC_CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control/sbus.c
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c
ap.CFLAGS += $(RC_CFLAGS)
ap.srcs += $(RC_SRCS)
test_radio_control.CFLAGS += $(RC_CFLAGS)
test_radio_control.srcs += $(RC_SRCS)
conf/firmwares/subsystems/shared/radio_control_spektrum.makefile
+15 -9
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@@ -8,25 +8,31 @@ ifndef RADIO_CONTROL_SPEKTRUM_MODEL
RADIO_CONTROL_SPEKTRUM_MODEL=\"subsystems/radio_control/spektrum_dx7se.h\"
endif
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
RC_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
endif
ifneq ($(RADIO_CONTROL_LED),none)
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
ap.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER
RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
RC_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER
# enable the second spektrum port if so configured
ifdef USE_SECONDARY_SPEKTRUM_RECEIVER
ifneq ($(USE_SECONDARY_SPEKTRUM_RECEIVER),0)
ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_SECONDARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)
ap.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)_IRQ_HANDLER
RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_SECONDARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)
RC_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)_IRQ_HANDLER
endif
endif
ap.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_SUBSYSTEMS)/radio_control/spektrum.c \
$(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
ap.CFLAGS += $(RC_CFLAGS)
ap.srcs += $(RC_SRCS)
test_radio_control.CFLAGS += $(RC_CFLAGS)
test_radio_control.srcs += $(RC_SRCS)
conf/firmwares/subsystems/shared/radio_control_superbitrf_rc.makefile
+10 -4
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@@ -4,14 +4,20 @@
RADIO_CONTROL_LED ?= none
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE_SUPERBITRF -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/superbitrf_rc.h\"
ap.CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
RC_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE_SUPERBITRF -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/superbitrf_rc.h\"
RC_CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
ifneq ($(RADIO_CONTROL_LED),none)
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
ap.srcs += peripherals/cyrf6936.c \
RC_SRCS += peripherals/cyrf6936.c \
$(SRC_SUBSYSTEMS)/datalink/superbitrf.c\
$(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_SUBSYSTEMS)/radio_control/superbitrf_rc.c
ap.CFLAGS += $(RC_CFLAGS)
ap.srcs += $(RC_SRCS)
test_radio_control.CFLAGS += $(RC_CFLAGS)
test_radio_control.srcs += $(RC_SRCS)
conf/firmwares/test_progs.makefile
+13
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@@ -327,3 +327,16 @@ test_imu.srcs += $(COMMON_TELEMETRY_SRCS)
test_imu.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
test_imu.srcs += test/subsystems/test_imu.c
test_imu.srcs += math/pprz_trig_int.c
#
# test_radio_control
#
# add appropriate radio_control subsystem to target!
#
test_radio_control.ARCHDIR = $(ARCH)
test_radio_control.CFLAGS += $(COMMON_TEST_CFLAGS)
test_radio_control.srcs += $(COMMON_TEST_SRCS)
test_radio_control.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
test_radio_control.srcs += $(COMMON_TELEMETRY_SRCS)
test_radio_control.srcs += test/subsystems/test_radio_control.c
sw/airborne/test/subsystems/test_radio_control.c
-6
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@@ -34,7 +34,6 @@ 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();
@@ -94,8 +93,3 @@ static void main_on_radio_control_frame( void ) {
}
/*
static void main_on_radio_control_status_changed( void ) {
}
*/