add test_imu target

spi_master.makefile: add spi to all targets
paparazzi · May 23, 2014 · 721ee73 · 721ee73
1 parent 3fb9dd7
commit 721ee73
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Showing 28 changed files with 82 additions and 19 deletions.
diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -53,6 +53,9 @@
     </target>
     <target name="test_baro_board"          board="lisa_m_1.0"/>
     <target name="test_adc"                 board="lisa_m_1.0"/>
+    <target name="test_imu"                 board="lisa_m_1.0">
+      <subsystem name="imu"           type="aspirin_v1.5"/>
+    </target>
   </firmware>
 
   <modules main_freq="512">

diff --git a/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.1.makefile b/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
@@ -56,7 +56,6 @@ imu_CFLAGS += -DUSE_SPI2
 endif
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 stm_passthrough.CFLAGS += $(imu_CFLAGS)
 stm_passthrough.srcs += $(imu_srcs)
 

diff --git a/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.2.makefile b/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.2.makefile
@@ -58,7 +58,6 @@ imu_CFLAGS += -DUSE_I2C2
 endif
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 stm_passthrough.CFLAGS += $(imu_CFLAGS)
 stm_passthrough.srcs += $(imu_srcs)
 

diff --git a/conf/firmwares/subsystems/rotorcraft/imu_crista.makefile b/conf/firmwares/subsystems/rotorcraft/imu_crista.makefile
@@ -76,7 +76,6 @@ else ifeq ($(ARCH), stm32)
 endif
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 ap.CFLAGS += $(imu_CFLAGS)
 ap.srcs += $(imu_srcs)
 

diff --git a/conf/firmwares/subsystems/rotorcraft/imu_crista_hmc5843.makefile b/conf/firmwares/subsystems/rotorcraft/imu_crista_hmc5843.makefile
@@ -77,7 +77,6 @@ imu_CFLAGS += -DUSE_I2C2
 endif
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 ap.CFLAGS += $(imu_CFLAGS)
 ap.srcs += $(imu_srcs)
 

diff --git a/conf/firmwares/subsystems/shared/imu_analog.makefile b/conf/firmwares/subsystems/shared/imu_analog.makefile
@@ -90,6 +90,8 @@ $(error Not implemented for the stm32 yet... should be trivial, just do it...)
 endif
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 ap.CFLAGS += $(imu_CFLAGS)
 ap.srcs += $(imu_srcs)
+
+test_imu.CFLAG += $(imu_CFLAGS)
+test_imu.srcs += $(imu_srcs)
diff --git a/conf/firmwares/subsystems/shared/imu_apogee.makefile b/conf/firmwares/subsystems/shared/imu_apogee.makefile
@@ -26,6 +26,9 @@ ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
 ap.CFLAGS += $(IMU_APOGEE_CFLAGS)
 ap.srcs   += $(IMU_APOGEE_SRCS)
 
+test_imu.CFLAGS += $(IMU_APOGEE_CFLAGS)
+test_imu.srcs   += $(IMU_APOGEE_SRCS)
+
 #
 # Simulator
 #

diff --git a/conf/firmwares/subsystems/shared/imu_ardrone2.makefile b/conf/firmwares/subsystems/shared/imu_ardrone2.makefile
@@ -12,7 +12,6 @@ imu_srcs   += $(SRC_BOARD)/navdata.c
 endif
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 ap.CFLAGS += $(imu_CFLAGS)
 ap.srcs += $(imu_srcs)
 

diff --git a/conf/firmwares/subsystems/shared/imu_aspirin2_i2c.makefile b/conf/firmwares/subsystems/shared/imu_aspirin2_i2c.makefile
@@ -30,6 +30,8 @@ IMU_ASPIRIN2_CFLAGS += -DUSE_$(IMU_ASPIRIN2_I2C_DEV_UPPER)
 ap.CFLAGS += $(IMU_ASPIRIN2_CFLAGS)
 ap.srcs   += $(IMU_ASPIRIN2_SRCS)
 
+test_imu.CFLAGS += $(IMU_ASPIRIN2_CFLAGS)
+test_imu.srcs   += $(IMU_ASPIRIN2_SRCS)
 
