diff options
| -rw-r--r-- | src/drivers/mpu6000/mpu6000.cpp | 47 |
1 files changed, 45 insertions, 2 deletions
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp index 91eb40b96..8dfac9859 100644 --- a/src/drivers/mpu6000/mpu6000.cpp +++ b/src/drivers/mpu6000/mpu6000.cpp @@ -210,6 +210,9 @@ public: */ int factory_self_test(); + // deliberately cause a sensor error + void test_error(); + protected: virtual int probe(); @@ -1072,10 +1075,31 @@ MPU6000::factory_self_test() write_reg(MPUREG_ACCEL_CONFIG, saved_accel_config); _in_factory_test = false; + if (ret == OK) { + ::printf("PASSED\n"); + } return ret; } + +/* + deliberately trigger an error in the sensor to trigger recovery + */ +void +MPU6000::test_error() +{ + _in_factory_test = true; + // deliberately trigger an error. This was noticed during + // development as a handy way to test the reset logic + uint8_t data[16]; + memset(data, 0, sizeof(data)); + transfer(data, data, sizeof(data)); + ::printf("error triggered\n"); + print_registers(); + _in_factory_test = false; +} + ssize_t MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen) { @@ -1810,6 +1834,7 @@ void test(bool); void reset(bool); void info(bool); void regdump(bool); +void testerror(bool); void factorytest(bool); void usage(); @@ -2003,6 +2028,21 @@ regdump(bool external_bus) } /** + * deliberately produce an error to test recovery + */ +void +testerror(bool external_bus) +{ + MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int; + if (*g_dev_ptr == nullptr) + errx(1, "driver not running"); + + (*g_dev_ptr)->test_error(); + + exit(0); +} + +/** * Dump the register information */ void @@ -2020,7 +2060,7 @@ factorytest(bool external_bus) void usage() { - warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump'"); + warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump', 'factorytest', 'testerror'"); warnx("options:"); warnx(" -X (external bus)"); warnx(" -R rotation"); @@ -2086,5 +2126,8 @@ mpu6000_main(int argc, char *argv[]) if (!strcmp(verb, "factorytest")) mpu6000::factorytest(external_bus); - errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info' or 'regdump'"); + if (!strcmp(verb, "testerror")) + mpu6000::testerror(external_bus); + + errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'regdump', 'factorytest' or 'testerror'"); } |