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mpu6000: added "mpu6000 testerror" command

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used to generate a error case for reset testing
This commit is contained in:
Andrew Tridgell
2014-12-29 20:44:46 +11:00
committed by Thomas Gubler
parent b157466608
commit 333039d3db
1 changed files with 45 additions and 2 deletions
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src/drivers/mpu6000/mpu6000.cpp
+45 -2
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@@ -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'");
}