mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-31 12:23:23 +08:00
add some tests
This commit is contained in:
Felix Ruess
@@ -29,6 +29,12 @@
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<subsystem name="ins"/>
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</firmware>
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<firmware name="test_progs">
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<target name="test_lis302dl" board="stm32f4_discovery">
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<define name="STM32F4_DISCOVERY_SPI1_FOR_LIS302"/>
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</target>
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</firmware>
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<modules main_freq="512">
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<load name="baro_ets.xml">
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<define name="BARO_ETS_SCALE" value="40.0"/>
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@@ -0,0 +1,153 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# Copyright (C) 2013 The Paparazzi Team
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#
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# This file is part of Paparazzi.
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#
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# Paparazzi is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2, or (at your option)
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# any later version.
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#
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# Paparazzi is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with Paparazzi; see the file COPYING. If not, write to
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# the Free Software Foundation, 59 Temple Place - Suite 330,
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# Boston, MA 02111-1307, USA.
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#
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################################################################################
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#
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#
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# Common test programs for the all LPC21 and STM32 boards
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#
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################################################################################
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SRC_ARCH=arch/$(ARCH)
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SRC_BOARD=boards/$(BOARD)
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SRC_SUBSYSTEMS=subsystems
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SRC_MODULES=modules
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CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
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#
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# common test
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#
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# configuration
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# SYS_TIME_LED
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# MODEM_PORT
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# MODEM_BAUD
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#
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PERIODIC_FREQUENCY ?= 512
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COMMON_TEST_CFLAGS = -I$(SRC_BOARD) -DBOARD_CONFIG=$(BOARD_CFG)
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COMMON_TEST_CFLAGS += -DPERIPHERALS_AUTO_INIT
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COMMON_TEST_SRCS = mcu.c $(SRC_ARCH)/mcu_arch.c
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COMMON_TEST_SRCS += $(SRC_ARCH)/mcu_periph/gpio_arch.c
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COMMON_TEST_CFLAGS += -DUSE_SYS_TIME
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ifneq ($(SYS_TIME_LED),none)
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COMMON_TEST_CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
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endif
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COMMON_TEST_CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
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COMMON_TEST_SRCS += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
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COMMON_TEST_CFLAGS += -DUSE_LED
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COMMON_TEST_SRCS += $(SRC_ARCH)/led_hw.c
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COMMON_TELEMETRY_CFLAGS = -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
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COMMON_TELEMETRY_CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
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COMMON_TELEMETRY_SRCS = mcu_periph/uart.c
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COMMON_TELEMETRY_SRCS += $(SRC_ARCH)/mcu_periph/uart_arch.c
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COMMON_TELEMETRY_SRCS += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
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#COMMON_TEST_SRCS += math/pprz_trig_int.c
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#
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# test sys_time
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#
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ifeq ($(BOARD), lisa_m)
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ifeq ($(BOARD_VERSION), 2.0)
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LED_DEFINES = -DLED_BLUE=3 -DLED_RED=4 -DLED_GREEN=5
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endif
