Fresh import of the PX4 firmware sources.

1 files changed, 219 insertions, 0 deletions

diff --git a/apps/px4/tests/test_hrt.c b/apps/px4/tests/test_hrt.c
new file mode 100644
index 000000000..41f207b7e
--- /dev/null
+++ b/apps/px4/tests/test_hrt.c
@@ -0,0 +1,219 @@
+/****************************************************************************
+ * px4/sensors/test_hrt.c
+ *
+ *  Copyright (C) 2012 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#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 <time.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+#include <arch/board/up_hrt.h>
+#include <arch/board/drv_tone_alarm.h>
+
+#include <nuttx/spi.h>
+
+#include "tests.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+extern uint16_t ppm_buffer[];
+extern unsigned ppm_decoded_channels;
+extern uint16_t ppm_edge_history[];
+extern uint16_t ppm_pulse_history[];
+
+int test_ppm(int argc, char *argv[])
+{
+#ifdef CONFIG_HRT_PPM
+	unsigned i;
+
+	printf("channels: %u\n", ppm_decoded_channels);
+
+	for (i = 0; i < ppm_decoded_channels; i++)
+		printf("  %u\n", ppm_buffer[i]);
+
+	printf("edges\n");
+
+	for (i = 0; i < 32; i++)
+		printf("  %u\n", ppm_edge_history[i]);
+
+	printf("pulses\n");
+
+	for (i = 0; i < 32; i++)
+		printf("  %u\n", ppm_pulse_history[i]);
+
+	fflush(stdout);
+#else
+	printf("PPM not configured\n");
+#endif
+	return 0;
+}
+
+int test_tone(int argc, char *argv[])
+{
+#ifdef CONFIG_TONE_ALARM
+	int fd, result;
+	unsigned long tone;
+
+	fd = open("/dev/tone_alarm", O_WRONLY);
+
+	if (fd < 0) {
+		printf("failed opening /dev/tone_alarm\n");
+		goto out;
+	}
+
+	tone = 1;
+
+	if (argc == 2)
+		tone = atoi(argv[1]);
+
+	if (tone  == 0) {
+		result = ioctl(fd, TONE_SET_ALARM, 0);
+
+		if (result < 0) {
+			printf("failed clearing alarms\n");
+			goto out;
+
+		} else {
+			printf("Alarm stopped.\n");
+		}
+
+	} else {
+		result = ioctl(fd, TONE_SET_ALARM, 0);
+
+		if (result < 0) {
+			printf("failed clearing alarms\n");
+			goto out;
+		}
+
+		result = ioctl(fd, TONE_SET_ALARM, tone);
+
+		if (result < 0) {
+			printf("failed setting alarm %lu\n", tone);
+
+		} else {
+			printf("Alarm %lu (disable with: tests tone 0)\n", tone);
+		}
+	}
+
+out:
+
+	if (fd >= 0)
+		close(fd);
+
+#endif
+	return 0;
+}
+
+/****************************************************************************
+ * Name: test_hrt
+ ****************************************************************************/
+
+int test_hrt(int argc, char *argv[])
+{
+	struct hrt_call call;
+	hrt_abstime prev, now;
+	int i;
+	struct timeval tv1, tv2;
+
+	printf("start-time (hrt, sec/usec), end-time (hrt, sec/usec), microseconds per half second\n");
+
+	for (i = 0; i < 10; i++) {
+		prev = hrt_absolute_time();
+		gettimeofday(&tv1, NULL);
+		usleep(500000);
+		now = hrt_absolute_time();
+		gettimeofday(&tv2, NULL);
+		printf("%lu (%lu/%lu), %lu (%lu/%lu), %lu\n",
+		       (unsigned long)prev, (unsigned long)tv1.tv_sec, (unsigned long)tv1.tv_usec,
+		       (unsigned long)now, (unsigned long)tv2.tv_sec, (unsigned long)tv2.tv_usec,
+		       (unsigned long)(hrt_absolute_time() - prev));
+		fflush(stdout);
+	}
+
+	usleep(1000000);
+
+	printf("one-second ticks\n");
+
+	for (i = 0; i < 10; i++) {
+		hrt_call_after(&call, 1000000, NULL, NULL);
+
+		while (!hrt_called(&call)) {
+			usleep(1000);
+		}
+
+		printf("tick\n");
+		fflush(stdout);
+	}
+
+	return 0;
+}