From a6c57afabd22a7f683bad07d396c178c59e3dc7c Mon Sep 17 00:00:00 2001 From: Johan Jansen Date: Tue, 17 Mar 2015 09:28:24 +0100 Subject: Make: Remove deprecated preflight check --- src/systemcmds/preflight_check/preflight_check.c | 286 ----------------------- 1 file changed, 286 deletions(-) delete mode 100644 src/systemcmds/preflight_check/preflight_check.c (limited to 'src/systemcmds/preflight_check/preflight_check.c') diff --git a/src/systemcmds/preflight_check/preflight_check.c b/src/systemcmds/preflight_check/preflight_check.c deleted file mode 100644 index 361ca6754..000000000 --- a/src/systemcmds/preflight_check/preflight_check.c +++ /dev/null @@ -1,286 +0,0 @@ -/**************************************************************************** - * - * 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 preflight_check.c - * - * Preflight check for main system components - * - * @author Lorenz Meier - */ - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -__EXPORT int preflight_check_main(int argc, char *argv[]); -static int led_toggle(int leds, int led); -static int led_on(int leds, int led); -static int led_off(int leds, int led); - -int preflight_check_main(int argc, char *argv[]) -{ - bool fail_on_error = false; - - if (argc > 1 && !strcmp(argv[1], "--help")) { - warnx("usage: preflight_check [--fail-on-error]\n\tif fail on error is enabled, will return 1 on error"); - exit(1); - } - - if (argc > 1 && !strcmp(argv[1], "--fail-on-error")) { - fail_on_error = true; - } - - bool system_ok = true; - - int fd; - /* open text message output path */ - int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - int ret; - int32_t devid, calibration_devid; - - /* give the system some time to sample the sensors in the background */ - usleep(150000); - - /* ---- MAG ---- */ - fd = open(MAG0_DEVICE_PATH, 0); - if (fd < 0) { - warn("failed to open magnetometer - start with 'hmc5883 start' or 'lsm303d start'"); - mavlink_log_critical(mavlink_fd, "SENSOR FAIL: NO MAG"); - system_ok = false; - goto system_eval; - } - - devid = ioctl(fd, DEVIOCGDEVICEID,0); - param_get(param_find("CAL_MAG0_ID"), &(calibration_devid)); - if (devid != calibration_devid){ - warnx("magnetometer calibration is for a different device - calibrate magnetometer first"); - mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CAL ID"); - system_ok = false; - goto system_eval; - } - - ret = ioctl(fd, MAGIOCSELFTEST, 0); - - if (ret != OK) { - warnx("magnetometer calibration missing or bad - calibrate magnetometer first"); - mavlink_log_critical(mavlink_fd, "SENSOR FAIL: MAG CHECK/CAL"); - system_ok = false; - goto system_eval; - } - - /* ---- ACCEL ---- */ - - close(fd); - fd = open(ACCEL0_DEVICE_PATH, O_RDONLY); - - devid = ioctl(fd, DEVIOCGDEVICEID,0); - param_get(param_find("CAL_ACC0_ID"), &(calibration_devid)); - if (devid != calibration_devid){ - warnx("accelerometer calibration is for a different device - calibrate accelerometer first"); - mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACC CAL ID"); - system_ok = false; - goto system_eval; - } - - ret = ioctl(fd, ACCELIOCSELFTEST, 0); - - if (ret != OK) { - warnx("accel self test failed"); - mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL CHECK/CAL"); - system_ok = false; - goto system_eval; - } - - /* check measurement result range */ - struct accel_report acc; - ret = read(fd, &acc, sizeof(acc)); - - if (ret == sizeof(acc)) { - /* evaluate values */ - if (sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z) > 30.0f /* m/s^2 */) { - warnx("accel with spurious values"); - mavlink_log_critical(mavlink_fd, "SENSOR FAIL: |ACCEL| > 30 m/s^2"); - /* this is frickin' fatal */ - fail_on_error = true; - system_ok = false; - goto system_eval; - } - } else { - warnx("accel read failed"); - mavlink_log_critical(mavlink_fd, "SENSOR FAIL: ACCEL READ"); - /* this is frickin' fatal */ - fail_on_error = true; - system_ok = false; - goto system_eval; - } - - /* ---- GYRO ---- */ - - close(fd); - fd = open(GYRO0_DEVICE_PATH, 0); - - devid = ioctl(fd, DEVIOCGDEVICEID,0); - param_get(param_find("CAL_GYRO0_ID"), &(calibration_devid)); - if (devid != calibration_devid){ - warnx("gyro calibration is for a different device - calibrate gyro first"); - mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CAL ID"); - system_ok = false; - goto system_eval; - } - - ret = ioctl(fd, GYROIOCSELFTEST, 0); - - if (ret != OK) { - warnx("gyro self test failed"); - mavlink_log_critical(mavlink_fd, "SENSOR FAIL: GYRO CHECK/CAL"); - system_ok = false; - goto system_eval; - } - - /* ---- BARO ---- */ - - close(fd); - fd = open(BARO0_DEVICE_PATH, 0); - close(fd); - - /* ---- RC CALIBRATION ---- */ - - bool rc_ok = (OK == rc_calibration_check(mavlink_fd)); - - /* warn */ - if (!rc_ok) - warnx("rc calibration test failed"); - - /* require RC ok to keep system_ok */ - system_ok &= rc_ok; - - - - -system_eval: - - if (system_ok) { - /* all good, exit silently */ - exit(0); - } else { - fflush(stdout); - - warnx("PREFLIGHT CHECK ERROR! TRIGGERING ALARM"); - fflush(stderr); - - int buzzer = open(TONEALARM0_DEVICE_PATH, O_WRONLY); - int leds = open(LED0_DEVICE_PATH, 0); - - if (leds < 0) { - close(buzzer); - errx(1, "failed to open leds, aborting"); - } - - /* flip blue led into alternating amber */ - led_off(leds, LED_BLUE); - led_off(leds, LED_AMBER); - led_toggle(leds, LED_BLUE); - - /* display and sound error */ - for (int i = 0; i < 14; i++) - { - led_toggle(leds, LED_BLUE); - led_toggle(leds, LED_AMBER); - - if (i % 10 == 0) { - ioctl(buzzer, TONE_SET_ALARM, TONE_NOTIFY_NEUTRAL_TUNE); - } else if (i % 5 == 0) { - ioctl(buzzer, TONE_SET_ALARM, TONE_ERROR_TUNE); - } - usleep(100000); - } - - /* stop alarm */ - ioctl(buzzer, TONE_SET_ALARM, TONE_STOP_TUNE); - - /* switch off leds */ - led_on(leds, LED_BLUE); - led_on(leds, LED_AMBER); - close(leds); - - if (fail_on_error) { - /* exit with error message */ - exit(1); - } else { - /* do not emit an error code to make sure system still boots */ - exit(0); - } - } -} - -static int led_toggle(int leds, int led) -{ - static int last_blue = LED_ON; - static int last_amber = LED_ON; - - if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON; - - if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON; - - return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led); -} - -static int led_off(int leds, int led) -{ - return ioctl(leds, LED_OFF, led); -} - -static int led_on(int leds, int led) -{ - return ioctl(leds, LED_ON, led); -} -- cgit v1.2.3