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endif
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LED_DEFINES ?= -DLED_RED=2 -DLED_GREEN=3
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test_sys_time_timer.ARCHDIR = $(ARCH)
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test_sys_time_timer.CFLAGS += $(COMMON_TEST_CFLAGS) $(LED_DEFINES)
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test_sys_time_timer.srcs += $(COMMON_TEST_SRCS)
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test_sys_time_timer.srcs += $(SRC_AIRBORNE)/test/mcu_periph/test_sys_time_timer.c
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test_sys_time_usleep.ARCHDIR = $(ARCH)
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test_sys_time_usleep.CFLAGS += $(COMMON_TEST_CFLAGS) $(LED_DEFINES)
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test_sys_time_usleep.srcs += $(COMMON_TEST_SRCS)
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test_sys_time_usleep.srcs += $(SRC_AIRBORNE)/test/mcu_periph/test_sys_time_usleep.c
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#
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# test_telemetry : Sends ALIVE telemetry messages
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#
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# configuration
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# MODEM_PORT :
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# MODEM_BAUD :
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#
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test_telemetry.ARCHDIR = $(ARCH)
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test_telemetry.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_telemetry.srcs += $(COMMON_TEST_SRCS)
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test_telemetry.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_telemetry.srcs += $(COMMON_TELEMETRY_SRCS)
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test_telemetry.srcs += test/test_telemetry.c
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#
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# test ms2100 mag
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#
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test_ms2100.ARCHDIR = $(ARCH)
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test_ms2100.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_ms2100.srcs += $(COMMON_TEST_SRCS)
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test_ms2100.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_ms2100.srcs += $(COMMON_TELEMETRY_SRCS)
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test_ms2100.srcs += test/peripherals/test_ms2100.c
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test_ms2100.srcs += peripherals/ms2100.c $(SRC_ARCH)/peripherals/ms2100_arch.c
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test_ms2100.CFLAGS += -DUSE_SPI -DSPI_MASTER
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test_ms2100.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
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ifeq ($(ARCH), lpc21)
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test_ms2100.CFLAGS += -DUSE_SPI1
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test_ms2100.CFLAGS += -DUSE_SPI_SLAVE1
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test_ms2100.CFLAGS += -DMS2100_SLAVE_IDX=1
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test_ms2100.CFLAGS += -DMS2100_SPI_DEV=spi1
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test_ms2100.CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
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else ifeq ($(ARCH), stm32)
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test_ms2100.CFLAGS += -DUSE_SPI2
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test_ms2100.CFLAGS += -DUSE_SPI_SLAVE4
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test_ms2100.CFLAGS += -DMS2100_SLAVE_IDX=4
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test_ms2100.CFLAGS += -DMS2100_SPI_DEV=spi2
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endif
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#
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# test lis302dl accelerometer
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#
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test_lis302dl.ARCHDIR = $(ARCH)
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test_lis302dl.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_lis302dl.srcs += $(COMMON_TEST_SRCS)
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test_lis302dl.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_lis302dl.srcs += $(COMMON_TELEMETRY_SRCS)
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test_lis302dl.srcs += test/peripherals/test_lis302dl_spi.c
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test_lis302dl.srcs += peripherals/lis302dl_spi.c
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test_lis302dl.CFLAGS += -DUSE_SPI -DSPI_MASTER
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test_lis302dl.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
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test_lis302dl.CFLAGS += -DUSE_SPI1
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test_lis302dl.CFLAGS += -DUSE_SPI_SLAVE2
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test_lis302dl.CFLAGS += -DLIS302DL_SLAVE_IDX=2
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test_lis302dl.CFLAGS += -DLIS302DL_SPI_DEV=spi1
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@@ -7,9 +7,9 @@
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* PA2 = PWM7
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* PA3 = PWM6
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* PA4 = ADC_4 (ADC12 IN 4)+CS43L22 DAC out, capacitively coupled+100Kohm, should not interfere.
