mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 21:03:34 +08:00
Merge branch 'navigator_new' into navigator_new_vector
This commit is contained in:
Anton Babushkin
@@ -30,4 +30,6 @@ SRCS = test_adc.c \
|
||||
test_param.c \
|
||||
test_ppm_loopback.c \
|
||||
test_rc.c \
|
||||
test_mount.c
|
||||
test_conv.cpp \
|
||||
test_mount.c \
|
||||
test_mtd.c
|
||||
|
||||
@@ -0,0 +1,76 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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_conv.cpp
|
||||
* Tests conversions used across the system.
|
||||
*
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
|
||||
#include <stdio.h>
|
||||
#include <poll.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
#include <math.h>
|
||||
#include <float.h>
|
||||
|
||||
#include <systemlib/err.h>
|
||||
#include <unit_test/unit_test.h>
|
||||
#include <px4iofirmware/protocol.h>
|
||||
|
||||
int test_conv(int argc, char *argv[])
|
||||
{
|
||||
warnx("Testing system conversions");
|
||||
|
||||
for (int i = -10000; i <= 10000; i+=1) {
|
||||
float f = i/10000.0f;
|
||||
float fres = REG_TO_FLOAT(FLOAT_TO_REG(f));
|
||||
if (fabsf(f - fres) > 0.0001f) {
|
||||
warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", f, REG_TO_SIGNED(FLOAT_TO_REG(f)), fres);
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
||||
warnx("All conversions clean");
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -54,7 +54,7 @@
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
int check_user_abort(int fd);
|
||||
static int check_user_abort(int fd);
|
||||
|
||||
int check_user_abort(int fd) {
|
||||
/* check if user wants to abort */
|
||||
|
||||
@@ -48,9 +48,13 @@
|
||||
#include <errno.h>
|
||||
#include <string.h>
|
||||
#include <time.h>
|
||||
#include <math.h>
|
||||
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/mixer/mixer.h>
|
||||
#include <systemlib/pwm_limit/pwm_limit.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
@@ -59,6 +63,20 @@ static int mixer_callback(uintptr_t handle,
|
||||
uint8_t control_index,
|
||||
float &control);
|
||||
|
||||
const unsigned output_max = 8;
|
||||
static float actuator_controls[output_max];
|
||||
static bool should_arm = false;
|
||||
uint16_t r_page_servo_disarmed[output_max];
|
||||
uint16_t r_page_servo_control_min[output_max];
|
||||
uint16_t r_page_servo_control_max[output_max];
|
||||
uint16_t r_page_servos[output_max];
|
||||
uint16_t servo_predicted[output_max];
|
||||
|
||||
/*
|
||||
* PWM limit structure
|
||||
*/
|
||||
pwm_limit_t pwm_limit;
|
||||
|
||||
int test_mixer(int argc, char *argv[])
|
||||
{
|
||||
warnx("testing mixer");
|
||||
@@ -164,6 +182,174 @@ int test_mixer(int argc, char *argv[])
|
||||
if (mixer_group.count() != 8)
|
||||
return 1;
|
||||
|
||||
/* execute the mixer */
|
||||
|
||||
float outputs[output_max];
|
||||
unsigned mixed;
|
||||
const int jmax = 5;
|
||||
|
||||
pwm_limit_init(&pwm_limit);
|
||||
should_arm = true;
|
||||
|
||||
/* run through arming phase */
|
||||
for (int i = 0; i < output_max; i++) {
|
||||
actuator_controls[i] = 0.1f;
|
||||
r_page_servo_disarmed[i] = PWM_LOWEST_MIN;
|
||||
r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
|
||||
r_page_servo_control_max[i] = PWM_DEFAULT_MAX;
|
||||
}
|
||||
|
||||
warnx("ARMING TEST: STARTING RAMP");
|
||||
unsigned sleep_quantum_us = 10000;
|
||||
|
||||
hrt_abstime starttime = hrt_absolute_time();
|
||||
unsigned sleepcount = 0;
|
||||
|
||||
while (hrt_elapsed_time(&starttime) < INIT_TIME_US + RAMP_TIME_US) {
|
||||
|
||||
/* mix */
|
||||
mixed = mixer_group.mix(&outputs[0], output_max);
|
||||
|
||||
