[paparazzi-commits] [4358] upgrading test programs

[antoine drouin]

Revision: 4358
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4358
Author:   poine
Date:     2009-11-30 15:18:43 +0000 (Mon, 30 Nov 2009)
Log Message:
-----------
upgrading test programs

Modified Paths:
--------------
    paparazzi3/trunk/conf/autopilot/booz2_test_progs.makefile
    paparazzi3/trunk/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c
    paparazzi3/trunk/sw/airborne/booz/test/booz2_test_led.c

Modified: paparazzi3/trunk/conf/autopilot/booz2_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/booz2_test_progs.makefile   2009-11-29 
21:29:32 UTC (rev 4357)
+++ paparazzi3/trunk/conf/autopilot/booz2_test_progs.makefile   2009-11-30 
15:18:43 UTC (rev 4358)
@@ -23,8 +23,23 @@
 #
 
 #
-# test downlink
+# test_led : blinks all leds
 #
+test_led.ARCHDIR = $(ARCHI)
+test_led.ARCH = arm7tdmi
+test_led.TARGET = test_led
+test_led.TARGETDIR = test_led
+
+test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
+test_led.CFLAGS += -DPERIPHERALS_AUTO_INIT
+test_led.srcs   += $(SRC_BOOZ_TEST)/booz2_test_led.c
+test_led.CFLAGS += -DUSE_LED
+test_led.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' 
-DTIME_LED=1
+test_led.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+#
+# test_downlink : sends a TIME message
+#
 test_downlink.ARCHDIR = $(ARCHI)
 test_downlink.ARCH = arm7tdmi
 test_downlink.TARGET = test_downlink
@@ -44,8 +59,60 @@
 test_downlink.srcs   += downlink.c pprz_transport.c
 
 
+#
+# test_max1168 : samples gyros and mags, sends values 
+#
+test_max1168.ARCHDIR = $(ARCHI)
+test_max1168.ARCH = arm7tdmi
+test_max1168.TARGET = test_max1168
+test_max1168.TARGETDIR = test_max1168
 
+test_max1168.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) 
-I$(SRC_BOOZ_ARCH)
+test_max1168.CFLAGS += -DPERIPHERALS_AUTO_INIT
+test_max1168.srcs   += $(SRC_BOOZ_TEST)/booz2_test_max1168.c
+test_max1168.CFLAGS += -DUSE_LED
+test_max1168.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' 
-DTIME_LED=1
+test_max1168.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c 
$(SRC_ARCH)/armVIC.c
+
+test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_max1168.srcs   += $(SRC_ARCH)/uart_hw.c
+
+test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_DEVICE=Uart1 
+test_max1168.srcs   += downlink.c pprz_transport.c
+
+test_max1168.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8 -DSSP_VIC_SLOT=9
+test_max1168.srcs   += $(SRC_BOOZ)/peripherals/booz_max1168.c \
+                       $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+
 #
+# test MICROMAG
+#
+test_micromag.ARCHDIR = $(ARCHI)
+test_micromag.ARCH = arm7tdmi
+test_micromag.TARGET = test_micromag
+test_micromag.TARGETDIR = test_micromag
+
+test_micromag.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) 
-I$(SRC_BOOZ_ARCH)
+test_micromag.srcs += $(SRC_BOOZ_TEST)/booz2_test_micromag.c
+test_micromag.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' 
-DTIME_LED=1
+test_micromag.CFLAGS += -DLED
+test_micromag.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+test_micromag.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_micromag.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_micromag.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_DEVICE=Uart1 
+test_micromag.srcs += downlink.c pprz_transport.c
+
+#test_micromag.CFLAGS += -I$(BOOZ)
+#test_micromag.srcs += $(BOOZ)/booz_debug.c
+
+test_micromag.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=8 -DSSP_VIC_SLOT=9
+test_micromag.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
+
+
+
+#
 # tunnel hw
 #
 tunnel.ARCHDIR = $(ARCHI)
@@ -79,21 +146,7 @@
 tunnel_bb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 
-#
-# test leds
-#
-test_led.ARCHDIR = $(ARCHI)
-test_led.ARCH = arm7tdmi
-test_led.TARGET = test_led
-test_led.TARGETDIR = test_led
 
-test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
-test_led.srcs += $(SRC_BOOZ_TEST)/booz2_test_led.c
-test_led.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' 
-DTIME_LED=1
-test_led.CFLAGS += -DLED
-test_led.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
-
-
 #
 # test GPS
 #
@@ -229,62 +282,11 @@
 test_crista.srcs += $(SRC_BOOZ)/booz2_imu_crista.c 
$(SRC_BOOZ_ARCH)/booz2_imu_crista_hw.c
 
 
-#
-# test MAX1168
-#
-test_max1168.ARCHDIR = $(ARCHI)
-test_max1168.ARCH = arm7tdmi
-test_max1168.TARGET = test_max1168
-test_max1168.TARGETDIR = test_max1168
 
