diff options
Diffstat (limited to 'Tools')
-rw-r--r-- | Tools/tests-host/.gitignore | 6 | ||||
-rw-r--r-- | Tools/tests-host/Makefile | 54 | ||||
-rw-r--r-- | Tools/tests-host/arch/board/board.h | 0 | ||||
-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/data/fit_linear_voltage.m | 14 | ||||
-rw-r--r-- | Tools/tests-host/data/px4io_v1.3.csv | 70 | ||||
-rw-r--r-- | Tools/tests-host/debug.h | 5 | ||||
-rw-r--r-- | Tools/tests-host/hrt.cpp | 16 | ||||
-rw-r--r-- | Tools/tests-host/mixer_test.cpp | 14 | ||||
-rw-r--r-- | Tools/tests-host/nuttx/config.h | 0 | ||||
-rw-r--r-- | Tools/tests-host/queue.h | 133 | ||||
-rwxr-xr-x | Tools/tests-host/run_tests.sh | 6 | ||||
-rw-r--r-- | Tools/tests-host/sbus2_test.cpp | 76 | ||||
-rw-r--r-- | Tools/tests-host/sf0x_test.cpp | 65 | ||||
-rw-r--r-- | Tools/tests-host/st24_test.cpp | 76 |
16 files changed, 0 insertions, 563 deletions
diff --git a/Tools/tests-host/.gitignore b/Tools/tests-host/.gitignore deleted file mode 100644 index 37e923b5e..000000000 --- a/Tools/tests-host/.gitignore +++ /dev/null @@ -1,6 +0,0 @@ -./obj/* -mixer_test -sf0x_test -sbus2_test -autodeclination_test -st24_test diff --git a/Tools/tests-host/Makefile b/Tools/tests-host/Makefile deleted file mode 100644 index 8742e2f7c..000000000 --- a/Tools/tests-host/Makefile +++ /dev/null @@ -1,54 +0,0 @@ - -CC=g++ -CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \ - -I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm - -all: mixer_test sbus2_test autodeclination_test st24_test sf0x_test - -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 - -SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \ - hrt.cpp \ - sbus2_test.cpp - -ST24_FILES=../../src/lib/rc/st24.c \ - hrt.cpp \ - st24_test.cpp - -SF0X_FILES= \ - hrt.cpp \ - sf0x_test.cpp \ - ../../src/drivers/sf0x/sf0x_parser.cpp - -AUTODECLINATION_FILES= ../../src/lib/geo_lookup/geo_mag_declination.c \ - hrt.cpp \ - autodeclination_test.cpp - -mixer_test: $(MIXER_FILES) - $(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS) - -sbus2_test: $(SBUS2_FILES) - $(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS) - -sf0x_test: $(SF0X_FILES) - $(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS) - -autodeclination_test: $(SBUS2_FILES) - $(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS) - -st24_test: $(ST24_FILES) - $(CC) -o st24_test $(ST24_FILES) $(CFLAGS) - -.PHONY: clean - -clean: - rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test st24_test sf0x_test diff --git a/Tools/tests-host/arch/board/board.h b/Tools/tests-host/arch/board/board.h deleted file mode 100644 index e69de29bb..000000000 --- a/Tools/tests-host/arch/board/board.h +++ /dev/null diff --git a/Tools/tests-host/autodeclination_test.cpp b/Tools/tests-host/autodeclination_test.cpp deleted file mode 100644 index 93bc340bb..000000000 --- a/Tools/tests-host/autodeclination_test.cpp +++ /dev/null @@ -1,28 +0,0 @@ - -#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); - -} diff --git a/Tools/tests-host/board_config.h b/Tools/tests-host/board_config.h deleted file mode 100644 index e69de29bb..000000000 --- a/Tools/tests-host/board_config.h +++ /dev/null diff --git a/Tools/tests-host/data/fit_linear_voltage.m b/Tools/tests-host/data/fit_linear_voltage.m deleted file mode 100644 index 