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fixed a couple of test programs

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This commit is contained in:
Antoine Drouin
2009-11-14 17:46:10 +00:00
parent 7e1e8cdaa7
commit c3293d5dea
4 changed files with 100 additions and 26 deletions
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conf/autopilot/booz2_test_progs.makefile
+30 -10
View File
@@ -22,6 +22,28 @@
#
#
#
# test downlink
#
test_downlink.ARCHDIR = $(ARCHI)
test_downlink.ARCH = arm7tdmi
test_downlink.TARGET = test_downlink
test_downlink.TARGETDIR = test_downlink
test_downlink.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_downlink.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_downlink.srcs += $(SRC_BOOZ_TEST)/booz2_test_downlink.c
test_downlink.CFLAGS += -DUSE_LED
test_downlink.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./10.))' -DTIME_LED=1
test_downlink.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_downlink.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_downlink.srcs += $(SRC_ARCH)/uart_hw.c
test_downlink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_downlink.srcs += downlink.c pprz_transport.c
#
# tunnel hw
@@ -38,10 +60,7 @@ tunnel.CFLAGS += -DLED
tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
tunnel.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
#tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
#tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B19200
#tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600
tunnel.srcs += $(SRC_ARCH)/uart_hw.c
@@ -219,20 +238,21 @@ test_max1168.TARGET = test_max1168
test_max1168.TARGETDIR = test_max1168
test_max1168.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_max1168.srcs += $(SRC_BOOZ_TEST)/booz2_test_max1168.c
test_max1168.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_max1168.srcs += $(SRC_BOOZ_TEST)/booz2_test_max1168.c
test_max1168.CFLAGS += -DUSE_LED
test_max1168.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
test_max1168.CFLAGS += -DLED
test_max1168.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_max1168.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_max1168.srcs += $(SRC_ARCH)/uart_hw.c
test_max1168.srcs += $(SRC_ARCH)/uart_hw.c
test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_max1168.srcs += downlink.c pprz_transport.c
test_max1168.srcs += downlink.c pprz_transport.c
test_max1168.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8 -DSSP_VIC_SLOT=9
test_max1168.srcs += $(SRC_BOOZ)/booz2_max1168.c $(SRC_BOOZ_ARCH)/booz2_max1168_hw.c
test_max1168.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
$(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
sw/airborne/booz/test/booz2_test_downlink.c
+61
View File
@@ -0,0 +1,61 @@
/*
* $Id$
*
* 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 "init_hw.h"
#include "sys_time.h"
#include "interrupt_hw.h"
#include "messages.h"
#include "downlink.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();
int_enable();
}
static inline void main_periodic_task( void ) {
LED_TOGGLE(2);
DOWNLINK_SEND_TIME(DefaultChannel, &cpu_time_sec);
}
static inline void main_event_task( void ) {
}
sw/airborne/booz/test/booz2_test_max1168.c
+9 -14
View File
@@ -26,15 +26,13 @@
#include "std.h"
#include "init_hw.h"
#include "sys_time.h"
#include "led.h"
#include "uart.h"
#include "interrupt_hw.h"
#include "messages.h"
#include "downlink.h"
#include "interrupt_hw.h"
#include "armVIC.h"
#include "LPC21xx.h"
#include "booz2_max1168.h"
#include "peripherals/booz_max1168.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
@@ -60,28 +58,25 @@ int main( void ) {
static inline void main_init( void ) {
hw_init();
sys_time_init();
led_init();
uart1_init_tx();
main_init_ssp();
booz2_max1168_init();
booz_max1168_init();
int_enable();
}
static inline void main_periodic_task( void ) {
LED_TOGGLE(3);
booz2_max1168_read();
booz_max1168_read();
}
static inline void main_event_task( void ) {
if (booz2_max1168_status == STA_MAX1168_DATA_AVAILABLE) {
if (booz_max1168_status == STA_MAX1168_DATA_AVAILABLE) {
RunOnceEvery(10, {
DOWNLINK_SEND_IMU_GYRO_RAW(&booz2_max1168_values[0], &booz2_max1168_values[1], &booz2_max1168_values[2]);
DOWNLINK_SEND_IMU_ACCEL_RAW(&booz2_max1168_values[3], &booz2_max1168_values[4], &booz2_max1168_values[6]);
DOWNLINK_SEND_BOOT(&booz2_max1168_values[7]); });
booz2_max1168_status = STA_MAX1168_IDLE;
DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &booz_max1168_values[0], &booz_max1168_values[1], &booz_max1168_values[2]);
DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &booz_max1168_values[3], &booz_max1168_values[4], &booz_max1168_values[6]);
DOWNLINK_SEND_BOOT(DefaultChannel, &booz_max1168_values[7]); });
booz_max1168_status = STA_MAX1168_IDLE;
}
}
sw/airborne/booz/test/booz2_test_modem.c
-2
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@@ -36,8 +36,6 @@ static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
uint32_t t0, t1, diff;
int main( void ) {
main_init();
while(1) {