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-rw-r--r--Tools/tests-host/.gitignore2
-rw-r--r--Tools/tests-host/Makefile60
-rw-r--r--Tools/tests-host/autodeclination_test.cpp28
-rw-r--r--Tools/tests-host/board_config.h0
-rw-r--r--Tools/tests-host/debug.h5
-rwxr-xr-xTools/tests-host/run_tests.sh6
-rw-r--r--Tools/tests-host/sbus2_test.cpp75
-rw-r--r--src/drivers/drv_hrt.h1
-rw-r--r--src/lib/geo/geo.h4
-rw-r--r--src/lib/geo/geo_mag_declination.c2
-rw-r--r--src/modules/systemlib/mixer/mixer_load.c1
11 files changed, 148 insertions, 36 deletions
diff --git a/Tools/tests-host/.gitignore b/Tools/tests-host/.gitignore
index 61e091551..87b314c61 100644
--- a/Tools/tests-host/.gitignore
+++ b/Tools/tests-host/.gitignore
@@ -1,2 +1,4 @@
./obj/*
mixer_test
+sbus2_test
+autodeclination_test
diff --git a/Tools/tests-host/Makefile b/Tools/tests-host/Makefile
index 7ab1454f0..f0737ef88 100644
--- a/Tools/tests-host/Makefile
+++ b/Tools/tests-host/Makefile
@@ -1,47 +1,39 @@
CC=g++
-CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers -I../../src -D__EXPORT="" -Dnullptr="0"
+CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \
+ -I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm
-ODIR=obj
-LDIR =../lib
+all: mixer_test sbus2_test autodeclination_test
-LIBS=-lm
+MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \
+ ../../src/systemcmds/tests/test_conv.cpp \
+ ../../src/modules/systemlib/mixer/mixer_simple.cpp \
+ ../../src/modules/systemlib/mixer/mixer_multirotor.cpp \
+ ../../src/modules/systemlib/mixer/mixer.cpp \
+ ../../src/modules/systemlib/mixer/mixer_group.cpp \
+ ../../src/modules/systemlib/mixer/mixer_load.c \
+ ../../src/modules/systemlib/pwm_limit/pwm_limit.c \
+ hrt.cpp \
+ mixer_test.cpp
-#_DEPS = test.h
-#DEPS = $(patsubst %,$(IDIR)/%,$(_DEPS))
+SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \
+ hrt.cpp \
+ sbus2_test.cpp
-_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o \
- mixer.o mixer_group.o mixer_load.o test_conv.o pwm_limit.o hrt.o
-OBJ = $(patsubst %,$(ODIR)/%,$(_OBJ))
+AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \
+ hrt.cpp \
+ autodeclination_test.cpp
-#$(DEPS)
-$(ODIR)/%.o: %.cpp
- mkdir -p obj
- $(CC) -c -o $@ $< $(CFLAGS)
+mixer_test: $(MIXER_FILES)
+ $(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
-$(ODIR)/%.o: ../../src/systemcmds/tests/%.cpp
- $(CC) -c -o $@ $< $(CFLAGS)
+sbus2_test: $(SBUS2_FILES)
+ $(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
-$(ODIR)/%.o: ../../src/modules/systemlib/%.cpp
- $(CC) -c -o $@ $< $(CFLAGS)
-
-$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.cpp
- $(CC) -c -o $@ $< $(CFLAGS)
-
-$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.cpp
- $(CC) -c -o $@ $< $(CFLAGS)
-
-$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.c
- $(CC) -c -o $@ $< $(CFLAGS)
-
-$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.c
- $(CC) -c -o $@ $< $(CFLAGS)
-
-#
-mixer_test: $(OBJ)
- g++ -o $@ $^ $(CFLAGS) $(LIBS)
+autodeclination_test: $(SBUS2_FILES)
+ $(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
.PHONY: clean
clean:
- rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ \ No newline at end of file
+ rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test \ No newline at end of file
diff --git a/Tools/tests-host/autodeclination_test.cpp b/Tools/tests-host/autodeclination_test.cpp
new file mode 100644
index 000000000..6c751dc1e
--- /dev/null
+++ b/Tools/tests-host/autodeclination_test.cpp
@@ -0,0 +1,28 @@
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+#include <px4iofirmware/px4io.h>
+#include "../../src/systemcmds/tests/tests.h"
+#include <geo/geo.h>
+
+int main(int argc, char *argv[]) {
+ warnx("autodeclination test started");
+
+ if (argc < 3)
+ errx(1, "Need lat/lon!");
+
+ char* p_end;
+
+ float lat = strtod(argv[1], &p_end);
+ float lon = strtod(argv[2], &p_end);
+
+ float declination = get_mag_declination(lat, lon);
+
+ printf("lat: %f lon: %f, dec: %f\n", lat, lon, declination);
+
+} \ No newline at end of file
