[tests] fix test_baro

paparazzi · Sep 6, 2013 · 54c14ae · 54c14ae
1 parent 5e4f494
commit 54c14ae
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Showing 2 changed files with 25 additions and 14 deletions.
diff --git a/conf/firmwares/lisa_test_progs.makefile b/conf/firmwares/lisa_test_progs.makefile
@@ -190,6 +190,8 @@ test_baro.srcs   += $(COMMON_TELEMETRY_SRCS)
 
 test_baro.CFLAGS += -I$(SRC_LISA)
 
+test_baro.srcs += subsystems/air_data.c
+
 ifeq ($(BOARD), lisa_l)
 test_baro.CFLAGS += -DUSE_I2C2
 test_baro.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
@@ -200,31 +202,36 @@ test_baro.srcs += $(SRC_LISA)/test_baro_i2c.c
 else ifeq ($(BOARD), lisa_m)
 # defaults to i2c baro bmp085 on the board
 LISA_M_BARO ?= BARO_BOARD_BMP085
-  ifeq ($(LISA_M_BARO), BARO_MS5611_SPI)
-    include $(CFG_SHARED)/spi_master.makefile
-    test_baro.CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
-    test_baro.srcs += peripherals/ms5611.c
-    test_baro.srcs += peripherals/ms5611_spi.c
-    test_baro.srcs += subsystems/sensors/baro_ms5611_spi.c
-    test_baro.srcs += $(SRC_LISA)/test_baro_spi.c
-  else ifeq ($(LISA_M_BARO), BARO_MS5611_I2C)
+  ifeq ($(LISA_M_BARO), BARO_MS5611_I2C)
     test_baro.CFLAGS += -DUSE_I2C2
     test_baro.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
+    test_baro.CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
     test_baro.srcs += peripherals/ms5611.c
     test_baro.srcs += peripherals/ms5611_i2c.c
-    test_baro.srcs += subsystems/sensors/baro_ms5611_i2c.c
+    test_baro.srcs += boards/baro_board_ms5611_i2c.c
     test_baro.srcs += $(SRC_LISA)/test_baro_i2c.c
   else ifeq ($(LISA_M_BARO), BARO_BOARD_BMP085)
-	test_baro.CFLAGS += -DUSE_I2C2
+    test_baro.CFLAGS += -DUSE_I2C2
     test_baro.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
     test_baro.srcs += peripherals/bmp085.c
     test_baro.srcs += $(SRC_BOARD)/baro_board.c
     test_baro.srcs += $(SRC_LISA)/test_baro_i2c.c
   endif
-  test_baro.CFLAGS += -D$(LISA_M_BARO)
-endif
 
+# Lia baro (no bmp onboard)
+else ifeq ($(BOARD), lia)
+LIA_BARO ?= BARO_MS5611_SPI
+  ifeq ($(LIA_BARO), BARO_MS5611_I2C)
+    test_baro.CFLAGS += -DUSE_I2C2
+    test_baro.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
+    test_baro.CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
+    test_baro.srcs += peripherals/ms5611.c
+    test_baro.srcs += peripherals/ms5611_i2c.c
+    test_baro.srcs += boards/baro_board_ms5611_i2c.c
+    test_baro.srcs += $(SRC_LISA)/test_baro_i2c.c
+  endif
 
+endif
 
 #
 # test_rc_spektrum : sends RADIO_CONTROL messages on telemetry

diff --git a/sw/airborne/lisa/test_baro_i2c.c b/sw/airborne/lisa/test_baro_i2c.c
@@ -36,8 +36,12 @@
 #include "subsystems/datalink/downlink.h"
 
 #include "subsystems/sensors/baro.h"
+#include "subsystems/air_data.h"
 //#include "my_debug_servo.h"
 
+#define ABI_C
+#include "subsystems/abi.h"
+
 static inline void main_init( void );
 static inline void main_periodic_task( void );
 static inline void main_event_task( void );
@@ -107,7 +111,7 @@ static inline void main_periodic_task( void ) {
 
 
 static inline void main_event_task( void ) {
-  BaroEvent(main_on_baro_abs, main_on_baro_diff);
+  baro_event();
 }
 
 
@@ -117,5 +121,5 @@ 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);});
+  RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice, &air_data.pressure, &air_data.differential);});
 }