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
|
||||
|
||||
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
|
||||
for (int i = 0; i < mixed; i++)
|
||||
{
|
||||
/* check mixed outputs to be zero during init phase */
|
||||
if (hrt_elapsed_time(&starttime) < INIT_TIME_US &&
|
||||
r_page_servos[i] != r_page_servo_disarmed[i]) {
|
||||
warnx("disarmed servo value mismatch");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (hrt_elapsed_time(&starttime) >= INIT_TIME_US &&
|
||||
r_page_servos[i] + 1 <= r_page_servo_disarmed[i]) {
|
||||
warnx("ramp servo value mismatch");
|
||||
return 1;
|
||||
}
|
||||
|
||||
//printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]);
|
||||
}
|
||||
usleep(sleep_quantum_us);
|
||||
sleepcount++;
|
||||
|
||||
if (sleepcount % 10 == 0) {
|
||||
printf(".");
|
||||
fflush(stdout);
|
||||
}
|
||||
}
|
||||
printf("\n");
|
||||
|
||||
warnx("ARMING TEST: NORMAL OPERATION");
|
||||
|
||||
for (int j = -jmax; j <= jmax; j++) {
|
||||
|
||||
for (int i = 0; i < output_max; i++) {
|
||||
actuator_controls[i] = j/10.0f + 0.1f * i;
|
||||
r_page_servo_disarmed[i] = PWM_LOWEST_MIN;
|
||||
r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
|
||||
r_page_servo_control_max[i] = PWM_DEFAULT_MAX;
|
||||
}
|
||||
|
||||
/* mix */
|
||||
mixed = mixer_group.mix(&outputs[0], output_max);
|
||||
|
||||
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
|
||||
|
||||
warnx("mixed %d outputs (max %d)", mixed, output_max);
|
||||
for (int i = 0; i < mixed; i++)
|
||||
{
|
||||
servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
|
||||
if (fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
|
||||
printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]);
|
||||
warnx("mixer violated predicted value");
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
warnx("ARMING TEST: DISARMING");
|
||||
|
||||
starttime = hrt_absolute_time();
|
||||
sleepcount = 0;
|
||||
should_arm = false;
|
||||
|
||||
while (hrt_elapsed_time(&starttime) < 600000) {
|
||||
|
||||
/* mix */
|
||||
mixed = mixer_group.mix(&outputs[0], output_max);
|
||||
|
||||
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
|
||||
|
||||
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
|
||||
for (int i = 0; i < mixed; i++)
|
||||
{
|
||||
/* check mixed outputs to be zero during init phase */
|
||||
if (r_page_servos[i] != r_page_servo_disarmed[i]) {
|
||||
warnx("disarmed servo value mismatch");
|
||||
return 1;
|
||||
}
|
||||
|
||||
//printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]);
|
||||
}
|
||||
usleep(sleep_quantum_us);
|
||||
sleepcount++;
|
||||
|
||||
if (sleepcount % 10 == 0) {
|
||||
printf(".");
|
||||
fflush(stdout);
|
||||
}
|
||||
}
|
||||
printf("\n");
|
||||
|
||||
warnx("ARMING TEST: REARMING: STARTING RAMP");
|
||||
|
||||
starttime = hrt_absolute_time();
|
||||
sleepcount = 0;
|
||||
should_arm = true;
|
||||
|
||||
while (hrt_elapsed_time(&starttime) < 600000 + RAMP_TIME_US) {
|
||||
|
||||
/* mix */
|
||||
mixed = mixer_group.mix(&outputs[0], output_max);
|
||||
|
||||
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
|
||||
|
||||
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
|
||||
for (int i = 0; i < mixed; i++)
|
||||
{
|
||||
/* predict value */
|
||||
servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
|
||||
|
||||
/* check ramp */
|
||||
|
||||
if (hrt_elapsed_time(&starttime) < RAMP_TIME_US &&
|
||||
(r_page_servos[i] + 1 <= r_page_servo_disarmed[i] ||
|
||||
r_page_servos[i] > servo_predicted[i])) {
|
||||
warnx("ramp servo value mismatch");
|
||||
return 1;
|
||||
}
|
||||
|
||||
/* check post ramp phase */
