add some tests

sw/airborne/boards/stm32f4_discovery.h

@@ -7,9 +7,9 @@
  * PA2  = PWM7
  * PA3  = PWM6
  * PA4  = ADC_4 (ADC12 IN 4)+CS43L22 DAC out, capacitively coupled+100Kohm, should not interfere.
- * PA5  = FREE
- * PA6  = CANNOT BE USED
- * PA7  = FREE
+ * PA5  = SPI1 SCK if STM32F4_DISCOVERY_SPI1_FOR_LIS302
+ * PA6  = SPI1 MISO if STM32F4_DISCOVERY_SPI1_FOR_LIS302
+ * PA7  = SPI1 MOSI if STM32F4_DISCOVERY_SPI1_FOR_LIS302
  * PA8  = SPECTRUM BIND
  * PA9  = FREE (ONLY if usb is not active during runtime, PC0 must be high or input )
  * PA10 = UART2 (Spektrum input)
@@ -73,7 +73,7 @@
  * PE0  = CANNOT BE USED (Accel int output)
  * PE1  = CANNOT BE USED (Accel int output)
  * PE2  = SPI SLAVE 0
- * PE3  = FREE (Needs some testing as it is used for the accel spi/i2c select pin)
+ * PE3  = SPI SLAVE 2 (used for the LIS302DL accel spi/i2c select pin)
  * PE4  = FREE
  * PE5  = PWM4
  * PE6  = PWM5
@@ -214,6 +214,15 @@
 /**************************************    SPI     *************************************************/
 /***************************************************************************************************/
 
+#if STM32F4_DISCOVERY_SPI1_FOR_LIS302
+#define SPI1_GPIO_AF GPIO_AF5
+#define SPI1_GPIO_PORT_SCK GPIOA
+#define SPI1_GPIO_SCK GPIO5
+#define SPI1_GPIO_PORT_MISO GPIOA
+#define SPI1_GPIO_MISO GPIO6
+#define SPI1_GPIO_PORT_MOSI GPIOA
+#define SPI1_GPIO_MOSI GPIO7
+#else
 #define SPI1_GPIO_AF GPIO_AF5
 #define SPI1_GPIO_PORT_SCK GPIOB
 #define SPI1_GPIO_SCK GPIO3
@@ -221,7 +230,7 @@
 #define SPI1_GPIO_MISO GPIO4
 #define SPI1_GPIO_PORT_MOSI GPIOB
 #define SPI1_GPIO_MOSI GPIO5
-
+#endif
 
 /* CANNOT BE USED IF PWM CHANNELS 10 & 11 ARE ACTIVE !!! */
 #define SPI2_GPIO_AF GPIO_AF5
@@ -245,6 +254,8 @@
 #define SPI_SELECT_SLAVE0_PIN GPIO2
 #define SPI_SELECT_SLAVE1_PORT GPIOE
 #define SPI_SELECT_SLAVE1_PIN GPIO7
+#define SPI_SELECT_SLAVE2_PORT GPIOE
+#define SPI_SELECT_SLAVE2_PIN GPIO3
 
 
 /***************************************************************************************************/

sw/airborne/test/peripherals/test_lis302dl_spi.c

@@ -0,0 +1,103 @@
+/*
+ * Copyright (C) 2013 Felix Ruess <felix.ruess@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.
+ */
+
+/**
+ * @file test/peripherals/test_lis302dl_spi.c
+ *
+ * Test for LIS302DL 3-axis accelerometer from ST using SPI.
+ */
+
+#include BOARD_CONFIG
+#include "mcu.h"
+#include "mcu_periph/sys_time.h"
+#include "mcu_periph/uart.h"
+#include "subsystems/datalink/downlink.h"
+#include "led.h"
+
+#include "peripherals/lis302dl_spi.h"
+
+#ifndef LIS302DL_SPI_DEV
+#define LIS302DL_SPI_DEV spi2
+#endif
+PRINT_CONFIG_VAR(LIS302DL_SPI_DEV)
+
+#ifndef LIS302DL_SPI_SLAVE_IDX
+#define LIS302DL_SPI_SLAVE_IDX SPI_SLAVE2
+#endif
+PRINT_CONFIG_VAR(LIS302DL_SPI_SLAVE_IDX)
+
+struct Lis302dl_Spi lis302;
+
+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_check_and_ack_timer(0))
+      main_periodic_task();
+    main_event_task();
+  }
+
+  return 0;
+}
+
+
+static inline void main_init( void ) {
+  mcu_init();
+  mcu_int_enable();
+
+  sys_time_register_timer((1./50), NULL);
+
+  lis302dl_spi_init(&lis302, &(LIS302DL_SPI_DEV), LIS302DL_SPI_SLAVE_IDX);
+}
+
+static inline void main_periodic_task( void ) {
+  RunOnceEvery(100, DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM));
+
+  if (sys_time.nb_sec > 1) {
+    lis302dl_spi_periodic(&lis302);
+#if USE_LED_5
+    RunOnceEvery(10, LED_TOGGLE(5););
+#endif
+  }
+}
+
+static inline void main_event_task( void ) {
+  if (sys_time.nb_sec > 1)
+    lis302dl_spi_event(&lis302);
+
+  if (lis302.data_available) {
+    struct Int32Vect3 accel;
+    VECT3_COPY(accel, lis302.data.vect);
+    lis302.data_available = FALSE;
+
+    RunOnceEvery(10, {
+        DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice,
+                                    &accel.x, &accel.y, &accel.z);
+#if USE_LED_6
+        LED_TOGGLE(6);
+#endif
+      });
+  }
+}