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First initial revision of ACC driver and gyro

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This commit is contained in:
Lorenz Meier
2012-08-13 22:10:03 +02:00
parent 6fb3bbb5da
commit 1d029b01fe
4 changed files with 72 additions and 41 deletions
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apps/px4/tests/test_float.c
+19 -10
View File
@@ -62,7 +62,7 @@ int test_float(int argc, char *argv[])
int ret = 0;
printf("\n--- SINGLE PRECISION TESTS ---\n");
printf("The single precision test involves calls to fabs(),\nif test fails check this function as well.\n\n");
printf("The single precision test involves calls to fabsf(),\nif test fails check this function as well.\n\n");
float f1 = 1.55f;
@@ -80,7 +80,7 @@ int test_float(int argc, char *argv[])
fflush(stdout);
if (fabs((sinf_one - 0.841470956802368164062500000000f)) < FLT_EPSILON) {
if (fabsf((sinf_one - 0.841470956802368164062500000000f)) < FLT_EPSILON) {
printf("\t success: sinf(1.0f) == 0.84147f\n");
} else {
@@ -92,7 +92,7 @@ int test_float(int argc, char *argv[])
float asinf_one = asinf(1.0f);
if (fabs((asinf_one - 1.570796251296997070312500000000f)) < FLT_EPSILON * 1.5f) {
if (fabsf((asinf_one - 1.570796251296997070312500000000f)) < FLT_EPSILON * 1.5f) {
printf("\t success: asinf(1.0f) == 1.57079f\n");
} else {
@@ -104,7 +104,7 @@ int test_float(int argc, char *argv[])
float cosf_one = cosf(1.0f);
if (fabs((cosf_one - 0.540302336215972900390625000000f)) < FLT_EPSILON) {
if (fabsf((cosf_one - 0.540302336215972900390625000000f)) < FLT_EPSILON) {
printf("\t success: cosf(1.0f) == 0.54030f\n");
} else {
@@ -117,7 +117,7 @@ int test_float(int argc, char *argv[])
float acosf_one = acosf(1.0f);
if (fabs((acosf_one - 0.000000000000000000000000000000f)) < FLT_EPSILON) {
if (fabsf((acosf_one - 0.000000000000000000000000000000f)) < FLT_EPSILON) {
printf("\t success: acosf(1.0f) == 0.0f\n");
} else {
@@ -162,9 +162,9 @@ int test_float(int argc, char *argv[])
if (sbuf[0] == ' ' && sbuf[1] == ' ' && sbuf[2] == '0' &&
sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
&& sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') {
printf("\t success: printf(\"%8.4f\", 0.553415f) == %8.4f\n", 0.553415f);
printf("\t success: printf(\"%%8.4f\", 0.553415f) == %8.4f\n", 0.553415f);
} else {
printf("\t FAIL: printf(\"%8.4f\", 0.553415f) != \" 0.5534\", result: %s\n", sbuf);
printf("\t FAIL: printf(\"%%8.4f\", 0.553415f) != \" 0.5534\", result: %s\n", sbuf);
ret = -5;
}
@@ -230,15 +230,24 @@ int test_float(int argc, char *argv[])
ret = -7;
}
printf("\t testing printing: printf(0.553415): %8.4f\n", 0.553415);
printf("\t testing pow() with magic value\n");
printf("\t (44330.0 * (1.0 - pow((96286LL / 101325.0), 0.190295)));\n");
printf("\t (44330.0 * (1.0 - pow((96286LL / 101325.0), 0.190295)));\n");
fflush(stdout);
usleep(20000);
double powres = (44330.0 * (1.0 - pow((96286LL / 101325.0), 0.190295)));
printf("\t success: result: %8.4f\n", (double)powres);
sprintf(sbuf, "%8.4f", 0.553415);
if (sbuf[0] == ' ' && sbuf[1] == ' ' && sbuf[2] == '0' &&
sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
&& sbuf[6] == '3' && sbuf[7] == '4' && sbuf[8] == '\0') {
printf("\t success: printf(\"%%8.4f\", 0.553415) == %8.4f\n", 0.553415);
} else {
printf("\t FAIL: printf(\"%%8.4f\", 0.553415) != \" 0.5534\", result: %s\n", sbuf);
ret = -8;
}
if (ret == 0) {
printf("\n SUCCESS: All float and double tests passed.\n");
apps/px4/tests/test_sensors.c
+20 -20
View File
@@ -331,7 +331,7 @@ mpu6000(int argc, char *argv[])
fflush(stdout);
int fd;
int16_t buf[5] = { -1, 0, -1, 0, -1, 0};
int16_t buf[6] = { -1, 0, -1, 0, -1, 0};
int ret;
fd = open("/dev/mpu6000", O_RDONLY);
@@ -341,32 +341,32 @@ mpu6000(int argc, char *argv[])
return ERROR;
}
// /* wait at least 100ms, sensor should have data after no more than 20ms */
// usleep(100000);
/* 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));
/* read data - expect samples */
ret = read(fd, buf, sizeof(buf));
// if (ret != sizeof(buf)) {
// printf("\tMPU-6000: read1 fail (%d)\n", ret);
// return ERROR;
if (ret != sizeof(buf)) {
printf("\tMPU-6000: 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("\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]);
}
// /* wait at least 10ms, sensor should have data after no more than 2ms */
// usleep(100000);
/* wait at least 10ms, sensor should have data after no more than 2ms */
usleep(100000);
// ret = read(fd, buf, sizeof(buf));
ret = read(fd, buf, sizeof(buf));
// if (ret != sizeof(buf)) {
// printf("\tMPU-6000: read2 fail (%d)\n", ret);
// return ERROR;
if (ret != sizeof(buf)) {
printf("\tMPU-6000: read2 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("\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]);
}
/* XXX more tests here */