7d0c2c27f..000000000 --- a/Tools/tests-host/data/fit_linear_voltage.m +++ /dev/null @@ -1,14 +0,0 @@ -close all; -clear all; -M = importdata('px4io_v1.3.csv'); -voltage = M.data(:, 1); -counts = M.data(:, 2); -plot(counts, voltage, 'b*-', 'LineWidth', 2, 'MarkerSize', 15); -coeffs = polyfit(counts, voltage, 1); -fittedC = linspace(min(counts), max(counts), 500); -fittedV = polyval(coeffs, fittedC); -hold on -plot(fittedC, fittedV, 'r-', 'LineWidth', 3); - -slope = coeffs(1) -y_intersection = coeffs(2) diff --git a/Tools/tests-host/data/px4io_v1.3.csv b/Tools/tests-host/data/px4io_v1.3.csv deleted file mode 100644 index b41ee8f1f..000000000 --- a/Tools/tests-host/data/px4io_v1.3.csv +++ /dev/null @@ -1,70 +0,0 @@ -voltage, counts -4.3, 950 -4.4, 964 -4.5, 986 -4.6, 1009 -4.7, 1032 -4.8, 1055 -4.9, 1078 -5.0, 1101 -5.2, 1124 -5.3, 1148 -5.4, 1171 -5.5, 1195 -6.0, 1304 -6.1, 1329 -6.2, 1352 -7.0, 1517 -7.1, 1540 -7.2, 1564 -7.3, 1585 -7.4, 1610 -7.5, 1636 -8.0, 1728 -8.1, 1752 -8.2, 1755 -8.3, 1798 -8.4, 1821 -9.0, 1963 -9.1, 1987 -9.3, 2010 -9.4, 2033 -10.0, 2174 -10.1, 2198 -10.2, 2221 -10.3, 2245 -10.4, 2268 -11.0, 2385 -11.1, 2409 -11.2, 2432 -11.3, 2456 -11.4, 2480 -11.5, 2502 -11.6, 2526 -11.7, 2550 -11.8, 2573 -11.9, 2597 -12.0, 2621 -12.1, 2644 -12.3, 2668 -12.4, 2692 -12.5, 2716 -12.6, 2737 -12.7, 2761 -13.0, 2832 -13.5, 2950 -13.6, 2973 -14.1, 3068 -14.2, 3091 -14.7, 3209 -15.0, 3280 -15.1, 3304 -15.5, 3374 -15.6, 3397 -15.7, 3420 -16.0, 3492 -16.1, 3514 -16.2, 3538 -16.9, 3680 -17.0, 3704 -17.1, 3728 diff --git a/Tools/tests-host/debug.h b/Tools/tests-host/debug.h deleted file mode 100644 index 9824d13fc..000000000 --- a/Tools/tests-host/debug.h +++ /dev/null @@ -1,5 +0,0 @@ - -#pragma once - -#include <systemlib/err.h> -#define lowsyslog warnx
\ No newline at end of file diff --git a/Tools/tests-host/hrt.cpp b/Tools/tests-host/hrt.cpp deleted file mode 100644 index 01b5958b7..000000000 --- a/Tools/tests-host/hrt.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include <sys/time.h> -#include <inttypes.h> -#include <drivers/drv_hrt.h> -#include <stdio.h> - -hrt_abstime hrt_absolute_time() { - struct timeval te; - gettimeofday(&te, NULL); // get current time - hrt_abstime us = static_cast<uint64_t>(te.tv_sec) * 1e6 + te.tv_usec; // caculate us - return us; -} - -hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then) { - // not thread safe - return hrt_absolute_time() - *then; -} diff --git a/Tools/tests-host/mixer_test.cpp b/Tools/tests-host/mixer_test.cpp deleted file mode 100644 index 06499afd0..000000000 --- a/Tools/tests-host/mixer_test.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include <systemlib/mixer/mixer.h> -#include <systemlib/err.h> -#include "../../src/systemcmds/tests/tests.h" - -int main(int argc, char *argv[]) { - warnx("Host execution started"); - - char* args[] = {argv[0], "../../ROMFS/px4fmu_common/mixers/IO_pass.mix", - "../../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"}; - - test_mixer(3, args); - - test_conv(1, args); -} diff --git a/Tools/tests-host/nuttx/config.h b/Tools/tests-host/nuttx/config.h deleted file mode 100644 index e69de29bb..000000000 --- a/Tools/tests-host/nuttx/config.h +++ /dev/null diff --git a/Tools/tests-host/queue.h b/Tools/tests-host/queue.h deleted file mode 100644 