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[paparazzi-commits] [6249] move some makefiles to obsolete dir
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [6249] move some makefiles to obsolete dir |
|
Date: |
Mon, 25 Oct 2010 21:58:33 +0000 |
Revision: 6249
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6249
Author: flixr
Date: 2010-10-25 21:58:32 +0000 (Mon, 25 Oct 2010)
Log Message:
-----------
move some makefiles to obsolete dir
Added Paths:
-----------
paparazzi3/trunk/conf/autopilot/obsolete/
paparazzi3/trunk/conf/autopilot/obsolete/booz_test_progs.makefile
paparazzi3/trunk/conf/autopilot/obsolete/booz_test_progs.xml
paparazzi3/trunk/conf/autopilot/obsolete/lisa_test_progs.makefile
Removed Paths:
-------------
paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile
paparazzi3/trunk/conf/autopilot/booz_test_progs.xml
paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile
Deleted: paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile 2010-10-25
21:58:26 UTC (rev 6248)
+++ paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile 2010-10-25
21:58:32 UTC (rev 6249)
@@ -1,234 +0,0 @@
-# Hey Emacs, this is a -*- makefile -*-
-#
-# $Id$
-# Copyright (C) 2010 The Paparazzi Team
-#
-# 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.
-#
-#
-
-################################################################################
-#
-#
-# Test program for the booz board
-#
-#
-#
-#
-# every "firmware" makefile should have a description of available targets
-# possible options for each of them, susbsystems and associated params for
each of them
-#
-#
-#
-#
-################################################################################
-
-ARCH=lpc21
-
-SRC_ARCH=arch/$(ARCH)
-SRC_BOOZ=booz
-SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/lpc21
-SRC_BOARD=boards/$(BOARD)
-
-BOARD_CFG=\"boards/booz_1.0.h\"
-
-#
-# default configuration expected from board files
-#
-# SYS_TIME_LED = 1
-# MODEM_PORT = UART1
-# MODEM_BAUD = B57600
-
-
-#
-# test_telemetry : Sends ALIVE telemetry messages
-#
-# used configuration
-# SYS_TIME_LED :
-# MODEM_PORT :
-# MODEM_BAUD :
-#
-test_telemetry.ARCHDIR = $(ARCH)
-test_telemetry.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_telemetry.CFLAGS += -DPERIPHERALS_AUTO_INIT
-test_telemetry.srcs += test/test_telemetry.c \
- $(SRC_ARCH)/armVIC.c
-test_telemetry.CFLAGS += -DUSE_LED
-test_telemetry.CFLAGS += -DUSE_SYS_TIME
-test_telemetry.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_telemetry.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_telemetry.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT)
-test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_telemetry.srcs += downlink.c pprz_transport.c
-test_telemetry.srcs += $(SRC_ARCH)/uart_hw.c
-
-
-#
-# test_baro : reads barometers and sends values over telemetry
-#
-# configuration
-# SYS_TIME_LED
-# MODEM_PORT
-# MODEM_BAUD
-#
-test_baro.ARCHDIR = $(ARCH)
-test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_baro.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_ARCH)
-I$(SRC_BOARD)
-test_baro.CFLAGS += -DPERIPHERALS_AUTO_INIT
-test_baro.srcs = $(SRC_BOARD)/test_baro.c \
- $(SRC_ARCH)/armVIC.c
-test_baro.CFLAGS += -DUSE_LED
-test_baro.CFLAGS += -DUSE_SYS_TIME
-test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_baro.srcs += downlink.c pprz_transport.c
-test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_baro.srcs += $(SRC_ARCH)/uart_hw.c
-test_baro.srcs += $(SRC_BOARD)/baro_board.c
-test_baro.CFLAGS += -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
-test_baro.CFLAGS += -DADC0_VIC_SLOT=2
-test_baro.CFLAGS += -DADC1_VIC_SLOT=3
-test_baro.srcs += $(SRC_BOOZ)/booz2_analog.c \
- $(SRC_BOOZ_ARCH)/booz2_analog_hw.c
-# tell me why this shit needs to know battery !!!!
-test_baro.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
-test_baro.srcs += $(SRC_FIRMWARE)/battery.c
-
-
-#
-# test_rc_spektrum :
-#
-# TODO
-#
-#
-#
-#
-
-
-
-#
-# test rc ppm
-#
-# configuration
-# SYS_TIME_LED
-# MODEM_PORT
-# MODEM_BAUD
-# RADIO_CONTROL_LED
-#
-test_rc_ppm.ARCHDIR = $(ARCH)
-
-test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_rc_ppm.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
-test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT
-test_rc_ppm.srcs += $(SRC_BOOZ)/test/booz2_test_radio_control.c
-test_rc_ppm.CFLAGS += -DUSE_LED
-test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_rc_ppm.CFLAGS += -DTIME_LED=$(SYS_TIME_LED)
-test_rc_ppm.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
-
-test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_rc_ppm.srcs += $(SRC_ARCH)/uart_hw.c
-test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_rc_ppm.srcs += downlink.c pprz_transport.c
-test_rc_ppm.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
-test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
-test_rc_ppm.srcs += subsystmes/radio_control.c \
- subsystems/radio_control/ppm.c \
-
$(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
-
-
-
-#
-# simple test of mikrokopter motor controllers
-#
-test_esc_mkk_simple.ARCHDIR = $(ARCH)
-test_esc_mkk_simple.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_esc_mkk_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_esc_mkk_simple.srcs = test/test_esc_mkk_simple.c \
- $(SRC_ARCH)/armVIC.c
-test_esc_mkk_simple.CFLAGS += -DUSE_LED
-test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_esc_mkk_simple.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_esc_mkk_simple.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_esc_mkk_simple.CFLAGS += -DACTUATORS_MKK_DEV=i2c0
-test_esc_mkk_simple.CFLAGS += -DUSE_I2C0
-test_esc_mkk_simple.CFLAGS += -DI2C0_SCLL=150 -DI2C0_SCLH=150
-DI2C0_VIC_SLOT=10
-test_esc_mkk_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-
-
-#
-# test actuators mkk
-#
-test_actuators_mkk.ARCHDIR = $(ARCH)
-test_actuators_mkk.CFLAGS = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
-test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_actuators_mkk.srcs = test/test_actuators.c \
- $(SRC_ARCH)/armVIC.c
-
-test_actuators_mkk.CFLAGS += -DUSE_LED
-
-test_actuators_mkk.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_actuators_mkk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_actuators_mkk.CFLAGS += -DUSE_$(MODEM_PORT)
-D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_actuators_mkk.srcs += downlink.c pprz_transport.c
-
-test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
-test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
-test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
-test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
-test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEV=i2c0
-test_actuators_mkk.CFLAGS += -DUSE_I2C0
-test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-test_actuators_mkk.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
-DI2C0_VIC_SLOT=10
-
-
-#
-# test ami601
-#
-test_ami601.ARCHDIR = $(ARCH)
-test_ami601.CFLAGS = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-test_ami601.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_ami601.srcs = test/peripherals/test_ami601.c \
- $(SRC_ARCH)/armVIC.c
-
-test_ami601.CFLAGS += -DUSE_LED
-
-test_ami601.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_ami601.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_ami601.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_ami601.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_ami601.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_ami601.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_ami601.srcs += downlink.c pprz_transport.c
-
-test_ami601.CFLAGS += -DUSE_AMI601
-test_ami601.srcs += peripherals/ami601.c
-test_ami601.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150
-DI2C1_VIC_SLOT=11
-test_ami601.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
Deleted: paparazzi3/trunk/conf/autopilot/booz_test_progs.xml
===================================================================
--- paparazzi3/trunk/conf/autopilot/booz_test_progs.xml 2010-10-25 21:58:26 UTC
(rev 6248)
+++ paparazzi3/trunk/conf/autopilot/booz_test_progs.xml 2010-10-25 21:58:32 UTC
(rev 6249)
@@ -1,20 +0,0 @@
-<firmware name="booz_test_progs" boards="booz_v1.0"
- description="test programs for booz boards">
-
- <target name="test telemetry" description="Sends ALIVE telemetry messages">
- <param name="MODEM_PORT" values="UART1,UART2,UART3" default="UART2"/>
- <param name="MODEM_BAUD" values="B9600,B57600,B115200" default="B57600"/>
- </target>
-
- <target name="test baro" description="reads barometers and sends values
over telemetry">
- <param name="MODEM_PORT" values="UART1,UART2,UART3" default="UART2"/>
- <param name="MODEM_BAUD" values="B9600,B57600,B115200" default="B57600"/>
- </target>
-
- <target name="test spektrum" description="sends RADIO_CONTROL messages on
telemetry">
- <param name="MODEM_PORT" values="UART0,UART1" default="UART1"/>
- <param name="MODEM_BAUD" values="B9600,B57600,B115200"
default="B57600"/>
- <param name="RADIO_CONTROL_LINK" values="UART0,UART1" default="UART0"/>
- </target>
-
-</firmware>
\ No newline at end of file
Deleted: paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile 2010-10-25
21:58:26 UTC (rev 6248)
+++ paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile 2010-10-25
21:58:32 UTC (rev 6249)
@@ -1,1392 +0,0 @@
-# Hey Emacs, this is a -*- makefile -*-
-#
-# $Id$
-# Copyright (C) 2010 Antoine Drouin
-#
-# 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.
-#
-#
-
-
-################################################################################
-#
-#
-# Those babies run on the overo
-#
-#
-################################################################################
-
-SRC_CSC=csc
-
-# test spi link between overo and stm32
-overo_test_spi_link.ARCHDIR = omap
-overo_test_spi_link.CFLAGS += -I$(ACINCLUDE) -I.
-I$(PAPARAZZI_HOME)/var/include
-overo_test_spi_link.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageFoo
-DOVERO_LINK_MSG_DOWN=AutopilotMessageFoo
-overo_test_spi_link.srcs = $(SRC_FMS)/overo_test_spi_link.c
-overo_test_spi_link.srcs += $(SRC_FMS)/fms_spi_link.c
-
-
-
-# test network based telemetry on overo
-overo_test_telemetry.ARCHDIR = omap
-overo_test_telemetry.CFLAGS += -I$(ACINCLUDE) -I.
-I$(PAPARAZZI_HOME)/var/include
-overo_test_telemetry.srcs = $(SRC_FMS)/overo_test_telemetry.c
-overo_test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
-overo_test_telemetry.srcs += $(SRC_FMS)/udp_transport.c downlink.c
-overo_test_telemetry.srcs += $(SRC_FMS)/fms_network.c
-overo_test_telemetry.LDFLAGS += -levent
-
-# test network based telemetry on overo (using udp_transport2/messages2)
-overo_test_telemetry2.ARCHDIR = omap
-overo_test_telemetry2.CFLAGS += -I$(ACINCLUDE) -I.
-I$(PAPARAZZI_HOME)/var/include
-overo_test_telemetry2.srcs = $(SRC_FMS)/overo_test_telemetry2.c
-overo_test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
-overo_test_telemetry2.srcs += $(SRC_FMS)/udp_transport2.c downlink.c
-overo_test_telemetry2.srcs += $(SRC_FMS)/fms_network.c
-overo_test_telemetry2.LDFLAGS += -levent
-
-# test gps on overo
-overo_test_gps.ARCHDIR = omap
-overo_test_gps.CFLAGS += -I$(ACINCLUDE) -I. -I$(PAPARAZZI_HOME)/var/include
-overo_test_gps.srcs = $(SRC_FMS)/overo_test_gps.c
-overo_test_gps.CFLAGS += -DFMS_PERIODIC_FREQ=500
-overo_test_gps.srcs += $(SRC_FMS)/fms_periodic.c
-overo_test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
-overo_test_gps.srcs += $(SRC_FMS)/udp_transport2.c downlink.c
-overo_test_gps.srcs += $(SRC_FMS)/fms_network.c
-overo_test_gps.LDFLAGS += -levent
-
-
-# test periodic tasks on the overo
-overo_test_periodic.ARCHDIR = omap
-overo_test_periodic.CFLAGS += -I$(ACINCLUDE) -I.
-I$(PAPARAZZI_HOME)/var/include
-overo_test_periodic.srcs = $(SRC_FMS)/overo_test_periodic.c
-overo_test_periodic.CFLAGS += -DFMS_PERIODIC_FREQ=10
-overo_test_periodic.srcs += $(SRC_FMS)/fms_periodic.c
-overo_test_periodic.srcs += $(SRC_FMS)/fms_serial_port.c
-overo_test_periodic.LDFLAGS += -lrt
-overo_test_periodic.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
-overo_test_periodic.srcs += $(SRC_FMS)/udp_transport.c downlink.c
-overo_test_periodic.srcs += $(SRC_FMS)/fms_network.c
-overo_test_periodic.LDFLAGS += -levent
-overo_test_periodic.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp
-DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown
-overo_test_periodic.srcs += $(SRC_FMS)/fms_spi_link.c
-
-# test passthrough , aka using stm32 as io processor
-# this demonstrates
-# -link with io processor
-# -periodic event
-# -telemetry and datalink
-#
-overo_test_passthrough.ARCHDIR = omap
-overo_test_passthrough.LDFLAGS += -levent -lm
-overo_test_passthrough.CFLAGS += -I$(ACINCLUDE) -I.