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* PA5 = FREE
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* PA6 = CANNOT BE USED
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* PA7 = FREE
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* PA5 = SPI1 SCK if STM32F4_DISCOVERY_SPI1_FOR_LIS302
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* PA6 = SPI1 MISO if STM32F4_DISCOVERY_SPI1_FOR_LIS302
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* PA7 = SPI1 MOSI if STM32F4_DISCOVERY_SPI1_FOR_LIS302
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* PA8 = SPECTRUM BIND
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* PA9 = FREE (ONLY if usb is not active during runtime, PC0 must be high or input )
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* PA10 = UART2 (Spektrum input)
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@@ -73,7 +73,7 @@
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* PE0 = CANNOT BE USED (Accel int output)
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* PE1 = CANNOT BE USED (Accel int output)
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* PE2 = SPI SLAVE 0
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* PE3 = FREE (Needs some testing as it is used for the accel spi/i2c select pin)
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* PE3 = SPI SLAVE 2 (used for the LIS302DL accel spi/i2c select pin)
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* PE4 = FREE
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* PE5 = PWM4
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* PE6 = PWM5
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@@ -214,6 +214,15 @@
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/************************************** SPI *************************************************/
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/***************************************************************************************************/
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#if STM32F4_DISCOVERY_SPI1_FOR_LIS302
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#define SPI1_GPIO_AF GPIO_AF5
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#define SPI1_GPIO_PORT_SCK GPIOA
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#define SPI1_GPIO_SCK GPIO5
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#define SPI1_GPIO_PORT_MISO GPIOA
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#define SPI1_GPIO_MISO GPIO6
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#define SPI1_GPIO_PORT_MOSI GPIOA
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#define SPI1_GPIO_MOSI GPIO7
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#else
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#define SPI1_GPIO_AF GPIO_AF5
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#define SPI1_GPIO_PORT_SCK GPIOB
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#define SPI1_GPIO_SCK GPIO3
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@@ -221,7 +230,7 @@
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#define SPI1_GPIO_MISO GPIO4
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#define SPI1_GPIO_PORT_MOSI GPIOB
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#define SPI1_GPIO_MOSI GPIO5
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#endif
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/* CANNOT BE USED IF PWM CHANNELS 10 & 11 ARE ACTIVE !!! */
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#define SPI2_GPIO_AF GPIO_AF5
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@@ -245,6 +254,8 @@
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#define SPI_SELECT_SLAVE0_PIN GPIO2
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#define SPI_SELECT_SLAVE1_PORT GPIOE
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#define SPI_SELECT_SLAVE1_PIN GPIO7
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#define SPI_SELECT_SLAVE2_PORT GPIOE
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#define SPI_SELECT_SLAVE2_PIN GPIO3
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/***************************************************************************************************/
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@@ -0,0 +1,103 @@
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/*
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* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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/**
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* @file test/peripherals/test_lis302dl_spi.c
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*
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* Test for LIS302DL 3-axis accelerometer from ST using SPI.
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*/
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#include BOARD_CONFIG
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#include "mcu.h"
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#include "mcu_periph/sys_time.h"
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#include "mcu_periph/uart.h"
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#include "subsystems/datalink/downlink.h"
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#include "led.h"
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#include "peripherals/lis302dl_spi.h"
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#ifndef LIS302DL_SPI_DEV
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#define LIS302DL_SPI_DEV spi2
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#endif
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PRINT_CONFIG_VAR(LIS302DL_SPI_DEV)
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#ifndef LIS302DL_SPI_SLAVE_IDX
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#define LIS302DL_SPI_SLAVE_IDX SPI_SLAVE2
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#endif
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PRINT_CONFIG_VAR(LIS302DL_SPI_SLAVE_IDX)
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struct Lis302dl_Spi lis302;
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static inline void main_init( void );
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static inline void main_periodic_task( void );
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static inline void main_event_task( void );
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int main(void) {
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main_init();
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while(1) {
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if (sys_time_check_and_ack_timer(0))
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main_periodic_task();
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main_event_task();
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}
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return 0;
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}
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static inline void main_init( void ) {
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mcu_init();
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mcu_int_enable();
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sys_time_register_timer((1./50), NULL);
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lis302dl_spi_init(&lis302, &(LIS302DL_SPI_DEV), LIS302DL_SPI_SLAVE_IDX);
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}
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static inline void main_periodic_task( void ) {
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RunOnceEvery(100, DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM));
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if (sys_time.nb_sec > 1) {
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lis302dl_spi_periodic(&lis302);
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#if USE_LED_5
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RunOnceEvery(10, LED_TOGGLE(5););
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#endif
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}
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}
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static inline void main_event_task( void ) {
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if (sys_time.nb_sec > 1)
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lis302dl_spi_event(&lis302);
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if (lis302.data_available) {
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struct Int32Vect3 accel;
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VECT3_COPY(accel, lis302.data.vect);
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lis302.data_available = FALSE;
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RunOnceEvery(10, {
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DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice,
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&accel.x, &accel.y, &accel.z);
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#if USE_LED_6
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LED_TOGGLE(6);
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#endif
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});
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}
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}
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