 #
 # NPS simulator

diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_i2c_v1.0.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_i2c_v1.0.makefile
@@ -25,6 +25,8 @@ include $(CFG_SHARED)/imu_aspirin_i2c_common.makefile
 IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_1_0
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
 ap.srcs   += $(IMU_ASPIRIN_SRCS)
+
+test_imu.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
+test_imu.srcs   += $(IMU_ASPIRIN_SRCS)
diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_i2c_v1.5.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_i2c_v1.5.makefile
@@ -25,6 +25,8 @@ include $(CFG_SHARED)/imu_aspirin_i2c_common.makefile
 IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_1_5
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
 ap.srcs   += $(IMU_ASPIRIN_SRCS)
+
+test_imu.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
+test_imu.srcs   += $(IMU_ASPIRIN_SRCS)
diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_v1.0.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v1.0.makefile
@@ -25,6 +25,8 @@ include $(CFG_SHARED)/imu_aspirin_common.makefile
 IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_1_0
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
 ap.srcs   += $(IMU_ASPIRIN_SRCS)
+
+test_imu.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
+test_imu.srcs   += $(IMU_ASPIRIN_SRCS)
diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_v1.5.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v1.5.makefile
@@ -25,6 +25,8 @@ include $(CFG_SHARED)/imu_aspirin_common.makefile
 IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_1_5
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
 ap.srcs   += $(IMU_ASPIRIN_SRCS)
+
+test_imu.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
+test_imu.srcs   += $(IMU_ASPIRIN_SRCS)
diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile
@@ -40,3 +40,6 @@ include $(CFG_SHARED)/imu_aspirin_v2_common.makefile
 
 ap.CFLAGS += $(IMU_ASPIRIN_2_CFLAGS)
 ap.srcs   += $(IMU_ASPIRIN_2_SRCS)
+
+test_imu.CFLAGS += $(IMU_ASPIRIN_2_CFLAGS)
+test_imu.srcs   += $(IMU_ASPIRIN_2_SRCS)
diff --git a/conf/firmwares/subsystems/shared/imu_b2_v1.0.makefile b/conf/firmwares/subsystems/shared/imu_b2_v1.0.makefile
@@ -58,6 +58,8 @@ endif
 endif #NO_MAG
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 ap.CFLAGS += $(imu_CFLAGS)
 ap.srcs += $(imu_srcs)
+
+test_imu.CFLAGS += $(imu_CFLAGS)
+test_imu.srcs += $(imu_srcs)
diff --git a/conf/firmwares/subsystems/shared/imu_b2_v1.1.makefile b/conf/firmwares/subsystems/shared/imu_b2_v1.1.makefile
@@ -58,6 +58,8 @@ imu_CFLAGS += -DMS2100_SPI_DEV=spi2
 endif
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 ap.CFLAGS += $(imu_CFLAGS)
 ap.srcs += $(imu_srcs)
+
+test_imu.CFLAGS += $(imu_CFLAGS)
+test_imu.srcs += $(imu_srcs)
diff --git a/conf/firmwares/subsystems/shared/imu_b2_v1.2.makefile b/conf/firmwares/subsystems/shared/imu_b2_v1.2.makefile
@@ -51,6 +51,8 @@ imu_CFLAGS += -DIMU_B2_I2C_DEV=i2c2 -DUSE_I2C2
 endif
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 ap.CFLAGS += $(imu_CFLAGS)
 ap.srcs += $(imu_srcs)
+
+test_imu.CFLAGS += $(imu_CFLAGS)
+test_imu.srcs += $(imu_srcs)
diff --git a/conf/firmwares/subsystems/shared/imu_drotek_10dof_v2.makefile b/conf/firmwares/subsystems/shared/imu_drotek_10dof_v2.makefile
@@ -74,11 +74,13 @@ IMU_DROTEK_2_CFLAGS += -DUSE_$(DROTEK_2_I2C_DEV_UPPER)
 
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 
 ap.CFLAGS += $(IMU_DROTEK_2_CFLAGS)
 ap.srcs   += $(IMU_DROTEK_2_SRCS)
 
+test_imu.CFLAGS += $(IMU_DROTEK_2_CFLAGS)
+test_imu.srcs   += $(IMU_DROTEK_2_SRCS)
+
 
 #
 # NPS simulator

diff --git a/conf/firmwares/subsystems/shared/imu_gl1.makefile b/conf/firmwares/subsystems/shared/imu_gl1.makefile
@@ -42,11 +42,11 @@ IMU_GL1_CFLAGS += -DGL1_I2C_DEV=$(GL1_I2C_DEV_LOWER)
 IMU_GL1_CFLAGS += -DUSE_$(GL1_I2C_DEV_UPPER)
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 ap.CFLAGS += $(IMU_GL1_CFLAGS)
 ap.srcs   += $(IMU_GL1_SRCS)
 
-
+test_imu.CFLAGS += $(IMU_GL1_CFLAGS)
+test_imu.srcs   += $(IMU_GL1_SRCS)
 
 #
 # NPS simulator

diff --git a/conf/firmwares/subsystems/shared/imu_krooz_sd.makefile b/conf/firmwares/subsystems/shared/imu_krooz_sd.makefile
@@ -28,6 +28,9 @@ IMU_KROOZ_CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
 ap.CFLAGS += $(IMU_KROOZ_CFLAGS)
 ap.srcs   += $(IMU_KROOZ_SRCS)
 