-I$(PAPARAZZI_HOME)/var/include
-overo_test_passthrough.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp
-DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
-overo_test_passthrough.srcs = $(SRC_FMS)/overo_test_passthrough.c
-overo_test_passthrough.CFLAGS += -DFMS_PERIODIC_FREQ=512
-overo_test_passthrough.srcs += $(SRC_FMS)/fms_periodic.c
-overo_test_passthrough.srcs += $(SRC_FMS)/fms_spi_link.c
-overo_test_passthrough.srcs += $(SRC_FMS)/fms_gs_com.c
-overo_test_passthrough.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
-overo_test_passthrough.srcs += $(SRC_FMS)/udp_transport2.c downlink.c
-overo_test_passthrough.srcs += $(SRC_FMS)/fms_network.c
-
-
-
-################################################################################
-#
-#
-# Those babies run on the stm32
-#
-#
-################################################################################
-
-ARCH=stm32
-SRC_ARCH=$(ARCH)
-SRC_LISA=lisa
-SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
-SRC_BOOZ=booz
-SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
-
-SRC_FIRMWARE=firmwares/rotorcraft
-SRC_SUBSYSTEMS=subsystems
-
-#BOARD_CFG=\"boards/olimex_stm32-h103.h\"
-BOARD_CFG=\"boards/lisa_l_1.0.h\"
-#FLASH_MODE = SERIAL
-FLASH_MODE = JTAG
-
-#
-# test leds
-#
-test_led.ARCHDIR = $(ARCH)
-test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_led.srcs += $(SRC_LISA)/test_led.c \
- $(SRC_ARCH)/led_hw.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_led.CFLAGS += -DUSE_LED
-
-
-#
-# test leds2
-#
-test_led2.ARCHDIR = $(ARCH)
-test_led2.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_led2.CFLAGS += -DBOARD_CONFIG=\"boards/lisa_0.99.h\"
-test_led2.srcs += $(SRC_LISA)/test_led2.c \
- $(SRC_LISA)/exceptions.c \
- $(SRC_LISA)/vector_table.c
-test_led2.CFLAGS += -DUSE_LED
-
-
-#
-# test periodic
-#
-test_periodic.ARCHDIR = $(ARCH)
-test_periodic.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_periodic.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_periodic.srcs += $(SRC_LISA)/test_periodic.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_periodic.CFLAGS += -DUSE_LED
-test_periodic.srcs += $(SRC_ARCH)/led_hw.c
-test_periodic.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_periodic.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_periodic.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-
-#
-# test uart
-#
-test_uart.ARCHDIR = $(ARCH)
-test_uart.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_uart.srcs = $(SRC_LISA)/test_uart.c \
- $(SRC_LISA)/exceptions.c \
- $(SRC_LISA)/vector_table.c
-test_uart.CFLAGS += -DUSE_LED
-test_uart.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_uart.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_uart.srcs += $(SRC_ARCH)/uart_hw.c
-
-
-
-#
-# test telemetry1
-#
-test_telemetry1.ARCHDIR = $(ARCH)
-test_telemetry1.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_telemetry1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_telemetry1.srcs = $(SRC_LISA)/test_telemetry.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_telemetry1.CFLAGS += -DUSE_LED
-test_telemetry1.srcs += $(SRC_ARCH)/led_hw.c
-test_telemetry1.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_telemetry1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_telemetry1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_telemetry1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_telemetry1.srcs += $(SRC_ARCH)/uart_hw.c
-test_telemetry1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
-test_telemetry1.srcs += downlink.c pprz_transport.c
-
-
-#
-# test telemetry2
-#
-test_telemetry2.ARCHDIR = $(ARCH)
-test_telemetry2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_telemetry2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_telemetry2.srcs = $(SRC_LISA)/test_telemetry.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_telemetry2.CFLAGS += -DUSE_LED
-test_telemetry2.srcs += $(SRC_ARCH)/led_hw.c
-test_telemetry2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_telemetry2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_telemetry2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_telemetry2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_telemetry2.srcs += $(SRC_ARCH)/uart_hw.c
-test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_telemetry2.srcs += downlink.c pprz_transport.c
-
-
-#
-# test telemetry3
-#
-test_telemetry3.ARCHDIR = $(ARCH)
-test_telemetry3.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_telemetry3.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_telemetry3.srcs = $(SRC_LISA)/test_telemetry.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_telemetry3.CFLAGS += -DUSE_LED
-test_telemetry3.srcs += $(SRC_ARCH)/led_hw.c
-test_telemetry3.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_telemetry3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_telemetry3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_telemetry3.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
-test_telemetry3.srcs += $(SRC_ARCH)/uart_hw.c
-test_telemetry3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart3
-test_telemetry3.srcs += downlink.c pprz_transport.c
-
-#
-# test datalink
-#
-test_datalink.ARCHDIR = $(ARCH)
-test_datalink.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_datalink.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_datalink.srcs = $(SRC_LISA)/test_datalink.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_datalink.CFLAGS += -DUSE_LED
-test_datalink.srcs += $(SRC_ARCH)/led_hw.c
-test_datalink.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_datalink.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_datalink.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_datalink.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_datalink.srcs += $(SRC_ARCH)/uart_hw.c
-test_datalink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_datalink.srcs += downlink.c pprz_transport.c
-test_datalink.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
-#test_datalink.srcs += $(SRC_BOOZ)/booz2_datalink.c
-
-#
-# tunnel
-#
-tunnel.ARCHDIR = $(ARCH)
-tunnel.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-tunnel.srcs += $(SRC_LISA)/test/lisa_tunnel.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-tunnel.CFLAGS += -DUSE_LED
-tunnel.srcs += $(SRC_ARCH)/led_hw.c
-tunnel.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-#tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600
-#tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B9600
-
-#tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
-#tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B38400
-
-tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-
-#tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200
-#tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B115200
-tunnel.srcs += $(SRC_ARCH)/uart_hw.c
-
-
-
-#
-# test float
-#
-test_float.ARCHDIR = $(ARCH)
-test_float.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_float.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_float.srcs = $(SRC_LISA)/test_float.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_float.CFLAGS += -DUSE_LED
-test_float.srcs += $(SRC_ARCH)/led_hw.c
-test_float.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_float.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_float.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_float.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_float.srcs += $(SRC_ARCH)/uart_hw.c
-test_float.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_float.srcs += downlink.c pprz_transport.c
-test_float.srcs += lisa/plug_sys.c
-
-#
-# test bswap
-#
-test_bswap.ARCHDIR = $(ARCH)
-test_bswap.CFLAGS = -I$(SRC_LISA) -I$(ARCH)
-test_bswap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_bswap.srcs = $(SRC_LISA)/test/test_bswap.c \
-
-
-
-#
-# test rc 2.4
-#
-
-SRC_BOOZ = booz
-SRC_BOOZ_TEST = $(SRC_BOOZ)/test
-
-test_rc_24.ARCHDIR = $(ARCH)
-test_rc_24.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-DPERIPHERALS_AUTO_INIT
-test_rc_24.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_rc_24.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-test_rc_24.CFLAGS += -DUSE_LED
-test_rc_24.srcs += $(SRC_ARCH)/led_hw.c
-
-test_rc_24.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_rc_24.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_rc_24.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_rc_24.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_rc_24.srcs += $(SRC_ARCH)/uart_hw.c
-test_rc_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_rc_24.srcs += downlink.c pprz_transport.c
-
-test_rc_24.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=2
-test_rc_24.CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
-test_rc_24.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"subsystems/radio_control/spektrum_dx7se.h\"
-test_rc_24.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
-test_rc_24.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
-test_rc_24.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
- $(SRC_BOOZ)/subsystems/radio_control/spektrum.c
-# $(SRC_ARCH)/uart_hw.c
-
-
-#
-# test servos
-#
-
-SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
-
-test_servos.ARCHDIR = $(ARCH)
-test_servos.CFLAGS = -I$(SRC_LISA) -I$(ARCH)
-I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_servos.LDFLAGS += -lm
-test_servos.srcs += $(SRC_LISA)/test_servos.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_servos.CFLAGS += -DUSE_LED
-test_servos.srcs += $(SRC_ARCH)/led_hw.c
-test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c
$(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
-
-
-#test_servos.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-#test_servos.srcs += $(SRC_ARCH)/uart_hw.c
-#test_servos.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
-#test_servos.srcs += downlink.c pprz_transport.c
-
-
-
-
-
-
-#
-# test IMU b2
-#
-test_imu_b2.ARCHDIR = $(ARCH)
-test_imu_b2.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)
-I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_imu_b2.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-test_imu_b2.CFLAGS += -DUSE_LED
-test_imu_b2.srcs += $(SRC_ARCH)/led_hw.c
-
-test_imu_b2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_imu_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_imu_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_imu_b2.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_imu_b2.srcs += downlink.c pprz_transport.c
-
-test_imu_b2.srcs += math/pprz_trig_int.c
-
-test_imu_b2.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
-test_imu_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-test_imu_b2.srcs += $(SRC_SUBSYSTEMS)/imu.c
-test_imu_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ
-DUSE_SPI2_IRQ
-test_imu_b2.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c
-test_imu_b2.srcs += peripherals/max1168.c
$(SRC_ARCH)/peripherals/max1168_arch.c
-test_imu_b2.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c
-
-
-#
-# test IMU crista
-#
-test_imu_crista.ARCHDIR = $(ARCH)
-test_imu_crista.CFLAGS = -I$(SRC_FIRMWARE)
-I$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-test_imu_crista.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_imu_crista.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-test_imu_crista.CFLAGS += -DUSE_LED
-test_imu_crista.srcs += $(SRC_ARCH)/led_hw.c
-
-test_imu_crista.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_imu_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_imu_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_imu_crista.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_imu_crista.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_imu_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_imu_crista.srcs += downlink.c pprz_transport.c
-
-test_imu_crista.srcs += math/pprz_trig_int.c
-
-test_imu_crista.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\"
-DIMU_OVERRIDE_CHANNELS
-test_imu_crista.srcs += $(SRC_SUBSYSTEMS)/imu.c \
- $(SRC_SUBSYSTEMS)/imu/imu_crista.c \
- $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_crista_arch.c
-test_imu_crista.CFLAGS += -DUSE_DMA1_C4_IRQ
-
-
-#
-# test IMU aspirin
-#
-test_imu_aspirin.ARCHDIR = $(ARCH)
-test_imu_aspirin.CFLAGS = -I$(SRC_FIRMWARE)
-I$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-test_imu_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_imu_aspirin.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-test_imu_aspirin.CFLAGS += -DUSE_LED
-test_imu_aspirin.srcs += $(SRC_ARCH)/led_hw.c
-
-test_imu_aspirin.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_imu_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_imu_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_imu_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_imu_aspirin.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_imu_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_imu_aspirin.srcs += downlink.c pprz_transport.c
