mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 08:13:35 +08:00
Merged
This commit is contained in:
Simon Wilks
+19
-75
@@ -53,96 +53,40 @@
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#include "tests.h"
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#include <nuttx/analog/adc.h>
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#include <drivers/drv_adc.h>
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#include <systemlib/err.h>
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int test_adc(int argc, char *argv[])
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{
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int fd0 = 0;
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int ret = 0;
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int fd = open(ADC_DEVICE_PATH, O_RDONLY);
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#pragma pack(push,1)
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struct adc_msg4_s {
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uint8_t am_channel1; /**< The 8-bit ADC Channel 1 */
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int32_t am_data1; /**< ADC convert result 1 (4 bytes) */
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uint8_t am_channel2; /**< The 8-bit ADC Channel 2 */
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int32_t am_data2; /**< ADC convert result 2 (4 bytes) */
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uint8_t am_channel3; /**< The 8-bit ADC Channel 3 */
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int32_t am_data3; /**< ADC convert result 3 (4 bytes) */
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uint8_t am_channel4; /**< The 8-bit ADC Channel 4 */
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int32_t am_data4; /**< ADC convert result 4 (4 bytes) */
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};
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#pragma pack(pop)
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if (fd < 0)
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err(1, "can't open ADC device");
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struct adc_msg4_s sample1;
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for (unsigned i = 0; i < 5; i++) {
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/* make space for a maximum of eight channels */
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struct adc_msg_s data[8];
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/* read all channels available */
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ssize_t count = read(fd, data, sizeof(data));
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ssize_t nbytes;
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int j;
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int errval;
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if (count < 0)
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goto errout_with_dev;
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fd0 = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
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unsigned channels = count / sizeof(data[0]);
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if (fd0 <= 0) {
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message("/dev/adc0 open fail: %d\n", errno);
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return ERROR;
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} else {
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message("opened /dev/adc0 successfully\n");
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}
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usleep(10000);
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for (j = 0; j < 10; j++) {
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/* sleep 20 milliseconds */
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usleep(20000);
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nbytes = read(fd0, &sample1, sizeof(sample1));
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/* Handle unexpected return values */
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if (nbytes < 0) {
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errval = errno;
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if (errval != EINTR) {
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message("reading /dev/adc0 failed: %d\n", errval);
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errval = 3;
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goto errout_with_dev;
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}
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message("\tinterrupted read..\n");
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} else if (nbytes == 0) {
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message("\tno data read, ignoring.\n");
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ret = ERROR;
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for (unsigned j = 0; j < channels; j++) {
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printf("%d: %u ", data[j].am_channel, data[j].am_data);
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}
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/* Print the sample data on successful return */
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else {
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if (nbytes != sizeof(sample1)) {
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message("\tsample 1 size %d is not matching struct size %d, ignoring\n",
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nbytes, sizeof(sample1));
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ret = ERROR;
