adding lisa test_programs

sw/airborne/lisa/test/lisa_test_actuators_mkk.c

@@ -0,0 +1,80 @@
+/*
+ * $Id$
+ *  
+ * 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. 
+ */
+
+
+#include "init_hw.h"
+#include "sys_time.h"
+#include "booz2_commands.h"
+#include "booz_actuators.h"
+#include "downlink.h"
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+static inline void main_event_task( void );
+
+//static uint8_t i2c_done;
+
+int main(void) {
+  main_init();
+
+  while(1) {
+    if (sys_time_periodic())
+      main_periodic_task();
+    main_event_task();
+  }
+
+  return 0;
+}
+
+static inline void main_init( void ) {
+  hw_init();
+  sys_time_init();
+  actuators_init();
+}
+
+
+
+static inline void main_periodic_task( void ) {
+
+  RunOnceEvery(100, {
+      LED_TOGGLE(3);
+      DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+    });
+  
+  /* set actuators     */
+  booz2_commands[COMMAND_PITCH] = 0;
+  booz2_commands[COMMAND_ROLL] = 0;
+  booz2_commands[COMMAND_YAW] = 0;
+  booz2_commands[COMMAND_THRUST] = 0;
+  //actuators_set(TRUE);
+  actuators_set(FALSE);
+
+  LED_PERIODIC();
+
+}
+
+
+
+static inline void main_event_task( void ) {
+
+}

sw/airborne/lisa/test/lisa_test_max1168.c

@@ -0,0 +1,120 @@
+/*
+ * $Id$
+ *  
+ * 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. 
+ */
+
+#include <stm32/gpio.h>
+#include <stm32/flash.h>
+#include <stm32/misc.h>
+#include <stm32/spi.h>
+#include <stm32/dma.h>
+#include <stm32/exti.h>
+
+#include BOARD_CONFIG
+#include "init_hw.h"
+#include "sys_time.h"
+#include "downlink.h"
+#include "peripherals/booz_max1168.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_spi2_init(void);
+
+int main(void) {
+  main_init();
+
+  while(1) {
+    if (sys_time_periodic())
+      main_periodic_task();
+    main_event_task();
+  }
+
+  return 0;
+}
+
+
+static inline void main_init( void ) {
+  hw_init();
+  sys_time_init();
+  booz_max1168_init();
+  main_spi2_init();
+}
+
+static inline void main_periodic_task( void ) {
+  //  LED_TOGGLE(6);
+  booz_max1168_read();
+  RunOnceEvery(10, 
+	       {
+		 DOWNLINK_SEND_BOOT(DefaultChannel, &cpu_time_sec);
+		 LED_PERIODIC();
+	       });
+
+}
+
+static inline void main_event_task( void ) {
+  if (booz_max1168_status == STA_MAX1168_DATA_AVAILABLE) {
+    RunOnceEvery(10, {
+	DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &booz_max1168_values[0], &booz_max1168_values[1], &booz_max1168_values[2]); 
+	DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &booz_max1168_values[3], &booz_max1168_values[4], &booz_max1168_values[6]);
+	//	DOWNLINK_SEND_BOOT(DefaultChannel, &booz_max1168_values[7]); });
+      });
+    booz_max1168_status = STA_MAX1168_IDLE;
+  }
+}
+
+
+static inline void main_spi2_init( void ) {
+  
+  /* set mag ss as output and assert it (on PC12) ------------------------------*/
+  /* set mag reset as output and assert it (on PC13) ------------------------------*/
+  GPIOC->BSRR = GPIO_Pin_12;
+  GPIOC->BSRR = GPIO_Pin_13;
+
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
+  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOC, &GPIO_InitStructure);
+  
+  /* Enable SPI2 Periph clock -------------------------------------------------*/
+  RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
+  
+  /* Configure GPIOs: SCK, MISO and MOSI  --------------------------------*/
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+  GPIO_Init(GPIOB, &GPIO_InitStructure);
+  
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO , ENABLE);
+
+  Max1168ConfigureSPI();
+  
+  /* Enable SPI */
+  SPI_Cmd(SPI2, ENABLE);
+
+  /* Enable SPI_2 DMA clock ---------------------------------------------------*/
+  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
+
+}
+