|
||||
if (hrt_elapsed_time(&starttime) > RAMP_TIME_US &&
|
||||
fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
|
||||
printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]);
|
||||
warnx("mixer violated predicted value");
|
||||
return 1;
|
||||
}
|
||||
|
||||
//printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]);
|
||||
}
|
||||
usleep(sleep_quantum_us);
|
||||
sleepcount++;
|
||||
|
||||
if (sleepcount % 10 == 0) {
|
||||
printf(".");
|
||||
fflush(stdout);
|
||||
}
|
||||
}
|
||||
printf("\n");
|
||||
|
||||
/* load multirotor at once test */
|
||||
mixer_group.reset();
|
||||
|
||||
@@ -180,8 +366,12 @@ int test_mixer(int argc, char *argv[])
|
||||
unsigned mc_loaded = loaded;
|
||||
mixer_group.load_from_buf(&buf[0], mc_loaded);
|
||||
warnx("complete buffer load: loaded %u mixers", mixer_group.count());
|
||||
if (mixer_group.count() != 8)
|
||||
if (mixer_group.count() != 5) {
|
||||
warnx("FAIL: Quad W mixer load failed");
|
||||
return 1;
|
||||
}
|
||||
|
||||
warnx("SUCCESS: No errors in mixer test");
|
||||
}
|
||||
|
||||
static int
|
||||
@@ -193,7 +383,10 @@ mixer_callback(uintptr_t handle,
|
||||
if (control_group != 0)
|
||||
return -1;
|
||||
|
||||
control = 0.0f;
|
||||
if (control_index > (sizeof(actuator_controls) / sizeof(actuator_controls[0])))
|
||||
return -1;
|
||||
|
||||
control = actuator_controls[control_index];
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,229 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2014 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_mtd.c
|
||||
*
|
||||
* Param storage / file test.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
#include <sys/stat.h>
|
||||
#include <poll.h>
|
||||
#include <dirent.h>
|
||||
#include <stdio.h>
|
||||
#include <stddef.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/perf_counter.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
#define PARAM_FILE_NAME "/fs/mtd_params"
|
||||
|
||||
static int check_user_abort(int fd);
|
||||
|
||||
int check_user_abort(int fd) {
|
||||
/* check if user wants to abort */
|
||||
char c;
|
||||
|
||||
struct pollfd fds;
|
||||
int ret;
|
||||
fds.fd = 0; /* stdin */
|
||||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 0);
|
||||
|
||||
if (ret > 0) {
|
||||
|
||||
read(0, &c, 1);
|
||||
|
||||
switch (c) {
|
||||
case 0x03: // ctrl-c
|
||||
case 0x1b: // esc
|
||||
case 'c':
|
||||
case 'q':
|
||||
{
|
||||
warnx("Test aborted.");
|
||||
fsync(fd);
|
||||
close(fd);
|
||||
return OK;
|
||||
/* not reached */
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
void print_fail()
|
||||
{
|
||||
printf("<[T]: MTD: FAIL>\n");
|
||||
}
|
||||
|
||||
void print_success()
|
||||
{
|
||||
printf("<[T]: MTD: OK>\n");
|
||||
}
|
||||
|
||||
int
|
||||
test_mtd(int argc, char *argv[])
|
||||
{
|
||||
unsigned iterations= 0;
|
||||
|
||||
/* check if microSD card is mounted */
|
||||
struct stat buffer;
|
||||
if (stat(PARAM_FILE_NAME, &buffer)) {
|
||||
warnx("file %s not found, aborting MTD test", PARAM_FILE_NAME);
|
||||
print_fail();
|
||||
return 1;
|
||||
}
|
||||
|
||||
// XXX get real storage space here
|
||||
unsigned file_size = 4096;
|
||||
|
||||
/* perform tests for a range of chunk sizes */
|
||||
unsigned chunk_sizes[] = {256, 512, 4096};
|
||||
|
||||
for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) {
|
||||
|
||||
printf("\n====== FILE TEST: %u bytes chunks ======\n", chunk_sizes[c]);
|
||||
|
||||
uint8_t write_buf[chunk_sizes[c]] __attribute__((aligned(64)));
|
||||
|
||||
/* fill write buffer with known values */
|
||||
for (int i = 0; i < sizeof(write_buf); i++) {
|
||||