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} else {
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message("CYCLE %d:\n", j);
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message("channel: %d value: %d\n",
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(int)sample1.am_channel1, sample1.am_data1);
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message("channel: %d value: %d\n",
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(int)sample1.am_channel2, sample1.am_data2);
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message("channel: %d value: %d\n",
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(int)sample1.am_channel3, sample1.am_data3);
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message("channel: %d value: %d\n",
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(int)sample1.am_channel4, sample1.am_data4);
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}
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}
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fflush(stdout);
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printf("\n");
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usleep(150000);
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}
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message("\t ADC test successful.\n");
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errout_with_dev:
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if (fd0 != 0) close(fd0);
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if (fd != 0) close(fd);
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return ret;
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return OK;
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}
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@@ -240,5 +240,5 @@ test_bson(int argc, char *argv[])
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decode(&decoder);
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free(buf);
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exit(0);
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return OK;
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}
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@@ -52,7 +52,8 @@
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#include "tests.h"
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#include <nuttx/analog/adc.h>
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#include <drivers/drv_adc.h>
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#include <systemlib/err.h>
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/****************************************************************************
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* Pre-processor Definitions
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@@ -89,129 +90,79 @@
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int test_jig_voltages(int argc, char *argv[])
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{
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int fd0 = 0;
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int ret = OK;
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const int nchannels = 4;
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int fd = open(ADC_DEVICE_PATH, O_RDONLY);
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int ret = OK;
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struct adc_msg4_s
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{
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uint8_t am_channel1; /* The 8-bit ADC Channel */
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int32_t am_data1; /* ADC convert result (4 bytes) */
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uint8_t am_channel2; /* The 8-bit ADC Channel */
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int32_t am_data2; /* ADC convert result (4 bytes) */
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uint8_t am_channel3; /* The 8-bit ADC Channel */
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int32_t am_data3; /* ADC convert result (4 bytes) */
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uint8_t am_channel4; /* The 8-bit ADC Channel */
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int32_t am_data4; /* ADC convert result (4 bytes) */
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}__attribute__((__packed__));;
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struct adc_msg4_s sample1[4];
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size_t readsize;
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ssize_t nbytes;
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int i = 0;
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int j = 0;
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int errval;
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char name[11];
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sprintf(name, "/dev/adc%d", j);
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fd0 = open(name, O_RDONLY | O_NONBLOCK);
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if (fd0 < 0)
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{
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printf("ADC: %s open fail\n", name);
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return ERROR;
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} else {
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printf("Opened %s successfully\n", name);
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if (fd < 0) {
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warnx("can't open ADC device");
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return 1;
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}
