[paparazzi-commits] [5858] adding a test program

[antoine drouin]

Revision: 5858
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5858
Author:   poine
Date:     2010-09-14 15:00:31 +0000 (Tue, 14 Sep 2010)
Log Message:
-----------
adding a test program

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/test/peripherals/
    paparazzi3/trunk/sw/airborne/test/peripherals/test_ami601.c

Added: paparazzi3/trunk/sw/airborne/test/peripherals/test_ami601.c
===================================================================
--- paparazzi3/trunk/sw/airborne/test/peripherals/test_ami601.c                 
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/test/peripherals/test_ami601.c 2010-09-14 
15:00:31 UTC (rev 5858)
@@ -0,0 +1,84 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
+ *
+ * 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 <inttypes.h>
+
+#include "std.h"
+#include "init_hw.h"
+#include "sys_time.h"
+#include "led.h"
+#include "uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+#include "i2c.h"
+#include "booz/peripherals/booz_ami601.h"
+
+#include "interrupt_hw.h"
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+static inline void main_event_task( void );
+
+static inline void on_mag(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();
+
+  LED_ON(4);
+  ami601_init();
+
+  int_enable();
+}
+
+static inline void main_periodic_task( void ) {
+  RunOnceEvery(100, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);});
+  ami601_read();
+}
+
+static inline void main_event_task( void ) {
+
+  AMI601Event(on_mag);
+
+}
+
+static inline void on_mag(void) {
+  LED_TOGGLE(4); 
+  ami601_status = AMI601_IDLE;
+  DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, 
+                           &ami601_values[0],
+                           &ami601_values[1],
+                           &ami601_values[2]);
+  
+}