[tests] mag ms2100 peripheral test prog

paparazzi · Mar 3, 2013 · ece92c0 · ece92c0
1 parent 9cbc44d
commit ece92c0
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Showing 4 changed files with 96 additions and 124 deletions.
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
@@ -46,6 +46,7 @@
         <target name="test_imu_b2_nomag"  board="lisa_l_1.1"/>
         <target name="test_imu_b2"        board="lisa_l_1.1"/>
         <target name="test_imu_b2_2"      board="lisa_l_1.1"/>
+        <target name="test_ms2100"        board="lisa_l_1.1"/>
         <target name="test_rc_spektrum"   board="lisa_l_1.1"/>
         <target name="test_rc_ppm"        board="lisa_l_1.1"/>
         <target name="test_adc"           board="lisa_l_1.1"/>

diff --git a/conf/firmwares/lisa_test_progs.makefile b/conf/firmwares/lisa_test_progs.makefile
@@ -480,9 +480,21 @@ endif
 
 
 
+#
+# test ms2100 mag
+#
+test_ms2100.ARCHDIR = $(ARCH)
+test_ms2100.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_ms2100.srcs    = $(COMMON_TEST_SRCS)
+test_ms2100.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_ms2100.srcs   += $(COMMON_TELEMETRY_SRCS)
 
-
-
+test_ms2100.CFLAGS += -I$(SRC_LISA)
+test_ms2100.srcs   += test/peripherals/test_ms2100.c
+test_ms2100.srcs   += peripherals/ms2100.c $(SRC_ARCH)/peripherals/ms2100_arch.c
+test_ms2100.CFLAGS += -DUSE_SPI_SLAVE4 -DMS2100_SLAVE_IDX=4 -DMS2100_SPI_DEV=spi2
+test_ms2100.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI2
+test_ms2100.srcs   += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
 
 #
 # test hmc5843

diff --git a/sw/airborne/lisa/test/lisa_test_ms2100.c b/sw/airborne/lisa/test/lisa_test_ms2100.c
diff --git a/sw/airborne/test/peripherals/test_ms2100.c b/sw/airborne/test/peripherals/test_ms2100.c
@@ -0,0 +1,81 @@
+/*
+ * 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 BOARD_CONFIG
+#include "mcu.h"
+#include "mcu_periph/sys_time.h"
+#include "mcu_periph/uart.h"
+#include "subsystems/datalink/downlink.h"
+#include "peripherals/ms2100.h"
+#include "led.h"
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+static inline void main_event_task( void );
+
+int main(void) {
+  main_init();
+
+  while(1) {
+    if (sys_time_check_and_ack_timer(0))
+      main_periodic_task();
+    main_event_task();
+  }
+
+  return 0;
+}
+
+
+static inline void main_init( void ) {
+  mcu_init();
+  sys_time_register_timer((1./50), NULL);
+
+  ms2100_init(&ms2100, &(MS2100_SPI_DEV), MS2100_SLAVE_IDX);
+
+  mcu_int_enable();
+}
+
+static inline void main_periodic_task( void ) {
+  RunOnceEvery(10,
+               {
+                 DOWNLINK_SEND_BOOT(DefaultChannel, DefaultDevice, &sys_time.nb_sec);
+                 LED_TOGGLE(2);
+                 LED_PERIODIC();
+               });
+
+  ms2100_periodic(&ms2100);
+
+}
+
+static inline void main_event_task( void ) {
+  ms2100_event(&ms2100);
+  if (ms2100.status == MS2100_DATA_AVAILABLE) {
+    RunOnceEvery(10, {
+        DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice,
+                                  &ms2100.data.vect.x,
+                                  &ms2100.data.vect.y,
+                                  &ms2100.data.vect.z);
+      });
+    ms2100.status = MS2100_IDLE;
+  }
+}
+