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/* make space for a maximum of eight channels */
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struct adc_msg_s data[8];
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/* read all channels available */
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ssize_t count = read(fd, data, sizeof(data));
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if (count < 0) {
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close(fd);
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warnx("can't read from ADC driver. Forgot 'adc start' command?");
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return 1;
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}
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unsigned channels = count / sizeof(data[0]);
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for (unsigned j = 0; j < channels; j++) {
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printf("%d: %u ", data[j].am_channel, data[j].am_data);
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}
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printf("\n");
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warnx("\t ADC operational.\n");
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/* Expected values */
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int16_t expected_min[] = {2700, 2700, 2200, 2000};
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int16_t expected_max[] = {3000, 3000, 2500, 2200};
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char* check_res[nchannels];
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int16_t expected_min[] = {2800, 2800, 1800, 800};
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int16_t expected_max[] = {3100, 3100, 2100, 1100};
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char *check_res[channels];
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/* first adc read round */
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readsize = 4 * sizeof(struct adc_msg_s);
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if (channels < 4) {
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close(fd);
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warnx("not all four test channels available, aborting.");
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return 1;
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/* Empty all buffers */
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do {
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nbytes = read(fd0, sample1, readsize);
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} else {
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/* Check values */
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check_res[0] = (expected_min[0] < data[0].am_data && expected_max[0] > data[0].am_data) ? "OK" : "FAIL";
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check_res[1] = (expected_min[1] < data[1].am_data && expected_max[1] > data[1].am_data) ? "OK" : "FAIL";
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check_res[2] = (expected_min[2] < data[2].am_data && expected_max[2] > data[2].am_data) ? "OK" : "FAIL";
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check_res[3] = (expected_min[3] < data[3].am_data && expected_max[3] > data[3].am_data) ? "OK" : "FAIL";
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/* Accumulate result */
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ret += (expected_min[0] > data[0].am_data || expected_max[0] < data[0].am_data) ? 1 : 0;
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ret += (expected_min[1] > data[1].am_data || expected_max[1] < data[1].am_data) ? 1 : 0;
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ret += (expected_min[2] > data[2].am_data || expected_max[2] < data[2].am_data) ? 1 : 0;
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ret += (expected_min[3] > data[3].am_data || expected_max[3] < data[3].am_data) ? 1 : 0;
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message("Sample:");
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message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
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data[0].am_channel, (int)(data[0].am_data), expected_min[0], expected_max[0], check_res[0]);
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message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
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data[1].am_channel, (int)(data[1].am_data), expected_min[1], expected_max[1], check_res[1]);
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message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
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data[2].am_channel, (int)(data[2].am_data), expected_min[2], expected_max[2], check_res[2]);
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message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
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data[3].am_channel, (int)(data[3].am_data), expected_min[3], expected_max[3], check_res[3]);
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if (ret != OK) {
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printf("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.\n");
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goto errout_with_dev;
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}
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}
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while (nbytes > 0);
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up_udelay(20000);//microseconds
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/* Take measurements */
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nbytes = read(fd0, sample1, readsize);