-
-test_imu_aspirin.srcs += math/pprz_trig_int.c
-
-test_imu_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\"
-DIMU_OVERRIDE_CHANNELS
-test_imu_aspirin.srcs += $(SRC_SUBSYSTEMS)/imu.c \
- $(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
- $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_aspirin_arch.c
-
-test_imu_aspirin.CFLAGS += -DUSE_I2C2
-test_imu_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-test_imu_aspirin.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
-test_imu_aspirin.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
-test_imu_aspirin.CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
-test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
-
-#test_imu_aspirin.CFLAGS += -DI2C2_STOP_HANDLER=OnI2CDone
-DI2C2_STOP_HANDLER_HEADER=\"imu/imu_aspirin_arch.h\"
-#test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ
-
-
-
-
-#
-# test motor controllers
-#
-test_mc.ARCHDIR = $(ARCH)
-test_mc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_mc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_mc.srcs = $(SRC_LISA)/test_mc.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_mc.CFLAGS += -DUSE_LED
-test_mc.srcs += $(SRC_ARCH)/led_hw.c
-test_mc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_mc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_mc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-
-#
-# test motor controllers with interrupts
-#
-test_mc2.ARCHDIR = $(ARCH)
-test_mc2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_mc2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_mc2.srcs = $(SRC_LISA)/test_mc2.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_mc2.CFLAGS += -DUSE_LED
-test_mc2.srcs += $(SRC_ARCH)/led_hw.c
-test_mc2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_mc2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_mc2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_mc2.CFLAGS += -DUSE_I2C1
-test_mc2.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-
-
-#
-# test motor controllers asctec with interrupts
-#
-test_mc_asctec_v1_simple.ARCHDIR = $(ARCH)
-test_mc_asctec_v1_simple.CFLAGS = -I$(SRC_LISA) -I$(ARCH)
-DPERIPHERALS_AUTO_INIT
-test_mc_asctec_v1_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_mc_asctec_v1_simple.srcs = $(SRC_LISA)/test/test_mc_asctec_v1_simple.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_mc_asctec_v1_simple.CFLAGS += -DUSE_LED
-test_mc_asctec_v1_simple.srcs += $(SRC_ARCH)/led_hw.c
-test_mc_asctec_v1_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_mc_asctec_v1_simple.CFLAGS +=
-DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_mc_asctec_v1_simple.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_mc_asctec_v1_simple.CFLAGS += -DUSE_I2C1
-test_mc_asctec_v1_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-test_mc_asctec_v1_simple.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_mc_asctec_v1_simple.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_mc_asctec_v1_simple.CFLAGS += -DDOWNLINK
-DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
-test_mc_asctec_v1_simple.srcs += downlink.c pprz_transport.c
-
-
-#
-# test motor controllers asctec2 with interrupts
-#
-test_mc5.ARCHDIR = $(ARCH)
-test_mc5.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_mc5.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_mc5.srcs = $(SRC_LISA)/test_mc5.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_mc5.CFLAGS += -DUSE_LED
-test_mc5.srcs += $(SRC_ARCH)/led_hw.c
-test_mc5.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_mc5.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_mc5.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_mc5.CFLAGS += -DUSE_I2C1
-test_mc5.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-
-
-
-
-#
-# test actuators mkk
-#
-test_actuators_mkk.ARCHDIR = $(ARCH)
-test_actuators_mkk.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-DPERIPHERALS_AUTO_INIT
-test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_actuators_mkk.srcs = $(SRC_LISA)/test/lisa_test_actuators_mkk.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-test_actuators_mkk.CFLAGS += -DUSE_LED
-test_actuators_mkk.srcs += $(SRC_ARCH)/led_hw.c
-
-test_actuators_mkk.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_actuators_mkk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_actuators_mkk.srcs += downlink.c pprz_transport.c
-
-test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
-test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
-test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ
-#test_actuators_mkk.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
-DACTUATORS_ASCTEC_DEVICE=i2c1
-#test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
-test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
-test_actuators_mkk.CFLAGS += -DUSE_I2C1
-test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-
-
-#
-# test actuators asctec
-#
-test_actuators_asctec.ARCHDIR = $(ARCH)
-test_actuators_asctec.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-DPERIPHERALS_AUTO_INIT
-test_actuators_asctec.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_actuators_asctec.srcs = $(SRC_LISA)/test/lisa_test_actuators_mkk.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-test_actuators_asctec.CFLAGS += -DUSE_LED
-test_actuators_asctec.srcs += $(SRC_ARCH)/led_hw.c
-
-test_actuators_asctec.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_actuators_asctec.CFLAGS +=
-DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_actuators_asctec.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_actuators_asctec.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_actuators_asctec.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_actuators_asctec.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_actuators_asctec.srcs += downlink.c pprz_transport.c
-
-test_actuators_asctec.srcs += $(SRC_BOOZ)/booz2_commands.c
-test_actuators_asctec.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
-test_actuators_asctec.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
-# -DBOOZ_START_DELAY=3
-# -DUSE_TIM2_IRQ
-test_actuators_asctec.CFLAGS += -DUSE_I2C1
-test_actuators_asctec.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-
-
-
-
-
-
-#
-# test motor controllers asctec
-#
-test_mc3.ARCHDIR = $(ARCH)
-test_mc3.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_mc3.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_mc3.srcs = $(SRC_LISA)/test_mc3.c \
- $(SRC_LISA)/exceptions.c \
- $(SRC_LISA)/vector_table.c
-test_mc3.CFLAGS += -DUSE_LED
-test_mc3.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_mc3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_mc3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-
-
-
-#
-# test baro
-#
-test_baro.ARCHDIR = $(ARCH)
-test_baro.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_baro.srcs = $(SRC_LISA)/test_baro.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_baro.CFLAGS += -DUSE_LED
-test_baro.srcs += $(SRC_ARCH)/led_hw.c
-test_baro.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_baro.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_baro.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_baro.srcs += downlink.c pprz_transport.c
-
-
-#
-# test baro with interrupts
-#
-test_baro2.ARCHDIR = $(ARCH)
-test_baro2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_baro2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_baro2.srcs = $(SRC_LISA)/test_baro2.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_baro2.CFLAGS += -DUSE_LED
-test_baro2.srcs += $(SRC_ARCH)/led_hw.c
-test_baro2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_baro2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_baro2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_baro2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_baro2.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_baro2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_baro2.srcs += downlink.c pprz_transport.c
-
-test_baro2.srcs += $(SRC_LISA)/lisa_baro.c
-test_baro2.CFLAGS += -DUSE_I2C2
-test_baro2.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-
-
-#
-# another baro test with interrupts
-#
-test_baro3.ARCHDIR = $(ARCH)
-test_baro3.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_baro3.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_baro3.srcs = $(SRC_LISA)/test_baro3.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_baro3.CFLAGS += -DUSE_LED
-test_baro3.srcs += $(SRC_ARCH)/led_hw.c
-test_baro3.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_baro3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_baro3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_baro3.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_baro3.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_baro3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_baro3.srcs += downlink.c pprz_transport.c
-
-test_baro3.CFLAGS += -DUSE_I2C2
-test_baro3.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-
-
-
-#
-# test spi slave ( hardcoded SPI without DMA )
-#
-test_spi_slave.ARCHDIR = $(ARCH)
-test_spi_slave.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_spi_slave.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_spi_slave.srcs = $(SRC_LISA)/test_spi_slave.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_spi_slave.CFLAGS += -DUSE_LED
-test_spi_slave.srcs += $(SRC_ARCH)/led_hw.c
-test_spi_slave.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_spi_slave.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_spi_slave.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_spi_slave.CFLAGS += -DUSE_SPI1_IRQ
-test_spi_slave.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_spi_slave.srcs += $(SRC_ARCH)/uart_hw.c
-test_spi_slave.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
-test_spi_slave.srcs += downlink.c pprz_transport.c
-
-
-#
-# test spi slave2 ( hardcoded SPI with DMA )
-#
-test_spi_slave2.ARCHDIR = $(ARCH)
-test_spi_slave2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_spi_slave2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_spi_slave2.srcs = $(SRC_LISA)/test_spi_slave2.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_spi_slave2.CFLAGS += -DUSE_LED
-test_spi_slave2.srcs += $(SRC_ARCH)/led_hw.c
-test_spi_slave2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_spi_slave2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_spi_slave2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_spi_slave2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_spi_slave2.srcs += $(SRC_ARCH)/uart_hw.c
-test_spi_slave2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
-test_spi_slave2.srcs += downlink.c pprz_transport.c
-
-
-
-#
-# test spi link between overo and stm32
-#
-stm_test_spi_link.ARCHDIR = $(ARCH)
-stm_test_spi_link.CFLAGS += -Ilisa -Ilisa/arch/$(ARCH) -I$(ARCH)
-DPERIPHERALS_AUTO_INIT
-stm_test_spi_link.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-stm_test_spi_link.srcs += lisa/stm_test_spi_link.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-stm_test_spi_link.CFLAGS += -DUSE_LED
-stm_test_spi_link.srcs += $(SRC_ARCH)/led_hw.c
-
-stm_test_spi_link.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-stm_test_spi_link.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-stm_test_spi_link.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-stm_test_spi_link.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-stm_test_spi_link.srcs += $(SRC_ARCH)/uart_hw.c
-
-stm_test_spi_link.CFLAGS += -DUSE_OVERO_LINK
-DOVERO_LINK_MSG_UP=AutopilotMessageFoo
-DOVERO_LINK_MSG_DOWN=AutopilotMessageFoo
-stm_test_spi_link.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2
-DUSE_DMA1_C2_IRQ
-stm_test_spi_link.srcs += lisa/lisa_overo_link.c
lisa/arch/stm32/lisa_overo_link_arch.c
-
-
-
-
-
-#
-# test static
-#
-test_static.ARCHDIR = $(ARCH)
-test_static.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_static.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_static.srcs = $(SRC_LISA)/test_static.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-
-
-#
-# test SC18IS600
-#
-test_sc18is600.ARCHDIR = $(ARCH)
-test_sc18is600.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-test_sc18is600.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_sc18is600.srcs += lisa/test/lisa_test_sc18is600.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-test_sc18is600.CFLAGS += -DUSE_LED
-test_sc18is600.srcs += $(SRC_ARCH)/led_hw.c
-
-test_sc18is600.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_sc18is600.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./128.))'
