From cfab8a896c3fc3681953aa34604f2b8ac44986d9 Mon Sep 17 00:00:00 2001
From: Brendan Bartels <bbartels@iastate.edu>
Date: Tue, 14 Mar 2017 21:27:26 -0500
Subject: [PATCH] wip: add hardware test specific for IMU
---
quad/src/quad_app/initialize_components.c | 4 +---
.../modular_quad_pid/src/hw_impl_zybo_tests.c | 16 ++++++++++++++++
quad/xsdk_workspace/modular_quad_pid/src/main.c | 1 +
3 files changed, 18 insertions(+), 3 deletions(-)
diff --git a/quad/src/quad_app/initialize_components.c b/quad/src/quad_app/initialize_components.c
index 3ef345150..fa09ea2cf 100644
--- a/quad/src/quad_app/initialize_components.c
+++ b/quad/src/quad_app/initialize_components.c
@@ -67,7 +67,7 @@ int init_structs(modular_structs_t *structs) {
return -1;
}
- // Initialize I2C controller and start the sensor board
+ // Initialize I2C controller
struct I2CDriver *i2c = &structs->hardware_struct.i2c;
if (i2c->reset(i2c)) {
return -1;
@@ -85,11 +85,9 @@ int init_structs(modular_structs_t *structs) {
//manual flight mode
structs->user_defined_struct.flight_mode = MANUAL_FLIGHT_MODE;
-#ifndef BENCH_TEST
// Get the first loop data from accelerometer for the gyroscope to use
if(sensor_init(&structs->raw_sensor_struct, &structs->sensor_struct) == -1)
return -1;
-#endif
return 0;
}
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
index cf36cb0af..8fa79cbb2 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
@@ -70,6 +70,22 @@ int test_zybo_i2c() {
return 0;
}
+int test_zybo_i2c_imu() {
+ struct I2CDriver i2c = create_zybo_i2c();
+ struct SystemDriver sys = create_zybo_system();
+ i2c.reset(&i2c);
+ sys.reset(&sys);
+
+ gam_t gam = { };
+ iic_set_globals(&i2c, &sys);
+ if (iic0_mpu9150_start()) return 0;
+ short x;
+ while (1) {
+ iic0_mpu9150_read_gam(&gam);
+ }
+ return 0;
+}
+
/**
* Test for the PWMInputDriver.
*
diff --git a/quad/xsdk_workspace/modular_quad_pid/src/main.c b/quad/xsdk_workspace/modular_quad_pid/src/main.c
index fe31f0fb6..337212a68 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/main.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/main.c
@@ -26,6 +26,7 @@ int main()
#ifdef RUN_TESTS
//test_zybo_mio7_led_and_system();
//test_zybo_i2c();
+ //test_zybo_i2c_imu();
//test_zybo_pwm_inputs();
//test_zybo_pwm_outputs();
//test_zybo_uart();
--
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