From 93dea668dc0c0ca14c311020518de087b7abae24 Mon Sep 17 00:00:00 2001
From: Mark Charlebois <charlebm@gmail.com>
Date: Tue, 21 Apr 2015 23:29:07 -0700
Subject: [PATCH] Posix: make simulated devices always pass self tests

To facilitate testing, the simulated devices always return OK for
self tests.

rc.S was also upated to set CAL_XXXY_ID to the devid so tests pass the
calibration check.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
---
 posix-configs/posixtest/init/rc.S                 | 4 ++++
 src/platforms/posix/drivers/accelsim/accelsim.cpp | 5 +++++
 src/platforms/posix/drivers/gyrosim/gyrosim.cpp   | 4 ++++
 3 files changed, 13 insertions(+)

diff --git a/posix-configs/posixtest/init/rc.S b/posix-configs/posixtest/init/rc.S
index bc4b6a4b61..5e408cd544 100644
--- a/posix-configs/posixtest/init/rc.S
+++ b/posix-configs/posixtest/init/rc.S
@@ -4,6 +4,10 @@ barosim start
 adcsim start
 accelsim start
 gyrosim start
+param set CAL_GYRO0_ID 2293760
+param set CAL_ACC0_ID 1310720
+param set CAL_ACC1_ID 1376256
+param set CAL_MAG0_ID 196608
 rgbled start
 mavlink start
 sensors start
diff --git a/src/platforms/posix/drivers/accelsim/accelsim.cpp b/src/platforms/posix/drivers/accelsim/accelsim.cpp
index 97314ab846..704c7fc088 100644
--- a/src/platforms/posix/drivers/accelsim/accelsim.cpp
+++ b/src/platforms/posix/drivers/accelsim/accelsim.cpp
@@ -707,6 +707,9 @@ ACCELSIM::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
 		memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
 		return OK;
 
+	case ACCELIOCSELFTEST:
+		return OK;
+
 	default:
 		/* give it to the superclass */
 		return VDev::ioctl(handlep, cmd, arg);
@@ -824,6 +827,8 @@ ACCELSIM::mag_ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long ar
 		 */
 		return 0;
 
+	case MAGIOCSELFTEST:
+		return OK;
 	default:
 		/* give it to the superclass */
 		return VDev::ioctl(handlep, cmd, arg);
diff --git a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
index c39ebeac0f..a984a310a2 100644
--- a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+++ b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
@@ -782,6 +782,8 @@ GYROSIM::self_test()
 int
 GYROSIM::accel_self_test()
 {
+	return OK;
+
 	if (self_test())
 		return 1;
 
@@ -807,6 +809,8 @@ GYROSIM::accel_self_test()
 int
 GYROSIM::gyro_self_test()
 {
+	return OK;
+
 	if (self_test())
 		return 1;