diff --git a/Tools/tests-host/board_config.h b/Tools/tests-host/board_config.h
new file mode 100644
index 000000000..e69de29bb
--- /dev/null
+++ b/Tools/tests-host/board_config.h
diff --git a/Tools/tests-host/debug.h b/Tools/tests-host/debug.h
new file mode 100644
index 000000000..9824d13fc
--- /dev/null
+++ b/Tools/tests-host/debug.h
@@ -0,0 +1,5 @@
+
+#pragma once
+
+#include <systemlib/err.h>
+#define lowsyslog warnx \ No newline at end of file
diff --git a/Tools/tests-host/run_tests.sh b/Tools/tests-host/run_tests.sh
new file mode 100755
index 000000000..ff5ee509a
--- /dev/null
+++ b/Tools/tests-host/run_tests.sh
@@ -0,0 +1,6 @@
+#!/bin/sh
+
+make clean
+make all
+./mixer_test
+./sbus2_test ../../../../data/sbus2/sbus2_r7008SB_gps_baro_tx_off.txt \ No newline at end of file
diff --git a/Tools/tests-host/sbus2_test.cpp b/Tools/tests-host/sbus2_test.cpp
new file mode 100644
index 000000000..281903cf6
--- /dev/null
+++ b/Tools/tests-host/sbus2_test.cpp
@@ -0,0 +1,75 @@
+
+#include <stdio.h>
+#include <unistd.h>
+#include <string.h>
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+#include <px4iofirmware/px4io.h>
+#include "../../src/systemcmds/tests/tests.h"
+
+int main(int argc, char *argv[]) {
+ warnx("SBUS2 test started");
+
+ if (argc < 2)
+ errx(1, "Need a filename for the input file");
+
+ warnx("loading data from: %s", argv[1]);
+
+ FILE *fp;
+
+ fp = fopen(argv[1],"rt");
+
+ if (!fp)
+ errx(1, "failed opening file");
+
+ float f;
+ unsigned x;
+ int ret;
+
+ // Trash the first 20 lines
+ for (unsigned i = 0; i < 20; i++) {
+ (void)fscanf(fp, "%f,%x,,", &f, &x);
+ }
+
+ // Init the parser
+ uint8_t frame[30];
+ unsigned partial_frame_count = 0;
+ uint16_t rc_values[18];
+ uint16_t num_values;
+ bool sbus_failsafe;
+ bool sbus_frame_drop;
+ uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
+
+ float last_time = 0;
+
+ while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
+ if (((f - last_time) * 1000 * 1000) > 3000) {
+ partial_frame_count = 0;
+ warnx("FRAME RESET\n\n");
+ }
+
+ frame[partial_frame_count] = x;
+ partial_frame_count++;
+
+ //warnx("%f: 0x%02x, first: 0x%02x, last: 0x%02x, pcount: %u", (double)f, x, frame[0], frame[24], partial_frame_count);
+
+ if (partial_frame_count == sizeof(frame))
+ partial_frame_count = 0;
+
+ last_time = f;
+
+ // Pipe the data into the parser
+ hrt_abstime now = hrt_absolute_time();
+
+ //if (partial_frame_count % 25 == 0)
+ //sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels);
+ }
+
+ if (ret == EOF) {
+ warnx("Test finished, reached end of file");
+ } else {
+ warnx("Test aborted, errno: %d", ret);
+ }
+
+} \ No newline at end of file
diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h
index d130d68b3..8bfc90c64 100644
--- a/src/drivers/drv_hrt.h
+++ b/src/drivers/drv_hrt.h
@@ -41,6 +41,7 @@
#include <sys/types.h>
#include <stdbool.h>
+#include <inttypes.h>
#include <time.h>
#include <queue.h>
diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h
index d987afe33..e2f3da6f8 100644
--- a/src/lib/geo/geo.h
+++ b/src/lib/geo/geo.h
@@ -48,10 +48,10 @@
#include "uORB/topics/fence.h"
#include "uORB/topics/vehicle_global_position.h"
-#include "geo/geo_mag_declination.h"
-
__BEGIN_DECLS
+#include "geo/geo_mag_declination.h"
+
#include <stdbool.h>
#define CONSTANTS_ONE_G 9.80665f /* m/s^2 */
diff --git a/src/lib/geo/geo_mag_declination.c b/src/lib/geo/geo_mag_declination.c
index 7b4aa69a2..b96f87721 100644
--- a/src/lib/geo/geo_mag_declination.c
+++ b/src/lib/geo/geo_mag_declination.c
@@ -43,6 +43,8 @@
*
*/
+#include <geo/geo.h>
+
/** set this always to the sampling in degrees for the table below */
#define SAMPLING_RES 10
diff --git a/src/modules/systemlib/mixer/mixer_load.c b/src/modules/systemlib/mixer/mixer_load.c
index b05273c0d..bf3428a50 100644
--- a/src/modules/systemlib/mixer/mixer_load.c
+++ b/src/modules/systemlib/mixer/mixer_load.c
@@ -41,6 +41,7 @@
#include <string.h>
#include <stdio.h>
#include <ctype.h>
+#include <systemlib/err.h>
#include "mixer_load.h"