index 0fdb170db..000000000 --- a/Tools/tests-host/queue.h +++ /dev/null @@ -1,133 +0,0 @@ -/************************************************************************ - * include/queue.h - * - * Copyright (C) 2007-2009 Gregory Nutt. All rights reserved. - * Author: Gregory Nutt <gnutt@nuttx.org> - * - * 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. - * - ************************************************************************/ - -#ifndef __INCLUDE_QUEUE_H -#define __INCLUDE_QUEUE_H - -#ifndef FAR -#define FAR -#endif - -/************************************************************************ - * Included Files - ************************************************************************/ - -#include <sys/types.h> - -/************************************************************************ - * Pre-processor Definitions - ************************************************************************/ - -#define sq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0) -#define dq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0) - -#define sq_next(p) ((p)->flink) -#define dq_next(p) ((p)->flink) -#define dq_prev(p) ((p)->blink) - -#define sq_empty(q) ((q)->head == NULL) -#define dq_empty(q) ((q)->head == NULL) - -#define sq_peek(q) ((q)->head) -#define dq_peek(q) ((q)->head) - -/************************************************************************ - * Global Type Declarations - ************************************************************************/ - -struct sq_entry_s -{ - FAR struct sq_entry_s *flink; -}; -typedef struct sq_entry_s sq_entry_t; - -struct dq_entry_s -{ - FAR struct dq_entry_s *flink; - FAR struct dq_entry_s *blink; -}; -typedef struct dq_entry_s dq_entry_t; - -struct sq_queue_s -{ - FAR sq_entry_t *head; - FAR sq_entry_t *tail; -}; -typedef struct sq_queue_s sq_queue_t; - -struct dq_queue_s -{ - FAR dq_entry_t *head; - FAR dq_entry_t *tail; -}; -typedef struct dq_queue_s dq_queue_t; - -/************************************************************************ - * Global Function Prototypes - ************************************************************************/ - -#ifdef __cplusplus -#define EXTERN extern "C" -extern "C" { -#else -#define EXTERN extern -#endif - -EXTERN void sq_addfirst(FAR sq_entry_t *node, sq_queue_t *queue); -EXTERN void dq_addfirst(FAR dq_entry_t *node, dq_queue_t *queue); -EXTERN void sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue); -EXTERN void dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue); -EXTERN void sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node, - sq_queue_t *queue); -EXTERN void dq_addafter(FAR dq_entry_t *prev, FAR dq_entry_t *node, - dq_queue_t *queue); -EXTERN void dq_addbefore(FAR dq_entry_t *next, FAR dq_entry_t *node, - dq_queue_t *queue); - -EXTERN FAR sq_entry_t *sq_remafter(FAR sq_entry_t *node, sq_queue_t *queue); -EXTERN void sq_rem(FAR sq_entry_t *node, sq_queue_t *queue); -EXTERN void dq_rem(FAR dq_entry_t *node, dq_queue_t *queue); -EXTERN FAR sq_entry_t *sq_remlast(sq_queue_t *queue); -EXTERN FAR dq_entry_t *dq_remlast(dq_queue_t *queue); -EXTERN FAR sq_entry_t *sq_remfirst(sq_queue_t *queue); -EXTERN FAR dq_entry_t *dq_remfirst(dq_queue_t *queue); - -#undef EXTERN -#ifdef __cplusplus -} -#endif - -#endif /* __INCLUDE_QUEUE_H_ */ - diff --git a/Tools/tests-host/run_tests.sh b/Tools/tests-host/run_tests.sh deleted file mode 100755 index ff5ee509a..000000000 --- a/Tools/tests-host/run_tests.