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added hmc5843, crista and fixed servo test

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This commit is contained in:
Antoine Drouin
2010-07-16 23:44:28 +00:00
parent 8387ba9846
commit da947808c0
2 changed files with 74 additions and 4 deletions
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conf/autopilot/lisa_test_progs.makefile
+64 -2
View File
@@ -315,8 +315,8 @@ test_servos.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_servos.LDFLAGS += -lm
test_servos.srcs += $(SRC_LISA)/test_servos.c \
$(SRC_LISA)/exceptions.c \
$(SRC_LISA)/vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_servos.CFLAGS += -DUSE_LED
test_servos.srcs += $(SRC_ARCH)/led_hw.c
test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
@@ -430,6 +430,40 @@ test_imu_b2.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_
test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
#
# test IMU crista
#
test_imu_crista.ARCHDIR = $(ARCHI)
test_imu_crista.TARGET = test_imu_crista
test_imu_crista.TARGETDIR = test_imu_crista
test_imu_crista.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_crista.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_imu_crista.srcs += $(SRC_BOOZ_TEST)/booz2_test_imu_b2.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_imu_crista.CFLAGS += -DUSE_LED
test_imu_crista.srcs += $(SRC_ARCH)/led_hw.c
test_imu_crista.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
test_imu_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_imu_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_imu_crista.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
test_imu_crista.srcs += $(SRC_ARCH)/uart_hw.c
test_imu_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart3
test_imu_crista.srcs += downlink.c pprz_transport.c
test_imu_crista.srcs += math/pprz_trig_int.c
test_imu_crista.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
test_imu_crista.srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_crista.c \
$(SRC_BOOZ_ARCH)/imu/booz_imu_crista_arch.c
test_imu_crista.CFLAGS += -DUSE_DMA1_C4_IRQ
#
# test motor controllers
#
@@ -685,6 +719,34 @@ test_baro3.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test hmc5843
#
test_hmc5843.ARCHDIR = $(ARCHI)
test_hmc5843.TARGET = test_hmc5843
test_hmc5843.TARGETDIR = test_hmc5843
test_hmc5843.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -Ibooz -DPERIPHERALS_AUTO_INIT
test_hmc5843.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_hmc5843.srcs = booz/test/booz_test_hmc5843.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_hmc5843.CFLAGS += -DUSE_LED
test_hmc5843.srcs += $(SRC_ARCH)/led_hw.c
test_hmc5843.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
test_hmc5843.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_hmc5843.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_hmc5843.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_hmc5843.srcs += $(SRC_ARCH)/uart_hw.c
test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_hmc5843.srcs += downlink.c pprz_transport.c
test_hmc5843.srcs += booz/peripherals/booz_hmc5843.c
test_hmc5843.CFLAGS += -DUSE_I2C2
test_hmc5843.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
test_hmc5843.CFLAGS += -DIMU_OVERRIDE_CHANNELS
sw/airborne/lisa/test_mc2.c
+10 -2
View File
@@ -24,6 +24,7 @@
#include "init_hw.h"
#include "sys_time.h"
#include "led.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
@@ -52,8 +53,15 @@ static inline void main_init( void ) {
static inline void main_periodic_task( void ) {
i2c1_buf[0] = 0x00;
i2c1_transmit(0x58, 1, &i2c_done);
// LED_ON(4);
// static uint16_t i = 1000;
// if (i) i--;
// else {
// LED_OFF(4);
LED_ON(5);
i2c1_buf[0] = 0x04;
i2c1_transmit(0x58, 1, &i2c_done);
// }
LED_PERIODIC();