[paparazzi-commits] [4772] more test programs

[antoine drouin]

Revision: 4772
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4772
Author:   poine
Date:     2010-03-30 17:50:00 +0000 (Tue, 30 Mar 2010)
Log Message:
-----------
more test programs

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
    paparazzi3/trunk/sw/airborne/fms/fms_spi_link.c
    paparazzi3/trunk/sw/airborne/fms/fms_spi_link.h
    paparazzi3/trunk/sw/airborne/fms/udp_transport.h

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/fms/overo_test_link.c
    paparazzi3/trunk/sw/airborne/fms/overo_test_telemetry.c

Modified: paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h        2010-03-30 
17:48:40 UTC (rev 4771)
+++ paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h        2010-03-30 
17:50:00 UTC (rev 4772)
@@ -4,9 +4,9 @@
 #include <inttypes.h>
 
 struct AutopilotMessageFoo {
-  uint32_t foo;
-  uint32_t bar;
-  uint32_t blaa;
+  uint8_t foo;
+  uint8_t bar;
+  uint8_t blaa;
 };
 
 

Modified: paparazzi3/trunk/sw/airborne/fms/fms_spi_link.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_spi_link.c     2010-03-30 17:48:40 UTC 
(rev 4771)
+++ paparazzi3/trunk/sw/airborne/fms/fms_spi_link.c     2010-03-30 17:50:00 UTC 
(rev 4772)
@@ -36,15 +36,14 @@
   return 0;
 }
 
-int spi_link_send(const void *buf_out, size_t count) {
+int spi_link_send(const void *buf_out, size_t count, void *buf_in) {
+
  int ret; 
 
- char buf_in[256]; /* FIXME, check size ? */
-
  struct spi_ioc_transfer tr = {
    .tx_buf = (unsigned long)buf_out,
-   .rx_buf = (unsigned long)&buf_in,
-   .len = sizeof(*buf_out),
+   .rx_buf = (unsigned long)buf_in,
+   .len = count,
    .delay_usecs = spi_link.delay,
    .speed_hz = spi_link.speed,
    .bits_per_word = spi_link.bits,
@@ -52,4 +51,5 @@
  ret = ioctl(spi_link.fd, SPI_IOC_MESSAGE(1), &tr);
 
  return ret;
+
 }

Modified: paparazzi3/trunk/sw/airborne/fms/fms_spi_link.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_spi_link.h     2010-03-30 17:48:40 UTC 
(rev 4771)
+++ paparazzi3/trunk/sw/airborne/fms/fms_spi_link.h     2010-03-30 17:50:00 UTC 
(rev 4772)
@@ -16,6 +16,6 @@
 struct SpiLink spi_link;
 
 extern int spi_link_init(void);
-extern int spi_link_send(const void *buf, size_t count);
+extern int spi_link_send(const void *buf_out, size_t count, void* buf_in);
 
 #endif /* FMS_SPI_LINK_H */

Added: paparazzi3/trunk/sw/airborne/fms/overo_test_link.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_link.c                          
(rev 0)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_link.c  2010-03-30 17:50:00 UTC 
(rev 4772)
@@ -0,0 +1,53 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include <stdint.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+
+#include "fms_spi_link.h"
+#include "fms_autopilot_msg.h"
+
+
+int main(int argc, char *argv[]) {
+  
+  if (spi_link_init())
+    return -1;
+  uint32_t foo = 0;
+  while (1) {
+    struct AutopilotMessageFoo msg_out;
+    msg_out.foo  = foo;
+    msg_out.bar  = foo;
+    msg_out.blaa = foo;
+    struct AutopilotMessageFoo msg_in;
+    spi_link_send(&msg_out, sizeof(struct AutopilotMessageFoo), &msg_in);
+    printf("%d %d %d\n", msg_in.foo, msg_in.bar, msg_in.blaa);
+    //    usleep(1953);
+    usleep(50000);
+    foo++;
+  }
+
+  return 0;
+}