-test_max1168.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) 
-I$(SRC_BOOZ_ARCH)
-test_max1168.CFLAGS += -DPERIPHERALS_AUTO_INIT
-test_max1168.srcs   += $(SRC_BOOZ_TEST)/booz2_test_max1168.c
-test_max1168.CFLAGS += -DUSE_LED
-test_max1168.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' 
-DTIME_LED=1
-test_max1168.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c 
$(SRC_ARCH)/armVIC.c
 
-test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_max1168.srcs   += $(SRC_ARCH)/uart_hw.c
-
-test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_DEVICE=Uart1 
-test_max1168.srcs   += downlink.c pprz_transport.c
-
-test_max1168.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8 -DSSP_VIC_SLOT=9
-test_max1168.srcs   += $(SRC_BOOZ)/peripherals/booz_max1168.c \
-                       $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
-
-
-
 #
 # test MICROMAG
 #
-test_micromag.ARCHDIR = $(ARCHI)
-test_micromag.ARCH = arm7tdmi
-test_micromag.TARGET = test_micromag
-test_micromag.TARGETDIR = test_micromag
-
-test_micromag.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) 
-I$(SRC_BOOZ_ARCH)
-test_micromag.srcs += $(SRC_BOOZ_TEST)/booz2_test_micromag.c
-test_micromag.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' 
-DTIME_LED=1
-test_micromag.CFLAGS += -DLED
-test_micromag.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
-
-test_micromag.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_micromag.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_micromag.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_DEVICE=Uart1 
-test_micromag.srcs += downlink.c pprz_transport.c
-
-#test_micromag.CFLAGS += -I$(BOOZ)
-#test_micromag.srcs += $(BOOZ)/booz_debug.c
-
-test_micromag.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=8 -DSSP_VIC_SLOT=9
-test_micromag.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
-
-#
-# test MICROMAG
-#
 test_micromag2.ARCHDIR = $(ARCHI)
 test_micromag2.ARCH = arm7tdmi
 test_micromag2.TARGET = test_micromag2
@@ -492,7 +494,27 @@
 test_amc.CFLAGS += -DFLOAT_T=float 
 #-DBOOZ2_IMU_TYPE=\"booz2_imu_crista.h\"
 
+
+
 #
+# test_mkk_bldc : 
+#
+test_mkk_bldc.ARCHDIR = $(ARCHI)
+test_mkk_bldc.ARCH = arm7tdmi
+test_mkk_bldc.TARGET = test_mkk_bldc
+test_mkk_bldc.TARGETDIR = test_mkk_bldc
+
+test_mkk_bldc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
+test_mkk_bldc.CFLAGS += -DPERIPHERALS_AUTO_INIT
+test_mkk_bldc.srcs   += $(SRC_BOOZ_TEST)/booz2_test_buss_bldc_hexa.c
+test_mkk_bldc.CFLAGS += -DUSE_LED
+test_mkk_bldc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' 
-DTIME_LED=1
+test_mkk_bldc.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c 
$(SRC_ARCH)/armVIC.c
+test_mkk_bldc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 
-DI2C0_VIC_SLOT=10
+test_mkk_bldc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+
+#
 # test 24 bits baro
 #
 test_baro_24.ARCHDIR = $(ARCHI)

Modified: paparazzi3/trunk/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c  
2009-11-29 21:29:32 UTC (rev 4357)
+++ paparazzi3/trunk/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c  
2009-11-30 15:18:43 UTC (rev 4358)
@@ -68,7 +68,7 @@
   i2c0_buf[0] = thrust;
   i2c0_transmit(motor_addr[motor], 1, &i2c_done);
 
-  RunOnceEvery(128, { DOWNLINK_SEND_ALIVE(16, MD5SUM);});
+  RunOnceEvery(128, { DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);});
 
 }
 

Modified: paparazzi3/trunk/sw/airborne/booz/test/booz2_test_led.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/booz2_test_led.c     2009-11-29 
21:29:32 UTC (rev 4357)
+++ paparazzi3/trunk/sw/airborne/booz/test/booz2_test_led.c     2009-11-30 
15:18:43 UTC (rev 4358)
@@ -26,7 +26,6 @@
 #include "std.h"
 #include "init_hw.h"
 #include "sys_time.h"
-#include "led.h"
 #include "interrupt_hw.h"
 
 static inline void main_init( void );
@@ -46,22 +45,15 @@
 static inline void main_init( void ) {
   hw_init();
   sys_time_init();
-  led_init();
   int_enable();
-  //  SetBit(IO0DIR, 18);
-  //  SetBit(IO0SET, 18);
-  //SetBit(IO0CLR, 18);
 }
 
 static inline void main_periodic_task( void ) {
-  //#if 0
   RunOnceEvery(100, {
-    LED_TOGGLE(1);
     LED_TOGGLE(2);
     LED_TOGGLE(3);
     LED_TOGGLE(4);
   });
-  //#endif
 }
 
 static inline void main_event_task( void ) {