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/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 deleted file mode 100644 index e2c18369c..000000000 --- a/Tools/tests-host/sbus2_test.cpp +++ /dev/null @@ -1,76 +0,0 @@ - -#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++) { - char buf[200]; - (void)fgets(buf, sizeof(buf), fp); - } - - // 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); - } - -} diff --git a/Tools/tests-host/sf0x_test.cpp b/Tools/tests-host/sf0x_test.cpp deleted file mode 100644 index 82d19fcbe..000000000 --- a/Tools/tests-host/sf0x_test.cpp +++ /dev/null @@ -1,65 +0,0 @@ - -#include <unistd.h> -#include <string.h> -#include <stdlib.h> -#include <stdio.h> -#include <systemlib/err.h> -#include <drivers/drv_hrt.h> - -#include <drivers/sf0x/sf0x_parser.h> - -int main(int argc, char *argv[]) -{ - warnx("SF0X test started"); - - int ret = 0; - - const char LINE_MAX = 20; - char _linebuf[LINE_MAX]; - _linebuf[0] = '\0'; - - const char *lines[] = {"0.01\r\n", - "0.02\r\n", - "0.03\r\n", - "0.04\r\n", - "0", - ".", - "0", - "5", - "\r", - "\n", - "0", - "3\r", - "\n" - "\r\n", - "0.06", - "\r\n" - }; - - enum SF0X_PARSE_STATE state = SF0X_PARSE_STATE0_UNSYNC; - float dist_m; - char _parserbuf[LINE_MAX]; - unsigned _parsebuf_index = 0; - - for (unsigned l = 0; l < sizeof(lines) / sizeof(lines[0]); l++) { - - printf("\n%s", _linebuf); - - int parse_ret; - - for (int i = 0; i < strlen(lines[l]); i++) { - parse_ret = sf0x_parser(lines[l][i], _parserbuf, &_parsebuf_index, &state, &dist_m); - - if (parse_ret == 0) { - printf("\nparsed: %f %s\n", dist_m, (parse_ret == 0) ? "OK" : ""); - } - } - - printf("%s", lines[l]); - - } - - warnx("test finished"); - - return ret; -} diff --git a/Tools/tests-host/st24_test.cpp b/Tools/tests-host/st24_test.cpp deleted file mode 100644 index 25a9355e2..000000000 --- a/Tools/tests-host/st24_test.cpp +++ /dev/null @@ -1,76 +0,0 @@ - -#include <stdio.h> -#include <unistd.h> -#include <string.h> -#include <systemlib/err.h> -#include <drivers/drv_hrt.h> -#include <rc/st24.h> -#include "../../src/systemcmds/tests/tests.h" - -int main(int argc, char *argv[]) -{ - warnx("ST24 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++) { - char buf[200]; - (void)fgets(buf, sizeof(buf), fp); - } - - float last_time = 0; - - while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) { - if (((f - last_time) * 1000 * 1000) > 3000) { - // warnx("FRAME RESET\n\n"); - } - - uint8_t b = static_cast<uint8_t>(x); - - last_time = f; - - // Pipe the data into the parser - hrt_abstime now = hrt_absolute_time(); - - uint8_t rssi; - uint8_t rx_count; - uint16_t channel_count; - uint16_t channels[20]; - - - if (!st24_decode(b, &rssi, &rx_count, &channel_count, channels, sizeof(channels) / sizeof(channels[0]))) { - warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count); - - for (unsigned i = 0; i < channel_count; i++) { - - int16_t val = channels[i]; - warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val)); - } - } - } - - if (ret == EOF) { - warnx("Test finished, reached end of file"); - - } else { - warnx("Test aborted, errno: %d", ret); - } - -} |