[paparazzi-commits] [5286]

[antoine drouin]

Revision: 5286
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5286
Author:   poine
Date:     2010-08-09 22:28:15 +0000 (Mon, 09 Aug 2010)
Log Message:
-----------


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

Added: paparazzi3/trunk/sw/airborne/fms/overo_test_spi_link_crc.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_spi_link_crc.c                  
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_spi_link_crc.c  2010-08-09 
22:28:15 UTC (rev 5286)
@@ -0,0 +1,166 @@
+/*
+ * $Id$
+ *
+ * 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 <string.h>
+
+
+#include "fms/fms_debug.h"
+#include "fms/fms_spi_link.h"
+#include "fms/fms_autopilot_msg.h"
+
+#include "fms/fms_crc.h"
+
+static void fill_msg(struct AutopilotMessageCRCFrame * msg); 
+static void print_up_msg(struct AutopilotMessageCRCFrame * msg);
+static void print_down_msg(struct AutopilotMessageCRCFrame * msg);
+
+static uint32_t passed_cnt = 0;
+static uint32_t crc_errors = 0;
+
+int main(int argc, char *argv[]) {
+  
+  unsigned char skip_test; 
+  uint32_t us_delay; 
+  
+  if(argc > 1) { 
+    us_delay = atoi(argv[1]);
+  }
+  else { 
+    us_delay = 1953; 
+  }
+
+  printf("Delay: %dus\n", us_delay); 
+  
+  //  crc__init(0x31); 
+  crc__init(0x07); 
+  printf("CRC initialized\n");
+
+  if (spi_link_init()) {
+    TRACE(TRACE_ERROR, "%s", "failed to open SPI link \n");
+    return -1;
+  }
+
+  skip_test = 1; 
+  while (1) {
+    struct AutopilotMessageCRCFrame crc_msg_out;
+    struct AutopilotMessageCRCFrame msg_out_prev;
+    struct AutopilotMessageCRCFrame crc_msg_in;
+    crc_t crc_in;
+    
+    memcpy(&msg_out_prev, &crc_msg_out, sizeof(struct 
AutopilotMessageCRCFrame));
+    
+    fill_msg(&crc_msg_out);
+    
+    crc_msg_out.crc = crc__calc_block_crc8(&crc_msg_out, sizeof(struct 
OVERO_LINK_MSG_DOWN));
+    spi_link_send(&crc_msg_out, sizeof(struct AutopilotMessageCRCFrame), 
&crc_msg_in);
+    crc_in          = crc__calc_block_crc8(&crc_msg_in, sizeof(struct 
OVERO_LINK_MSG_DOWN));
+    
+    if(crc_msg_in.crc != crc_in) {
+      crc_errors++; 
+      printf("CRC checksum failed: received %04X != computed %04X (out: 
%04X)\n", 
+              crc_msg_in.crc, crc_in, crc_msg_out.crc);
+    }
+
+    if (!skip_test && memcmp(&crc_msg_in.payload, &msg_out_prev.payload, 
sizeof(struct OVERO_LINK_MSG_DOWN))) {
+      printf("Compare failed: (received != expected): \n");
+      print_up_msg(&crc_msg_in);
+      print_down_msg(&msg_out_prev);
+//    printf("! expected %d %d %d %d\n", msg_out_prev.payload.msg_down.foo, 
msg_out_prev.payload.msg_down.bar, msg_out_prev.payload.msg_down.bla, 
msg_out_prev.payload.msg_down.ble);
+//    printf("! got      %d %d %d %d\n\n", crc_msg_in.payload.msg_up.foo, 
crc_msg_in.payload.msg_up.bar, crc_msg_in.payload.msg_up.bla, 
crc_msg_in.payload.msg_up.ble);
+    }
+    else {
+      if(crc_msg_in.crc != crc_in) { 
+        printf("False CRC error\n");
+      }
+      passed_cnt++;
+      skip_test = 0; 
+      if (!(passed_cnt % 1000)) {
+        printf("passed %d, CRC errors: %d\n", passed_cnt, crc_errors);
+      }
+    }
+    if(us_delay > 0) { 
+      usleep(us_delay);
+    }
+  }
+
+  return 0;
+}
+
+
+static void print_up_msg(struct AutopilotMessageCRCFrame * msg) {
+  printf("UP: %08X %08X %08X %08X %08X %08X %08X %08X CRC: %08X\n", 
msg->payload.msg_up.foo, 
+                                              msg->payload.msg_up.bar, 
+                                              msg->payload.msg_up.bla, 
+                                              msg->payload.msg_up.ble, 
+                                              msg->payload.msg_up.bli, 
+                                              msg->payload.msg_up.blo, 
+                                              msg->payload.msg_up.blu, 
+                                              msg->payload.msg_up.bly, 
+                                              msg->crc);
+}
+static void print_down_msg(struct AutopilotMessageCRCFrame * msg) {
+  printf("DW: %08X %08X %08X %08X %08X %08X %08X %08X CRC: %08X\n", 
msg->payload.msg_down.foo, 
+                                        msg->payload.msg_down.bar, 
+                                        msg->payload.msg_down.bla, 
+                                        msg->payload.msg_down.ble, 
+                                        msg->payload.msg_down.bli, 
+                                        msg->payload.msg_down.blo, 
+                                        msg->payload.msg_up.blu, 
+                                        msg->payload.msg_up.bly, 
+                                        msg->crc);
+}
+
+
+#if 1
+static void fill_msg(struct AutopilotMessageCRCFrame * msg) {
+  static uint32_t foo = 5000;
+  msg->payload.msg_up.foo = 0x55;
+  msg->payload.msg_up.bar = 1;
+  msg->payload.msg_up.bla = 0xff;
+  msg->payload.msg_up.ble = foo % 255;
+  msg->payload.msg_up.bli = 1;
+  msg->payload.msg_up.blo = 0xff;
+  msg->payload.msg_up.blu = 0;
+  msg->payload.msg_up.bly = 0;
+ 
+  foo--; 
+  if(foo == 0) { 
+    foo = 5000;
+  }
+}
+#else
+static void fill_msg(struct AutopilotMessageCRCFrame * msg) {
+  msg->payload.msg_up.foo = 0;
+  msg->payload.msg_up.bar = 0;
+  msg->payload.msg_up.bla = 0;
+  msg->payload.msg_up.ble = 0;
+  msg->payload.msg_up.bli = 0;
+  msg->payload.msg_up.blo = 0;
+  msg->payload.msg_up.blu = 0;
+  msg->payload.msg_up.bly = 0x01;
+}
+#endif