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author | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-23 11:13:42 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-23 11:13:42 +0100 |
commit | 68d8230e78b9116da794e93a0a5edcce4d1d8ee4 (patch) | |
tree | e0c86a748a5604e042f1e56c464df117d4eb3030 /src/systemcmds | |
parent | 23d0c6f8dd1a0b9aa64dafe26cfd56e43637c5ee (diff) | |
parent | f6176890947dd33f6b26fb2cad53263882fb8e3b (diff) | |
download | px4-firmware-68d8230e78b9116da794e93a0a5edcce4d1d8ee4.tar.gz px4-firmware-68d8230e78b9116da794e93a0a5edcce4d1d8ee4.tar.bz2 px4-firmware-68d8230e78b9116da794e93a0a5edcce4d1d8ee4.zip |
Merge remote-tracking branch 'upstream/control_groups' into fw_autoland_att_tecs_navigator_termination_controlgroups
Conflicts:
src/systemcmds/tests/module.mk
src/systemcmds/tests/tests.h
Diffstat (limited to 'src/systemcmds')
-rw-r--r-- | src/systemcmds/preflight_check/preflight_check.c | 2 | ||||
-rw-r--r-- | src/systemcmds/tests/module.mk | 6 | ||||
-rw-r--r-- | src/systemcmds/tests/test_rc.c | 146 | ||||
-rw-r--r-- | src/systemcmds/tests/test_sensors.c | 67 | ||||
-rw-r--r-- | src/systemcmds/tests/tests.h | 2 | ||||
-rw-r--r-- | src/systemcmds/tests/tests_main.c | 1 |
6 files changed, 192 insertions, 32 deletions
diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c index 07581459b..982b03782 100644 --- a/src/systemcmds/preflight_check/preflight_check.c +++ b/src/systemcmds/preflight_check/preflight_check.c @@ -200,7 +200,7 @@ system_eval: led_toggle(leds, LED_BLUE); /* display and sound error */ - for (int i = 0; i < 50; i++) + for (int i = 0; i < 14; i++) { led_toggle(leds, LED_BLUE); led_toggle(leds, LED_AMBER); diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk index c1f8074ea..68a080c77 100644 --- a/src/systemcmds/tests/module.mk +++ b/src/systemcmds/tests/module.mk @@ -24,10 +24,8 @@ SRCS = test_adc.c \ test_uart_loopback.c \ test_uart_send.c \ test_mixer.cpp \ - test_dataman.c \ test_file.c \ tests_main.c \ test_param.c \ - test_ppm_loopback.c - -INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink + test_ppm_loopback.c \ + test_rc.c diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c new file mode 100644 index 000000000..72619fc8b --- /dev/null +++ b/src/systemcmds/tests/test_rc.c @@ -0,0 +1,146 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 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_ppm_loopback.c + * Tests the PWM outputs and PPM input + * + */ + +#include <nuttx/config.h> + +#include <sys/types.h> + +#include <stdio.h> +#include <poll.h> +#include <stdlib.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <debug.h> + +#include <arch/board/board.h> +#include <drivers/drv_pwm_output.h> +#include <drivers/drv_rc_input.h> +#include <systemlib/err.h> + +#include "tests.h" + +#include <math.h> +#include <float.h> + +int test_rc(int argc, char *argv[]) +{ + + int _rc_sub = orb_subscribe(ORB_ID(input_rc)); + + /* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */ + struct rc_input_values rc_input; + struct rc_input_values rc_last; + orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + usleep(100000); + + /* open PPM input and expect values close to the output values */ + + bool rc_updated; + orb_check(_rc_sub, &rc_updated); + + warnx("Reading PPM values - press any key to abort"); + warnx("This test guarantees: 10 Hz update rates, no glitches (channel values), no channel count changes."); + + if (rc_updated) { + + /* copy initial set */ + for (unsigned i = 0; i < rc_input.channel_count; i++) { + rc_last.values[i] = rc_input.values[i]; + } + + rc_last.channel_count = rc_input.channel_count; + + /* poll descriptor */ + struct pollfd fds[2]; + fds[0].fd = _rc_sub; + fds[0].events = POLLIN; + fds[1].fd = 0; + fds[1].events = POLLIN; + + while (true) { + + int ret = poll(fds, 2, 200); + + if (ret > 0) { + + if (fds[0].revents & POLLIN) { + + orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + + /* go and check values */ + for (unsigned i = 0; i < rc_input.channel_count; i++) { + if (fabsf(rc_input.values[i] - rc_last.values[i]) > 20) { + warnx("comparison fail: RC: %d, expected: %d", rc_input.values[i], rc_last.values[i]); + (void)close(_rc_sub); + return ERROR; + } + + rc_last.values[i] = rc_input.values[i]; + } + + if (rc_last.channel_count != rc_input.channel_count) { + warnx("channel count mismatch: last: %d, now: %d", rc_last.channel_count, rc_input.channel_count); + (void)close(_rc_sub); + return ERROR; + } + + if (hrt_absolute_time() - rc_input.timestamp > 100000) { + warnx("TIMEOUT, less than 10 Hz updates"); + (void)close(_rc_sub); + return ERROR; + } + + } else { + /* key pressed, bye bye */ + return 0; + } + + } + } + + } else { + warnx("failed reading RC input data"); + return ERROR; + } + + warnx("PPM CONTINUITY TEST PASSED SUCCESSFULLY!"); + + return 0; +} diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c index f6415b72f..096106ff3 100644 --- a/src/systemcmds/tests/test_sensors.c +++ b/src/systemcmds/tests/test_sensors.c @@ -78,7 +78,8 @@ static int accel(int argc, char *argv[]); static int gyro(int argc, char *argv[]); static int mag(int argc, char *argv[]); static int baro(int argc, char *argv[]); -static int mpu6k(int argc, char *argv[]); +static int accel1(int argc, char *argv[]); +static int gyro1(int argc, char *argv[]); /**************************************************************************** * Private Data @@ -93,7 +94,8 @@ struct { {"gyro", "/dev/gyro", gyro}, {"mag", "/dev/mag", mag}, {"baro", "/dev/baro", baro}, - {"mpu6k", "/dev/mpu6k", mpu6k}, + {"accel1", "/dev/accel1", accel1}, + {"gyro1", "/dev/gyro1", gyro1}, {NULL, NULL, NULL} }; @@ -137,7 +139,7 @@ accel(int argc, char *argv[]) } if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) { - warnx("MPU6K acceleration values out of range!"); + warnx("ACCEL1 acceleration values out of range!"); return ERROR; } @@ -149,20 +151,19 @@ accel(int argc, char *argv[]) } static int -mpu6k(int argc, char *argv[]) +accel1(int argc, char *argv[]) { - printf("\tMPU6K: test start\n"); + printf("\tACCEL1: test start\n"); fflush(stdout); int fd; struct accel_report buf; - struct gyro_report gyro_buf; int ret; - fd = open("/dev/accel_mpu6k", O_RDONLY); + fd = open("/dev/accel1", O_RDONLY); if (fd < 0) { - printf("\tMPU6K: open fail, run <mpu6000 start> first.\n"); + printf("\tACCEL1: open fail, run <mpu6000 start> or <lsm303d start> first.\n"); return ERROR; } @@ -173,26 +174,40 @@ mpu6k(int argc, char *argv[]) ret = read(fd, &buf, sizeof(buf)); if (ret != sizeof(buf)) { - printf("\tMPU6K: read1 fail (%d)\n", ret); + printf("\tACCEL1: read1 fail (%d)\n", ret); return ERROR; } else { - printf("\tMPU6K accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z); + printf("\tACCEL1 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("MPU6K acceleration values out of range!"); + warnx("ACCEL1 acceleration values out of range!"); return ERROR; } /* Let user know everything is ok */ - printf("\tOK: MPU6K ACCEL passed all tests successfully\n"); + printf("\tOK: ACCEL1 passed all tests successfully\n"); close(fd); - fd = open("/dev/gyro_mpu6k", O_RDONLY); + + return OK; +} + +static int +gyro(int argc, char *argv[]) +{ + printf("\tGYRO: test start\n"); + fflush(stdout); + + int fd; + struct gyro_report buf; + int ret; + + fd = open("/dev/gyro", O_RDONLY); if (fd < 0) { - printf("\tMPU6K GYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n"); + printf("\tGYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n"); return ERROR; } @@ -200,37 +215,37 @@ mpu6k(int argc, char *argv[]) usleep(5000); /* read data - expect samples */ - ret = read(fd, &gyro_buf, sizeof(gyro_buf)); + ret = read(fd, &buf, sizeof(buf)); - if (ret != sizeof(gyro_buf)) { - printf("\tMPU6K GYRO: read fail (%d)\n", ret); + if (ret != sizeof(buf)) { + printf("\tGYRO: read fail (%d)\n", ret); return ERROR; } else { - printf("\tMPU6K GYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)gyro_buf.x, (double)gyro_buf.y, (double)gyro_buf.z); + printf("\tGYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z); } /* Let user know everything is ok */ - printf("\tOK: MPU6K GYRO passed all tests successfully\n"); + printf("\tOK: GYRO passed all tests successfully\n"); close(fd); return OK; } static int -gyro(int argc, char *argv[]) +gyro1(int argc, char *argv[]) { - printf("\tGYRO: test start\n"); + printf("\tGYRO1: test start\n"); fflush(stdout); int fd; struct gyro_report buf; int ret; - fd = open("/dev/gyro", O_RDONLY); + fd = open("/dev/gyro1", O_RDONLY); if (fd < 0) { - printf("\tGYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n"); + printf("\tGYRO1: open fail, run <l3gd20 start> or <mpu6000 start> first.\n"); return ERROR; } @@ -241,15 +256,15 @@ gyro(int argc, char *argv[]) ret = read(fd, &buf, sizeof(buf)); if (ret != sizeof(buf)) { - printf("\tGYRO: read fail (%d)\n", ret); + printf("\tGYRO1: 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); + printf("\tGYRO1 rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z); } /* Let user know everything is ok */ - printf("\tOK: GYRO passed all tests successfully\n"); + printf("\tOK: GYRO1 passed all tests successfully\n"); close(fd); return OK; diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h index 06e5d20e6..a57d04be3 100644 --- a/src/systemcmds/tests/tests.h +++ b/src/systemcmds/tests/tests.h @@ -108,7 +108,7 @@ extern int test_param(int argc, char *argv[]); extern int test_bson(int argc, char *argv[]); extern int test_file(int argc, char *argv[]); extern int test_mixer(int argc, char *argv[]); -extern int test_dataman(int argc, char *argv[]); +extern int test_rc(int argc, char *argv[]); __END_DECLS diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index 789c9d8b6..30ae5b4ec 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -105,6 +105,7 @@ const struct { {"bson", test_bson, 0}, {"file", test_file, 0}, {"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST}, {"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST}, {"dataman", test_dataman, OPT_NOALLTEST}, {NULL, NULL, 0} |