/* this will wrap, but we just need a known value with spacing */
|
||||
write_buf[i] = i+11;
|
||||
}
|
||||
|
||||
uint8_t read_buf[chunk_sizes[c]] __attribute__((aligned(64)));
|
||||
hrt_abstime start, end;
|
||||
|
||||
int fd = open(PARAM_FILE_NAME, O_RDONLY);
|
||||
int rret = read(fd, read_buf, chunk_sizes[c]);
|
||||
close(fd);
|
||||
|
||||
fd = open(PARAM_FILE_NAME, O_WRONLY);
|
||||
|
||||
printf("printing 2 percent of the first chunk:\n");
|
||||
for (int i = 0; i < sizeof(read_buf) / 50; i++) {
|
||||
printf("%02X", read_buf[i]);
|
||||
}
|
||||
printf("\n");
|
||||
|
||||
iterations = file_size / chunk_sizes[c];
|
||||
|
||||
start = hrt_absolute_time();
|
||||
for (unsigned i = 0; i < iterations; i++) {
|
||||
int wret = write(fd, write_buf, chunk_sizes[c]);
|
||||
|
||||
if (wret != (int)chunk_sizes[c]) {
|
||||
warn("WRITE ERROR!");
|
||||
print_fail();
|
||||
return 1;
|
||||
}
|
||||
|
||||
fsync(fd);
|
||||
|
||||
if (!check_user_abort(fd))
|
||||
return OK;
|
||||
|
||||
}
|
||||
end = hrt_absolute_time();
|
||||
|
||||
close(fd);
|
||||
fd = open(PARAM_FILE_NAME, O_RDONLY);
|
||||
|
||||
/* read back data for validation */
|
||||
for (unsigned i = 0; i < iterations; i++) {
|
||||
int rret = read(fd, read_buf, chunk_sizes[c]);
|
||||
|
||||
if (rret != chunk_sizes[c]) {
|
||||
warnx("READ ERROR!");
|
||||
print_fail();
|
||||
return 1;
|
||||
}
|
||||
|
||||
/* compare value */
|
||||
bool compare_ok = true;
|
||||
|
||||
for (int j = 0; j < chunk_sizes[c]; j++) {
|
||||
if (read_buf[j] != write_buf[j]) {
|
||||
warnx("COMPARISON ERROR: byte %d", j);
|
||||
print_fail();
|
||||
compare_ok = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (!compare_ok) {
|
||||
warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
|
||||
print_fail();
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!check_user_abort(fd))
|
||||
return OK;
|
||||
|
||||
}
|
||||
|
||||
|
||||
close(fd);
|
||||
|
||||
}
|
||||
|
||||
/* fill the file with 0xFF to make it look new again */
|
||||
char ffbuf[64];
|
||||
memset(ffbuf, 0xFF, sizeof(ffbuf));
|
||||
int fd = open(PARAM_FILE_NAME, O_WRONLY);
|
||||
for (int i = 0; i < file_size / sizeof(ffbuf); i++) {
|
||||
int ret = write(fd, ffbuf, sizeof(ffbuf));
|
||||
|
||||
if (ret != sizeof(ffbuf)) {
|
||||
warnx("ERROR! Could not fill file with 0xFF");
|
||||
close(fd);
|
||||
print_fail();
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
||||
(void)close(fd);
|
||||
print_success();
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -32,8 +32,8 @@
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file test_ppm_loopback.c
|
||||
* Tests the PWM outputs and PPM input
|
||||
* @file test_rc.c
|
||||
* Tests RC input.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
@@ -109,7 +109,9 @@ extern int test_bson(int argc, char *argv[]);
|
||||
extern int test_file(int argc, char *argv[]);
|
||||
extern int test_mixer(int argc, char *argv[]);
|
||||
extern int test_rc(int argc, char *argv[]);
|
||||
extern int test_conv(int argc, char *argv[]);
|
||||
extern int test_mount(int argc, char *argv[]);
|
||||
extern int test_mtd(int argc, char *argv[]);
|
||||
extern int test_mathlib(int argc, char *argv[]);
|
||||
|
||||
__END_DECLS
|
||||
|
||||
@@ -106,7 +106,9 @@ const struct {
|
||||
{"file", test_file, 0},
|
||||
{"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"conv", test_conv, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"mtd", test_mtd, 0},
|
||||
{"mathlib", test_mathlib, 0},
|
||||
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
|
||||
{NULL, NULL, 0}
|
||||
|
||||
Reference in New Issue
Block a user