From 4f20d9a24ba15cab4b8610b460b7aa54ef2ac839 Mon Sep 17 00:00:00 2001 From: px4dev Date: Fri, 19 Oct 2012 18:59:44 -0700 Subject: Retire old test cases for drivers that have been removed. --- apps/px4/tests/test_sensors.c | 330 ------------------------------------------ 1 file changed, 330 deletions(-) (limited to 'apps/px4') diff --git a/apps/px4/tests/test_sensors.c b/apps/px4/tests/test_sensors.c index 87ea7f058..c801869ab 100644 --- a/apps/px4/tests/test_sensors.c +++ b/apps/px4/tests/test_sensors.c @@ -56,10 +56,6 @@ #include "tests.h" -#include -#include -#include -#include #include /**************************************************************************** @@ -75,10 +71,6 @@ ****************************************************************************/ //static int lis331(int argc, char *argv[]); -static int l3gd20(int argc, char *argv[]); -static int bma180(int argc, char *argv[]); -static int hmc5883l(int argc, char *argv[]); -static int ms5611(int argc, char *argv[]); static int mpu6000(int argc, char *argv[]); /**************************************************************************** @@ -90,12 +82,7 @@ struct { const char *path; int (* test)(int argc, char *argv[]); } sensors[] = { - {"bma180", "/dev/bma180", bma180}, {"mpu6000", "/dev/accel", mpu6000}, - {"l3gd20", "/dev/l3gd20", l3gd20}, - {"hmc5883l", "/dev/hmc5883l", hmc5883l}, - {"ms5611", "/dev/ms5611", ms5611}, -// {"lis331", "/dev/lis331", lis331}, {NULL, NULL, NULL} }; @@ -107,226 +94,6 @@ struct { * Private Functions ****************************************************************************/ -//static int -//lis331(int argc, char *argv[]) -//{ -// int fd; -// int16_t buf[3]; -// int ret; -// -// fd = open("/dev/lis331", O_RDONLY); -// if (fd < 0) { -// printf("\tlis331: not present on PX4FMU v1.5 and later\n"); -// return ERROR; -// } -// -// if (ioctl(fd, LIS331_SETRATE, LIS331_RATE_50Hz) || -// ioctl(fd, LIS331_SETRANGE, LIS331_RANGE_4G)) { -// -// printf("LIS331: ioctl fail\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("LIS331: read1 fail (%d)\n", ret); -// return ERROR; -// } -// -// /* read data - expect no samples (should not be ready again yet) */ -// ret = read(fd, buf, sizeof(buf)); -// if (ret != 0) { -// printf("LIS331: read2 fail (%d)\n", ret); -// return ERROR; -// } -// -// /* XXX more tests here */ -// -// return 0; -//} - -static int -l3gd20(int argc, char *argv[]) -{ - printf("\tL3GD20: test start\n"); - fflush(stdout); - - int fd; - int16_t buf[3] = {0, 0, 0}; - int ret; - - fd = open("/dev/l3gd20", O_RDONLY | O_NONBLOCK); - - if (fd < 0) { - printf("L3GD20: open fail\n"); - return ERROR; - } - -// if (ioctl(fd, L3GD20_SETRATE, L3GD20_RATE_760HZ_LP_50HZ) || -// ioctl(fd, L3GD20_SETRANGE, L3GD20_RANGE_500DPS)) { -// -// printf("L3GD20: ioctl fail\n"); -// return ERROR; -// } else { -// printf("\tconfigured..\n"); -// } -// -// /* wait at least 100ms, sensor should have data after no more than 2ms */ -// usleep(100000); - - - - /* read data - expect samples */ - ret = read(fd, buf, sizeof(buf)); - - if (ret != sizeof(buf)) { - printf("\tL3GD20: read1 fail (%d should have been %d)\n", ret, sizeof(buf)); - //return ERROR; - - } else { - printf("\tL3GD20 values #1: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]); - } - - /* wait at least 2 ms, sensor should have data after no more than 1.5ms */ - usleep(2000); - - /* read data - expect no samples (should not be ready again yet) */ - ret = read(fd, buf, sizeof(buf)); - - if (ret != sizeof(buf)) { - printf("\tL3GD20: read2 fail (%d)\n", ret); - close(fd); - return ERROR; - - } else { - printf("\tL3GD20 values #2: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]); - } - - /* empty sensor buffer */ - ret = 0; - - while (ret != sizeof(buf)) { - // Keep reading until successful - ret = read(fd, buf, sizeof(buf)); - } - - /* test if FIFO is operational */ - usleep(14800); // Expecting 10 measurements - - ret = 0; - int count = 0; - bool dataready = true; - - while (dataready) { - // Keep reading until successful - ret = read(fd, buf, sizeof(buf)); - - if (ret != sizeof(buf)) { - dataready = false; - - } else { - count++; - } - } - - printf("\tL3GD20: Drained FIFO with %d values (expected 8-12)\n", count); - - /* read data - expect no samples (should not be ready again yet) */ - ret = read(fd, buf, sizeof(buf)); - - if (ret != 0) { - printf("\tL3GD20: Note: read3 got data - there should not have been data ready\n", ret); -// return ERROR; - } - - close(fd); - - /* Let user know everything is ok */ - printf("\tOK: L3GD20 passed all tests successfully\n"); - return OK; -} - -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); - - int fd; - int16_t buf[3] = {0, 0, 0}; - int ret; - - fd = open("/dev/bma180", O_RDONLY); - - if (fd < 0) { - printf("\tBMA180: open fail\n"); - return OK; - } - -// if (ioctl(fd, LIS331_SETRATE, LIS331_RATE_50Hz) || -// ioctl(fd, LIS331_SETRANGE, LIS331_RANGE_4G)) { -// -// printf("BMA180: ioctl fail\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("\tBMA180: read1 fail (%d)\n", ret); - close(fd); - return OK; - - } else { - printf("\tBMA180 values: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]); - } - - /* wait at least 10ms, sensor should have data after no more than 2ms */ - usleep(100000); - - ret = read(fd, buf, sizeof(buf)); - - if (ret != sizeof(buf)) { - printf("\tBMA180: read2 fail (%d)\n", ret); - close(fd); - return OK; - - } else { - printf("\tBMA180: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]); - } - - /* empty sensor buffer */ - ret = 0; - - while (ret != sizeof(buf)) { - // Keep reading until successful - ret = read(fd, buf, sizeof(buf)); - } - - ret = read(fd, buf, sizeof(buf)); - - if (ret != 0) { - printf("\tBMA180: Note: read3 got data - there should not have been data ready\n", ret); - } - - /* Let user know everything is ok */ - printf("\tOK: BMA180 passed all tests successfully\n"); - close(fd); - - return OK; -} - static int mpu6000(int argc, char *argv[]) { @@ -379,103 +146,6 @@ mpu6000(int argc, char *argv[]) return OK; } -static int -ms5611(int argc, char *argv[]) -{ - printf("\tMS5611: test start\n"); - fflush(stdout); - - int fd; - float buf[3] = {0.0f, 0.0f, 0.0f}; - int ret; - - fd = open("/dev/ms5611", O_RDONLY); - - if (fd < 0) { - printf("\tMS5611: open fail\n"); - return ERROR; - } - - for (int i = 0; i < 5; i++) { - /* read data - expect samples */ - ret = read(fd, buf, sizeof(buf)); - - if (ret != sizeof(buf)) { - - 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); - close(fd); - return ERROR; - } - - } else { - - /* hack for float printing */ - int32_t pressure_int = buf[0]; - int32_t altitude_int = buf[1]; - int32_t temperature_int = buf[2]; - - printf("\tMS5611: pressure:%d.%03d mbar - altitude: %d.%02d meters - temp:%d.%02d deg celcius\n", pressure_int, (int)(buf[0] * 1000 - pressure_int * 1000), altitude_int, (int)(buf[1] * 100 - altitude_int * 100), temperature_int, (int)(buf[2] * 100 - temperature_int * 100)); - } - - /* wait at least 10ms, sensor should have data after no more than 6.5ms */ - usleep(10000); - } - - close(fd); - - /* Let user know everything is ok */ - printf("\tOK: MS5611 passed all tests successfully\n"); - - return OK; -} - -static int -hmc5883l(int argc, char *argv[]) -{ - printf("\tHMC5883L: test start\n"); - fflush(stdout); - - int fd; - int16_t buf[7] = {0, 0, 0}; - int ret; - - fd = open("/dev/hmc5883l", O_RDONLY); - - if (fd < 0) { - printf("\tHMC5883L: open fail\n"); - return ERROR; - } - - int i; - - for (i = 0; i < 5; i++) { - /* wait at least 7ms, sensor should have data after no more than 6.5ms */ - usleep(7000); - - /* read data - expect samples */ - ret = read(fd, buf, sizeof(buf)); - - if (ret != sizeof(buf)) { - printf("\tHMC5883L: read1 fail (%d) values: x:%d\ty:%d\tz:%d\n", ret, buf[0], buf[1], buf[2]); - close(fd); - return ERROR; - - } else { - printf("\tHMC5883L: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]); - } - } - - close(fd); - - /* Let user know everything is ok */ - printf("\tOK: HMC5883L passed all tests successfully\n"); - - return OK; -} - /**************************************************************************** * Public Functions ****************************************************************************/ -- cgit v1.2.3