Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
This commit is contained in:
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cmake_minimum_required (VERSION 3.6)
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cmake_policy(SET CMP0077 NEW)
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# The tests are assuming that MATRIX_CHECK is enabled when building
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# CMSIS-DSP.
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set(MATRIXCHECK ON)
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set(FASTMATHCOMPUTATIONS OFF)
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option(DUMPPATTERN "Dump test patterns when test is failing" ON)
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option(CUSTOMIZE_TESTS "Enable customizations of tests" ON)
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option(BASICMATH_TESTS "Enable Basic Math testing" ON)
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option(COMPLEXMATH_TESTS "Enable Complex Math testing" ON)
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option(CONTROLLER_TESTS "Enable Controller testing" ON)
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option(FASTMATH_TESTS "Enable Fast Math testing" ON)
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option(INTRINSICS_TESTS "Enable Intrinsics testing" ON)
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option(FILTERING_TESTS "Enable Filtering testing" ON)
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option(MATRIX_TESTS "Enable Matrix testing" ON)
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option(STATISTICS_TESTS "Enable Statistics testing" ON)
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option(SUPPORT_TESTS "Enable Support testing" ON)
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option(TRANSFORM_TESTS "Enable Transform testing" ON)
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project(DSP_Lib_TestSuite)
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# Needed to find the config modules
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/..)
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set(ROOT ${CMAKE_CURRENT_SOURCE_DIR}/../../..)
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file(GLOB MAIN "Common/src/*.c")
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file(GLOB BASICMATH_TESTS_SRC "Common/src/basic_math_tests/*.c")
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file(GLOB COMPLEXMATH_TESTS_SRC "Common/src/complex_math_tests/*.c")
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file(GLOB CONTROLLER_TESTS_SRC "Common/src/controller_tests/*.c")
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file(GLOB FASTMATH_TESTS_SRC "Common/src/fast_math_tests/*.c")
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file(GLOB FILTERING_TESTS_SRC "Common/src/filtering_tests/*.c")
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file(GLOB INTRINSINCS_TESTS_SRC "Common/src/intrinsics_tests/*.c")
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file(GLOB MATRIX_TESTS_SRC "Common/src/matrix_tests/*.c")
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file(GLOB STATISTICS_TESTS_SRC "Common/src/statistics_tests/*.c")
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file(GLOB SUPPORT_TESTS_SRC "Common/src/support_tests/*.c")
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file(GLOB TRANSFORM_TESTS_SRC "Common/src/transform_tests/*.c")
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file(GLOB JTEST_MAIN "Common/JTest/src/*.c")
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set(TESTSRC ${MAIN}
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${BASICMATH_TESTS_SRC}
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${COMPLEXMATH_TESTS_SRC}
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${CONTROLLER_TESTS_SRC}
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${FASTMATH_TESTS_SRC}
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${FILTERING_TESTS_SRC}
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${INTRINSINCS_TESTS_SRC}
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${MATRIX_TESTS_SRC}
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${STATISTICS_TESTS_SRC}
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${SUPPORT_TESTS_SRC}
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${TRANSFORM_TESTS_SRC}
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${JTEST_MAIN}
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)
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set(JINCS
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Common/JTest/inc
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Common/JTest/inc/arr_desc
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Common/inc/basic_math_tests
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Common/inc/complex_math_tests
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Common/inc/controller_tests
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Common/inc/fast_math_tests
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Common/inc/filtering_tests
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Common/inc/intrinsics_tests
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Common/inc/matrix_tests
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Common/inc/statistics_tests
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Common/inc/support_tests
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Common/inc/transform_tests
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)
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add_subdirectory(../Source bin_dsp)
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add_subdirectory(RefLibs bin_ref)
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add_executable(DSP_Lib_TestSuite)
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if (CUSTOMIZE_TESTS)
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target_compile_definitions(DSP_Lib_TestSuite PRIVATE CUSTOMIZE_TESTS)
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endif()
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if (BASICMATH_TESTS)
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target_compile_definitions(DSP_Lib_TestSuite PRIVATE ENABLE_BASICMATH_TESTS)
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endif()
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if (COMPLEXMATH_TESTS)
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target_compile_definitions(DSP_Lib_TestSuite PRIVATE ENABLE_COMPLEXMATH_TESTS)
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endif()
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if (CONTROLLER_TESTS)
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target_compile_definitions(DSP_Lib_TestSuite PRIVATE ENABLE_CONTROLLER_TESTS)
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endif()
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if (FASTMATH_TESTS)
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target_compile_definitions(DSP_Lib_TestSuite PRIVATE ENABLE_FASTMATH_TESTS)
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endif()
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if (FILTERING_TESTS)
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target_compile_definitions(DSP_Lib_TestSuite PRIVATE ENABLE_FILTERING_TESTS)
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endif()
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if (INTRINSICS_TESTS)
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target_compile_definitions(DSP_Lib_TestSuite PRIVATE ENABLE_INTRINSICS_TESTS)
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endif()
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if (MATRIX_TESTS)
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target_compile_definitions(DSP_Lib_TestSuite PRIVATE ENABLE_MATRIX_TESTS)
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endif()
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if (STATISTICS_TESTS)
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target_compile_definitions(DSP_Lib_TestSuite PRIVATE ENABLE_STATISTICS_TESTS)
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endif()
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if (SUPPORT_TESTS)
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target_compile_definitions(DSP_Lib_TestSuite PRIVATE ENABLE_SUPPORT_TESTS)
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endif()
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if (TRANSFORM_TESTS)
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target_compile_definitions(DSP_Lib_TestSuite PRIVATE ENABLE_TRANSFORM_TESTS)
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endif()
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if (DUMPPATTERN)
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target_compile_definitions(DSP_Lib_TestSuite PRIVATE DUMPPATTERN)
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endif()
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# Change behavior of configBoot for scatter file
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set(TESTFRAMEWORK ON)
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include(configBoot)
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file(COPY ${ROOT}/CMSIS/DSP/Examples/ARM/boot/RTE_Components.h DESTINATION tempLink)
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target_link_libraries(DSP_Lib_TestSuite PRIVATE CMSISDSP)
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target_link_libraries(DSP_Lib_TestSuite PRIVATE DspRefLibs)
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target_sources(DSP_Lib_TestSuite PRIVATE ${TESTSRC})
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### Includes
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target_include_directories(DSP_Lib_TestSuite PRIVATE "Common/inc")
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target_include_directories(DSP_Lib_TestSuite PRIVATE "Common/inc/templates")
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target_include_directories(DSP_Lib_TestSuite PRIVATE ${JINCS})
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