Revision 1152
Added self test and communications test
| main.c | ||
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| 3 | 3 |
#include "global.h" |
| 4 | 4 |
#include "station_hardware.h" |
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#include "test_comm.h" |
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#include "test_bom.h" |
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#include "test_rangefinders.h" |
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#include "test_encoders.h" |
| 9 | 10 |
#include "test_motors.h" |
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bool communication_ok=false; |
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bool require_comm (void) |
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{
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if (!communication_ok) |
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communication_ok=test_comm (); |
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if (!communication_ok) |
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usb_puts ("Communications required. Stop." NL);
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return communication_ok; |
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} |
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void test_all (void) |
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{
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test_bom (true, true); |
| ... | ... | |
| 26 | 39 |
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usb_puts (NL); |
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usb_puts ("Diagnostic station interactive mode" NL);
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usb_puts ("Test (a)ll, (b)om, (r)angefinders, (e)ncoders, (m)otors" NL);
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usb_puts ("Test (s)elf, (a)ll, (c)omm, (b)om, (r)angefinders, (e)ncoders, (m)otors" NL);
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| 30 | 43 |
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char choice = usb_getc (); |
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switch (choice) {
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case 'a': case 'A': test_all (); break; |
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case 'b': case 'B': test_bom (true, true); break; |
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case 'r': case 'R': test_rangefinders (); break; |
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case 'e': case 'E': test_encoders (); break; |
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case 'm': case 'M': test_motors (); break; |
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case 'c': case 'C': test_comm (); break; |
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case 'a': case 'A': if (require_comm ()) test_all (); break; |
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case 'b': case 'B': if (require_comm ()) test_bom (true, true); break; |
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case 'r': case 'R': if (require_comm ()) test_rangefinders (); break; |
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case 'e': case 'E': if (require_comm ()) test_encoders (); break; |
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case 'm': case 'M': if (require_comm ()) test_motors (); break; |
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case 's': case 'S': self_test (); break; |
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default: break; // ignore it |
| 39 | 54 |
// usb_puts("Received invalid input ");
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| 40 | 55 |
// usb_putc(choice); |
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