ADC: replace ioctl with uorb message (#14087)

2026-07-01 06:20:36 +08:00 · 2020-03-20 18:23:32 +08:00
parent 40af5b0fbe
commit dc8e775d8f
30 changed files with 345 additions and 486 deletions
@@ -0,0 +1,72 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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_adc.c
+ * Test for the analog to digital converter.
+ */
+
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/log.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[])
+{
+	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);
+
+		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;
+	}
+}