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Tests for all PWM pins

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This commit is contained in:
Lorenz Meier 2013-11-30 10:00:33 +01:00
parent 39634d1001
commit 3701a02a37
10 changed files with 297 additions and 125 deletions
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2
src/systemcmds/pwm/pwm.c
View File

@ -210,7 +210,7 @@ pwm_main(int argc, char *argv[])
err(1, "PWM_SERVO_GET_COUNT");
if (!strcmp(argv[1], "arm")) {
/* tell IO that its ok to disable its safety with the switch */
/* tell safety that its ok to disable it with the switch */
ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
if (ret != OK)
err(1, "PWM_SERVO_SET_ARM_OK");

5
src/systemcmds/tests/module.mk
View File

@ -24,6 +24,7 @@ SRCS = test_adc.c \
test_uart_loopback.c \
test_uart_send.c \
test_mixer.cpp \
tests_file.c \
test_file.c \
tests_main.c \
tests_param.c
test_param.c \
test_ppm_loopback.c

2
src/systemcmds/tests/tests_file.c → src/systemcmds/tests/test_file.c
View File

@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file tests_file.c
* @file test_file.c
*
* File write test.
*/

2
src/systemcmds/tests/tests_param.c → src/systemcmds/tests/test_param.c
View File

@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file tests_param.c
* @file test_param.c
*
* Tests related to the parameter system.
*/

154
src/systemcmds/tests/test_ppm_loopback.c Normal file
View File

@ -0,0 +1,154 @@
/****************************************************************************
*
* 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 test_ppm_loopback.c
* Tests the PWM outputs and PPM input
*
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_rc_input.h>
#include <systemlib/err.h>
#include "tests.h"
#include <math.h>
#include <float.h>
int test_ppm_loopback(int argc, char *argv[])
{
int servo_fd, result;
servo_position_t data[PWM_OUTPUT_MAX_CHANNELS];
servo_position_t pos;
servo_fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR);
if (servo_fd < 0) {
printf("failed opening /dev/pwm_servo\n");
}
result = read(servo_fd, &data, sizeof(data));
if (result != sizeof(data)) {
printf("failed bulk-reading channel values\n");
}
printf("Servo readback, pairs of values should match defaults\n");
unsigned servo_count;
result = ioctl(servo_fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
if (result != OK) {
warnx("PWM_SERVO_GET_COUNT");
return ERROR;
}
for (unsigned i = 0; i < servo_count; i++) {
result = ioctl(servo_fd, PWM_SERVO_GET(i), (unsigned long)&pos);
if (result < 0) {
printf("failed reading channel %u\n", i);
}
printf("%u: %u %u\n", i, pos, data[i]);
}
/* tell safety that its ok to disable it with the switch */
result = ioctl(servo_fd, PWM_SERVO_SET_ARM_OK, 0);
if (result != OK)
warnx("FAIL: PWM_SERVO_SET_ARM_OK");
/* tell output device that the system is armed (it will output values if safety is off) */
result = ioctl(servo_fd, PWM_SERVO_ARM, 0);
if (result != OK)
warnx("FAIL: PWM_SERVO_ARM");
int pwm_values[] = {1200, 1300, 1900, 1700, 1500, 1250, 1800, 1400};
printf("Advancing channel 0 to 1100\n");
result = ioctl(servo_fd, PWM_SERVO_SET(0), 1100);
printf("Advancing channel 1 to 1900\n");
result = ioctl(servo_fd, PWM_SERVO_SET(1), 1900);
printf("Advancing channel 2 to 1200\n");
result = ioctl(servo_fd, PWM_SERVO_SET(2), 1200);
for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) {
result = ioctl(servo_fd, PWM_SERVO_SET(i), pwm_values[i]);
if (result) {
(void)close(servo_fd);
return ERROR;
}
}
/* give driver 10 ms to propagate */
usleep(10000);
/* open PPM input and expect values close to the output values */
int ppm_fd = open(RC_INPUT_DEVICE_PATH, O_RDONLY);
struct rc_input_values rc;
result = read(ppm_fd, &rc, sizeof(rc));
if (result != sizeof(rc)) {
warnx("Error reading RC output");
(void)close(servo_fd);
(void)close(ppm_fd);
return ERROR;
}
/* go and check values */
for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) {
result = ioctl(servo_fd, PWM_SERVO_GET(i), pwm_values[i]);
if (result) {
(void)close(servo_fd);
return ERROR;
}
}
return 0;
}

