/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file test_sensors.c
* Tests the onboard sensors.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <math.h>
#include <systemlib/err.h>
#include <arch/board/board.h>
#include <nuttx/spi.h>
#include "tests.h"
#include <drivers/drv_gyro.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
static int accel(int argc, char *argv[], const char* path);
static int gyro(int argc, char *argv[], const char* path);
static int mag(int argc, char *argv[], const char* path);
static int baro(int argc, char *argv[], const char* path);
/****************************************************************************
* Private Data
****************************************************************************/
struct {
const char *name;
const char *path;
int (* test)(int argc, char *argv[], const char* path);
} sensors[] = {
{"accel0", ACCEL_DEVICE_PATH, accel},
{"accel1", "/dev/accel1", accel},
{"gyro0", GYRO_DEVICE_PATH, gyro},
{"gyro1", "/dev/gyro1", gyro},
{"mag0", MAG_DEVICE_PATH, mag},
{"baro0", BARO_DEVICE_PATH, baro},
{NULL, NULL, NULL}
};
static int
accel(int argc, char *argv[], const char* path)
{
printf("\tACCEL: test start\n");
fflush(stdout);
int fd;
struct accel_report buf;
int ret;
fd = open(path, O_RDONLY);
if (fd < 0) {
printf("\tACCEL: open fail, run <mpu6000 start> or <lsm303 start> or <bma180 start> first.\n");
return ERROR;
}
/* wait at least 100ms, sensor should have data after no more than 20ms */
usleep(100000);
/* read data - expect samples */
ret = read(fd, &buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tACCEL: read1 fail (%d)\n", ret);
return ERROR;
} else {
printf("\tACCEL accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
}
if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
warnx("ACCEL acceleration values out of range!");
return ERROR;
}
float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
if (len < 8.0f || len > 12.0f) {
warnx("ACCEL scale error!");
return ERROR;
}
/* Let user know everything is ok */
printf("\tOK: ACCEL passed all tests successfully\n");
close(fd);
return OK;
}
static int
gyro(int argc, char *argv[], const char* path)
{
printf("\tGYRO: test start\n");
fflush(stdout);
int fd;
struct gyro_report buf;
int ret;
fd = open(path, O_RDONLY);
if (fd < 0) {
printf("\tGYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
return ERROR;
}
/* wait at least 5 ms, sensor should have data after that */
usleep(5000);
/* read data - expect samples */
ret = read(fd, &buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tGYRO: read fail (%d)\n", ret);
return ERROR;
} else {
printf("\tGYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
}
float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
if (len > 0.3f) {
warnx("GYRO scale error!");
return ERROR;
}
/* Let user know everything is ok */
printf("\tOK: GYRO passed all tests successfully\n");
close(fd);
return OK;
}
static int
mag(int argc, char *argv[], const char* path)
{
printf("\tMAG: test start\n");
fflush(stdout);
int fd;
struct mag_report buf;
int ret;
fd = open(path, O_RDONLY);
if (fd < 0) {
printf("\tMAG: open fail, run <hmc5883 start> or <lsm303 start> first.\n");
return ERROR;
}
/* wait at least 5 ms, sensor should have data after that */
usleep(5000);
/* read data - expect samples */
ret = read(fd, &buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tMAG: read fail (%d)\n", ret);
return ERROR;
} else {
printf("\tMAG values: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
}
float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
if (len < 0.25f || len > 3.0f) {
warnx("MAG scale error!");
return ERROR;
}
/* Let user know everything is ok */
printf("\tOK: MAG passed all tests successfully\n");
close(fd);
return OK;
}
static int
baro(int argc, char *argv[], const char* path)
{
printf("\tBARO: test start\n");
fflush(stdout);
int fd;
struct baro_report buf;
int ret;
fd = open(path, O_RDONLY);
if (fd < 0) {
printf("\tBARO: open fail, run <ms5611 start> or <lps331 start> first.\n");
return ERROR;
}
/* wait at least 5 ms, sensor should have data after that */
usleep(5000);
/* read data - expect samples */
ret = read(fd, &buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tBARO: read fail (%d)\n", ret);
return ERROR;
} else {
printf("\tBARO pressure: %8.4f mbar\talt: %8.4f m\ttemp: %8.4f deg C\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature);
}
/* Let user know everything is ok */
printf("\tOK: BARO passed all tests successfully\n");
close(fd);
return OK;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: test_sensors
****************************************************************************/
int test_sensors(int argc, char *argv[])
{
unsigned i;
printf("Running sensors tests:\n\n");
fflush(stdout);
int ret = OK;
for (i = 0; sensors[i].name; i++) {
printf(" sensor: %s\n", sensors[i].name);
/* Flush */
fflush(stdout);
/* Test the sensor - if the tests crash at this point, the right sensor name has been printed */
ret += sensors[i].test(argc, argv, sensors[i].path);
}
return ret;
}
