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[test] update bbb and test_imu

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This commit is contained in:
Felix Ruess
2015-04-22 13:14:09 +02:00
parent 33aec371f7
commit ec8a400377
3 changed files with 45 additions and 8 deletions
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conf/airframes/examples/beagle_bone_black.xml
+14 -7
View File
@@ -5,17 +5,11 @@
<airframe name="test_bbb">
<firmware name="test_progs">
<target name="test_settings" board="beagle_bone_black">
<!-- use UDP telemetry -->
<configure name="MODEM_DEV" value="UDP0"/>
<configure name="MODEM_HOST" value="192.168.178.255"/>
</target>
<target name="test_uart_echo" board="beagle_bone_black">
<define name="USE_UART4"/>
<define name="UART4_BAUD" value="B9600"/>
<configure name="PERIODIC_FREQUENCY" value="5"/>
</target>
<target name="test_telemetry" board="beagle_bone_black"/>
<target name="test_uart_send" board="beagle_bone_black">
<define name="USE_UART2"/>
<define name="UART2_BAUD" value="B9600"/>
@@ -27,10 +21,23 @@
<configure name="PERIODIC_FREQUENCY" value="10"/>
</target>
<target name="test_settings" board="beagle_bone_black"/>
<target name="test_telemetry" board="beagle_bone_black"/>
<target name="test_imu" board="beagle_bone_black">
<subsystem name="imu" type="mpu60x0_i2c">
<configure name="IMU_MPU60X0_I2C_DEV" value="i2c1"/>
</subsystem>
<configure name="PERIODIC_FREQUENCY" value="60"/>
</target>
<!-- use UDP telemetry via usb-gadget with netmask 255.255.255.252 -->
<configure name="MODEM_DEV" value="UDP0"/>
<configure name="MODEM_HOST" value="192.168.7.3"/>
<configure name="DEBUG_INFO" value="yes"/>
<configure name="OPT" value="0"/>
<!-- upload to USER@HOST -->
<configure name="HOST" value="192.168.178.183"/>
<configure name="HOST" value="192.168.7.2"/>
<configure name="USER" value="ubuntu"/>
</firmware>
conf/firmwares/test_progs.makefile
+1
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@@ -413,6 +413,7 @@ test_imu.srcs += $(COMMON_TEST_SRCS)
test_imu.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
test_imu.srcs += $(COMMON_TELEMETRY_SRCS)
test_imu.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
test_imu.srcs += state.c
test_imu.srcs += test/subsystems/test_imu.c
test_imu.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c math/pprz_orientation_conversion.c math/pprz_algebra_int.c math/pprz_algebra_float.c math/pprz_algebra_double.c
sw/airborne/test/subsystems/test_imu.c
+30 -1
View File
@@ -98,6 +98,34 @@ static inline void main_periodic_task(void)
led_toggle();
DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
});
#if USE_I2C1
RunOnceEvery(111, {
uint16_t i2c1_queue_full_cnt = i2c1.errors->queue_full_cnt;
uint16_t i2c1_ack_fail_cnt = i2c1.errors->ack_fail_cnt;
uint16_t i2c1_miss_start_stop_cnt = i2c1.errors->miss_start_stop_cnt;
uint16_t i2c1_arb_lost_cnt = i2c1.errors->arb_lost_cnt;
uint16_t i2c1_over_under_cnt = i2c1.errors->over_under_cnt;
uint16_t i2c1_pec_recep_cnt = i2c1.errors->pec_recep_cnt;
uint16_t i2c1_timeout_tlow_cnt = i2c1.errors->timeout_tlow_cnt;
uint16_t i2c1_smbus_alert_cnt = i2c1.errors->smbus_alert_cnt;
uint16_t i2c1_unexpected_event_cnt = i2c1.errors->unexpected_event_cnt;
uint32_t i2c1_last_unexpected_event = i2c1.errors->last_unexpected_event;
uint8_t _bus1 = 1;
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c1_queue_full_cnt,
&i2c1_ack_fail_cnt,
&i2c1_miss_start_stop_cnt,
&i2c1_arb_lost_cnt,
&i2c1_over_under_cnt,
&i2c1_pec_recep_cnt,
&i2c1_timeout_tlow_cnt,
&i2c1_smbus_alert_cnt,
&i2c1_unexpected_event_cnt,
&i2c1_last_unexpected_event,
&_bus1);
});
#endif
#if USE_I2C2
RunOnceEvery(111, {
uint16_t i2c2_queue_full_cnt = i2c2.errors->queue_full_cnt;
@@ -110,7 +138,7 @@ static inline void main_periodic_task(void)
uint16_t i2c2_smbus_alert_cnt = i2c2.errors->smbus_alert_cnt;
uint16_t i2c2_unexpected_event_cnt = i2c2.errors->unexpected_event_cnt;
uint32_t i2c2_last_unexpected_event = i2c2.errors->last_unexpected_event;
const uint8_t _bus2 = 2;
uint8_t _bus2 = 2;
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DefaultDevice,
&i2c2_queue_full_cnt,
&i2c2_ack_fail_cnt,
@@ -125,6 +153,7 @@ static inline void main_periodic_task(void)
&_bus2);
});
#endif
if (sys_time.nb_sec > 1) { imu_periodic(); }
RunOnceEvery(10, { LED_PERIODIC();});
}