From 333039d3db7b1f3b4bfb06c27874bf3372b7d750 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 29 Dec 2014 20:44:46 +1100
Subject: mpu6000: added "mpu6000 testerror" command

used to generate a error case for reset testing
---
 src/drivers/mpu6000/mpu6000.cpp | 47 +++++++++++++++++++++++++++++++++++++++--
 1 file changed, 45 insertions(+), 2 deletions(-)

(limited to 'src/drivers')

diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index 91eb40b96..8dfac9859 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -210,6 +210,9 @@ public:
 	 */
 	int 			factory_self_test();
 
+	// deliberately cause a sensor error
+	void 			test_error();
+
 protected:
 	virtual int		probe();
 
@@ -1072,10 +1075,31 @@ MPU6000::factory_self_test()
 	write_reg(MPUREG_ACCEL_CONFIG, saved_accel_config);
 
 	_in_factory_test = false;
+	if (ret == OK) {
+		::printf("PASSED\n");
+	}
 
 	return ret;
 }
 
+
+/*
+  deliberately trigger an error in the sensor to trigger recovery
+ */
+void
+MPU6000::test_error()
+{
+	_in_factory_test = true;
+	// deliberately trigger an error. This was noticed during
+	// development as a handy way to test the reset logic
+	uint8_t data[16];
+	memset(data, 0, sizeof(data));
+	transfer(data, data, sizeof(data));
+	::printf("error triggered\n");
+	print_registers();
+	_in_factory_test = false;
+}
+
 ssize_t
 MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
 {
@@ -1810,6 +1834,7 @@ void	test(bool);
 void	reset(bool);
 void	info(bool);
 void	regdump(bool);
+void	testerror(bool);
 void	factorytest(bool);
 void	usage();
 
@@ -2002,6 +2027,21 @@ regdump(bool external_bus)
 	exit(0);
 }
 
+/**
+ * deliberately produce an error to test recovery
+ */
+void
+testerror(bool external_bus)
+{
+	MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int;
+	if (*g_dev_ptr == nullptr)
+		errx(1, "driver not running");
+
+	(*g_dev_ptr)->test_error();
+
+	exit(0);
+}
+
 /**
  * Dump the register information
  */
@@ -2020,7 +2060,7 @@ factorytest(bool external_bus)
 void
 usage()
 {
-	warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump'");
+	warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump', 'factorytest', 'testerror'");
 	warnx("options:");
 	warnx("    -X    (external bus)");
 	warnx("    -R rotation");
@@ -2086,5 +2126,8 @@ mpu6000_main(int argc, char *argv[])
 	if (!strcmp(verb, "factorytest"))
 		mpu6000::factorytest(external_bus);
 
-	errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info' or 'regdump'");
+	if (!strcmp(verb, "testerror"))
+		mpu6000::testerror(external_bus);
+
+	errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'regdump', 'factorytest' or 'testerror'");
 }
-- 
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