-test_sc18is600.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_sc18is600.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_sc18is600.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_sc18is600.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_sc18is600.srcs += downlink.c pprz_transport.c
-
-test_sc18is600.srcs += math/pprz_trig_int.c
-
-test_sc18is600.CFLAGS += -DUSE_EXTI2_IRQ -DUSE_DMA1_C4_IRQ
-test_sc18is600.srcs += peripherals/sc18is600.c \
- $(SRC_ARCH)/peripherals/sc18is600_arch.c
-
-
-#
-# test Max1168
-#
-test_max1168.ARCHDIR = $(ARCH)
-test_max1168.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
-test_max1168.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_max1168.srcs = $(SRC_LISA)/test/lisa_test_max1168.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-test_max1168.CFLAGS += -DUSE_LED
-test_max1168.srcs += $(SRC_ARCH)/led_hw.c
-
-test_max1168.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_max1168.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_max1168.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_max1168.CFLAGS += -DUSE_SPI2 -DUSE_EXTI2_IRQ -DUSE_DMA1_C4_IRQ
-DMAX1168_HANDLES_DMA_IRQ
-test_max1168.srcs += peripherals/max1168.c \
- $(SRC_ARCH)/peripherals/max1168_arch.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 ms2001
-#
-test_ms2001.ARCHDIR = $(ARCH)
-test_ms2001.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
-test_ms2001.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_ms2001.srcs = $(SRC_LISA)/test/lisa_test_ms2001.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-test_ms2001.CFLAGS += -DUSE_LED
-test_ms2001.srcs += $(SRC_ARCH)/led_hw.c
-
-test_ms2001.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_ms2001.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_ms2001.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_ms2001.CFLAGS += -DUSE_SPI2
-test_ms2001.CFLAGS += -DUSE_DMA1_C4_IRQ -DMS2001_HANDLES_DMA_IRQ
-test_ms2001.CFLAGS += -DUSE_SPI2_IRQ -DMS2001_HANDLES_SPI_IRQ
-test_ms2001.srcs += peripherals/ms2001.c \
- $(SRC_ARCH)/peripherals/ms2001_arch.c
-
-test_ms2001.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_ms2001.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_ms2001.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
-test_ms2001.srcs += downlink.c pprz_transport.c
-
-#
-# test adxl345
-#
-test_adxl345.ARCHDIR = $(ARCH)
-test_adxl345.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-test_adxl345.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_adxl345.srcs += lisa/test/lisa_test_adxl345.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-test_adxl345.CFLAGS += -DUSE_LED
-test_adxl345.srcs += $(SRC_ARCH)/led_hw.c
-
-test_adxl345.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_adxl345.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_adxl345.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_adxl345.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_adxl345.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_adxl345.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_adxl345.srcs += downlink.c pprz_transport.c
-
-test_adxl345.CFLAGS += -DUSE_EXTI2_IRQ # Acc Int on PD2
-
-#
-# test adxl345 with DMA
-#
-test_adxl345_dma.ARCHDIR = $(ARCH)
-test_adxl345_dma.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-test_adxl345_dma.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_adxl345_dma.srcs += lisa/test/lisa_test_adxl345_dma.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-test_adxl345_dma.CFLAGS += -DUSE_LED
-test_adxl345_dma.srcs += $(SRC_ARCH)/led_hw.c
-
-test_adxl345_dma.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_adxl345_dma.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_adxl345_dma.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_adxl345_dma.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_adxl345_dma.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_adxl345_dma.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_adxl345_dma.srcs += downlink.c pprz_transport.c
-
-test_adxl345_dma.CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
-test_adxl345_dma.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
-
-
-
-
-#
-# test ITG3200
-#
-test_itg3200.ARCHDIR = $(ARCH)
-test_itg3200.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-test_itg3200.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_itg3200.srcs += lisa/test/lisa_test_itg3200.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-test_itg3200.CFLAGS += -DUSE_LED
-test_itg3200.srcs += $(SRC_ARCH)/led_hw.c
-
-test_itg3200.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_itg3200.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_itg3200.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_itg3200.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_itg3200.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_itg3200.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_itg3200.srcs += downlink.c pprz_transport.c
-
-test_itg3200.CFLAGS += -DUSE_I2C2
-test_itg3200.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-test_itg3200.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
-
-
-#
-# test hmc5843
-#
-test_hmc5843.ARCHDIR = $(ARCH)
-test_hmc5843.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -Ibooz -DPERIPHERALS_AUTO_INIT
-test_hmc5843.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_hmc5843.srcs = lisa/test/lisa_test_hmc5843.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_hmc5843.CFLAGS += -DUSE_LED
-test_hmc5843.srcs += $(SRC_ARCH)/led_hw.c
-test_hmc5843.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_hmc5843.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_hmc5843.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_hmc5843.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_hmc5843.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_hmc5843.srcs += downlink.c pprz_transport.c
-
-test_hmc5843.CFLAGS += -DUSE_I2C2
-test_hmc5843.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-test_hmc5843.CFLAGS += -DIMU_OVERRIDE_CHANNELS
-test_hmc5843.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
-
-
-
-
-
-#
-# test Aspirin ( rewired ) no sc18is600
-#
-test_aspirin.ARCHDIR = $(ARCH)
-test_aspirin.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-test_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_aspirin.srcs += lisa/test/lisa_test_aspirin.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-test_aspirin.CFLAGS += -DUSE_LED
-test_aspirin.srcs += $(SRC_ARCH)/led_hw.c
-
-test_aspirin.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_aspirin.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_aspirin.srcs += downlink.c pprz_transport.c
-
-test_aspirin.CFLAGS += -DUSE_I2C2
-test_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-test_aspirin.CFLAGS += -DUSE_EXTI2_IRQ # Gyro Int
-test_aspirin.CFLAGS += -DUSE_EXTI3_IRQ # Mag Int
-test_aspirin.CFLAGS += -DUSE_EXTI4_IRQ # Acc Int
-
-
-
-
-#
-#
-# Passing STM32 telemetry through WIFI
-#
-#
-
-ptw.ARCHDIR = stm32
-ptw.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
-ptw.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-ptw.srcs = $(SRC_LISA)/test/lisa_test_stm_wifi_telemetry.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-# Leds
-ptw.CFLAGS += -DUSE_LED
-ptw.srcs += $(SRC_ARCH)/led_hw.c
-
-# Sys time
-ptw.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-ptw.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-ptw.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-# Link Overo
-ptw.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UNION=AutopilotMessageTW
-ptw.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_IRQ
-ptw.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
-
-# Telemetry
-ptw.CFLAGS += -DUSE_OVERO_LINK_TELEMETRY
-#ptw.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-#ptw.srcs += $(SRC_ARCH)/uart_hw.c
-ptw.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=OveroLinkTelemetry
-ptw.srcs += downlink.c pprz_transport.c
-
-# IMU
-ptw.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
-ptw.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-ptw.srcs += $(SRC_SUBSYSTEMS)/imu.c
-ptw.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-ptw.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c
-ptw.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
-ptw.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c
-ptw.srcs += math/pprz_trig_int.c
-
-ptw.srcs += $(SRC_BOOZ)/booz2_commands.c
-
-# Radio control
-ptw.CFLAGS += -DUSE_RADIO_CONTROL
-ptw.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
-ptw.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"subsystems/radio_control/spektrum_dx7se.h\"
-ptw.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
- $(SRC_BOOZ)/subsystems/radio_control/spektrum.c
-ptw.CFLAGS += -DRADIO_CONTROL_LED=6
-ptw.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
-ptw.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
-ptw.srcs += $(SRC_ARCH)/uart_hw.c
-
-# Actuators
-ptw.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
-ptw.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
-#ptw.srcs += $(SRC_BOOZ_ARCH)/actuators/actuators_mkk_arch.c
-ptw.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-ptw.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ
-ptw.CFLAGS += -DUSE_I2C1
-
-#
-# test csc servo
-#
-test_csc_servo.ARCHDIR = $(ARCH)
-test_csc_servo.CFLAGS = -I $(SRC_CSC) -I$(SRC_LISA) -I$(ARCH)
-DPERIPHERALS_AUTO_INIT
-test_csc_servo.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_csc_servo.srcs = $(SRC_CSC)/csc_protocol.c \
- $(SRC_LISA)/test_csc_servo.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_csc_servo.CFLAGS += -DUSE_LED
-test_csc_servo.srcs += $(SRC_ARCH)/led_hw.c
-test_csc_servo.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_csc_servo.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_csc_servo.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_csc_servo.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_csc_servo.srcs += $(SRC_ARCH)/uart_hw.c
-test_csc_servo.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
-
-test_csc_servo.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_csc_servo.srcs += downlink.c pprz_transport.c
-
-# setting CAN prescaler to generate 3MHz time quanta, drift compensiation to 1
-# time quanta, bit section 1 to 3 time quanta and bit section 2 to 4 time
quanta
-# resulting in a 375kHz CAN bitrate expected by the CSC.
-test_csc_servo.CFLAGS += \
- -DUSE_CAN1 \
- -DUSE_USB_LP_CAN1_RX0_IRQ \
- -DCAN_PRESCALER=12 \
- -DCAN_SJW_TQ=CAN_SJW_1tq \
- -DCAN_BS1_TQ=CAN_BS1_3tq \
- -DCAN_BS2_TQ=CAN_BS2_4tq \
- -DCAN_ERR_RESUME=DISABLE
-test_csc_servo.srcs += can.c $(SRC_ARCH)/can_hw.c
-
-
-
-
-#
-# test GPS
-#
-test_gps.ARCHDIR = $(ARCH)
-test_gps.CFLAGS = -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_gps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-test_gps.srcs += $(SRC_BOOZ_TEST)/booz2_test_gps.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_gps.CFLAGS += -DUSE_LED
-test_gps.srcs += $(SRC_ARCH)/led_hw.c
-test_gps.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-DTIME_LED=1
-test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_gps.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_gps.srcs += $(SRC_ARCH)/uart_hw.c
-
-test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_gps.srcs += downlink.c pprz_transport.c
-
-test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
-test_gps.CFLAGS += -DGPS_LINK=Uart1 -DGPS_LED=3
-test_gps.srcs += $(SRC_BOOZ)/booz_gps.c
-#test_gps.CFLAGS += -DBOOZ_GPS_TYPE_H=\"gps/booz_gps_ubx.h\"
-#test_gps.srcs += $(SRC_BOOZ)/gps/booz_gps_ubx.c
-test_gps.CFLAGS += -DBOOZ_GPS_TYPE_H=\"gps/booz_gps_skytraq.h\"
-test_gps.srcs += $(SRC_BOOZ)/gps/booz_gps_skytraq.c
-
-
-
-#
-# test ADC
-#
-# test_adc.ARCHDIR = $(ARCH)
-# test_adc.CFLAGS = -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-# test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH)
-# test_adc.srcs += $(SRC_LISA)/test/lisa_test_adc.c \
-# $(SRC_ARCH)/stm32_exceptions.c \
-# $(SRC_ARCH)/stm32_vector_table.c
-# test_adc.CFLAGS += -DUSE_LED
-# test_adc.srcs += $(SRC_ARCH)/led_hw.c
-# test_adc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-# test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-DTIME_LED=1
-# test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-#
-# test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-# test_adc.srcs += $(SRC_ARCH)/uart_hw.c
-#
-# test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-# test_adc.srcs += downlink.c pprz_transport.c
-#
-# test_adc.srcs += $(SRC_ARCH)/adc_hw.c
-
-#
-# test adc
-#
-test_adc.ARCHDIR = $(ARCH)
-test_adc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_adc.srcs = $(SRC_ARCH)/adc_hw.c \
- $(SRC_LISA)/test_adc.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_adc.CFLAGS += -DUSE_LED
-test_adc.srcs += $(SRC_ARCH)/led_hw.c
-test_adc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_adc.srcs += $(SRC_ARCH)/uart_hw.c
-test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
-
-test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_adc.srcs += downlink.c pprz_transport.c
-
-test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
-DUSE_ADC1_2_IRQ_HANDLER
-
-################################################################################
-#
-#
-# Hardware test suite
-#
-#
-################################################################################
-test_board.ARCHDIR = $(ARCH)
-test_board.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
-test_board.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_board.srcs = $(SRC_LISA)/test/test_board.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-test_board.CFLAGS += -DUSE_LED
-test_board.srcs += $(SRC_ARCH)/led_hw.c
-test_board.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_board.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_board.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-test_board.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_board.srcs += $(SRC_ARCH)/uart_hw.c
-test_board.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
-
-test_board.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-test_board.srcs += downlink.c pprz_transport.c
-
-test_board.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_board.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
-
-test_board.srcs += $(SRC_LISA)/lisa_baro.c
-test_board.CFLAGS += -DUSE_I2C2
-test_board.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-
-test_board.CFLAGS += -DUSE_I2C1
-
-test_board.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c
$(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
-
-
-
-
-################################################################################
-#
-#
-# Tools for IMUs comparison
-#
-#
-################################################################################
-
-#
-# Spits every samples of one axis of gyro on IMU aspirin
-#
-hs_gyro_aspirin.ARCHDIR = $(ARCH)
-hs_gyro_aspirin.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-hs_gyro_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-hs_gyro_aspirin.srcs += lisa/test/hs_gyro.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-hs_gyro_aspirin.CFLAGS += -DUSE_LED
-hs_gyro_aspirin.srcs += $(SRC_ARCH)/led_hw.c
-
-hs_gyro_aspirin.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-hs_gyro_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-hs_gyro_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-hs_gyro_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-hs_gyro_aspirin.srcs += $(SRC_ARCH)/uart_hw.c
-
-hs_gyro_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-hs_gyro_aspirin.srcs += downlink.c pprz_transport.c
-
-hs_gyro_aspirin.srcs += math/pprz_trig_int.c
-
-hs_gyro_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\"
-DIMU_OVERRIDE_CHANNELS
-hs_gyro_aspirin.srcs += $(SRC_SUBSYSTEMS)/imu.c \
- $(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
- $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_aspirin_arch.c
-
-hs_gyro_aspirin.CFLAGS += -DUSE_I2C2
-hs_gyro_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-hs_gyro_aspirin.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
-hs_gyro_aspirin.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
-hs_gyro_aspirin.CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
-hs_gyro_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
-
-
-#
-# Spits every samples of one axis of gyro on IMU b2
-#
-hs_gyro_b2.ARCHDIR = $(ARCH)
-hs_gyro_b2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
-hs_gyro_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-hs_gyro_b2.srcs += lisa/test/hs_gyro.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-hs_gyro_b2.CFLAGS += -DUSE_LED
-hs_gyro_b2.srcs += $(SRC_ARCH)/led_hw.c
-
-hs_gyro_b2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-hs_gyro_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-hs_gyro_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-hs_gyro_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-hs_gyro_b2.srcs += $(SRC_ARCH)/uart_hw.c
-
-hs_gyro_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-hs_gyro_b2.srcs += downlink.c pprz_transport.c
-
-hs_gyro_b2.srcs += math/pprz_trig_int.c
-
-hs_gyro_b2.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
-hs_gyro_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-hs_gyro_b2.srcs += $(SRC_SUBSYSTEMS)/imu.c
-hs_gyro_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ
-DUSE_SPI2_IRQ
-hs_gyro_b2.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c
-hs_gyro_b2.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
-hs_gyro_b2.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c
-
-#
-# Spits every samples of one axis of gyro on IMU crista
-#
-hs_gyro_crista.ARCHDIR = $(ARCH)
-hs_gyro_crista.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-hs_gyro_crista.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-hs_gyro_crista.srcs += lisa/test/hs_gyro.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
-
-hs_gyro_crista.CFLAGS += -DUSE_LED
-hs_gyro_crista.srcs += $(SRC_ARCH)/led_hw.c
-
-hs_gyro_crista.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-hs_gyro_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-hs_gyro_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-
-hs_gyro_crista.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-hs_gyro_crista.srcs += $(SRC_ARCH)/uart_hw.c
-
-hs_gyro_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
-hs_gyro_crista.srcs += downlink.c pprz_transport.c
-
-hs_gyro_crista.srcs += math/pprz_trig_int.c
-
-hs_gyro_crista.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\"
-DIMU_OVERRIDE_CHANNELS
-hs_gyro_crista.srcs += $(SRC_SUBSYSTEMS)/imu.c \
- $(SRC_SUBSYSTEMS)/imu/imu_crista.c \
- $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_crista_arch.c
-hs_gyro_crista.CFLAGS += -DUSE_DMA1_C4_IRQ
-
-hs_gyro_crista.CFLAGS += -DMEASURED_SENSOR=gyro_unscaled.p
-DMEASURED_SENSOR_NB=0
Copied: paparazzi3/trunk/conf/autopilot/obsolete/booz_test_progs.makefile (from
rev 6248, paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile)
===================================================================
--- paparazzi3/trunk/conf/autopilot/obsolete/booz_test_progs.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/obsolete/booz_test_progs.makefile
2010-10-25 21:58:32 UTC (rev 6249)
@@ -0,0 +1,234 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# $Id$
+# Copyright (C) 2010 The Paparazzi Team
+#
+# 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.
