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ADC: replace ioctl with uorb message (#14087)

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This commit is contained in:
SalimTerryLi
2020-03-20 18:23:32 +08:00
committed by GitHub
parent 40af5b0fbe
commit dc8e775d8f
30 changed files with 345 additions and 486 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/systemcmds/tests/CMakeLists.txt
+2 -2
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@@ -32,7 +32,7 @@
############################################################################
set(srcs
test_adc.c
test_adc.cpp
test_atomic_bitset.cpp
test_autodeclination.cpp
test_bezierQuad.cpp
@@ -48,7 +48,7 @@ set(srcs
test_int.cpp
test_i2c_spi_cli.cpp
test_IntrusiveQueue.cpp
test_jig_voltages.c
test_jig_voltages.cpp
test_led.c
test_List.cpp
test_mathlib.cpp
src/systemcmds/tests/test_adc.c → src/systemcmds/tests/test_adc.cpp
+23 -43
View File
@@ -37,56 +37,36 @@
*/
#include <px4_platform_common/time.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/log.h>
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include "tests_main.h"
#include <drivers/drv_adc.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/adc_report.h>
int test_adc(int argc, char *argv[])
{
int fd = px4_open(ADC0_DEVICE_PATH, O_RDONLY);
uORB::Subscription _adc_sub{ORB_ID(adc_report)};
adc_report_s adc;
if (fd < 0) {
PX4_ERR("ERROR: can't open ADC device");
px4_usleep(50000); // sleep 50ms and wait for adc report
if (_adc_sub.update(&adc)) {
PX4_INFO_RAW("DeviceID: %d\n", adc.device_id);
PX4_INFO_RAW("Resolution: %d\n", adc.resolution);
PX4_INFO_RAW("Voltage Reference: %f\n", adc.v_ref);
for (int i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
PX4_INFO_RAW("%d: %d ", adc.channel_id[i], adc.raw_data[i]);
}
PX4_INFO_RAW("\n");
PX4_INFO_RAW("\t ADC test successful.\n");
return OK;
} else {
return 1;
}
for (unsigned i = 0; i < 5; i++) {
/* make space for a maximum number of channels */
px4_adc_msg_t data[PX4_MAX_ADC_CHANNELS];
/* read all channels available */
ssize_t count = px4_read(fd, data, sizeof(data));
if (count < 0) {
goto errout_with_dev;
}
unsigned channels = count / sizeof(data[0]);
for (unsigned j = 0; j < channels; j++) {
printf("%d: %u ", data[j].am_channel, data[j].am_data);
}
printf("\n");
px4_usleep(150000);
}
printf("\t ADC test successful.\n");
errout_with_dev:
if (fd != 0) { px4_close(fd); }
return OK;
}
src/systemcmds/tests/test_jig_voltages.c
-133
View File
@@ -1,133 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012-2019 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_jig_voltages.c
* Tests for jig voltages.
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include "tests_main.h"
#include <drivers/drv_adc.h>
#include <systemlib/err.h>
int test_jig_voltages(int argc, char *argv[])
{
int fd = open(ADC0_DEVICE_PATH, O_RDONLY);
int ret = OK;
if (fd < 0) {
PX4_ERR("can't open ADC device");
return 1;
}
/* make space for the maximum channels */
px4_adc_msg_t data[PX4_MAX_ADC_CHANNELS];
/* read all channels available */
ssize_t count = read(fd, data, sizeof(data));
if (count < 0) {
close(fd);
PX4_ERR("can't read from ADC driver. Forgot 'adc start' command?");
return 1;
}
unsigned channels = count / sizeof(data[0]);
for (unsigned j = 0; j < channels; j++) {
printf("%d: %u ", data[j].am_channel, data[j].am_data);
}
printf("\n");
PX4_INFO("\t ADC operational.\n");
/* Expected values */
int16_t expected_min[] = {2800, 2800, 1800, 800};
int16_t expected_max[] = {3100, 3100, 2100, 1100};
char *check_res[channels];
if (channels < 4) {
close(fd);
PX4_ERR("not all four test channels available, aborting.");
return 1;
} else {
/* Check values */
check_res[0] = (expected_min[0] < data[0].am_data && expected_max[0] > data[0].am_data) ? "OK" : "FAIL";
check_res[1] = (expected_min[1] < data[1].am_data && expected_max[1] > data[1].am_data) ? "OK" : "FAIL";
check_res[2] = (expected_min[2] < data[2].am_data && expected_max[2] > data[2].am_data) ? "OK" : "FAIL";
check_res[3] = (expected_min[3] < data[3].am_data && expected_max[3] > data[3].am_data) ? "OK" : "FAIL";
/* Accumulate result */
ret += (expected_min[0] > data[0].am_data || expected_max[0] < data[0].am_data) ? 1 : 0;
ret += (expected_min[1] > data[1].am_data || expected_max[1] < data[1].am_data) ? 1 : 0;
ret += (expected_min[2] > data[2].am_data || expected_max[2] < data[2].am_data) ? 1 : 0;
ret += (expected_min[3] > data[3].am_data || expected_max[3] < data[3].am_data) ? 1 : 0;
PX4_INFO("Sample:");
PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
data[0].am_channel, (int)(data[0].am_data), expected_min[0], expected_max[0], check_res[0]);
PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
data[1].am_channel, (int)(data[1].am_data), expected_min[1], expected_max[1], check_res[1]);
PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
data[2].am_channel, (int)(data[2].am_data), expected_min[2], expected_max[2], check_res[2]);
PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
data[3].am_channel, (int)(data[3].am_data), expected_min[3], expected_max[3], check_res[3]);
if (ret != OK) {
PX4_ERR("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.");
goto errout_with_dev;
}
}
PX4_INFO("JIG voltages test successful.");
errout_with_dev:
if (fd != 0) { close(fd); }
return ret;
}
src/systemcmds/tests/test_jig_voltages.cpp
+120
View File
@@ -0,0 +1,120 @@
/****************************************************************************
*
* Copyright (C) 2012-2019 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_jig_voltages.c
* Tests for jig voltages.