98
src/systemcmds/tests/test_sensors.c
View File

@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* 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
@ -49,6 +48,8 @@
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <math.h>
#include <systemlib/err.h>
#include <arch/board/board.h>
@ -77,6 +78,7 @@ static int accel(int argc, char *argv[]);
static int gyro(int argc, char *argv[]);
static int mag(int argc, char *argv[]);
static int baro(int argc, char *argv[]);
static int mpu6k(int argc, char *argv[]);
/****************************************************************************
* Private Data
@ -91,6 +93,7 @@ struct {
{"gyro", "/dev/gyro", gyro},
{"mag", "/dev/mag", mag},
{"baro", "/dev/baro", baro},
{"mpu6k", "/dev/mpu6k", mpu6k},
{NULL, NULL, NULL}
};
@ -133,23 +136,83 @@ accel(int argc, char *argv[])
printf("\tACCEL accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
}
// /* 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("\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]);
// }
/* XXX more tests here */
if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
warnx("MPU6K acceleration values out of range!");
return ERROR;
}
/* Let user know everything is ok */
printf("\tOK: ACCEL passed all tests successfully\n");
close(fd);
return OK;
}
static int
mpu6k(int argc, char *argv[])
{
printf("\tMPU6K: test start\n");
fflush(stdout);
int fd;
struct accel_report buf;
struct gyro_report gyro_buf;
int ret;
fd = open("/dev/accel_mpu6k", O_RDONLY);
if (fd < 0) {
printf("\tMPU6K: open fail, run <mpu6000 start> first.\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("\tMPU6K: read1 fail (%d)\n", ret);
return ERROR;
} else {
printf("\tMPU6K accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
}
if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
warnx("MPU6K acceleration values out of range!");
return ERROR;
}
/* Let user know everything is ok */
printf("\tOK: MPU6K ACCEL passed all tests successfully\n");
close(fd);
fd = open("/dev/gyro_mpu6k", O_RDONLY);
if (fd < 0) {
printf("\tMPU6K GYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
return ERROR;
}
/* wait at least 5 ms, sensor should have data after that */
usleep(5000);
/* read data - expect samples */
ret = read(fd, &gyro_buf, sizeof(gyro_buf));
if (ret != sizeof(gyro_buf)) {
printf("\tMPU6K GYRO: read fail (%d)\n", ret);
return ERROR;
} else {
printf("\tMPU6K GYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)gyro_buf.x, (double)gyro_buf.y, (double)gyro_buf.z);
}
/* Let user know everything is ok */
printf("\tOK: MPU6K GYRO passed all tests successfully\n");
close(fd);
return OK;
}
@ -187,6 +250,7 @@ gyro(int argc, char *argv[])
/* Let user know everything is ok */
printf("\tOK: GYRO passed all tests successfully\n");
close(fd);
return OK;
}
@ -224,6 +288,7 @@ mag(int argc, char *argv[])
/* Let user know everything is ok */
printf("\tOK: MAG passed all tests successfully\n");
close(fd);
return OK;
}
@ -261,6 +326,7 @@ baro(int argc, char *argv[])
/* Let user know everything is ok */
printf("\tOK: BARO passed all tests successfully\n");
close(fd);
return OK;
}

66
src/systemcmds/tests/test_servo.c
View File

@ -1,7 +1,6 @@
/****************************************************************************
* px4/sensors/test_hrt.c
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* 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
@ -13,7 +12,7 @@
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* 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.
*
@ -32,9 +31,11 @@
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
/**
* @file test_servo.c
* Tests the servo outputs
*
*/
#include <nuttx/config.h>
@ -55,39 +56,6 @@
#include "tests.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: test_servo
****************************************************************************/
int test_servo(int argc, char *argv[])
{
int fd, result;
@ -110,7 +78,14 @@ int test_servo(int argc, char *argv[])
printf("Servo readback, pairs of values should match defaults\n");
for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) {
unsigned servo_count;
result = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
if (result != OK) {
warnx("PWM_SERVO_GET_COUNT");
return ERROR;
}
for (unsigned i = 0; i < servo_count; i++) {
result = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&pos);
if (result < 0) {
@ -122,11 +97,20 @@ int test_servo(int argc, char *argv[])
}
printf("Servos arming at default values\n");
/* tell safety that its ok to disable it with the switch */
result = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
if (result != OK)
warnx("FAIL: PWM_SERVO_SET_ARM_OK");
/* tell output device that the system is armed (it will output values if safety is off) */
result = ioctl(fd, PWM_SERVO_ARM, 0);
if (result != OK)
warnx("FAIL: PWM_SERVO_ARM");
usleep(5000000);
printf("Advancing channel 0 to 1500\n");
result = ioctl(fd, PWM_SERVO_SET(0), 1500);
printf("Advancing channel 1 to 1800\n");
result = ioctl(fd, PWM_SERVO_SET(1), 1800);
out:
return 0;
}

