split out the test code that just reads all the sensors nicely
diff --git a/bbb_cape/src/bbb/bbb.gyp b/bbb_cape/src/bbb/bbb.gyp
index e46c99f..25db9a5 100644
--- a/bbb_cape/src/bbb/bbb.gyp
+++ b/bbb_cape/src/bbb/bbb.gyp
@@ -215,5 +215,16 @@
'uart_reader',
],
},
+ {
+ 'target_name': 'test_sensor_receiver',
+ 'type': 'executable',
+ 'sources': [
+ 'test_sensor_receiver.cc',
+ ],
+ 'dependencies': [
+ 'sensor_reader',
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ ],
+ },
],
}
diff --git a/bbb_cape/src/bbb/test_sensor_receiver.cc b/bbb_cape/src/bbb/test_sensor_receiver.cc
new file mode 100644
index 0000000..584acd3
--- /dev/null
+++ b/bbb_cape/src/bbb/test_sensor_receiver.cc
@@ -0,0 +1,50 @@
+#include <inttypes.h>
+
+#include "aos/linux_code/init.h"
+
+#include "bbb/sensor_reader.h"
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+namespace {
+
+double gyro_translate(int64_t in) {
+ return in / 16.0 / 1000.0 / (180.0 / M_PI);
+}
+
+void PacketReceived(const ::bbb::DataStruct *data,
+ const ::aos::time::Time &cape_timestamp) {
+ LOG(DEBUG, "cape timestamp %010" PRId32 ".%09" PRId32 "s\n",
+ cape_timestamp.sec(), cape_timestamp.nsec());
+ if (data->uninitialized_gyro) {
+ LOG(DEBUG, "uninitialized gyro\n");
+ } else if (data->zeroing_gyro) {
+ LOG(DEBUG, "zeroing gyro\n");
+ } else if (data->bad_gyro) {
+ LOG(ERROR, "bad gyro\n");
+ } else if (data->old_gyro_reading) {
+ LOG(WARNING, "old/bad gyro reading\n");
+ } else {
+ LOG(DEBUG, "gyro reading is %f\n", gyro_translate(data->gyro_angle));
+ }
+
+ LOG(DEBUG, "digitals=%x\n", data->test.digitals);
+ for (int i = 0; i < 8; ++i) {
+ LOG(DEBUG, "enc[%d]=%" PRId32 "\n", i, data->test.encoders[i]);
+ LOG(DEBUG, "adc[%d]=%f (%" PRIx16 ")\n", i,
+ 3.3 * data->test.analogs[i] / 0x3FF, data->test.analogs[i]);
+ }
+}
+
+} // namespace
+
+int main() {
+ ::aos::Init(::bbb::SensorReader::kRelativePriority);
+ ::bbb::SensorReader reader("test");
+ while (true) {
+ PacketReceived(reader.ReadPacket(), reader.GetCapeTimestamp());
+ }
+ ::aos::Cleanup();
+}
diff --git a/frc971/prime/prime.gyp b/frc971/prime/prime.gyp
index d841672..aad3def 100644
--- a/frc971/prime/prime.gyp
+++ b/frc971/prime/prime.gyp
@@ -11,7 +11,10 @@
'../input/input.gyp:joystick_reader',
'../output/output.gyp:motor_writer',
'../input/input.gyp:sensor_receiver',
- '<(DEPTH)/bbb_cape/src/bbb/bbb.gyp:*',
+ '<(DEPTH)/bbb_cape/src/bbb/bbb.gyp:uart_reader_main',
+ '<(DEPTH)/bbb_cape/src/bbb/bbb.gyp:test_sensor_receiver',
+ '<(DEPTH)/bbb_cape/src/bbb/bbb.gyp:packet_finder_test',
+ '<(DEPTH)/bbb_cape/src/bbb/bbb.gyp:cows_test',
],
'copies': [
{