*/
#include <px4_platform_common/defines.h>
#include <unistd.h>
#include "tests_main.h"
#include <drivers/drv_adc.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/adc_report.h>
int test_jig_voltages(int argc, char *argv[])
{
uORB::Subscription _adc_sub{ORB_ID(adc_report)};
adc_report_s adc;
px4_usleep(50000); // sleep 50ms and wait for adc report
if (_adc_sub.update(&adc)) {
PX4_INFO_RAW("DeviceID: %d\n", adc.device_id);
PX4_INFO_RAW("Resolution: %d\n", adc.resolution);
PX4_INFO_RAW("Voltage Reference: %f\n", adc.v_ref);
unsigned channels = 0;
for (int i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
PX4_INFO_RAW("%d: %d ", adc.channel_id[i], adc.raw_data[i]);
if (adc.channel_id[i] != -1) {
++channels;
}
}
PX4_INFO_RAW("\n");
PX4_INFO("\t ADC operational.\n");
/* Expected values */
int16_t expected_min[] = {2800, 2800, 1800, 800};
int16_t expected_max[] = {3100, 3100, 2100, 1100};
const char *check_res[channels];
if (channels < 4) {
PX4_ERR("not all four test channels available, aborting.");
return 1;
} else {
int ret = OK;
/* Check values */
check_res[0] = (expected_min[0] < adc.raw_data[0] && expected_max[0] > adc.raw_data[0]) ? "OK" : "FAIL";
check_res[1] = (expected_min[1] < adc.raw_data[1] && expected_max[1] > adc.raw_data[1]) ? "OK" : "FAIL";
check_res[2] = (expected_min[2] < adc.raw_data[2] && expected_max[2] > adc.raw_data[2]) ? "OK" : "FAIL";
check_res[3] = (expected_min[3] < adc.raw_data[3] && expected_max[3] > adc.raw_data[3]) ? "OK" : "FAIL";
/* Accumulate result */
ret += (expected_min[0] > adc.raw_data[0] || expected_max[0] < adc.raw_data[0]) ? 1 : 0;
ret += (expected_min[1] > adc.raw_data[1] || expected_max[1] < adc.raw_data[1]) ? 1 : 0;
ret += (expected_min[2] > adc.raw_data[2] || expected_max[2] < adc.raw_data[2]) ? 1 : 0;
ret += (expected_min[3] > adc.raw_data[3] || expected_max[3] < adc.raw_data[3]) ? 1 : 0;
PX4_INFO("Sample:");
PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
adc.channel_id[0], (int)(adc.raw_data[0]), expected_min[0], expected_max[0], check_res[0]);
PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
adc.channel_id[1], (int)(adc.raw_data[1]), expected_min[1], expected_max[1], check_res[1]);
PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
adc.channel_id[2], (int)(adc.raw_data[2]), expected_min[2], expected_max[2], check_res[2]);
PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
adc.channel_id[3], (int)(adc.raw_data[3]), expected_min[3], expected_max[3], check_res[3]);
if (ret != OK) {
PX4_ERR("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.");
return ret;
}
}
PX4_INFO("JIG voltages test successful.");
return OK;
} else {
return 1;
}
}
src/systemcmds/tests/tests_main.c
+1 -1
View File
@@ -67,7 +67,6 @@ const struct {
{"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST},
#ifdef __PX4_NUTTX
{"adc", test_adc, OPT_NOJIGTEST},
{"file", test_file, OPT_NOJIGTEST | OPT_NOALLTEST},
{"led", test_led, 0},
{"time", test_time, OPT_NOJIGTEST},
@@ -78,6 +77,7 @@ const struct {
{"rc", rc_tests_main, 0},
#endif /* __PX4_NUTTX */
{"adc", test_adc, OPT_NOJIGTEST},
{"atomic_bitset", test_atomic_bitset, 0},
{"autodeclination", test_autodeclination, 0},
{"bezier", test_bezierQuad, 0},