sw/airborne/lisa/test/lisa_test_ms2001.c

@@ -0,0 +1,123 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2010 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. 
+ */
+
+#include <stm32/gpio.h>
+#include <stm32/flash.h>
+#include <stm32/misc.h>
+#include <stm32/spi.h>
+#include <stm32/dma.h>
+#include <stm32/exti.h>
+
+#include BOARD_CONFIG
+#include "init_hw.h"
+#include "sys_time.h"
+#include "downlink.h"
+#include "peripherals/booz_ms2001.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_spi2_init(void);
+
+int main(void) {
+  main_init();
+
+  while(1) {
+    if (sys_time_periodic())
+      main_periodic_task();
+    main_event_task();
+  }
+
+  return 0;
+}
+
+
+static inline void main_init( void ) {
+  hw_init();
+  sys_time_init();
+  ms2001_init();
+  main_spi2_init();
+}
+
+static inline void main_periodic_task( void ) {
+  RunOnceEvery(10, 
+	       {
+		 DOWNLINK_SEND_BOOT(DefaultChannel, &cpu_time_sec);
+		 LED_PERIODIC();
+	       });
+
+  switch(ms2001_status) {
+  case MS2001_IDLE:
+    Ms2001SendReq();
+    break;
+  case MS2001_WAITING_EOC:
+    if (Ms2001HasEOC()) {
+      Ms2001ReadRes();
+    }
+    break;
+  }
+}
+
+static inline void main_event_task( void ) {
+  if (ms2001_status == MS2001_DATA_AVAILABLE) {
+    RunOnceEvery(10, {
+	DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, 
+				  &ms2001_values[0],
+				  &ms2001_values[1],
+				  &ms2001_values[2]);
+      });
+    ms2001_status = MS2001_IDLE;
+  }
+}
+
+static inline void main_spi2_init( void ) {
+  
+  /* set max1168 slave select as output and assert it ( on PB12) */
+  GPIOB->BSRR = GPIO_Pin_12;
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
+  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOB, &GPIO_InitStructure);
+  
+  /* Enable SPI2 Periph clock -------------------------------------------------*/
+  RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
+  
+  /* Configure GPIOs: SCK, MISO and MOSI  --------------------------------*/
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+  GPIO_Init(GPIOB, &GPIO_InitStructure);
+  
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO , ENABLE);
+
+
+  /* Enable SPI_2 DMA clock ---------------------------------------------------*/
+  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
+  
+ 
+
+}
+

sw/airborne/lisa/test/lisa_test_ms2100.c

@@ -0,0 +1,131 @@
+/*
+ * $Id$
+ *  
+ * 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. 
+ */
+
+#include <stm32/gpio.h>
+#include <stm32/flash.h>
+#include <stm32/misc.h>
+#include <stm32/spi.h>
+#include <stm32/dma.h>
+#include <stm32/exti.h>
+
+#include BOARD_CONFIG
+#include "init_hw.h"
+#include "sys_time.h"
+#include "downlink.h"
+#include "peripherals/booz_ms2100.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_spi2_init(void);
+
+int main(void) {
+  main_init();
+
+  while(1) {
+    if (sys_time_periodic())
+      main_periodic_task();
+    main_event_task();
+  }
+
+  return 0;
+}
+
+
+static inline void main_init( void ) {
+  hw_init();
+  sys_time_init();
+  booz_max1168_init();
+  main_spi2_init();
+}
+
+static inline void main_periodic_task( void ) {
+  //  LED_TOGGLE(6);
+  booz_max1168_read();
+  RunOnceEvery(10, 
+	       {
+		 DOWNLINK_SEND_BOOT(DefaultChannel, &cpu_time_sec);
+		 LED_PERIODIC();
+	       });
+
+}
+
+static inline void main_event_task( void ) {
+  if (booz_max1168_status == STA_MAX1168_DATA_AVAILABLE) {
+    RunOnceEvery(10, {
+	DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, &booz_max1168_values[0], &booz_max1168_values[1], &booz_max1168_values[2]); 
+	DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, &booz_max1168_values[3], &booz_max1168_values[4], &booz_max1168_values[6]);
+	//	DOWNLINK_SEND_BOOT(DefaultChannel, &booz_max1168_values[7]); });
+      });
+    booz_max1168_status = STA_MAX1168_IDLE;
+  }
+}
+
+
+static inline void main_spi2_init( void ) {
+  
+  /* set mag ss as output and assert it (on PC12) ------------------------------*/
+  /* set mag reset as output and assert it (on PC13) ------------------------------*/
+  GPIOC->BSRR = GPIO_Pin_12;
+  GPIOC->BSRR = GPIO_Pin_13;
+
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
+  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOC, &GPIO_InitStructure);
+  
+  /* Enable SPI2 Periph clock -------------------------------------------------*/
+  RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
+  
+  /* Configure GPIOs: SCK, MISO and MOSI  --------------------------------*/
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+  GPIO_Init(GPIOB, &GPIO_InitStructure);
+  
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO , ENABLE);
+
+ /* SPI Master configuration --------------------------------------------------*/
+  SPI_InitTypeDef SPI_InitStructure;
+  SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
+  SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
+  SPI_InitStructure.SPI_DataSize = SPI_DataSize_16b;
+  SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
+  SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
+  SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
+  SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
+  SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
+  SPI_InitStructure.SPI_CRCPolynomial = 7;
+  SPI_Init(SPI2, &SPI_InitStructure);
+  
+  /* Enable SPI */
+  SPI_Cmd(SPI2, ENABLE);
+
+  /* Enable SPI_2 DMA clock ---------------------------------------------------*/
+  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
+
+}
+