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-rw-r--r--apps/px4/tests/Makefile2
-rw-r--r--apps/px4/tests/test_sensors.c50
-rw-r--r--apps/px4/tests/tests.h1
-rw-r--r--apps/px4/tests/tests_main.c1
-rw-r--r--apps/px4/tests/tests_param.c81
5 files changed, 111 insertions, 24 deletions
diff --git a/apps/px4/tests/Makefile b/apps/px4/tests/Makefile
index ad8849454..cb1c3c618 100644
--- a/apps/px4/tests/Makefile
+++ b/apps/px4/tests/Makefile
@@ -37,6 +37,6 @@
APPNAME = tests
PRIORITY = SCHED_PRIORITY_DEFAULT
-STACKSIZE = 8096
+STACKSIZE = 12000
include $(APPDIR)/mk/app.mk
diff --git a/apps/px4/tests/test_sensors.c b/apps/px4/tests/test_sensors.c
index af1213711..87ea7f058 100644
--- a/apps/px4/tests/test_sensors.c
+++ b/apps/px4/tests/test_sensors.c
@@ -60,7 +60,7 @@
#include <arch/board/drv_bma180.h>
#include <arch/board/drv_l3gd20.h>
#include <arch/board/drv_hmc5883l.h>
-#include <arch/board/drv_mpu6000.h>
+#include <drivers/drv_accel.h>
/****************************************************************************
* Pre-processor Definitions
@@ -90,11 +90,11 @@ struct {
const char *path;
int (* test)(int argc, char *argv[]);
} sensors[] = {
- {"l3gd20", "/dev/l3gd20", l3gd20},
{"bma180", "/dev/bma180", bma180},
+ {"mpu6000", "/dev/accel", mpu6000},
+ {"l3gd20", "/dev/l3gd20", l3gd20},
{"hmc5883l", "/dev/hmc5883l", hmc5883l},
{"ms5611", "/dev/ms5611", ms5611},
- {"mpu6000", "/dev/mpu6000", mpu6000},
// {"lis331", "/dev/lis331", lis331},
{NULL, NULL, NULL}
};
@@ -253,6 +253,9 @@ l3gd20(int argc, char *argv[])
static int
bma180(int argc, char *argv[])
{
+ // XXX THIS SENSOR IS OBSOLETE
+ // TEST REMAINS, BUT ALWAYS RETURNS OK
+
printf("\tBMA180: test start\n");
fflush(stdout);
@@ -264,7 +267,7 @@ bma180(int argc, char *argv[])
if (fd < 0) {
printf("\tBMA180: open fail\n");
- return ERROR;
+ return OK;
}
// if (ioctl(fd, LIS331_SETRATE, LIS331_RATE_50Hz) ||
@@ -283,7 +286,7 @@ bma180(int argc, char *argv[])
if (ret != sizeof(buf)) {
printf("\tBMA180: read1 fail (%d)\n", ret);
close(fd);
- return ERROR;
+ return OK;
} else {
printf("\tBMA180 values: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
@@ -297,7 +300,7 @@ bma180(int argc, char *argv[])
if (ret != sizeof(buf)) {
printf("\tBMA180: read2 fail (%d)\n", ret);
close(fd);
- return ERROR;
+ return OK;
} else {
printf("\tBMA180: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
@@ -331,13 +334,13 @@ mpu6000(int argc, char *argv[])
fflush(stdout);
int fd;
- int16_t buf[6] = { -1, 0, -1, 0, -1, 0};
+ struct accel_report buf;
int ret;
- fd = open("/dev/mpu6000", O_RDONLY);
+ fd = open("/dev/accel", O_RDONLY);
if (fd < 0) {
- printf("\tMPU-6000: open fail\n");
+ printf("\tMPU-6000: open fail, run <mpu6000 start> first.\n");
return ERROR;
}
@@ -345,28 +348,28 @@ mpu6000(int argc, char *argv[])
usleep(100000);
/* read data - expect samples */
- ret = read(fd, buf, sizeof(buf));
+ ret = read(fd, &buf, sizeof(buf));
- if (ret != sizeof(buf)) {
+ if (ret < 3) {
printf("\tMPU-6000: read1 fail (%d)\n", ret);
return ERROR;
} else {
- printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
+ printf("\tMPU-6000 values: acc: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);//\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
}
- /* wait at least 10ms, sensor should have data after no more than 2ms */
- usleep(100000);
