From da947808c06f76ebc66c122472bc42b6d6b91aef Mon Sep 17 00:00:00 2001
From: Antoine Drouin <poinix@gmail.com>
Date: Fri, 16 Jul 2010 23:44:28 +0000
Subject: [PATCH] added hmc5843, crista and fixed servo test

---
 conf/autopilot/lisa_test_progs.makefile | 66 ++++++++++++++++++++++++-
 sw/airborne/lisa/test_mc2.c             | 12 ++++-
 2 files changed, 74 insertions(+), 4 deletions(-)

diff --git a/conf/autopilot/lisa_test_progs.makefile b/conf/autopilot/lisa_test_progs.makefile
index 1e5b437a25..ff30b14cc6 100644
--- a/conf/autopilot/lisa_test_progs.makefile
+++ b/conf/autopilot/lisa_test_progs.makefile
@@ -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
+
 
 
 
diff --git a/sw/airborne/lisa/test_mc2.c b/sw/airborne/lisa/test_mc2.c
index a4881ccda8..6ee7487d91 100644
--- a/sw/airborne/lisa/test_mc2.c
+++ b/sw/airborne/lisa/test_mc2.c
@@ -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();