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printf("\t JIG voltages test successful.\n");
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/* Handle unexpected return values */
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errout_with_dev:
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if (nbytes <= 0)
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{
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errval = errno;
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if (errval != EINTR)
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{
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message("read %s failed: %d\n",
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name, errval);
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errval = 3;
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goto errout_with_dev;
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}
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message("\tInterrupted read...\n");
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}
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else if (nbytes == 0)
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{
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message("\tNo data read, Ignoring\n");
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}
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/* Print the sample data on successful return */
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else
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{
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int nsamples = nbytes / sizeof(struct adc_msg_s);
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if (nsamples * sizeof(struct adc_msg_s) != nbytes)
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{
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message("\tread size=%d is not a multiple of sample size=%d, Ignoring\n",
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nbytes, sizeof(struct adc_msg_s));
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}
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else
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{
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/* Check values */
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check_res[0] = (expected_min[0] < sample1[i].am_data1 && expected_max[0] > sample1[i].am_data1) ? "OK" : "FAIL";
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check_res[1] = (expected_min[1] < sample1[i].am_data2 && expected_max[1] > sample1[i].am_data2) ? "OK" : "FAIL";
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check_res[2] = (expected_min[2] < sample1[i].am_data3 && expected_max[2] > sample1[i].am_data3) ? "OK" : "FAIL";
|
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check_res[3] = (expected_min[3] < sample1[i].am_data4 && expected_max[3] > sample1[i].am_data4) ? "OK" : "FAIL";
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/* Accumulate result */
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ret += (expected_min[0] > sample1[i].am_data1 || expected_max[0] < sample1[i].am_data1) ? 1 : 0;
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// XXX Chan 11 not connected on test setup
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//ret += (expected_min[1] > sample1[i].am_data2 || expected_max[1] < sample1[i].am_data2) ? 1 : 0;
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ret += (expected_min[2] > sample1[i].am_data3 || expected_max[2] < sample1[i].am_data3) ? 1 : 0;
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ret += (expected_min[3] > sample1[i].am_data4 || expected_max[3] < sample1[i].am_data4) ? 1 : 0;
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|
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message("Sample:");
|
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message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
|
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i, sample1[i].am_channel1, sample1[i].am_data1, expected_min[0], expected_max[0], check_res[0]);
|
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message("Sample:");
|
||||
message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
|
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i, sample1[i].am_channel2, sample1[i].am_data2, expected_min[1], expected_max[1], check_res[1]);
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message("Sample:");
|
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message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
|
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i, sample1[i].am_channel3, sample1[i].am_data3, expected_min[2], expected_max[2], check_res[2]);
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message("Sample:");
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message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
|
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i, sample1[i].am_channel4, sample1[i].am_data4, expected_min[3], expected_max[3], check_res[3]);
|
||||
|
||||
if (ret != OK) {
|
||||
printf("\t ADC test FAILED. Some channels where out of allowed range. Check supply voltages.\n");
|
||||
goto errout_with_dev;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
printf("\t ADC test successful.\n");
|
||||
|
||||
errout_with_dev:
|
||||
if (fd0 != 0) close(fd0);
|
||||
if (fd != 0) close(fd);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -90,9 +90,8 @@ int test_sleep(int argc, char *argv[])
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||||
printf("\t %d 100ms sleeps\n", nsleeps);
|
||||
fflush(stdout);
|
||||
|
||||
for (int i = 0; i < nsleeps; i++) {
|
||||