+test_imu.CFLAGS += $(IMU_KROOZ_CFLAGS)
+test_imu.srcs   += $(IMU_KROOZ_SRCS)
+
 #
 # NPS simulator
 #

diff --git a/conf/firmwares/subsystems/shared/imu_krooz_sd_memsic.makefile b/conf/firmwares/subsystems/shared/imu_krooz_sd_memsic.makefile
@@ -33,6 +33,9 @@ IMU_KROOZ_CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
 ap.CFLAGS += $(IMU_KROOZ_CFLAGS)
 ap.srcs   += $(IMU_KROOZ_SRCS)
 
+test_imu.CFLAGS += $(IMU_KROOZ_CFLAGS)
+test_imu.srcs   += $(IMU_KROOZ_SRCS)
+
 #
 # NPS simulator
 #

diff --git a/conf/firmwares/subsystems/shared/imu_lisa_s_v0.1.makefile b/conf/firmwares/subsystems/shared/imu_lisa_s_v0.1.makefile
@@ -64,6 +64,9 @@ IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI_SLAVE1
 ap.CFLAGS += $(IMU_ASPIRIN_2_CFLAGS)
 ap.srcs   += $(IMU_ASPIRIN_2_SRCS)
 
+test_imu.CFLAGS += $(IMU_ASPIRIN_2_CFLAGS)
+test_imu.srcs   += $(IMU_ASPIRIN_2_SRCS)
+
 #
 # NPS simulator
 #

diff --git a/conf/firmwares/subsystems/shared/imu_mpu6000_hmc5883.makefile b/conf/firmwares/subsystems/shared/imu_mpu6000_hmc5883.makefile
@@ -91,6 +91,9 @@ IMU_CFLAGS += -DUSE_$(IMU_MPU_SPI_SLAVE_IDX)
 ap.CFLAGS += $(IMU_CFLAGS)
 ap.srcs   += $(IMU_SRCS)
 
+test_imu.CFLAGS += $(IMU_CFLAGS)
+test_imu.srcs   += $(IMU_SRCS)
+
 #
 # NPS simulator
 #

diff --git a/conf/firmwares/subsystems/shared/imu_ppzuav.makefile b/conf/firmwares/subsystems/shared/imu_ppzuav.makefile
@@ -20,3 +20,6 @@ endif
 
 ap.CFLAGS += $(IMU_PPZUAV_CFLAGS)
 ap.srcs   += $(IMU_PPZUAV_SRCS)
+
+test_imu.CFLAGS += $(IMU_PPZUAV_CFLAGS)
+test_imu.srcs   += $(IMU_PPZUAV_SRCS)
diff --git a/conf/firmwares/subsystems/shared/imu_px4fmu_v1.7.makefile b/conf/firmwares/subsystems/shared/imu_px4fmu_v1.7.makefile
@@ -58,11 +58,12 @@ IMU_PX4FMU_CFLAGS += -DUSE_I2C2
 
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 
 ap.CFLAGS += $(IMU_PX4FMU_CFLAGS)
 ap.srcs   += $(IMU_PX4FMU_SRCS)
 
+test_imu.CFLAGS += $(IMU_PX4FMU_CFLAGS)
+test_imu.srcs   += $(IMU_PX4FMU_SRCS)
 
 #
 # NPS simulator

diff --git a/conf/firmwares/subsystems/shared/imu_yai.makefile b/conf/firmwares/subsystems/shared/imu_yai.makefile
@@ -36,3 +36,6 @@ include $(CFG_SHARED)/imu_b2_common.makefile
 
 ap.srcs += $(imu_srcs)
 ap.CFLAGS += $(imu_CFLAGS)
+
+test_imu.srcs += $(imu_srcs)
+test_imu.CFLAGS += $(imu_CFLAGS)
diff --git a/conf/firmwares/subsystems/shared/spi_master.makefile b/conf/firmwares/subsystems/shared/spi_master.makefile
@@ -8,7 +8,7 @@ SPI_INCLUDED = 1
 SPI_CFLAGS = -DUSE_SPI -DSPI_MASTER
 SPI_SRCS = mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
 
-ap.CFLAGS += $(SPI_CFLAGS)
-ap.srcs += $(SPI_SRCS)
+$(TARGET).CFLAGS += $(SPI_CFLAGS)
+$(TARGET).srcs += $(SPI_SRCS)
 
 endif
diff --git a/conf/firmwares/test_progs.makefile b/conf/firmwares/test_progs.makefile
@@ -307,3 +307,23 @@ test_adc.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
 test_adc.srcs   += $(COMMON_TELEMETRY_SRCS)
 test_adc.srcs   += $(SRC_ARCH)/mcu_periph/adc_arch.c
 test_adc.srcs   += test/mcu_periph/test_adc.c
+
+
+#
+# test_imu
+#
+# add imu subsystem to test_imu target!
+#
+# configuration
+#   SYS_TIME_LED
+#   MODEM_PORT
+#   MODEM_BAUD
+#
+test_imu.ARCHDIR = $(ARCH)
+test_imu.CFLAGS += $(COMMON_TEST_CFLAGS)
+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   += test/subsystems/test_imu.c
+test_imu.srcs   += math/pprz_trig_int.c