Added folder for testbenches and Makefile support to compile them. Ad…

…ded acquisition testbench.

Makefile

@@ -1,10 +1,38 @@
+SWIFTNAV_ROOT := $(shell pwd)
+MAKEFLAGS += SWIFTNAV_ROOT=$(SWIFTNAV_ROOT)
 
-.PHONY: all firmware docs
+# Be silent per default, but 'make V=1' will show all compiler calls.
+ifneq ($(V),1)
+Q := @
+# Do not print "Entering directory ...".
+MAKEFLAGS += --no-print-directory
+endif
 
-all: firmware docs
+.PHONY: all tests firmware docs
+
+all: firmware tests
 
 firmware:
-	cd src; $(MAKE) $(MFLAGS)
+	@printf "BUILD   src\n"; \
+	$(MAKE) -C src $(MAKEFLAGS)
+
+tests:
+	$(Q)for i in tests/*; do \
+		if [ -d $$i ]; then \
+			printf "BUILD   $$i\n"; \
+			$(MAKE) -C $$i $(MAKEFLAGS) || exit $?; \
+		fi; \
+	done
+
+clean:
+	@printf "CLEAN   src\n"; \
+	$(MAKE) -C src $(MAKEFLAGS) clean
+	$(Q)for i in tests/*; do \
+		if [ -d $$i ]; then \
+			printf "CLEAN   $$i\n"; \
+			$(MAKE) -C $$i $(MAKEFLAGS) clean || exit $?; \
+		fi; \
+	done
 
 docs:
 	doxygen docs/Doxyfile

stm32/Makefile.include

@@ -19,17 +19,16 @@
 ## along with this program.  If not, see <http://www.gnu.org/licenses/>.
 ##
 
-SWIFTNAV_ROOT = ..
 PREFIX ?= arm-none-eabi
-GIT_VERSION := $(shell ../scripts/git-check.sh)
+GIT_VERSION := $(shell $(SWIFTNAV_ROOT)/scripts/git-check.sh)
 # PREFIX ?= arm-elf
 CC = $(PREFIX)-gcc
 LD = $(PREFIX)-gcc
 OBJCOPY = $(PREFIX)-objcopy
 OBJDUMP = $(PREFIX)-objdump
 # Uncomment this line if you want to use the installed (not local) library.
 #TOOLCHAIN_DIR := $(shell dirname `which $(CC)`)/../$(PREFIX)
-TOOLCHAIN_DIR = $(SWIFTNAV_ROOT)/../libopencm3/
+TOOLCHAIN_DIR = /home/fnoble/libopencm3/
 CFLAGS += -O0 -g -Wall -Wextra -Werror -I$(TOOLCHAIN_DIR)/include \
        -fno-common -mcpu=cortex-m3 -mthumb -msoft-float -MD -DSTM32F2 \
        -DGIT_VERSION="\"$(GIT_VERSION)\"" -std=gnu99
@@ -79,7 +78,7 @@ flash: $(BINARY).flash
 	@printf "  OBJDUMP $(*).list\n"
 	$(Q)$(OBJDUMP) -S $(*).elf > $(*).list
 
-%.elf: $(OBJS) $(LDSCRIPT) $(TOOLCHAIN_DIR)/lib/stm32/f2/libopencm3_stm32f2.a
+%.elf: $(OBJS)
 	@printf "  LD      $(subst $(shell pwd)/,,$(@))\n"
 	$(Q)$(LD) -o $(*).elf $(OBJS) -lopencm3_stm32f2 -Xlinker -Map=$(*).map $(LDFLAGS)
 
@@ -122,5 +121,4 @@ ftdi_kextload:
 
 .PHONY: images clean ftdi_kextload ftdi_kextunload
 
--include $(OBJS:.o=.d)
 

tests/acq/Makefile

@@ -0,0 +1,18 @@
+BINARY = acq_test
+
+OBJS = acq_test.o \
+       ../../src/debug.o \
+       ../../src/swift_nap_io.o \
+       ../../src/acq.o \
+       ../../src/track.o \
+       ../../src/nav_msg.o \
+       ../../src/hw/max2769.o \
+       ../../src/hw/m25_flash.o \
+       ../../src/hw/leds.o \
+       ../../src/hw/spi.o \
+       ../../src/hw/usart.o \
+
+CFLAGS += -I../../src/
+
+include ../../stm32/Makefile.include
+

tests/acq/acq_test.c

@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2011 Fergus Noble <[email protected]>
+ *
+ * This program 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 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdio.h>
+#include <libopencm3/stm32/f2/rcc.h>
+#include <libopencm3/stm32/f2/flash.h>
+#include <libopencm3/stm32/f2/gpio.h>
+
+#include "main.h"
+#include "debug.h"
+#include "swift_nap_io.h"
+#include "acq.h"
+#include "hw/leds.h"
+
+const clock_scale_t hse_16_368MHz_in_65_472MHz_out_3v3 =
+{ /* 65.472 MHz */
+  .pllm = 16,
+  .plln = 256,
+  .pllp = 4,
+  .pllq = 6,
+  .hpre = RCC_CFGR_HPRE_DIV_NONE,
+  .ppre1 = RCC_CFGR_PPRE_DIV_4,
+  .ppre2 = RCC_CFGR_PPRE_DIV_4,
+  .flash_config = FLASH_ICE | FLASH_DCE | FLASH_LATENCY_2WS,
+  .apb1_frequency = 16368000,
+  .apb2_frequency = 16368000,
+};
+
+int main(void)
+{
+  for (u32 i = 0; i < 600000; i++)
+    __asm__("nop");
+
+	led_setup();
+
+  rcc_clock_setup_hse_3v3(&hse_16_368MHz_in_65_472MHz_out_3v3);
+
+  debug_setup();
+
+  printf("\n\nFirmware info - git: " GIT_VERSION ", built: " __DATE__ " " __TIME__ "\n");
+  printf("--- ACQ TEST ---\n");
+
+  swift_nap_setup();
+  swift_nap_reset();
+
+  float code_phase;
+  float carrier_freq;
+  float snr;
+
+  acq_set_load_enable_blocking();
+  timing_strobe(timing_count() + 1000);
+  wait_for_exti();
+  acq_clear_load_enable_blocking();
+
+  for (u8 prn=0; prn<32; prn++) {
+    do_acq(prn, 0, 1023, -7000, 7000, 300, &code_phase, &carrier_freq, &snr);
+
+    printf("PRN %2u - Code phase: %7.2f, Carrier Freq: % 7.1f, SNR: %5.2f", prn+1, code_phase, carrier_freq, snr);
+    if (snr > 8.0)
+      printf("   :D\n");
+    else
+      printf("\n");
+  }
+
+  printf("DONE!\n");
+  led_on(LED_GREEN);
+  while (1);
+
+	return 0;
+}
+