diff options
-rw-r--r-- | Tools/tests-host/.gitignore | 2 | ||||
-rw-r--r-- | Tools/tests-host/Makefile | 60 | ||||
-rw-r--r-- | Tools/tests-host/autodeclination_test.cpp | 28 | ||||
-rw-r--r-- | Tools/tests-host/board_config.h | 0 | ||||
-rw-r--r-- | Tools/tests-host/debug.h | 5 | ||||
-rwxr-xr-x | Tools/tests-host/run_tests.sh | 6 | ||||
-rw-r--r-- | Tools/tests-host/sbus2_test.cpp | 75 | ||||
-rw-r--r-- | src/drivers/drv_hrt.h | 1 | ||||
-rw-r--r-- | src/lib/geo/geo.h | 4 | ||||
-rw-r--r-- | src/lib/geo/geo_mag_declination.c | 2 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer_load.c | 1 |
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" |