+#
+#
+
+################################################################################
+#
+#
+# Test program for the booz board
+#
+#
+#
+#
+# every "firmware" makefile should have a description of available targets
+# possible options for each of them, susbsystems and associated params for
each of them
+#
+#
+#
+#
+################################################################################
+
+ARCH=lpc21
+
+SRC_ARCH=arch/$(ARCH)
+SRC_BOOZ=booz
+SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/lpc21
+SRC_BOARD=boards/$(BOARD)
+
+BOARD_CFG=\"boards/booz_1.0.h\"
+
+#
+# default configuration expected from board files
+#
+# SYS_TIME_LED = 1
+# MODEM_PORT = UART1
+# MODEM_BAUD = B57600
+
+
+#
+# test_telemetry : Sends ALIVE telemetry messages
+#
+# used configuration
+# SYS_TIME_LED :
+# MODEM_PORT :
+# MODEM_BAUD :
+#
+test_telemetry.ARCHDIR = $(ARCH)
+test_telemetry.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_telemetry.CFLAGS += -DPERIPHERALS_AUTO_INIT
+test_telemetry.srcs += test/test_telemetry.c \
+ $(SRC_ARCH)/armVIC.c
+test_telemetry.CFLAGS += -DUSE_LED
+test_telemetry.CFLAGS += -DUSE_SYS_TIME
+test_telemetry.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_telemetry.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
+test_telemetry.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT)
+test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
+test_telemetry.srcs += downlink.c pprz_transport.c
+test_telemetry.srcs += $(SRC_ARCH)/uart_hw.c
+
+
+#
+# test_baro : reads barometers and sends values over telemetry
+#
+# configuration
+# SYS_TIME_LED
+# MODEM_PORT
+# MODEM_BAUD
+#
+test_baro.ARCHDIR = $(ARCH)
+test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_baro.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_ARCH)
-I$(SRC_BOARD)
+test_baro.CFLAGS += -DPERIPHERALS_AUTO_INIT
+test_baro.srcs = $(SRC_BOARD)/test_baro.c \
+ $(SRC_ARCH)/armVIC.c
+test_baro.CFLAGS += -DUSE_LED
+test_baro.CFLAGS += -DUSE_SYS_TIME
+test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
+test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
+test_baro.srcs += downlink.c pprz_transport.c
+test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_baro.srcs += $(SRC_ARCH)/uart_hw.c
+test_baro.srcs += $(SRC_BOARD)/baro_board.c
+test_baro.CFLAGS += -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
+test_baro.CFLAGS += -DADC0_VIC_SLOT=2
+test_baro.CFLAGS += -DADC1_VIC_SLOT=3
+test_baro.srcs += $(SRC_BOOZ)/booz2_analog.c \
+ $(SRC_BOOZ_ARCH)/booz2_analog_hw.c
+# tell me why this shit needs to know battery !!!!
+test_baro.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
+test_baro.srcs += $(SRC_FIRMWARE)/battery.c
+
+
+#
+# test_rc_spektrum :
+#
+# TODO
+#
+#
+#
+#
+
+
+
+#
+# test rc ppm
+#
+# configuration
+# SYS_TIME_LED
+# MODEM_PORT
+# MODEM_BAUD
+# RADIO_CONTROL_LED
+#
+test_rc_ppm.ARCHDIR = $(ARCH)
+
+test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_rc_ppm.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
+test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT
+test_rc_ppm.srcs += $(SRC_BOOZ)/test/booz2_test_radio_control.c
+test_rc_ppm.CFLAGS += -DUSE_LED
+test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_rc_ppm.CFLAGS += -DTIME_LED=$(SYS_TIME_LED)
+test_rc_ppm.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_rc_ppm.srcs += $(SRC_ARCH)/uart_hw.c
+test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
+test_rc_ppm.srcs += downlink.c pprz_transport.c
+test_rc_ppm.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
+test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
+test_rc_ppm.srcs += subsystmes/radio_control.c \
+ subsystems/radio_control/ppm.c \
+
$(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
+
+
+
+#
+# simple test of mikrokopter motor controllers
+#
+test_esc_mkk_simple.ARCHDIR = $(ARCH)
+test_esc_mkk_simple.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_esc_mkk_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_esc_mkk_simple.srcs = test/test_esc_mkk_simple.c \
+ $(SRC_ARCH)/armVIC.c
+test_esc_mkk_simple.CFLAGS += -DUSE_LED
+test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_esc_mkk_simple.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_esc_mkk_simple.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_esc_mkk_simple.CFLAGS += -DACTUATORS_MKK_DEV=i2c0
+test_esc_mkk_simple.CFLAGS += -DUSE_I2C0
+test_esc_mkk_simple.CFLAGS += -DI2C0_SCLL=150 -DI2C0_SCLH=150
-DI2C0_VIC_SLOT=10
+test_esc_mkk_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+
+#
+# test actuators mkk
+#
+test_actuators_mkk.ARCHDIR = $(ARCH)
+test_actuators_mkk.CFLAGS = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
+test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_actuators_mkk.srcs = test/test_actuators.c \
+ $(SRC_ARCH)/armVIC.c
+
+test_actuators_mkk.CFLAGS += -DUSE_LED
+
+test_actuators_mkk.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
+test_actuators_mkk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_actuators_mkk.CFLAGS += -DUSE_$(MODEM_PORT)
-D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
+test_actuators_mkk.srcs += downlink.c pprz_transport.c
+
+test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
+test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
+test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
+test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
+test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEV=i2c0
+test_actuators_mkk.CFLAGS += -DUSE_I2C0
+test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+test_actuators_mkk.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
-DI2C0_VIC_SLOT=10
+
+
+#
+# test ami601
+#
+test_ami601.ARCHDIR = $(ARCH)
+test_ami601.CFLAGS = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_ami601.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_ami601.srcs = test/peripherals/test_ami601.c \
+ $(SRC_ARCH)/armVIC.c
+
+test_ami601.CFLAGS += -DUSE_LED
+
+test_ami601.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
+test_ami601.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_ami601.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_ami601.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_ami601.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_ami601.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
+test_ami601.srcs += downlink.c pprz_transport.c
+
+test_ami601.CFLAGS += -DUSE_AMI601
+test_ami601.srcs += peripherals/ami601.c
+test_ami601.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150
-DI2C1_VIC_SLOT=11
+test_ami601.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
Copied: paparazzi3/trunk/conf/autopilot/obsolete/booz_test_progs.xml (from rev
6248, paparazzi3/trunk/conf/autopilot/booz_test_progs.xml)
===================================================================
--- paparazzi3/trunk/conf/autopilot/obsolete/booz_test_progs.xml
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/obsolete/booz_test_progs.xml
2010-10-25 21:58:32 UTC (rev 6249)
@@ -0,0 +1,20 @@
+<firmware name="booz_test_progs" boards="booz_v1.0"
+ description="test programs for booz boards">
+
+ <target name="test telemetry" description="Sends ALIVE telemetry messages">
+ <param name="MODEM_PORT" values="UART1,UART2,UART3" default="UART2"/>
+ <param name="MODEM_BAUD" values="B9600,B57600,B115200" default="B57600"/>
+ </target>
+
+ <target name="test baro" description="reads barometers and sends values
over telemetry">
+ <param name="MODEM_PORT" values="UART1,UART2,UART3" default="UART2"/>
+ <param name="MODEM_BAUD" values="B9600,B57600,B115200" default="B57600"/>
+ </target>
+
+ <target name="test spektrum" description="sends RADIO_CONTROL messages on
telemetry">
+ <param name="MODEM_PORT" values="UART0,UART1" default="UART1"/>
+ <param name="MODEM_BAUD" values="B9600,B57600,B115200"
default="B57600"/>
+ <param name="RADIO_CONTROL_LINK" values="UART0,UART1" default="UART0"/>
+ </target>
+
+</firmware>
\ No newline at end of file
Copied: paparazzi3/trunk/conf/autopilot/obsolete/lisa_test_progs.makefile (from
rev 6248, paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile)
===================================================================
--- paparazzi3/trunk/conf/autopilot/obsolete/lisa_test_progs.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/obsolete/lisa_test_progs.makefile
2010-10-25 21:58:32 UTC (rev 6249)
@@ -0,0 +1,1392 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# $Id$
+# Copyright (C) 2010 Antoine Drouin
+#
+# 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.
+#
+#
+
+
+################################################################################
+#
+#
+# Those babies run on the overo
+#
+#
+################################################################################
+
+SRC_CSC=csc
+
+# test spi link between overo and stm32
+overo_test_spi_link.ARCHDIR = omap
+overo_test_spi_link.CFLAGS += -I$(ACINCLUDE) -I.
-I$(PAPARAZZI_HOME)/var/include
+overo_test_spi_link.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageFoo
-DOVERO_LINK_MSG_DOWN=AutopilotMessageFoo
+overo_test_spi_link.srcs = $(SRC_FMS)/overo_test_spi_link.c
+overo_test_spi_link.srcs += $(SRC_FMS)/fms_spi_link.c
+
+
+
+# test network based telemetry on overo
+overo_test_telemetry.ARCHDIR = omap
+overo_test_telemetry.CFLAGS += -I$(ACINCLUDE) -I.
-I$(PAPARAZZI_HOME)/var/include
+overo_test_telemetry.srcs = $(SRC_FMS)/overo_test_telemetry.c
+overo_test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
+overo_test_telemetry.srcs += $(SRC_FMS)/udp_transport.c downlink.c
+overo_test_telemetry.srcs += $(SRC_FMS)/fms_network.c
+overo_test_telemetry.LDFLAGS += -levent
+
+# test network based telemetry on overo (using udp_transport2/messages2)
+overo_test_telemetry2.ARCHDIR = omap
+overo_test_telemetry2.CFLAGS += -I$(ACINCLUDE) -I.
-I$(PAPARAZZI_HOME)/var/include
+overo_test_telemetry2.srcs = $(SRC_FMS)/overo_test_telemetry2.c
+overo_test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
+overo_test_telemetry2.srcs += $(SRC_FMS)/udp_transport2.c downlink.c
+overo_test_telemetry2.srcs += $(SRC_FMS)/fms_network.c
+overo_test_telemetry2.LDFLAGS += -levent
+
+# test gps on overo
+overo_test_gps.ARCHDIR = omap
+overo_test_gps.CFLAGS += -I$(ACINCLUDE) -I. -I$(PAPARAZZI_HOME)/var/include
+overo_test_gps.srcs = $(SRC_FMS)/overo_test_gps.c
+overo_test_gps.CFLAGS += -DFMS_PERIODIC_FREQ=500
+overo_test_gps.srcs += $(SRC_FMS)/fms_periodic.c
+overo_test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
+overo_test_gps.srcs += $(SRC_FMS)/udp_transport2.c downlink.c
+overo_test_gps.srcs += $(SRC_FMS)/fms_network.c
+overo_test_gps.LDFLAGS += -levent
+
+
+# test periodic tasks on the overo
+overo_test_periodic.ARCHDIR = omap
+overo_test_periodic.CFLAGS += -I$(ACINCLUDE) -I.
-I$(PAPARAZZI_HOME)/var/include
+overo_test_periodic.srcs = $(SRC_FMS)/overo_test_periodic.c
+overo_test_periodic.CFLAGS += -DFMS_PERIODIC_FREQ=10
+overo_test_periodic.srcs += $(SRC_FMS)/fms_periodic.c
+overo_test_periodic.srcs += $(SRC_FMS)/fms_serial_port.c
+overo_test_periodic.LDFLAGS += -lrt
+overo_test_periodic.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
+overo_test_periodic.srcs += $(SRC_FMS)/udp_transport.c downlink.c
+overo_test_periodic.srcs += $(SRC_FMS)/fms_network.c
+overo_test_periodic.LDFLAGS += -levent
+overo_test_periodic.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp
-DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown
+overo_test_periodic.srcs += $(SRC_FMS)/fms_spi_link.c
+
+# test passthrough , aka using stm32 as io processor
+# this demonstrates
+# -link with io processor
+# -periodic event
+# -telemetry and datalink
+#
+overo_test_passthrough.ARCHDIR = omap
+overo_test_passthrough.LDFLAGS += -levent -lm
+overo_test_passthrough.CFLAGS += -I$(ACINCLUDE) -I.