70
src/systemcmds/tests/test_uart_loopback.c
View File

@ -1,8 +1,6 @@
/****************************************************************************
* px4/sensors/test_gpio.c
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Lorenz Meier <lm@inf.ethz.ch>
* 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
@ -14,7 +12,7 @@
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* 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.
*
@ -33,9 +31,11 @@
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
/**
* @file test_uart_loopback.c
* Tests the uart outputs
*
*/
#include <nuttx/config.h>
@ -55,40 +55,6 @@
#include <math.h>
#include <float.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: test_led
****************************************************************************/
int test_uart_loopback(int argc, char *argv[])
{
@ -97,11 +63,11 @@ int test_uart_loopback(int argc, char *argv[])
int uart5_nwrite = 0;
int uart2_nwrite = 0;
int uart1 = open("/dev/ttyS0", O_RDWR | O_NOCTTY); //
/* opening stdout */
int stdout_fd = 1;
/* assuming NuttShell is on UART1 (/dev/ttyS0) */
int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY); //
int uart5 = open("/dev/ttyS2", O_RDWR | O_NONBLOCK | O_NOCTTY); //
int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY);
int uart5 = open("/dev/ttyS2", O_RDWR | O_NONBLOCK | O_NOCTTY);
if (uart2 < 0) {
printf("ERROR opening UART2, aborting..\n");
@ -113,7 +79,7 @@ int test_uart_loopback(int argc, char *argv[])
exit(uart5);
}
uint8_t sample_uart1[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', '\n'};
uint8_t sample_stdout_fd[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', '\n'};
uint8_t sample_uart2[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0};
uint8_t sample_uart5[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0};
@ -121,7 +87,7 @@ int test_uart_loopback(int argc, char *argv[])
for (i = 0; i < 1000; i++) {
// printf("TEST #%d\n",i);
write(uart1, sample_uart1, sizeof(sample_uart1));
write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd));
/* uart2 -> uart5 */
r = write(uart2, sample_uart2, sizeof(sample_uart2));
@ -130,7 +96,7 @@ int test_uart_loopback(int argc, char *argv[])
uart2_nwrite += r;
// printf("TEST #%d\n",i);
write(uart1, sample_uart1, sizeof(sample_uart1));
write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd));
/* uart2 -> uart5 */
r = write(uart5, sample_uart5, sizeof(sample_uart5));
@ -139,7 +105,7 @@ int test_uart_loopback(int argc, char *argv[])
uart5_nwrite += r;
// printf("TEST #%d\n",i);
write(uart1, sample_uart1, sizeof(sample_uart1));
write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd));
/* try to read back values */
do {
@ -150,7 +116,7 @@ int test_uart_loopback(int argc, char *argv[])
} while (r > 0);
// printf("TEST #%d\n",i);
write(uart1, sample_uart1, sizeof(sample_uart1));
write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd));
do {
r = read(uart2, sample_uart5, sizeof(sample_uart5));
@ -160,7 +126,7 @@ int test_uart_loopback(int argc, char *argv[])
} while (r > 0);
// printf("TEST #%d\n",i);
// write(uart1, sample_uart1, sizeof(sample_uart5));
// write(stdout_fd, sample_stdout_fd, sizeof(sample_uart5));
}
for (i = 0; i < 200000; i++) {
@ -181,7 +147,7 @@ int test_uart_loopback(int argc, char *argv[])
}
close(uart1);
close(stdout_fd);
close(uart2);
close(uart5);

9
src/systemcmds/tests/tests.h
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* 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
@ -34,6 +34,12 @@
#ifndef __APPS_PX4_TESTS_H
#define __APPS_PX4_TESTS_H
/**
* @file tests.h
* Tests declaration file.
*
*/
/****************************************************************************
* Included Files
****************************************************************************/
@ -88,6 +94,7 @@ extern int test_int(int argc, char *argv[]);
extern int test_float(int argc, char *argv[]);
extern int test_ppm(int argc, char *argv[]);
extern int test_servo(int argc, char *argv[]);
extern int test_ppm_loopback(int argc, char *argv[]);
extern int test_uart_loopback(int argc, char *argv[]);
extern int test_uart_baudchange(int argc, char *argv[]);
extern int test_cpuload(int argc, char *argv[]);

14
src/systemcmds/tests/tests_main.c
View File

@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* 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
@ -35,6 +34,8 @@
/**
* @file tests_main.c
* Tests main file, loads individual tests.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
@ -57,14 +58,6 @@
#include "tests.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
@ -94,6 +87,7 @@ const struct {
{"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST},
{"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST},
{"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST},
{"ppm_loopback", test_ppm_loopback, OPT_NOALLTEST},
{"adc", test_adc, OPT_NOJIGTEST},
{"jig_voltages", test_jig_voltages, OPT_NOALLTEST},
{"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST},