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Move the 'tests' app to the new world.
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px4dev
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file test_sensors.c
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* Tests the onboard sensors.
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <debug.h>
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#include <arch/board/board.h>
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#include <nuttx/spi.h>
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#include "tests.h"
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#include <drivers/drv_gyro.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_mag.h>
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#include <drivers/drv_baro.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static int accel(int argc, char *argv[]);
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static int gyro(int argc, char *argv[]);
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static int mag(int argc, char *argv[]);
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static int baro(int argc, char *argv[]);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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struct {
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const char *name;
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const char *path;
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int (* test)(int argc, char *argv[]);
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} sensors[] = {
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{"accel", "/dev/accel", accel},
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{"gyro", "/dev/gyro", gyro},
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{"mag", "/dev/mag", mag},
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{"baro", "/dev/baro", baro},
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{NULL, NULL, NULL}
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};
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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static int
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accel(int argc, char *argv[])
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{
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printf("\tACCEL: test start\n");
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fflush(stdout);
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int fd;
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struct accel_report buf;
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int ret;
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fd = open("/dev/accel", O_RDONLY);
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if (fd < 0) {
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printf("\tACCEL: open fail, run <mpu6000 start> or <lsm303 start> or <bma180 start> first.\n");
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return ERROR;
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}
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/* wait at least 100ms, sensor should have data after no more than 20ms */
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usleep(100000);
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/* read data - expect samples */
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ret = read(fd, &buf, sizeof(buf));
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if (ret != sizeof(buf)) {
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printf("\tACCEL: read1 fail (%d)\n", ret);
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return ERROR;
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} else {
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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);
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}
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// /* wait at least 10ms, sensor should have data after no more than 2ms */
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// usleep(100000);
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// ret = read(fd, buf, sizeof(buf));
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// if (ret != sizeof(buf)) {
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// printf("\tMPU-6000: read2 fail (%d)\n", ret);
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// return ERROR;
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// } else {
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// 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]);
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// }
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/* XXX more tests here */
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/* Let user know everything is ok */
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printf("\tOK: ACCEL passed all tests successfully\n");
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return OK;
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}
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static int
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gyro(int argc, char *argv[])
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{
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printf("\tGYRO: test start\n");
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fflush(stdout);
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int fd;
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struct gyro_report buf;
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int ret;
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fd = open("/dev/gyro", O_RDONLY);
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if (fd < 0) {
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printf("\tGYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
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return ERROR;
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}
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/* wait at least 5 ms, sensor should have data after that */
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usleep(5000);
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/* read data - expect samples */
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ret = read(fd, &buf, sizeof(buf));
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if (ret != sizeof(buf)) {
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printf("\tGYRO: read fail (%d)\n", ret);
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return ERROR;
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} else {
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printf("\tGYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
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}
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/* Let user know everything is ok */
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printf("\tOK: GYRO passed all tests successfully\n");
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return OK;
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}
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static int
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mag(int argc, char *argv[])
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{
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printf("\tMAG: test start\n");
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fflush(stdout);
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int fd;
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struct mag_report buf;
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int ret;
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fd = open("/dev/mag", O_RDONLY);
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if (fd < 0) {
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printf("\tMAG: open fail, run <hmc5883 start> or <lsm303 start> first.\n");
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return ERROR;
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}
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/* wait at least 5 ms, sensor should have data after that */
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usleep(5000);
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/* read data - expect samples */
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ret = read(fd, &buf, sizeof(buf));
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if (ret != sizeof(buf)) {
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printf("\tMAG: read fail (%d)\n", ret);
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return ERROR;
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} else {
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printf("\tMAG values: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
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}
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/* Let user know everything is ok */
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printf("\tOK: MAG passed all tests successfully\n");
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return OK;
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}
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static int
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baro(int argc, char *argv[])
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{
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printf("\tBARO: test start\n");
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fflush(stdout);
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int fd;
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struct baro_report buf;
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int ret;
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fd = open("/dev/baro", O_RDONLY);
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if (fd < 0) {
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printf("\tBARO: open fail, run <ms5611 start> or <lps331 start> first.\n");
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return ERROR;
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}
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/* wait at least 5 ms, sensor should have data after that */
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usleep(5000);
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/* read data - expect samples */
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ret = read(fd, &buf, sizeof(buf));
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if (ret != sizeof(buf)) {
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printf("\tBARO: read fail (%d)\n", ret);
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return ERROR;
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} else {
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printf("\tBARO pressure: %8.4f mbar\talt: %8.4f m\ttemp: %8.4f deg C\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature);
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}
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/* Let user know everything is ok */
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printf("\tOK: BARO passed all tests successfully\n");
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return OK;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: test_sensors
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****************************************************************************/
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int test_sensors(int argc, char *argv[])
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{
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unsigned i;
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printf("Running sensors tests:\n\n");
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fflush(stdout);
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int ret = OK;
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for (i = 0; sensors[i].name; i++) {
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printf(" sensor: %s\n", sensors[i].name);
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/* Flush and leave enough time for the flush to become effective */
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fflush(stdout);
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usleep(50000);
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/* Test the sensor - if the tests crash at this point, the right sensor name has been printed */
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ret += sensors[i].test(argc, argv);
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}
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return ret;
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}
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