-I$(PAPARAZZI_HOME)/var/include
+overo_test_passthrough.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp
-DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
+overo_test_passthrough.srcs = $(SRC_FMS)/overo_test_passthrough.c
+overo_test_passthrough.CFLAGS += -DFMS_PERIODIC_FREQ=512
+overo_test_passthrough.srcs += $(SRC_FMS)/fms_periodic.c
+overo_test_passthrough.srcs += $(SRC_FMS)/fms_spi_link.c
+overo_test_passthrough.srcs += $(SRC_FMS)/fms_gs_com.c
+overo_test_passthrough.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
+overo_test_passthrough.srcs += $(SRC_FMS)/udp_transport2.c downlink.c
+overo_test_passthrough.srcs += $(SRC_FMS)/fms_network.c
+
+
+
+################################################################################
+#
+#
+# Those babies run on the stm32
+#
+#
+################################################################################
+
+ARCH=stm32
+SRC_ARCH=$(ARCH)
+SRC_LISA=lisa
+SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
+SRC_BOOZ=booz
+SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
+
+SRC_FIRMWARE=firmwares/rotorcraft
+SRC_SUBSYSTEMS=subsystems
+
+#BOARD_CFG=\"boards/olimex_stm32-h103.h\"
+BOARD_CFG=\"boards/lisa_l_1.0.h\"
+#FLASH_MODE = SERIAL
+FLASH_MODE = JTAG
+
+#
+# test leds
+#
+test_led.ARCHDIR = $(ARCH)
+test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_led.srcs += $(SRC_LISA)/test_led.c \
+ $(SRC_ARCH)/led_hw.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_led.CFLAGS += -DUSE_LED
+
+
+#
+# test leds2
+#
+test_led2.ARCHDIR = $(ARCH)
+test_led2.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_led2.CFLAGS += -DBOARD_CONFIG=\"boards/lisa_0.99.h\"
+test_led2.srcs += $(SRC_LISA)/test_led2.c \
+ $(SRC_LISA)/exceptions.c \
+ $(SRC_LISA)/vector_table.c
+test_led2.CFLAGS += -DUSE_LED
+
+
+#
+# test periodic
+#
+test_periodic.ARCHDIR = $(ARCH)
+test_periodic.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_periodic.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_periodic.srcs += $(SRC_LISA)/test_periodic.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_periodic.CFLAGS += -DUSE_LED
+test_periodic.srcs += $(SRC_ARCH)/led_hw.c
+test_periodic.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_periodic.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_periodic.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+
+#
+# test uart
+#
+test_uart.ARCHDIR = $(ARCH)
+test_uart.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_uart.srcs = $(SRC_LISA)/test_uart.c \
+ $(SRC_LISA)/exceptions.c \
+ $(SRC_LISA)/vector_table.c
+test_uart.CFLAGS += -DUSE_LED
+test_uart.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_uart.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_uart.srcs += $(SRC_ARCH)/uart_hw.c
+
+
+
+#
+# test telemetry1
+#
+test_telemetry1.ARCHDIR = $(ARCH)
+test_telemetry1.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_telemetry1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_telemetry1.srcs = $(SRC_LISA)/test_telemetry.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_telemetry1.CFLAGS += -DUSE_LED
+test_telemetry1.srcs += $(SRC_ARCH)/led_hw.c
+test_telemetry1.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_telemetry1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_telemetry1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_telemetry1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_telemetry1.srcs += $(SRC_ARCH)/uart_hw.c
+test_telemetry1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+test_telemetry1.srcs += downlink.c pprz_transport.c
+
+
+#
+# test telemetry2
+#
+test_telemetry2.ARCHDIR = $(ARCH)
+test_telemetry2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_telemetry2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_telemetry2.srcs = $(SRC_LISA)/test_telemetry.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_telemetry2.CFLAGS += -DUSE_LED
+test_telemetry2.srcs += $(SRC_ARCH)/led_hw.c
+test_telemetry2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_telemetry2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_telemetry2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_telemetry2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_telemetry2.srcs += $(SRC_ARCH)/uart_hw.c
+test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_telemetry2.srcs += downlink.c pprz_transport.c
+
+
+#
+# test telemetry3
+#
+test_telemetry3.ARCHDIR = $(ARCH)
+test_telemetry3.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_telemetry3.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_telemetry3.srcs = $(SRC_LISA)/test_telemetry.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_telemetry3.CFLAGS += -DUSE_LED
+test_telemetry3.srcs += $(SRC_ARCH)/led_hw.c
+test_telemetry3.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_telemetry3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_telemetry3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_telemetry3.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
+test_telemetry3.srcs += $(SRC_ARCH)/uart_hw.c
+test_telemetry3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart3
+test_telemetry3.srcs += downlink.c pprz_transport.c
+
+#
+# test datalink
+#
+test_datalink.ARCHDIR = $(ARCH)
+test_datalink.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_datalink.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_datalink.srcs = $(SRC_LISA)/test_datalink.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_datalink.CFLAGS += -DUSE_LED
+test_datalink.srcs += $(SRC_ARCH)/led_hw.c
+test_datalink.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_datalink.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_datalink.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_datalink.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_datalink.srcs += $(SRC_ARCH)/uart_hw.c
+test_datalink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_datalink.srcs += downlink.c pprz_transport.c
+test_datalink.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
+#test_datalink.srcs += $(SRC_BOOZ)/booz2_datalink.c
+
+#
+# tunnel
+#
+tunnel.ARCHDIR = $(ARCH)
+tunnel.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+tunnel.srcs += $(SRC_LISA)/test/lisa_tunnel.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+tunnel.CFLAGS += -DUSE_LED
+tunnel.srcs += $(SRC_ARCH)/led_hw.c
+tunnel.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+#tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600
+#tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B9600
+
+#tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
+#tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B38400
+
+tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+
+#tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200
+#tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B115200
+tunnel.srcs += $(SRC_ARCH)/uart_hw.c
+
+
+
+#
+# test float
+#
+test_float.ARCHDIR = $(ARCH)
+test_float.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_float.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_float.srcs = $(SRC_LISA)/test_float.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_float.CFLAGS += -DUSE_LED
+test_float.srcs += $(SRC_ARCH)/led_hw.c
+test_float.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_float.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_float.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_float.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_float.srcs += $(SRC_ARCH)/uart_hw.c
+test_float.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_float.srcs += downlink.c pprz_transport.c
+test_float.srcs += lisa/plug_sys.c
+
+#
+# test bswap
+#
+test_bswap.ARCHDIR = $(ARCH)
+test_bswap.CFLAGS = -I$(SRC_LISA) -I$(ARCH)
+test_bswap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_bswap.srcs = $(SRC_LISA)/test/test_bswap.c \
+
+
+
+#
+# test rc 2.4
+#
+
+SRC_BOOZ = booz
+SRC_BOOZ_TEST = $(SRC_BOOZ)/test
+
+test_rc_24.ARCHDIR = $(ARCH)
+test_rc_24.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-DPERIPHERALS_AUTO_INIT
+test_rc_24.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_rc_24.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+test_rc_24.CFLAGS += -DUSE_LED
+test_rc_24.srcs += $(SRC_ARCH)/led_hw.c
+
+test_rc_24.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_rc_24.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_rc_24.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_rc_24.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_rc_24.srcs += $(SRC_ARCH)/uart_hw.c
+test_rc_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_rc_24.srcs += downlink.c pprz_transport.c
+
+test_rc_24.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=2
+test_rc_24.CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
+test_rc_24.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"subsystems/radio_control/spektrum_dx7se.h\"
+test_rc_24.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
+test_rc_24.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
+test_rc_24.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
+ $(SRC_BOOZ)/subsystems/radio_control/spektrum.c
+# $(SRC_ARCH)/uart_hw.c
+
+
+#
+# test servos
+#
+
+SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
+
+test_servos.ARCHDIR = $(ARCH)
+test_servos.CFLAGS = -I$(SRC_LISA) -I$(ARCH)
-I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_servos.LDFLAGS += -lm
+test_servos.srcs += $(SRC_LISA)/test_servos.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_servos.CFLAGS += -DUSE_LED
+test_servos.srcs += $(SRC_ARCH)/led_hw.c
+test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c
$(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
+
+
+#test_servos.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+#test_servos.srcs += $(SRC_ARCH)/uart_hw.c
+#test_servos.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+#test_servos.srcs += downlink.c pprz_transport.c
+
+
+
+
+
+
+#
+# test IMU b2
+#
+test_imu_b2.ARCHDIR = $(ARCH)
+test_imu_b2.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)
-I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_imu_b2.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+test_imu_b2.CFLAGS += -DUSE_LED
+test_imu_b2.srcs += $(SRC_ARCH)/led_hw.c
+
+test_imu_b2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_imu_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_imu_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_imu_b2.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_imu_b2.srcs += downlink.c pprz_transport.c
+
+test_imu_b2.srcs += math/pprz_trig_int.c
+
+test_imu_b2.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
+test_imu_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
+test_imu_b2.srcs += $(SRC_SUBSYSTEMS)/imu.c
+test_imu_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ
-DUSE_SPI2_IRQ
+test_imu_b2.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c
+test_imu_b2.srcs += peripherals/max1168.c
$(SRC_ARCH)/peripherals/max1168_arch.c
+test_imu_b2.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c
+
+
+#
+# test IMU crista
+#
+test_imu_crista.ARCHDIR = $(ARCH)
+test_imu_crista.CFLAGS = -I$(SRC_FIRMWARE)
-I$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_imu_crista.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_imu_crista.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+test_imu_crista.CFLAGS += -DUSE_LED
+test_imu_crista.srcs += $(SRC_ARCH)/led_hw.c
+
+test_imu_crista.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_imu_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_imu_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_imu_crista.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_imu_crista.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_imu_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_imu_crista.srcs += downlink.c pprz_transport.c
+
+test_imu_crista.srcs += math/pprz_trig_int.c
+
+test_imu_crista.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\"
-DIMU_OVERRIDE_CHANNELS
+test_imu_crista.srcs += $(SRC_SUBSYSTEMS)/imu.c \
+ $(SRC_SUBSYSTEMS)/imu/imu_crista.c \
+ $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_crista_arch.c
+test_imu_crista.CFLAGS += -DUSE_DMA1_C4_IRQ
+
+
+#
+# test IMU aspirin
+#
+test_imu_aspirin.ARCHDIR = $(ARCH)
+test_imu_aspirin.CFLAGS = -I$(SRC_FIRMWARE)
-I$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_imu_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_imu_aspirin.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+test_imu_aspirin.CFLAGS += -DUSE_LED
+test_imu_aspirin.srcs += $(SRC_ARCH)/led_hw.c
+
+test_imu_aspirin.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_imu_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_imu_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_imu_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_imu_aspirin.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_imu_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_imu_aspirin.srcs += downlink.c pprz_transport.c
+
+test_imu_aspirin.srcs += math/pprz_trig_int.c
+
+test_imu_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\"
-DIMU_OVERRIDE_CHANNELS
+test_imu_aspirin.srcs += $(SRC_SUBSYSTEMS)/imu.c \
+ $(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
+ $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_aspirin_arch.c
+
+test_imu_aspirin.CFLAGS += -DUSE_I2C2
+test_imu_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+test_imu_aspirin.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
+test_imu_aspirin.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
+test_imu_aspirin.CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
+test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
+
+#test_imu_aspirin.CFLAGS += -DI2C2_STOP_HANDLER=OnI2CDone
-DI2C2_STOP_HANDLER_HEADER=\"imu/imu_aspirin_arch.h\"
+#test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ
+
+
+
+
+#
+# test motor controllers
+#
+test_mc.ARCHDIR = $(ARCH)
+test_mc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_mc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_mc.srcs = $(SRC_LISA)/test_mc.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_mc.CFLAGS += -DUSE_LED
+test_mc.srcs += $(SRC_ARCH)/led_hw.c
+test_mc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_mc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_mc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+
+#
+# test motor controllers with interrupts
+#
+test_mc2.ARCHDIR = $(ARCH)
+test_mc2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_mc2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_mc2.srcs = $(SRC_LISA)/test_mc2.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_mc2.CFLAGS += -DUSE_LED
+test_mc2.srcs += $(SRC_ARCH)/led_hw.c
+test_mc2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_mc2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_mc2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_mc2.CFLAGS += -DUSE_I2C1
