[tests] cleanup test_baro_board

conf/airframes/examples/quadrotor_lisa_mx.xml

@@ -43,6 +43,9 @@
     <target name="test_sys_time_timer" board="lisa_mx_2.0"/>
     <target name="test_adc" board="lisa_mx_2.0"/>
     <target name="test_telemetry" board="lisa_mx_2.0"/>
+    <target name="test_baro_board" board="lisa_mx_2.0">
+      <configure name="BARO_LED" value="5"/>
+    </target>
     <target name="test_radio_control" board="lisa_mx_2.0">
       <subsystem name="radio_control" type="spektrum">
         <define name="RADIO_MODE" value="RADIO_AUX1"/>

conf/airframes/examples/setup_lisam2.xml

@@ -28,7 +28,11 @@
     </target>
     <target name="test_esc_mkk_simple"      board="lisa_m_2.0"/>
     <target name="test_esc_asctecv1_simple" board="lisa_m_2.0"/>
-    <target name="test_baro"                board="lisa_m_2.0"/>
+    <target name="test_baro_board"          board="lisa_m_2.0">
+      <configure name="BARO_LED" value="5"/>
+      <!-- baro board options for Lisa/M: BARO_BOARD_BMP085 (default), BARO_MS5611_I2C, BARO_MS5611_SPI -->
+      <configure name="LISA_M_BARO" value="BARO_BOARD_BMP085"/>
+    </target>
     <target name="test_adc"                 board="lisa_m_2.0"/>
     <target name="test_can"                 board="lisa_m_2.0"/>
     <target name="test_uart"                board="lisa_m_2.0">

conf/firmwares/test_progs.makefile

@@ -286,7 +286,6 @@ test_baro_board.CFLAGS += $(COMMON_TEST_CFLAGS)
 test_baro_board.srcs   += $(COMMON_TEST_SRCS)
 test_baro_board.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
 test_baro_board.srcs   += $(COMMON_TELEMETRY_SRCS)
-test_baro_board.srcs += subsystems/air_data.c
 test_baro_board.srcs += test/test_baro_board.c
 test_baro_board.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
 ifeq ($(TARGET),test_baro_board)

sw/airborne/boards/booz/test_baro.c

@@ -1,87 +0,0 @@
-/*
- * Copyright (C) 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.
- */
-
-/*
- *
- * test baro using interrupts
- *
- */
-
-#include BOARD_CONFIG
-
-#include "mcu.h"
-
-#include "mcu_periph/sys_time.h"
-#include "subsystems/datalink/downlink.h"
-#include "subsystems/sensors/baro.h"
-
-static inline void main_init( void );
-static inline void main_periodic_task( void );
-static inline void main_event_task( void );
-
-static inline void main_on_baro_diff(void);
-static inline void main_on_baro_abs(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();
-  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
-  booz2_analog_init();
-  baro_init();
-  mcu_int_enable();
-}
-
-
-
-static inline void main_periodic_task( void ) {
-
-  RunOnceEvery(2, {baro_periodic();});
-  RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
-  LED_PERIODIC();
-
-}
-
-
-
-static inline void main_event_task( void ) {
-  BaroEvent(main_on_baro_abs, main_on_baro_diff);
-}
-
-
-static inline void main_on_baro_diff(void) {
-
-}
-
-static inline void main_on_baro_abs(void) {
-  RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice, &baro.absolute, &baro.differential);});
-}

sw/airborne/test/test_baro_board.c

@@ -35,7 +35,6 @@
 #include "subsystems/datalink/downlink.h"
 
 #include "subsystems/sensors/baro.h"
-#include "subsystems/air_data.h"
 
 #define ABI_C
 #include "subsystems/abi.h"
@@ -44,9 +43,23 @@ static inline void main_init( void );
 static inline void main_periodic_task( void );
 static inline void main_event_task( void );
 
-static inline void main_on_baro_diff(void);
+#ifndef BARO_PERIODIC_FREQUENCY
-static inline void main_on_baro_abs(void);
+#define BARO_PERIODIC_FREQUENCY 50
+#endif
+PRINT_CONFIG_VAR(BARO_PERIODIC_FREQUENCY)
 
+#ifdef BARO_LED
+PRINT_CONFIG_VAR(BARO_LED)
+#endif
+
+/** ABI bindings
+ */
+#ifndef BARO_ABS_ID
+#define BARO_ABS_ID ABI_BROADCAST
+#endif
+static abi_event pressure_abs_ev;
+
+tid_t baro_tid;
 
 int main(void) {
   main_init();
@@ -54,21 +67,30 @@ int main(void) {
   while(1) {
     if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
+    if (sys_time_check_and_ack_timer(baro_tid))
+      baro_periodic();
     main_event_task();
   }
 
   return 0;
 }
 
+static void pressure_abs_cb(uint8_t __attribute__((unused)) sender_id, const float * pressure) {
+  float foo = 42.;
+  DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice, pressure, &foo);
+}
+
 static inline void main_init( void ) {
   mcu_init();
   sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   baro_init();
+
+  baro_tid = sys_time_register_timer(1./BARO_PERIODIC_FREQUENCY, NULL);
+
+  AbiBindMsgBARO_ABS(BARO_ABS_ID, &pressure_abs_ev, pressure_abs_cb);
 }
 
 static inline void main_periodic_task( void ) {
-
-  RunOnceEvery(2, {baro_periodic();});
   LED_PERIODIC();
   RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
 }
@@ -76,11 +98,3 @@ static inline void main_periodic_task( void ) {
 static inline void main_event_task( void ) {
   BaroEvent();
 }
-
-static inline void main_on_baro_diff(void) {
-
-}
-
-static inline void main_on_baro_abs(void) {
-  RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice, &air_data.pressure, &air_data.differential);});
-}