diff options
Diffstat (limited to 'src/systemcmds')
-rw-r--r-- | src/systemcmds/preflight_check/preflight_check.c | 2 | ||||
-rw-r--r-- | src/systemcmds/pwm/pwm.c | 2 | ||||
-rw-r--r-- | src/systemcmds/tests/module.mk | 6 | ||||
-rw-r--r-- | src/systemcmds/tests/test_dataman.c | 182 | ||||
-rw-r--r-- | src/systemcmds/tests/test_file.c (renamed from src/systemcmds/tests/tests_file.c) | 2 | ||||
-rw-r--r-- | src/systemcmds/tests/test_param.c (renamed from src/systemcmds/tests/tests_param.c) | 2 | ||||
-rw-r--r-- | src/systemcmds/tests/test_ppm_loopback.c | 178 | ||||
-rw-r--r-- | src/systemcmds/tests/test_rc.c | 146 | ||||
-rw-r--r-- | src/systemcmds/tests/test_sensors.c | 107 | ||||
-rw-r--r-- | src/systemcmds/tests/test_servo.c | 66 | ||||
-rw-r--r-- | src/systemcmds/tests/test_uart_loopback.c | 70 | ||||
-rw-r--r-- | src/systemcmds/tests/tests.h | 10 | ||||
-rw-r--r-- | src/systemcmds/tests/tests_main.c | 15 |
13 files changed, 665 insertions, 123 deletions
diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c index 07581459b..982b03782 100644 --- a/src/systemcmds/preflight_check/preflight_check.c +++ b/src/systemcmds/preflight_check/preflight_check.c @@ -200,7 +200,7 @@ system_eval: led_toggle(leds, LED_BLUE); /* display and sound error */ - for (int i = 0; i < 50; i++) + for (int i = 0; i < 14; i++) { led_toggle(leds, LED_BLUE); led_toggle(leds, LED_AMBER); diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index 898c04cd5..7c23f38c2 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -210,7 +210,7 @@ pwm_main(int argc, char *argv[]) err(1, "PWM_SERVO_GET_COUNT"); if (!strcmp(argv[1], "arm")) { - /* tell IO that its ok to disable its safety with the switch */ + /* tell safety that its ok to disable it with the switch */ ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0); if (ret != OK) err(1, "PWM_SERVO_SET_ARM_OK"); diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk index 6729ce4ae..68a080c77 100644 --- a/src/systemcmds/tests/module.mk +++ b/src/systemcmds/tests/module.mk @@ -24,6 +24,8 @@ SRCS = test_adc.c \ test_uart_loopback.c \ test_uart_send.c \ test_mixer.cpp \ - tests_file.c \ + test_file.c \ tests_main.c \ - tests_param.c + test_param.c \ + test_ppm_loopback.c \ + test_rc.c diff --git a/src/systemcmds/tests/test_dataman.c b/src/systemcmds/tests/test_dataman.c new file mode 100644 index 000000000..5b121e34e --- /dev/null +++ b/src/systemcmds/tests/test_dataman.c @@ -0,0 +1,182 @@ +/**************************************************************************** + * px4/sensors/test_dataman.c + * + * Copyright (C) 2012 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 + * 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <sys/types.h> + +#include <stdio.h> +#include <stdlib.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <debug.h> + +#include <arch/board/board.h> + +#include <drivers/drv_led.h> +#include <systemlib/systemlib.h> +#include <drivers/drv_hrt.h> +#include <semaphore.h> + + +#include "tests.h" + +#include "dataman/dataman.h" + +static sem_t *sems; + +static int +task_main(int argc, char *argv[]) +{ + char buffer[DM_MAX_DATA_SIZE]; + hrt_abstime wstart, wend, rstart, rend; + + warnx("Starting dataman test task %s", argv[1]); + /* try to read an invalid item */ + int my_id = atoi(argv[1]); + /* try to read an invalid item */ + if (dm_read(DM_KEY_NUM_KEYS, 0, buffer, sizeof(buffer)) >= 0) { + warnx("%d read an invalid item failed", my_id); + goto fail; + } + /* try to read an invalid index */ + if (dm_read(DM_KEY_SAFE_POINTS, DM_KEY_SAFE_POINTS_MAX, buffer, sizeof(buffer)) >= 0) { + warnx("%d read an invalid index failed", my_id); + goto fail; + } + srand(hrt_absolute_time() ^ my_id); + unsigned hit = 0, miss = 0; + wstart = hrt_absolute_time(); + for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) { + memset(buffer, my_id, sizeof(buffer)); + buffer[1] = i; + unsigned hash = i ^ my_id; + unsigned len = (hash & 63) + 2; + + int ret = dm_write(DM_KEY_WAYPOINTS_OFFBOARD, hash, DM_PERSIST_IN_FLIGHT_RESET, buffer, len); + warnx("ret: %d", ret); + if (ret != len) { + warnx("%d write failed, index %d, length %d", my_id, hash, len); + goto fail; + } + usleep(rand() & ((64 * 1024) - 1)); + } + rstart = hrt_absolute_time(); + wend = rstart; + + for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) { + unsigned hash = i ^ my_id; + unsigned len2, len = (hash & 63) + 2; + if ((len2 = dm_read(DM_KEY_WAYPOINTS_OFFBOARD, hash, buffer, sizeof(buffer))) < 2) { + warnx("%d read failed length test, index %d", my_id, hash); + goto fail; + } + if (buffer[0] == my_id) { + hit++; + if (len2 != len) { + warnx("%d read failed length test, index %d, wanted %d, got %d", my_id, hash, len, len2); + goto fail; + } + if (buffer[1] != i) { + warnx("%d data verification failed, index %d, wanted %d, got %d", my_id, hash, my_id, buffer[1]); + goto fail; + } + } + else + miss++; + } + rend = hrt_absolute_time(); + warnx("Test %d pass, hit %d, miss %d, io time read %llums. write %llums.", + my_id, hit, miss, (rend - rstart) / NUM_MISSIONS_SUPPORTED / 1000, (wend - wstart) / NUM_MISSIONS_SUPPORTED / 1000); + sem_post(sems + my_id); + return 0; +fail: + warnx("Test %d fail, buffer %02x %02x %02x %02x %02x %02x", + my_id, buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5]); + sem_post(sems + my_id); + return -1; +} + +int test_dataman(int argc, char *argv[]) +{ + int i, num_tasks = 4; + char buffer[DM_MAX_DATA_SIZE]; + + if (argc > 1) + num_tasks = atoi(argv[1]); + + sems = (sem_t *)malloc(num_tasks * sizeof(sem_t)); + warnx("Running %d tasks", num_tasks); + for (i = 0; i < num_tasks; i++) { + int task; + char a[16]; + sprintf(a, "%d", i); + const char *av[2]; + av[0] = a; + av[1] = 0; + sem_init(sems + i, 1, 0); + /* start the task */ + if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, av)) <= 0) { + warn("task start failed"); + } + } + for (i = 0; i < num_tasks; i++) { + sem_wait(sems + i); + sem_destroy(sems + i); + } + free(sems); + dm_restart(DM_INIT_REASON_IN_FLIGHT); + for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) { + if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD, i, buffer, sizeof(buffer)) != 0) + break; + } + if (i >= NUM_MISSIONS_SUPPORTED) { + warnx("Restart in-flight failed"); + return -1; + + } + dm_restart(DM_INIT_REASON_POWER_ON); + for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) { + if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD, i, buffer, sizeof(buffer)) != 0) { + warnx("Restart power-on failed"); + return -1; + } + } + return 0; +} diff --git a/src/systemcmds/tests/tests_file.c b/src/systemcmds/tests/test_file.c index 7f3a654bf..798724cf1 100644 --- a/src/systemcmds/tests/tests_file.c +++ b/src/systemcmds/tests/test_file.c @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file tests_file.c + * @file test_file.c * * File write test. */ diff --git a/src/systemcmds/tests/tests_param.c b/src/systemcmds/tests/test_param.c index 13f17bc43..318d2505b 100644 --- a/src/systemcmds/tests/tests_param.c +++ b/src/systemcmds/tests/test_param.c @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file tests_param.c + * @file test_param.c * * Tests related to the parameter system. */ diff --git a/src/systemcmds/tests/test_ppm_loopback.c b/src/systemcmds/tests/test_ppm_loopback.c new file mode 100644 index 000000000..b9041b013 --- /dev/null +++ b/src/systemcmds/tests/test_ppm_loopback.c @@ -0,0 +1,178 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 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 + * 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 test_ppm_loopback.c + * Tests the PWM outputs and PPM input + * + */ + +#include <nuttx/config.h> + +#include <sys/types.h> + +#include <stdio.h> +#include <stdlib.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <debug.h> + +#include <arch/board/board.h> +#include <drivers/drv_pwm_output.h> +#include <drivers/drv_rc_input.h> +#include <uORB/topics/rc_channels.h> +#include <systemlib/err.h> + +#include "tests.h" + +#include <math.h> +#include <float.h> + +int test_ppm_loopback(int argc, char *argv[]) +{ + + int _rc_sub = orb_subscribe(ORB_ID(input_rc)); + + int servo_fd, result; + servo_position_t data[PWM_OUTPUT_MAX_CHANNELS]; + servo_position_t pos; + + servo_fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR); + + if (servo_fd < 0) { + printf("failed opening /dev/pwm_servo\n"); + } + + printf("Servo readback, pairs of values should match defaults\n"); + + unsigned servo_count; + result = ioctl(servo_fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count); + if (result != OK) { + warnx("PWM_SERVO_GET_COUNT"); + return ERROR; + } + + for (unsigned i = 0; i < servo_count; i++) { + result = ioctl(servo_fd, PWM_SERVO_GET(i), (unsigned long)&pos); + + if (result < 0) { + printf("failed reading channel %u\n", i); + } + + //printf("%u: %u %u\n", i, pos, data[i]); + + } + + // /* tell safety that its ok to disable it with the switch */ + // result = ioctl(servo_fd, PWM_SERVO_SET_ARM_OK, 0); + // if (result != OK) + // warnx("FAIL: PWM_SERVO_SET_ARM_OK"); + // tell output device that the system is armed (it will output values if safety is off) + // result = ioctl(servo_fd, PWM_SERVO_ARM, 0); + // if (result != OK) + // warnx("FAIL: PWM_SERVO_ARM"); + + int pwm_values[] = {1200, 1300, 1900, 1700, 1500, 1250, 1800, 1400}; + + + // for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) { + // result = ioctl(servo_fd, PWM_SERVO_SET(i), pwm_values[i]); + + // if (result) { + // (void)close(servo_fd); + // return ERROR; + // } else { + // warnx("channel %d set to %d", i, pwm_values[i]); + // } + // } + + warnx("servo count: %d", servo_count); + + struct pwm_output_values pwm_out = {.values = {0}, .channel_count = 0}; + + for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) { + pwm_out.values[i] = pwm_values[i]; + //warnx("channel %d: disarmed PWM: %d", i+1, pwm_values[i]); + pwm_out.channel_count++; + } + + result = ioctl(servo_fd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm_out); + + /* give driver 10 ms to propagate */ + + /* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */ + struct rc_input_values rc_input; + orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + usleep(100000); + + /* open PPM input and expect values close to the output values */ + + bool rc_updated; + orb_check(_rc_sub, &rc_updated); + + if (rc_updated) { + + orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + + // int ppm_fd = open(RC_INPUT_DEVICE_PATH, O_RDONLY); + + + + // struct rc_input_values rc; + // result = read(ppm_fd, &rc, sizeof(rc)); + + // if (result != sizeof(rc)) { + // warnx("Error reading RC output"); + // (void)close(servo_fd); + // (void)close(ppm_fd); + // return ERROR; + // } + + /* go and check values */ + for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) { + if (fabsf(rc_input.values[i] - pwm_values[i]) > 10) { + warnx("comparison fail: RC: %d, expected: %d", rc_input.values[i], pwm_values[i]); + (void)close(servo_fd); + return ERROR; + } + } + } else { + warnx("failed reading RC input data"); + return ERROR; + } + + warnx("PPM LOOPBACK TEST PASSED SUCCESSFULLY!"); + + return 0; +} diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c new file mode 100644 index 000000000..72619fc8b --- /dev/null +++ b/src/systemcmds/tests/test_rc.c @@ -0,0 +1,146 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 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 + * 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 test_ppm_loopback.c + * Tests the PWM outputs and PPM input + * + */ + +#include <nuttx/config.h> + +#include <sys/types.h> + +#include <stdio.h> +#include <poll.h> +#include <stdlib.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <debug.h> + +#include <arch/board/board.h> +#include <drivers/drv_pwm_output.h> +#include <drivers/drv_rc_input.h> +#include <systemlib/err.h> + +#include "tests.h" + +#include <math.h> +#include <float.h> + +int test_rc(int argc, char *argv[]) +{ + + int _rc_sub = orb_subscribe(ORB_ID(input_rc)); + + /* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */ + struct rc_input_values rc_input; + struct rc_input_values rc_last; + orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + usleep(100000); + + /* open PPM input and expect values close to the output values */ + + bool rc_updated; + orb_check(_rc_sub, &rc_updated); + + warnx("Reading PPM values - press any key to abort"); + warnx("This test guarantees: 10 Hz update rates, no glitches (channel values), no channel count changes."); + + if (rc_updated) { + + /* copy initial set */ + for (unsigned i = 0; i < rc_input.channel_count; i++) { + rc_last.values[i] = rc_input.values[i]; + } + + rc_last.channel_count = rc_input.channel_count; + + /* poll descriptor */ + struct pollfd fds[2]; + fds[0].fd = _rc_sub; + fds[0].events = POLLIN; + fds[1].fd = 0; + fds[1].events = POLLIN; + + while (true) { + + int ret = poll(fds, 2, 200); + + if (ret > 0) { + + if (fds[0].revents & POLLIN) { + + orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + + /* go and check values */ + for (unsigned i = 0; i < rc_input.channel_count; i++) { + if (fabsf(rc_input.values[i] - rc_last.values[i]) > 20) { + warnx("comparison fail: RC: %d, expected: %d", rc_input.values[i], rc_last.values[i]); + (void)close(_rc_sub); + return ERROR; + } + + rc_last.values[i] = rc_input.values[i]; + } + + if (rc_last.channel_count != rc_input.channel_count) { + warnx("channel count mismatch: last: %d, now: %d", rc_last.channel_count, rc_input.channel_count); + (void)close(_rc_sub); + return ERROR; + } + + if (hrt_absolute_time() - rc_input.timestamp > 100000) { + warnx("TIMEOUT, less than 10 Hz updates"); + (void)close(_rc_sub); + return ERROR; + } + + } else { + /* key pressed, bye bye */ + return 0; + } + + } + } + + } else { + warnx("failed reading RC input data"); + return ERROR; + } + + warnx("PPM CONTINUITY TEST PASSED SUCCESSFULLY!"); + + return 0; +} diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c index 14503276c..096106ff3 100644 --- a/src/systemcmds/tests/test_sensors.c +++ b/src/systemcmds/tests/test_sensors.c @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012, 2013 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 @@ -49,6 +48,8 @@ #include <fcntl.h> #include <errno.h> #include <debug.h> +#include <math.h> +#include <systemlib/err.h> #include <arch/board/board.h> @@ -77,6 +78,8 @@ 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[]); /**************************************************************************** * Private Data @@ -91,6 +94,8 @@ struct { {"gyro", "/dev/gyro", gyro}, {"mag", "/dev/mag", mag}, {"baro", "/dev/baro", baro}, + {"accel1", "/dev/accel1", accel1}, + {"gyro1", "/dev/gyro1", gyro1}, {NULL, NULL, NULL} }; @@ -133,23 +138,58 @@ accel(int argc, char *argv[]) printf("\tACCEL accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z); } - // /* wait at least 10ms, sensor should have data after no more than 2ms */ - // usleep(100000); + 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; + } + + /* Let user know everything is ok */ + printf("\tOK: ACCEL passed all tests successfully\n"); + close(fd); + + return OK; +} + +static int +accel1(int argc, char *argv[]) +{ + printf("\tACCEL1: test start\n"); + fflush(stdout); + + int fd; + struct accel_report buf; + int ret; - // ret = read(fd, buf, sizeof(buf)); + fd = open("/dev/accel1", O_RDONLY); - // if (ret != sizeof(buf)) { - // printf("\tMPU-6000: read2 fail (%d)\n", ret); - // return ERROR; + 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("\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("\tACCEL1 accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z); + } - /* XXX more tests here */ + 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; + } /* Let user know everything is ok */ - printf("\tOK: ACCEL passed all tests successfully\n"); + printf("\tOK: ACCEL1 passed all tests successfully\n"); + + close(fd); return OK; } @@ -187,6 +227,45 @@ gyro(int argc, char *argv[]) /* Let user know everything is ok */ printf("\tOK: GYRO passed all tests successfully\n"); + close(fd); + + return OK; +} + +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); + } + + /* Let user know everything is ok */ + printf("\tOK: GYRO1 passed all tests successfully\n"); + close(fd); return OK; } @@ -224,6 +303,7 @@ mag(int argc, char *argv[]) /* Let user know everything is ok */ printf("\tOK: MAG passed all tests successfully\n"); + close(fd); return OK; } @@ -261,6 +341,7 @@ baro(int argc, char *argv[]) /* Let user know everything is ok */ printf("\tOK: BARO passed all tests successfully\n"); + close(fd); return OK; } diff --git a/src/systemcmds/tests/test_servo.c b/src/systemcmds/tests/test_servo.c index f95760ca8..ef8512bf5 100644 --- a/src/systemcmds/tests/test_servo.c +++ b/src/systemcmds/tests/test_servo.c @@ -1,7 +1,6 @@ /**************************************************************************** - * px4/sensors/test_hrt.c * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 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 @@ -13,7 +12,7 @@ * 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 + * 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. * @@ -32,9 +31,11 @@ * ****************************************************************************/ -/**************************************************************************** - * Included Files - ****************************************************************************/ +/** + * @file test_servo.c + * Tests the servo outputs + * + */ #include <nuttx/config.h> @@ -55,39 +56,6 @@ #include "tests.h" -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_servo - ****************************************************************************/ - int test_servo(int argc, char *argv[]) { int fd, result; @@ -110,7 +78,14 @@ int test_servo(int argc, char *argv[]) printf("Servo readback, pairs of values should match defaults\n"); - for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) { + unsigned servo_count; + result = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count); + if (result != OK) { + warnx("PWM_SERVO_GET_COUNT"); + return ERROR; + } + + for (unsigned i = 0; i < servo_count; i++) { result = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&pos); if (result < 0) { @@ -122,11 +97,20 @@ int test_servo(int argc, char *argv[]) } - printf("Servos arming at default values\n"); + /* tell safety that its ok to disable it with the switch */ + result = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0); + if (result != OK) + warnx("FAIL: PWM_SERVO_SET_ARM_OK"); + /* tell output device that the system is armed (it will output values if safety is off) */ result = ioctl(fd, PWM_SERVO_ARM, 0); + if (result != OK) + warnx("FAIL: PWM_SERVO_ARM"); + usleep(5000000); printf("Advancing channel 0 to 1500\n"); result = ioctl(fd, PWM_SERVO_SET(0), 1500); + printf("Advancing channel 1 to 1800\n"); + result = ioctl(fd, PWM_SERVO_SET(1), 1800); out: return 0; } diff --git a/src/systemcmds/tests/test_uart_loopback.c b/src/systemcmds/tests/test_uart_loopback.c index 3be152004..f1d41739b 100644 --- a/src/systemcmds/tests/test_uart_loopback.c +++ b/src/systemcmds/tests/test_uart_loopback.c @@ -1,8 +1,6 @@ /**************************************************************************** - * px4/sensors/test_gpio.c * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012, 2013 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 @@ -14,7 +12,7 @@ * 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 + * 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. * @@ -33,9 +31,11 @@ * ****************************************************************************/ -/**************************************************************************** - * Included Files - ****************************************************************************/ +/** + * @file test_uart_loopback.c + * Tests the uart outputs + * + */ #include <nuttx/config.h> @@ -55,40 +55,6 @@ #include <math.h> #include <float.h> - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - - -/**************************************************************************** - * Public Functions - ****************************************************************************/ - -/**************************************************************************** - * Name: test_led - ****************************************************************************/ - int test_uart_loopback(int argc, char *argv[]) { @@ -97,11 +63,11 @@ int test_uart_loopback(int argc, char *argv[]) int uart5_nwrite = 0; int uart2_nwrite = 0; - int uart1 = open("/dev/ttyS0", O_RDWR | O_NOCTTY); // + /* opening stdout */ + int stdout_fd = 1; - /* assuming NuttShell is on UART1 (/dev/ttyS0) */ - int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY); // - int uart5 = open("/dev/ttyS2", O_RDWR | O_NONBLOCK | O_NOCTTY); // + int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY); + int uart5 = open("/dev/ttyS2", O_RDWR | O_NONBLOCK | O_NOCTTY); if (uart2 < 0) { printf("ERROR opening UART2, aborting..\n"); @@ -113,7 +79,7 @@ int test_uart_loopback(int argc, char *argv[]) exit(uart5); } - uint8_t sample_uart1[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', '\n'}; + uint8_t sample_stdout_fd[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', '\n'}; uint8_t sample_uart2[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0}; uint8_t sample_uart5[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0}; @@ -121,7 +87,7 @@ int test_uart_loopback(int argc, char *argv[]) for (i = 0; i < 1000; i++) { // printf("TEST #%d\n",i); - write(uart1, sample_uart1, sizeof(sample_uart1)); + write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd)); /* uart2 -> uart5 */ r = write(uart2, sample_uart2, sizeof(sample_uart2)); @@ -130,7 +96,7 @@ int test_uart_loopback(int argc, char *argv[]) uart2_nwrite += r; // printf("TEST #%d\n",i); - write(uart1, sample_uart1, sizeof(sample_uart1)); + write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd)); /* uart2 -> uart5 */ r = write(uart5, sample_uart5, sizeof(sample_uart5)); @@ -139,7 +105,7 @@ int test_uart_loopback(int argc, char *argv[]) uart5_nwrite += r; // printf("TEST #%d\n",i); - write(uart1, sample_uart1, sizeof(sample_uart1)); + write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd)); /* try to read back values */ do { @@ -150,7 +116,7 @@ int test_uart_loopback(int argc, char *argv[]) } while (r > 0); // printf("TEST #%d\n",i); - write(uart1, sample_uart1, sizeof(sample_uart1)); + write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd)); do { r = read(uart2, sample_uart5, sizeof(sample_uart5)); @@ -160,7 +126,7 @@ int test_uart_loopback(int argc, char *argv[]) } while (r > 0); // printf("TEST #%d\n",i); -// write(uart1, sample_uart1, sizeof(sample_uart5)); +// write(stdout_fd, sample_stdout_fd, sizeof(sample_uart5)); } for (i = 0; i < 200000; i++) { @@ -181,7 +147,7 @@ int test_uart_loopback(int argc, char *argv[]) } - close(uart1); + close(stdout_fd); close(uart2); close(uart5); diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h index c483108cf..a57d04be3 100644 --- a/src/systemcmds/tests/tests.h +++ b/src/systemcmds/tests/tests.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 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 @@ -34,6 +34,12 @@ #ifndef __APPS_PX4_TESTS_H #define __APPS_PX4_TESTS_H +/** + * @file tests.h + * Tests declaration file. + * + */ + /**************************************************************************** * Included Files ****************************************************************************/ @@ -88,6 +94,7 @@ extern int test_int(int argc, char *argv[]); extern int test_float(int argc, char *argv[]); extern int test_ppm(int argc, char *argv[]); extern int test_servo(int argc, char *argv[]); +extern int test_ppm_loopback(int argc, char *argv[]); extern int test_uart_loopback(int argc, char *argv[]); extern int test_uart_baudchange(int argc, char *argv[]); extern int test_cpuload(int argc, char *argv[]); @@ -101,6 +108,7 @@ extern int test_param(int argc, char *argv[]); extern int test_bson(int argc, char *argv[]); extern int test_file(int argc, char *argv[]); extern int test_mixer(int argc, char *argv[]); +extern int test_rc(int argc, char *argv[]); __END_DECLS diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index 9eb9c632e..1088a4407 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * Copyright (c) 2012, 2013 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 @@ -35,6 +34,8 @@ /** * @file tests_main.c * Tests main file, loads individual tests. + * + * @author Lorenz Meier <lm@inf.ethz.ch> */ #include <nuttx/config.h> @@ -58,14 +59,6 @@ #include "tests.h" /**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** * Private Function Prototypes ****************************************************************************/ @@ -94,6 +87,7 @@ const struct { {"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST}, {"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST}, {"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"ppm_loopback", test_ppm_loopback, OPT_NOALLTEST}, {"adc", test_adc, OPT_NOJIGTEST}, {"jig_voltages", test_jig_voltages, OPT_NOALLTEST}, {"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST}, @@ -111,6 +105,7 @@ const struct { {"bson", test_bson, 0}, {"file", test_file, 0}, {"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST}, {"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST}, {NULL, NULL, 0} }; |