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Diffstat (limited to 'src/systemcmds/tests/test_sensors.c')
-rw-r--r--src/systemcmds/tests/test_sensors.c163
1 files changed, 22 insertions, 141 deletions
diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c
index e005bf9c1..4649a83d2 100644
--- a/src/systemcmds/tests/test_sensors.c
+++ b/src/systemcmds/tests/test_sensors.c
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -62,24 +62,10 @@
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-static int accel(int argc, char *argv[]);
-static int gyro(int argc, char *argv[]);
-static int mag(int argc, char *argv[]);
-static int baro(int argc, char *argv[]);
-static int accel1(int argc, char *argv[]);
-static int gyro1(int argc, char *argv[]);
+static int accel(int argc, char *argv[], const char* path);
+static int gyro(int argc, char *argv[], const char* path);
+static int mag(int argc, char *argv[], const char* path);
+static int baro(int argc, char *argv[], const char* path);
/****************************************************************************
* Private Data
@@ -88,27 +74,19 @@ static int gyro1(int argc, char *argv[]);
struct {
const char *name;
const char *path;
- int (* test)(int argc, char *argv[]);
+ int (* test)(int argc, char *argv[], const char* path);
} sensors[] = {
- {"accel", "/dev/accel", accel},
- {"gyro", "/dev/gyro", gyro},
- {"mag", "/dev/mag", mag},
- {"baro", "/dev/baro", baro},
- {"accel1", "/dev/accel1", accel1},
- {"gyro1", "/dev/gyro1", gyro1},
+ {"accel0", ACCEL_DEVICE_PATH, accel},
+ {"accel1", "/dev/accel1", accel},
+ {"gyro0", GYRO_DEVICE_PATH, gyro},
+ {"gyro1", "/dev/gyro1", gyro},
+ {"mag0", MAG_DEVICE_PATH, mag},
+ {"baro0", BARO_DEVICE_PATH, baro},
{NULL, NULL, NULL}
};
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
static int
-accel(int argc, char *argv[])
+accel(int argc, char *argv[], const char* path)
{
printf("\tACCEL: test start\n");
fflush(stdout);
@@ -117,7 +95,7 @@ accel(int argc, char *argv[])
struct accel_report buf;
int ret;
- fd = open("/dev/accel", O_RDONLY);
+ fd = open(path, O_RDONLY);
if (fd < 0) {
printf("\tACCEL: open fail, run <mpu6000 start> or <lsm303 start> or <bma180 start> first.\n");
@@ -158,58 +136,7 @@ accel(int argc, char *argv[])
}
static int
-accel1(int argc, char *argv[])
-{
- printf("\tACCEL1: test start\n");
- fflush(stdout);
-
- int fd;
- struct accel_report buf;
- int ret;
-
- fd = open("/dev/accel1", O_RDONLY);
-
- if (fd < 0) {
- printf("\tACCEL1: open fail, run <mpu6000 start> or <lsm303d start> first.\n");
- return ERROR;
- }
-
- /* wait at least 100ms, sensor should have data after no more than 20ms */
- usleep(100000);
-
- /* read data - expect samples */
- ret = read(fd, &buf, sizeof(buf));
-
- if (ret != sizeof(buf)) {
- printf("\tACCEL1: read1 fail (%d)\n", ret);
- return ERROR;
-
- } else {
- printf("\tACCEL1 accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
- }
-
- if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
- warnx("ACCEL1 acceleration values out of range!");
- return ERROR;
- }
-
- float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
-
- if (len < 8.0f || len > 12.0f) {
- warnx("ACCEL1 scale error!");
- return ERROR;
- }
-
- /* Let user know everything is ok */
- printf("\tOK: ACCEL1 passed all tests successfully\n");
-
- close(fd);
-
- return OK;
-}
-
-static int
-gyro(int argc, char *argv[])
+gyro(int argc, char *argv[], const char* path)
{
printf("\tGYRO: test start\n");
fflush(stdout);
@@ -218,7 +145,7 @@ gyro(int argc, char *argv[])
struct gyro_report buf;
int ret;
- fd = open("/dev/gyro", O_RDONLY);
+ fd = open(path, O_RDONLY);
if (fd < 0) {
printf("\tGYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
@@ -254,52 +181,7 @@ gyro(int argc, char *argv[])
}
static int
-gyro1(int argc, char *argv[])
-{
- printf("\tGYRO1: test start\n");
- fflush(stdout);
-
- int fd;
- struct gyro_report buf;
- int ret;
-
- fd = open("/dev/gyro1", O_RDONLY);
-
- if (fd < 0) {
- printf("\tGYRO1: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
- return ERROR;
- }
-
- /* wait at least 5 ms, sensor should have data after that */
- usleep(5000);
-
- /* read data - expect samples */
- ret = read(fd, &buf, sizeof(buf));
-
- if (ret != sizeof(buf)) {
- printf("\tGYRO1: read fail (%d)\n", ret);
- return ERROR;
-
- } else {
- printf("\tGYRO1 rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
- }
-
- float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
-
- if (len > 0.3f) {
- warnx("GYRO1 scale error!");
- return ERROR;
- }
-
- /* Let user know everything is ok */
- printf("\tOK: GYRO1 passed all tests successfully\n");
- close(fd);
-
- return OK;
-}
-
-static int
-mag(int argc, char *argv[])
+mag(int argc, char *argv[], const char* path)
{
printf("\tMAG: test start\n");
fflush(stdout);
@@ -308,7 +190,7 @@ mag(int argc, char *argv[])
struct mag_report buf;
int ret;
- fd = open("/dev/mag", O_RDONLY);
+ fd = open(path, O_RDONLY);
if (fd < 0) {
printf("\tMAG: open fail, run <hmc5883 start> or <lsm303 start> first.\n");
@@ -344,7 +226,7 @@ mag(int argc, char *argv[])
}
static int
-baro(int argc, char *argv[])
+baro(int argc, char *argv[], const char* path)
{
printf("\tBARO: test start\n");
fflush(stdout);
@@ -353,7 +235,7 @@ baro(int argc, char *argv[])
struct baro_report buf;
int ret;
- fd = open("/dev/baro", O_RDONLY);
+ fd = open(path, O_RDONLY);
if (fd < 0) {
printf("\tBARO: open fail, run <ms5611 start> or <lps331 start> first.\n");
@@ -401,12 +283,11 @@ int test_sensors(int argc, char *argv[])
for (i = 0; sensors[i].name; i++) {
printf(" sensor: %s\n", sensors[i].name);
- /* Flush and leave enough time for the flush to become effective */
+ /* Flush */
fflush(stdout);
- usleep(50000);
/* Test the sensor - if the tests crash at this point, the right sensor name has been printed */
- ret += sensors[i].test(argc, argv);
+ ret += sensors[i].test(argc, argv, sensors[i].path);
}
return ret;
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-02 07:50:37 +0000