+test_mc2.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+
+#
+# test motor controllers asctec with interrupts
+#
+test_mc_asctec_v1_simple.ARCHDIR = $(ARCH)
+test_mc_asctec_v1_simple.CFLAGS = -I$(SRC_LISA) -I$(ARCH)
-DPERIPHERALS_AUTO_INIT
+test_mc_asctec_v1_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_mc_asctec_v1_simple.srcs = $(SRC_LISA)/test/test_mc_asctec_v1_simple.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_mc_asctec_v1_simple.CFLAGS += -DUSE_LED
+test_mc_asctec_v1_simple.srcs += $(SRC_ARCH)/led_hw.c
+test_mc_asctec_v1_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_mc_asctec_v1_simple.CFLAGS +=
-DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_mc_asctec_v1_simple.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_mc_asctec_v1_simple.CFLAGS += -DUSE_I2C1
+test_mc_asctec_v1_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+test_mc_asctec_v1_simple.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_mc_asctec_v1_simple.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_mc_asctec_v1_simple.CFLAGS += -DDOWNLINK
-DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
+test_mc_asctec_v1_simple.srcs += downlink.c pprz_transport.c
+
+
+#
+# test motor controllers asctec2 with interrupts
+#
+test_mc5.ARCHDIR = $(ARCH)
+test_mc5.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_mc5.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_mc5.srcs = $(SRC_LISA)/test_mc5.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_mc5.CFLAGS += -DUSE_LED
+test_mc5.srcs += $(SRC_ARCH)/led_hw.c
+test_mc5.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_mc5.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_mc5.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_mc5.CFLAGS += -DUSE_I2C1
+test_mc5.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+
+
+
+#
+# test actuators mkk
+#
+test_actuators_mkk.ARCHDIR = $(ARCH)
+test_actuators_mkk.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-DPERIPHERALS_AUTO_INIT
+test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_actuators_mkk.srcs = $(SRC_LISA)/test/lisa_test_actuators_mkk.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+test_actuators_mkk.CFLAGS += -DUSE_LED
+test_actuators_mkk.srcs += $(SRC_ARCH)/led_hw.c
+
+test_actuators_mkk.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_actuators_mkk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_actuators_mkk.srcs += downlink.c pprz_transport.c
+
+test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
+test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
+test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ
+#test_actuators_mkk.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
-DACTUATORS_ASCTEC_DEVICE=i2c1
+#test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
+test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
+test_actuators_mkk.CFLAGS += -DUSE_I2C1
+test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+
+#
+# test actuators asctec
+#
+test_actuators_asctec.ARCHDIR = $(ARCH)
+test_actuators_asctec.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-DPERIPHERALS_AUTO_INIT
+test_actuators_asctec.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_actuators_asctec.srcs = $(SRC_LISA)/test/lisa_test_actuators_mkk.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+test_actuators_asctec.CFLAGS += -DUSE_LED
+test_actuators_asctec.srcs += $(SRC_ARCH)/led_hw.c
+
+test_actuators_asctec.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_actuators_asctec.CFLAGS +=
-DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_actuators_asctec.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_actuators_asctec.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_actuators_asctec.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_actuators_asctec.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_actuators_asctec.srcs += downlink.c pprz_transport.c
+
+test_actuators_asctec.srcs += $(SRC_BOOZ)/booz2_commands.c
+test_actuators_asctec.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
+test_actuators_asctec.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
+# -DBOOZ_START_DELAY=3
+# -DUSE_TIM2_IRQ
+test_actuators_asctec.CFLAGS += -DUSE_I2C1
+test_actuators_asctec.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+
+
+
+
+
+#
+# test motor controllers asctec
+#
+test_mc3.ARCHDIR = $(ARCH)
+test_mc3.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_mc3.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_mc3.srcs = $(SRC_LISA)/test_mc3.c \
+ $(SRC_LISA)/exceptions.c \
+ $(SRC_LISA)/vector_table.c
+test_mc3.CFLAGS += -DUSE_LED
+test_mc3.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_mc3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_mc3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+
+
+
+#
+# test baro
+#
+test_baro.ARCHDIR = $(ARCH)
+test_baro.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_baro.srcs = $(SRC_LISA)/test_baro.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_baro.CFLAGS += -DUSE_LED
+test_baro.srcs += $(SRC_ARCH)/led_hw.c
+test_baro.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_baro.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_baro.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_baro.srcs += downlink.c pprz_transport.c
+
+
+#
+# test baro with interrupts
+#
+test_baro2.ARCHDIR = $(ARCH)
+test_baro2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_baro2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_baro2.srcs = $(SRC_LISA)/test_baro2.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_baro2.CFLAGS += -DUSE_LED
+test_baro2.srcs += $(SRC_ARCH)/led_hw.c
+test_baro2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_baro2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_baro2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_baro2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_baro2.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_baro2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_baro2.srcs += downlink.c pprz_transport.c
+
+test_baro2.srcs += $(SRC_LISA)/lisa_baro.c
+test_baro2.CFLAGS += -DUSE_I2C2
+test_baro2.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+
+#
+# another baro test with interrupts
+#
+test_baro3.ARCHDIR = $(ARCH)
+test_baro3.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_baro3.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_baro3.srcs = $(SRC_LISA)/test_baro3.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_baro3.CFLAGS += -DUSE_LED
+test_baro3.srcs += $(SRC_ARCH)/led_hw.c
+test_baro3.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_baro3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_baro3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_baro3.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_baro3.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_baro3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_baro3.srcs += downlink.c pprz_transport.c
+
+test_baro3.CFLAGS += -DUSE_I2C2
+test_baro3.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+
+
+#
+# test spi slave ( hardcoded SPI without DMA )
+#
+test_spi_slave.ARCHDIR = $(ARCH)
+test_spi_slave.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_spi_slave.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_spi_slave.srcs = $(SRC_LISA)/test_spi_slave.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_spi_slave.CFLAGS += -DUSE_LED
+test_spi_slave.srcs += $(SRC_ARCH)/led_hw.c
+test_spi_slave.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_spi_slave.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_spi_slave.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_spi_slave.CFLAGS += -DUSE_SPI1_IRQ
+test_spi_slave.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_spi_slave.srcs += $(SRC_ARCH)/uart_hw.c
+test_spi_slave.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+test_spi_slave.srcs += downlink.c pprz_transport.c
+
+
+#
+# test spi slave2 ( hardcoded SPI with DMA )
+#
+test_spi_slave2.ARCHDIR = $(ARCH)
+test_spi_slave2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_spi_slave2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_spi_slave2.srcs = $(SRC_LISA)/test_spi_slave2.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_spi_slave2.CFLAGS += -DUSE_LED
+test_spi_slave2.srcs += $(SRC_ARCH)/led_hw.c
+test_spi_slave2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_spi_slave2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_spi_slave2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_spi_slave2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_spi_slave2.srcs += $(SRC_ARCH)/uart_hw.c
+test_spi_slave2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+test_spi_slave2.srcs += downlink.c pprz_transport.c
+
+
+
+#
+# test spi link between overo and stm32
+#
+stm_test_spi_link.ARCHDIR = $(ARCH)
+stm_test_spi_link.CFLAGS += -Ilisa -Ilisa/arch/$(ARCH) -I$(ARCH)
-DPERIPHERALS_AUTO_INIT
+stm_test_spi_link.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+stm_test_spi_link.srcs += lisa/stm_test_spi_link.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+stm_test_spi_link.CFLAGS += -DUSE_LED
+stm_test_spi_link.srcs += $(SRC_ARCH)/led_hw.c
+
+stm_test_spi_link.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+stm_test_spi_link.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+stm_test_spi_link.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+stm_test_spi_link.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+stm_test_spi_link.srcs += $(SRC_ARCH)/uart_hw.c
+
+stm_test_spi_link.CFLAGS += -DUSE_OVERO_LINK
-DOVERO_LINK_MSG_UP=AutopilotMessageFoo
-DOVERO_LINK_MSG_DOWN=AutopilotMessageFoo
+stm_test_spi_link.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2
-DUSE_DMA1_C2_IRQ
+stm_test_spi_link.srcs += lisa/lisa_overo_link.c
lisa/arch/stm32/lisa_overo_link_arch.c
+
+
+
+
+
+#
+# test static
+#
+test_static.ARCHDIR = $(ARCH)
+test_static.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_static.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_static.srcs = $(SRC_LISA)/test_static.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+
+
+#
+# test SC18IS600
+#
+test_sc18is600.ARCHDIR = $(ARCH)
+test_sc18is600.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_sc18is600.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_sc18is600.srcs += lisa/test/lisa_test_sc18is600.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+test_sc18is600.CFLAGS += -DUSE_LED
+test_sc18is600.srcs += $(SRC_ARCH)/led_hw.c
+
+test_sc18is600.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_sc18is600.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./128.))'
+test_sc18is600.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_sc18is600.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_sc18is600.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_sc18is600.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_sc18is600.srcs += downlink.c pprz_transport.c
+
+test_sc18is600.srcs += math/pprz_trig_int.c
+
+test_sc18is600.CFLAGS += -DUSE_EXTI2_IRQ -DUSE_DMA1_C4_IRQ
+test_sc18is600.srcs += peripherals/sc18is600.c \
+ $(SRC_ARCH)/peripherals/sc18is600_arch.c
+
+
+#
+# test Max1168
+#
+test_max1168.ARCHDIR = $(ARCH)
+test_max1168.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
+test_max1168.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_max1168.srcs = $(SRC_LISA)/test/lisa_test_max1168.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+test_max1168.CFLAGS += -DUSE_LED
+test_max1168.srcs += $(SRC_ARCH)/led_hw.c
+
+test_max1168.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_max1168.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_max1168.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_max1168.CFLAGS += -DUSE_SPI2 -DUSE_EXTI2_IRQ -DUSE_DMA1_C4_IRQ
-DMAX1168_HANDLES_DMA_IRQ
+test_max1168.srcs += peripherals/max1168.c \
+ $(SRC_ARCH)/peripherals/max1168_arch.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 ms2001
+#
+test_ms2001.ARCHDIR = $(ARCH)
+test_ms2001.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
+test_ms2001.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_ms2001.srcs = $(SRC_LISA)/test/lisa_test_ms2001.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+test_ms2001.CFLAGS += -DUSE_LED
+test_ms2001.srcs += $(SRC_ARCH)/led_hw.c
+
+test_ms2001.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_ms2001.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_ms2001.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_ms2001.CFLAGS += -DUSE_SPI2
+test_ms2001.CFLAGS += -DUSE_DMA1_C4_IRQ -DMS2001_HANDLES_DMA_IRQ
+test_ms2001.CFLAGS += -DUSE_SPI2_IRQ -DMS2001_HANDLES_SPI_IRQ
+test_ms2001.srcs += peripherals/ms2001.c \
+ $(SRC_ARCH)/peripherals/ms2001_arch.c
+
+test_ms2001.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_ms2001.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_ms2001.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+test_ms2001.srcs += downlink.c pprz_transport.c
+
+#
+# test adxl345
+#
+test_adxl345.ARCHDIR = $(ARCH)
+test_adxl345.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_adxl345.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_adxl345.srcs += lisa/test/lisa_test_adxl345.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+test_adxl345.CFLAGS += -DUSE_LED
+test_adxl345.srcs += $(SRC_ARCH)/led_hw.c
+
+test_adxl345.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_adxl345.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_adxl345.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_adxl345.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_adxl345.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_adxl345.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_adxl345.srcs += downlink.c pprz_transport.c
+
+test_adxl345.CFLAGS += -DUSE_EXTI2_IRQ # Acc Int on PD2
+
+#
+# test adxl345 with DMA
+#
+test_adxl345_dma.ARCHDIR = $(ARCH)
+test_adxl345_dma.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_adxl345_dma.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_adxl345_dma.srcs += lisa/test/lisa_test_adxl345_dma.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+test_adxl345_dma.CFLAGS += -DUSE_LED
+test_adxl345_dma.srcs += $(SRC_ARCH)/led_hw.c
+
+test_adxl345_dma.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_adxl345_dma.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_adxl345_dma.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_adxl345_dma.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_adxl345_dma.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_adxl345_dma.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_adxl345_dma.srcs += downlink.c pprz_transport.c
+
+test_adxl345_dma.CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
+test_adxl345_dma.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
+
+
+
+
+#
+# test ITG3200
+#
+test_itg3200.ARCHDIR = $(ARCH)
+test_itg3200.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_itg3200.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_itg3200.srcs += lisa/test/lisa_test_itg3200.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+test_itg3200.CFLAGS += -DUSE_LED
+test_itg3200.srcs += $(SRC_ARCH)/led_hw.c
+
+test_itg3200.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_itg3200.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_itg3200.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_itg3200.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_itg3200.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_itg3200.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_itg3200.srcs += downlink.c pprz_transport.c
+
+test_itg3200.CFLAGS += -DUSE_I2C2
+test_itg3200.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+test_itg3200.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
+
+
+#
+# test hmc5843
+#
+test_hmc5843.ARCHDIR = $(ARCH)
+test_hmc5843.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -Ibooz -DPERIPHERALS_AUTO_INIT
+test_hmc5843.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_hmc5843.srcs = lisa/test/lisa_test_hmc5843.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_hmc5843.CFLAGS += -DUSE_LED
+test_hmc5843.srcs += $(SRC_ARCH)/led_hw.c
+test_hmc5843.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_hmc5843.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_hmc5843.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_hmc5843.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_hmc5843.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_hmc5843.srcs += downlink.c pprz_transport.c
+
+test_hmc5843.CFLAGS += -DUSE_I2C2
+test_hmc5843.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+test_hmc5843.CFLAGS += -DIMU_OVERRIDE_CHANNELS
+test_hmc5843.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
+
+
+
+
+
+#
+# test Aspirin ( rewired ) no sc18is600
+#
+test_aspirin.ARCHDIR = $(ARCH)
+test_aspirin.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_aspirin.srcs += lisa/test/lisa_test_aspirin.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+test_aspirin.CFLAGS += -DUSE_LED
+test_aspirin.srcs += $(SRC_ARCH)/led_hw.c
+
+test_aspirin.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_aspirin.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_aspirin.srcs += downlink.c pprz_transport.c
+
+test_aspirin.CFLAGS += -DUSE_I2C2
+test_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+test_aspirin.CFLAGS += -DUSE_EXTI2_IRQ # Gyro Int
+test_aspirin.CFLAGS += -DUSE_EXTI3_IRQ # Mag Int
+test_aspirin.CFLAGS += -DUSE_EXTI4_IRQ # Acc Int
+
+
+
+
+#
+#
+# Passing STM32 telemetry through WIFI
+#
+#
+
+ptw.ARCHDIR = stm32
+ptw.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
+ptw.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+ptw.srcs = $(SRC_LISA)/test/lisa_test_stm_wifi_telemetry.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+# Leds
+ptw.CFLAGS += -DUSE_LED
+ptw.srcs += $(SRC_ARCH)/led_hw.c
+
+# Sys time
+ptw.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+ptw.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+ptw.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+# Link Overo
+ptw.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UNION=AutopilotMessageTW
+ptw.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_IRQ
+ptw.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
+
+# Telemetry
+ptw.CFLAGS += -DUSE_OVERO_LINK_TELEMETRY
+#ptw.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+#ptw.srcs += $(SRC_ARCH)/uart_hw.c
+ptw.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=OveroLinkTelemetry
+ptw.srcs += downlink.c pprz_transport.c
+
+# IMU
+ptw.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
+ptw.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
+ptw.srcs += $(SRC_SUBSYSTEMS)/imu.c
+ptw.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
+ptw.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c
+ptw.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
+ptw.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c
+ptw.srcs += math/pprz_trig_int.c
+
+ptw.srcs += $(SRC_BOOZ)/booz2_commands.c
+
+# Radio control
+ptw.CFLAGS += -DUSE_RADIO_CONTROL
+ptw.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
+ptw.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"subsystems/radio_control/spektrum_dx7se.h\"
+ptw.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
+ $(SRC_BOOZ)/subsystems/radio_control/spektrum.c
+ptw.CFLAGS += -DRADIO_CONTROL_LED=6
+ptw.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
+ptw.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
+ptw.srcs += $(SRC_ARCH)/uart_hw.c
+
+# Actuators
+ptw.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
+ptw.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
+#ptw.srcs += $(SRC_BOOZ_ARCH)/actuators/actuators_mkk_arch.c
+ptw.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+ptw.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ
+ptw.CFLAGS += -DUSE_I2C1
+
+#
+# test csc servo
+#
+test_csc_servo.ARCHDIR = $(ARCH)
+test_csc_servo.CFLAGS = -I $(SRC_CSC) -I$(SRC_LISA) -I$(ARCH)
-DPERIPHERALS_AUTO_INIT
+test_csc_servo.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_csc_servo.srcs = $(SRC_CSC)/csc_protocol.c \
+ $(SRC_LISA)/test_csc_servo.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_csc_servo.CFLAGS += -DUSE_LED
+test_csc_servo.srcs += $(SRC_ARCH)/led_hw.c
+test_csc_servo.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_csc_servo.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_csc_servo.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_csc_servo.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_csc_servo.srcs += $(SRC_ARCH)/uart_hw.c
+test_csc_servo.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
+
+test_csc_servo.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_csc_servo.srcs += downlink.c pprz_transport.c
+
+# setting CAN prescaler to generate 3MHz time quanta, drift compensiation to 1
+# time quanta, bit section 1 to 3 time quanta and bit section 2 to 4 time
quanta
+# resulting in a 375kHz CAN bitrate expected by the CSC.
+test_csc_servo.CFLAGS += \
+ -DUSE_CAN1 \
+ -DUSE_USB_LP_CAN1_RX0_IRQ \
+ -DCAN_PRESCALER=12 \
+ -DCAN_SJW_TQ=CAN_SJW_1tq \
+ -DCAN_BS1_TQ=CAN_BS1_3tq \
+ -DCAN_BS2_TQ=CAN_BS2_4tq \
+ -DCAN_ERR_RESUME=DISABLE
+test_csc_servo.srcs += can.c $(SRC_ARCH)/can_hw.c
+
+
+
+
+#
+# test GPS
+#
+test_gps.ARCHDIR = $(ARCH)
+test_gps.CFLAGS = -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_gps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
+test_gps.srcs += $(SRC_BOOZ_TEST)/booz2_test_gps.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_gps.CFLAGS += -DUSE_LED
+test_gps.srcs += $(SRC_ARCH)/led_hw.c
+test_gps.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-DTIME_LED=1
+test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_gps.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_gps.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_gps.srcs += downlink.c pprz_transport.c
+
+test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
+test_gps.CFLAGS += -DGPS_LINK=Uart1 -DGPS_LED=3
+test_gps.srcs += $(SRC_BOOZ)/booz_gps.c
+#test_gps.CFLAGS += -DBOOZ_GPS_TYPE_H=\"gps/booz_gps_ubx.h\"
+#test_gps.srcs += $(SRC_BOOZ)/gps/booz_gps_ubx.c
+test_gps.CFLAGS += -DBOOZ_GPS_TYPE_H=\"gps/booz_gps_skytraq.h\"
+test_gps.srcs += $(SRC_BOOZ)/gps/booz_gps_skytraq.c
+
+
+
+#
+# test ADC
+#
+# test_adc.ARCHDIR = $(ARCH)
+# test_adc.CFLAGS = -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+# test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH)
+# test_adc.srcs += $(SRC_LISA)/test/lisa_test_adc.c \
+# $(SRC_ARCH)/stm32_exceptions.c \
+# $(SRC_ARCH)/stm32_vector_table.c
+# test_adc.CFLAGS += -DUSE_LED
+# test_adc.srcs += $(SRC_ARCH)/led_hw.c
+# test_adc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+# test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-DTIME_LED=1
+# test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#
+# test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+# test_adc.srcs += $(SRC_ARCH)/uart_hw.c
+#
+# test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+# test_adc.srcs += downlink.c pprz_transport.c
+#
+# test_adc.srcs += $(SRC_ARCH)/adc_hw.c
+
+#
+# test adc
+#
+test_adc.ARCHDIR = $(ARCH)
+test_adc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_adc.srcs = $(SRC_ARCH)/adc_hw.c \
+ $(SRC_LISA)/test_adc.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_adc.CFLAGS += -DUSE_LED
+test_adc.srcs += $(SRC_ARCH)/led_hw.c
+test_adc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_adc.srcs += $(SRC_ARCH)/uart_hw.c
+test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
+
+test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_adc.srcs += downlink.c pprz_transport.c
+
+test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
-DUSE_ADC1_2_IRQ_HANDLER
+
+################################################################################
+#
+#
+# Hardware test suite
+#
+#
+################################################################################
+test_board.ARCHDIR = $(ARCH)
+test_board.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
+test_board.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_board.srcs = $(SRC_LISA)/test/test_board.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_board.CFLAGS += -DUSE_LED
+test_board.srcs += $(SRC_ARCH)/led_hw.c
+test_board.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_board.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_board.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_board.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_board.srcs += $(SRC_ARCH)/uart_hw.c
+test_board.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
+
+test_board.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_board.srcs += downlink.c pprz_transport.c
+
+test_board.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_board.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
+
+test_board.srcs += $(SRC_LISA)/lisa_baro.c
+test_board.CFLAGS += -DUSE_I2C2
+test_board.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+test_board.CFLAGS += -DUSE_I2C1
+
+test_board.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c
$(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
+
+
+
+
+################################################################################
+#
+#
+# Tools for IMUs comparison
+#
+#
+################################################################################
+
+#
+# Spits every samples of one axis of gyro on IMU aspirin
+#
+hs_gyro_aspirin.ARCHDIR = $(ARCH)
+hs_gyro_aspirin.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+hs_gyro_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+hs_gyro_aspirin.srcs += lisa/test/hs_gyro.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+hs_gyro_aspirin.CFLAGS += -DUSE_LED
+hs_gyro_aspirin.srcs += $(SRC_ARCH)/led_hw.c
+
+hs_gyro_aspirin.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+hs_gyro_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+hs_gyro_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+hs_gyro_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+hs_gyro_aspirin.srcs += $(SRC_ARCH)/uart_hw.c
+
+hs_gyro_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+hs_gyro_aspirin.srcs += downlink.c pprz_transport.c
+
+hs_gyro_aspirin.srcs += math/pprz_trig_int.c
+
+hs_gyro_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\"
-DIMU_OVERRIDE_CHANNELS
+hs_gyro_aspirin.srcs += $(SRC_SUBSYSTEMS)/imu.c \
+ $(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
+ $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_aspirin_arch.c
+
+hs_gyro_aspirin.CFLAGS += -DUSE_I2C2
+hs_gyro_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+hs_gyro_aspirin.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
+hs_gyro_aspirin.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
+hs_gyro_aspirin.CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
+hs_gyro_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
+
+
+#
+# Spits every samples of one axis of gyro on IMU b2
+#
+hs_gyro_b2.ARCHDIR = $(ARCH)
+hs_gyro_b2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
+hs_gyro_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+hs_gyro_b2.srcs += lisa/test/hs_gyro.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+hs_gyro_b2.CFLAGS += -DUSE_LED
+hs_gyro_b2.srcs += $(SRC_ARCH)/led_hw.c
+
+hs_gyro_b2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+hs_gyro_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+hs_gyro_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+hs_gyro_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+hs_gyro_b2.srcs += $(SRC_ARCH)/uart_hw.c
+
+hs_gyro_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+hs_gyro_b2.srcs += downlink.c pprz_transport.c
+
+hs_gyro_b2.srcs += math/pprz_trig_int.c
+
+hs_gyro_b2.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
+hs_gyro_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
+hs_gyro_b2.srcs += $(SRC_SUBSYSTEMS)/imu.c
+hs_gyro_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ
-DUSE_SPI2_IRQ
+hs_gyro_b2.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_b2_arch.c
+hs_gyro_b2.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
+hs_gyro_b2.srcs += peripherals/ms2001.c $(SRC_ARCH)/peripherals/ms2001_arch.c
+
+#
+# Spits every samples of one axis of gyro on IMU crista
+#
+hs_gyro_crista.ARCHDIR = $(ARCH)
+hs_gyro_crista.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+hs_gyro_crista.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+hs_gyro_crista.srcs += lisa/test/hs_gyro.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+
+hs_gyro_crista.CFLAGS += -DUSE_LED
+hs_gyro_crista.srcs += $(SRC_ARCH)/led_hw.c
+
+hs_gyro_crista.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+hs_gyro_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+hs_gyro_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+hs_gyro_crista.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+hs_gyro_crista.srcs += $(SRC_ARCH)/uart_hw.c
+
+hs_gyro_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+hs_gyro_crista.srcs += downlink.c pprz_transport.c
+
+hs_gyro_crista.srcs += math/pprz_trig_int.c
+
+hs_gyro_crista.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\"
-DIMU_OVERRIDE_CHANNELS
+hs_gyro_crista.srcs += $(SRC_SUBSYSTEMS)/imu.c \
+ $(SRC_SUBSYSTEMS)/imu/imu_crista.c \
+ $(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)/imu_crista_arch.c
+hs_gyro_crista.CFLAGS += -DUSE_DMA1_C4_IRQ
+
+hs_gyro_crista.CFLAGS += -DMEASURED_SENSOR=gyro_unscaled.p
-DMEASURED_SENSOR_NB=0
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- [paparazzi-commits] [6249] move some makefiles to obsolete dir,
Felix Ruess <=