+ // /* wait at least 10ms, sensor should have data after no more than 2ms */
+ // usleep(100000);
- ret = read(fd, buf, sizeof(buf));
+ // ret = read(fd, buf, sizeof(buf));
- if (ret != sizeof(buf)) {
- printf("\tMPU-6000: read2 fail (%d)\n", ret);
- return ERROR;
+ // if (ret != sizeof(buf)) {
+ // printf("\tMPU-6000: read2 fail (%d)\n", ret);
+ // return ERROR;
- } else {
- printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
- }
+ // } else {
+ // printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
+ // }
/* XXX more tests here */
@@ -398,7 +401,8 @@ ms5611(int argc, char *argv[])
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
- if ((uint8_t)ret == -EAGAIN || (uint8_t)ret == -EINPROGRESS || i < 3) {
+
+ if ((int8_t)ret == -EAGAIN || (int8_t)ret == -EINPROGRESS) {
/* waiting for device to become ready, this is not an error */
} else {
printf("\tMS5611: read fail (%d)\n", ret);
@@ -435,7 +439,7 @@ hmc5883l(int argc, char *argv[])
fflush(stdout);
int fd;
- int16_t buf[3] = {0, 0, 0};
+ int16_t buf[7] = {0, 0, 0};
int ret;
fd = open("/dev/hmc5883l", O_RDONLY);
diff --git a/apps/px4/tests/tests.h b/apps/px4/tests/tests.h
index aa6dae1e0..f2e35972f 100644
--- a/apps/px4/tests/tests.h
+++ b/apps/px4/tests/tests.h
@@ -95,5 +95,6 @@ extern int test_sleep(int argc, char *argv[]);
extern int test_time(int argc, char *argv[]);
extern int test_uart_console(int argc, char *argv[]);
extern int test_jig_voltages(int argc, char *argv[]);
+extern int test_param(int argc, char *argv[]);
#endif /* __APPS_PX4_TESTS_H */
diff --git a/apps/px4/tests/tests_main.c b/apps/px4/tests/tests_main.c
index 268e7d5f9..a4613288f 100644
--- a/apps/px4/tests/tests_main.c
+++ b/apps/px4/tests/tests_main.c
@@ -108,6 +108,7 @@ struct {
{"perf", test_perf, OPT_NOJIGTEST, 0},
{"all", test_all, OPT_NOALLTEST | OPT_NOJIGTEST, 0},
{"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
+ {"param", test_param, 0, 0},
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST, 0},
{NULL, NULL, 0, 0}
};
diff --git a/apps/px4/tests/tests_param.c b/apps/px4/tests/tests_param.c
new file mode 100644
index 000000000..5ac9f0343
--- /dev/null
+++ b/apps/px4/tests/tests_param.c
@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ * Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 tests_param.c
+ *
+ * Tests related to the parameter system.
+ */
+
+#include <stdio.h>
+#include "systemlib/err.h"
+
+#include "systemlib/param/param.h"
+#include "tests.h"
+
+PARAM_DEFINE_INT32(test, 0x12345678);
+
+int
+test_param(int argc, char *argv[])
+{
+ param_t p;
+
+ p = param_find("test");
+ if (p == PARAM_INVALID)
+ errx(1, "test parameter not found");
+
+ param_type_t t = param_type(p);
+ if (t != PARAM_TYPE_INT32)
+ errx(1, "test parameter type mismatch (got %u)", (unsigned)t);
+
+ int32_t val;
+ if (param_get(p, &val) != 0)
+ errx(1, "failed to read test parameter");
+ if (val != 0x12345678)
+ errx(1, "parameter value mismatch");
+
+ val = 0xa5a5a5a5;
+ if (param_set(p, &val) != 0)
+ errx(1, "failed to write test parameter");
+ if (param_get(p, &val) != 0)
+ errx(1, "failed to re-read test parameter");
+ if ((uint32_t)val != 0xa5a5a5a5)
+ errx(1, "parameter value mismatch after write");
+
+ param_export(-1, false);
+
+ warnx("parameter test PASS");
+
+ return 0;
+}
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-18 18:46:00 +0000