for (unsigned int i = 0; i < nsleeps; i++) {
|
||||
usleep(100000);
|
||||
//printf("\ttick\n");
|
||||
}
|
||||
|
||||
printf("\t Sleep test successful.\n");
|
||||
|
||||
@@ -95,7 +95,7 @@ cycletime(void)
|
||||
|
||||
lasttime = cycles;
|
||||
|
||||
return (basetime + cycles) / 168;
|
||||
return (basetime + cycles) / 168; /* XXX magic number */
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
@@ -133,9 +133,9 @@ int test_time(int argc, char *argv[])
|
||||
lowdelta = abs(delta / 100);
|
||||
|
||||
/* loop checking the time */
|
||||
for (unsigned i = 0; i < 100000; i++) {
|
||||
for (unsigned i = 0; i < 100; i++) {
|
||||
|
||||
usleep(rand() * 10);
|
||||
usleep(rand());
|
||||
|
||||
uint32_t flags = irqsave();
|
||||
|
||||
@@ -154,7 +154,7 @@ int test_time(int argc, char *argv[])
|
||||
fprintf(stderr, "h %llu c %llu d %lld\n", h, c, delta - lowdelta);
|
||||
}
|
||||
|
||||
printf("Maximum jitter %lld\n", maxdelta);
|
||||
printf("Maximum jitter %lldus\n", maxdelta);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -37,6 +37,7 @@
|
||||
* File write test.
|
||||
*/
|
||||
|
||||
#include <sys/stat.h>
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
@@ -51,6 +52,13 @@
|
||||
int
|
||||
test_file(int argc, char *argv[])
|
||||
{
|
||||
/* check if microSD card is mounted */
|
||||
struct stat buffer;
|
||||
if (stat("/fs/microsd/", &buffer)) {
|
||||
warnx("no microSD card mounted, aborting file test");
|
||||
return 1;
|
||||
}
|
||||
|
||||
uint8_t buf[512];
|
||||
hrt_abstime start, end;
|
||||
perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes");
|
||||
|
||||
+37
-33
@@ -78,43 +78,44 @@ static int test_jig(int argc, char *argv[]);
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
struct {
|
||||
const struct {
|
||||
const char *name;
|
||||
int (* fn)(int argc, char *argv[]);
|
||||
unsigned options;
|
||||
int passed;
|
||||
#define OPT_NOHELP (1<<0)
|
||||
#define OPT_NOALLTEST (1<<1)
|
||||
#define OPT_NOJIGTEST (1<<2)
|
||||
} tests[] = {
|
||||
{"led", test_led, 0, 0},
|
||||
{"int", test_int, 0, 0},
|
||||
{"float", test_float, 0, 0},
|
||||
{"sensors", test_sensors, 0, 0},
|
||||
{"gpio", test_gpio, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"adc", test_adc, OPT_NOJIGTEST, 0},
|
||||
{"jig_voltages", test_jig_voltages, OPT_NOALLTEST, 0},
|
||||
{"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"tone", test_tone, 0, 0},
|
||||
{"sleep", test_sleep, OPT_NOJIGTEST, 0},
|
||||
{"time", test_time, OPT_NOJIGTEST, 0},
|
||||
{"perf", test_perf, OPT_NOJIGTEST, 0},
|
||||
{"all", test_all, OPT_NOALLTEST | OPT_NOJIGTEST, 0},
|
||||
{"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"param", test_param, 0, 0},
|
||||
{"bson", test_bson, 0, 0},
|
||||
{"file", test_file, 0, 0},
|
||||
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST, 0},
|
||||
{NULL, NULL, 0, 0}
|
||||
{"led", test_led, 0},
|
||||
{"int", test_int, 0},
|
||||
{"float", test_float, 0},
|
||||
{"sensors", test_sensors, 0},
|
||||
{"gpio", test_gpio, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"adc", test_adc, OPT_NOJIGTEST},
|
||||
{"jig_voltages", test_jig_voltages, OPT_NOALLTEST},
|
||||
{"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"tone", test_tone, 0},
|
||||
{"sleep", test_sleep, OPT_NOJIGTEST},
|
||||
{"time", test_time, OPT_NOJIGTEST},
|
||||
{"perf", test_perf, OPT_NOJIGTEST},
|
||||
{"all", test_all, OPT_NOALLTEST | OPT_NOJIGTEST},
|
||||
{"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"param", test_param, 0},
|
||||
{"bson", test_bson, 0},
|
||||
{"file", test_file, 0},
|
||||
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
|
||||
{NULL, NULL, 0}
|
||||
};
|
||||
|
||||
#define NTESTS (sizeof(tests) / sizeof(tests[0]))
|
||||
|
||||
static int
|
||||
test_help(int argc, char *argv[])
|
||||
{
|
||||
@@ -134,6 +135,7 @@ test_all(int argc, char *argv[])
|
||||
unsigned i;
|
||||
char *args[2] = {"all", NULL};
|
||||
unsigned int failcount = 0;
|
||||
bool passed[NTESTS];
|
||||
|
||||
printf("\nRunning all tests...\n\n");
|
||||
|
||||
@@ -148,11 +150,11 @@ test_all(int argc, char *argv[])
|
||||
fprintf(stderr, " [%s] \t\t\tFAIL\n", tests[i].name);
|
||||
fflush(stderr);
|
||||
failcount++;
|
||||
|
||||
passed[i] = false;
|
||||
} else {
|
||||
tests[i].passed = 1;
|
||||
printf(" [%s] \t\t\tPASS\n", tests[i].name);
|
||||
fflush(stdout);
|
||||
passed[i] = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -196,7 +198,7 @@ test_all(int argc, char *argv[])
|
||||
unsigned int k;
|
||||
|
||||
for (k = 0; k < i; k++) {
|
||||
if ((tests[k].passed == 0) && !(tests[k].options & OPT_NOALLTEST)) {
|
||||
if (!passed[k] && !(tests[k].options & OPT_NOALLTEST)) {
|
||||
printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
|
||||
}
|
||||
}
|
||||
@@ -243,6 +245,7 @@ int test_jig(int argc, char *argv[])
|
||||
unsigned i;
|
||||
char *args[2] = {"jig", NULL};
|
||||
unsigned int failcount = 0;
|
||||
bool passed[NTESTS];
|
||||
|
||||
printf("\nRunning all tests...\n\n");
|
||||
for (i = 0; tests[i].name; i++) {
|
||||
@@ -255,10 +258,11 @@ int test_jig(int argc, char *argv[])
|
||||
fprintf(stderr, " [%s] \t\t\tFAIL\n", tests[i].name);
|
||||
fflush(stderr);
|
||||
failcount++;
|
||||
passed[i] = false;
|
||||
} else {
|
||||
tests[i].passed = 1;
|
||||
printf(" [%s] \t\t\tPASS\n", tests[i].name);
|
||||
fflush(stdout);
|
||||
passed[i] = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -297,7 +301,7 @@ int test_jig(int argc, char *argv[])
|
||||
unsigned int k;
|
||||
for (k = 0; k < i; k++)
|
||||
{
|
||||
if ((tests[k].passed == 0) && !(tests[k].options & OPT_NOJIGTEST))
|
||||
if (!passed[i] && !(tests[k].options & OPT_NOJIGTEST))
|
||||
{
|
||||
printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user