Added: paparazzi3/trunk/sw/airborne/fms/overo_test_telemetry.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_telemetry.c                     
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_telemetry.c     2010-03-30 
17:50:00 UTC (rev 4772)
@@ -0,0 +1,67 @@
+
+#include <inttypes.h>
+
+#include <stdio.h>
+
+#include <event.h>
+#include <evutil.h>
+
+#include "downlink.h"
+#include "udp_transport.h"
+#include "fms_network.h"
+
+#define GCS_HOST "10.31.4.7"
+#define GCS_PORT 4242
+#define DATALINK_PORT 4243
+
+#define TIMEOUT_DT_SEC  0
+//#define TIMEOUT_DT_USEC 500000
+#define TIMEOUT_DT_USEC 50000
+
+
+#define ADD_TIMEOUT() {                                \
+    struct timeval tv;                         \
+    evutil_timerclear(&tv);                    \
+    tv.tv_sec  = TIMEOUT_DT_SEC;               \
+    tv.tv_usec = TIMEOUT_DT_USEC;              \
+    event_add(&timeout, &tv);                  \
+  }
+
+static void timeout_cb(int fd, short event, void *arg);
+
+static struct event timeout;
+static struct FmsNetwork* network;
+
+void timeout_cb(int fd, short event, void *arg) {
+
+  //  printf("in timeout_cb\n");
+
+  DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+
+  float  foof = 3.14159265358979323846;
+  double food = 3.14159265358979323846;
+  DOWNLINK_SEND_TEST_FORMAT(DefaultChannel, &food, &foof);
+
+  UdpTransportPeriodic();
+
+  ADD_TIMEOUT();
+
+}
+
+
+int main(int argc, char** argv) {
+
+  network = network_new(GCS_HOST, GCS_PORT, DATALINK_PORT, FALSE);
+
+  /* Initalize the event library */
+  event_init();
+
+  /* Add a timeout event */
+  evtimer_set(&timeout, timeout_cb, &timeout);
+
+  ADD_TIMEOUT();
+
+  event_dispatch();
+
+  return 0;
+}

Modified: paparazzi3/trunk/sw/airborne/fms/udp_transport.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/udp_transport.h    2010-03-30 17:48:40 UTC 
(rev 4771)
+++ paparazzi3/trunk/sw/airborne/fms/udp_transport.h    2010-03-30 17:50:00 UTC 
(rev 4772)
@@ -85,25 +85,31 @@
     UdpTransportPutUint8(_x);                  \
   }
 
-#define UdpTransportPut2ByteByAddr(_byte) { \
-    UdpTransportPut1ByteByAddr(_byte); \
+#define UdpTransportPut2ByteByAddr(_byte) {                    \
+    UdpTransportPut1ByteByAddr(_byte);                         \
     UdpTransportPut1ByteByAddr((const uint8_t*)_byte+1);       \
   }
 
-#define UdpTransportPut4ByteByAddr(_byte) { \
-    UdpTransportPut2ByteByAddr(_byte); \
+#define UdpTransportPut4ByteByAddr(_byte) {                    \
+    UdpTransportPut2ByteByAddr(_byte);                         \
     UdpTransportPut2ByteByAddr((const uint8_t*)_byte+2);       \
   }
 
+#define UdpTransportPut8ByteByAddr(_byte) {                    \
+    UdpTransportPut4ByteByAddr(_byte);                         \
+    UdpTransportPut4ByteByAddr((const uint8_t*)_byte+4);       \
+  }
 
+
 /* base types */
-#define UdpTransportPutInt8ByAddr(_x)  UdpTransportPut1ByteByAddr(_x)
-#define UdpTransportPutUint8ByAddr(_x) UdpTransportPut1ByteByAddr((const 
uint8_t*)_x)
-#define UdpTransportPutInt16ByAddr(_x) UdpTransportPut2ByteByAddr((const 
uint8_t*)_x)
+#define UdpTransportPutInt8ByAddr(_x)   UdpTransportPut1ByteByAddr(_x)
+#define UdpTransportPutUint8ByAddr(_x)  UdpTransportPut1ByteByAddr((const 
uint8_t*)_x)
+#define UdpTransportPutInt16ByAddr(_x)  UdpTransportPut2ByteByAddr((const 
uint8_t*)_x)
 #define UdpTransportPutUint16ByAddr(_x) UdpTransportPut2ByteByAddr((const 
uint8_t*)_x)
-#define UdpTransportPutInt32ByAddr(_x) UdpTransportPut4ByteByAddr((const 
uint8_t*)_x)
+#define UdpTransportPutInt32ByAddr(_x)  UdpTransportPut4ByteByAddr((const 
uint8_t*)_x)
 #define UdpTransportPutUint32ByAddr(_x) UdpTransportPut4ByteByAddr((const 
uint8_t*)_x)
-#define UdpTransportPutFloatByAddr(_x) UdpTransportPut4ByteByAddr((const 
uint8_t*)_x)
+#define UdpTransportPutFloatByAddr(_x)  UdpTransportPut4ByteByAddr((const 
uint8_t*)_x)
+#define UdpTransportPutDoubleByAddr(_x) UdpTransportPut8ByteByAddr((const 
uint8_t*)_x)
 
 #define UdpTransportPutArray(_put, _n, _x) { \
     uint8_t _i;                                     \