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Merge pull request #148 from PX4/adc_integration

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Selected adjustments / fixes to make old apps compatible with new-style ADC
This commit is contained in:
px4dev
2013-01-13 13:43:45 -08:00
parent 58ea9fbf01 9ac2684ca0
commit ff146cc5b1
9 changed files with 220 additions and 262 deletions
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apps/px4/tests/test_adc.c
+19 -75
View File
@@ -53,96 +53,40 @@
#include "tests.h"
#include <nuttx/analog/adc.h>
#include <drivers/drv_adc.h>
#include <systemlib/err.h>
int test_adc(int argc, char *argv[])
{
int fd0 = 0;
int ret = 0;
int fd = open(ADC_DEVICE_PATH, O_RDONLY);
#pragma pack(push,1)
struct adc_msg4_s {
uint8_t am_channel1; /**< The 8-bit ADC Channel 1 */
int32_t am_data1; /**< ADC convert result 1 (4 bytes) */
uint8_t am_channel2; /**< The 8-bit ADC Channel 2 */
int32_t am_data2; /**< ADC convert result 2 (4 bytes) */
uint8_t am_channel3; /**< The 8-bit ADC Channel 3 */
int32_t am_data3; /**< ADC convert result 3 (4 bytes) */
uint8_t am_channel4; /**< The 8-bit ADC Channel 4 */
int32_t am_data4; /**< ADC convert result 4 (4 bytes) */
};
#pragma pack(pop)
if (fd < 0)
err(1, "can't open ADC device");
struct adc_msg4_s sample1;
for (unsigned i = 0; i < 5; i++) {
/* make space for a maximum of eight channels */
struct adc_msg_s data[8];
/* read all channels available */
ssize_t count = read(fd, data, sizeof(data));
ssize_t nbytes;
int j;
int errval;
if (count < 0)
goto errout_with_dev;
fd0 = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
unsigned channels = count / sizeof(data[0]);
if (fd0 <= 0) {
message("/dev/adc0 open fail: %d\n", errno);
return ERROR;
} else {
message("opened /dev/adc0 successfully\n");
}
usleep(10000);
for (j = 0; j < 10; j++) {
/* sleep 20 milliseconds */
usleep(20000);
nbytes = read(fd0, &sample1, sizeof(sample1));
/* Handle unexpected return values */
if (nbytes < 0) {
errval = errno;
if (errval != EINTR) {
message("reading /dev/adc0 failed: %d\n", errval);
errval = 3;
goto errout_with_dev;
}
message("\tinterrupted read..\n");
} else if (nbytes == 0) {
message("\tno data read, ignoring.\n");
ret = ERROR;
for (unsigned j = 0; j < channels; j++) {
printf("%d: %u ", data[j].am_channel, data[j].am_data);
}
/* Print the sample data on successful return */
else {
if (nbytes != sizeof(sample1)) {
message("\tsample 1 size %d is not matching struct size %d, ignoring\n",
nbytes, sizeof(sample1));
ret = ERROR;
} else {
message("CYCLE %d:\n", j);
message("channel: %d value: %d\n",
(int)sample1.am_channel1, sample1.am_data1);
message("channel: %d value: %d\n",
(int)sample1.am_channel2, sample1.am_data2);
message("channel: %d value: %d\n",
(int)sample1.am_channel3, sample1.am_data3);
message("channel: %d value: %d\n",
(int)sample1.am_channel4, sample1.am_data4);
}
}
fflush(stdout);
printf("\n");
usleep(150000);
}
message("\t ADC test successful.\n");
errout_with_dev:
if (fd0 != 0) close(fd0);
if (fd != 0) close(fd);
return ret;
return OK;
}
apps/px4/tests/test_bson.c
+1 -1
View File
@@ -240,5 +240,5 @@ test_bson(int argc, char *argv[])
decode(&decoder);
free(buf);
exit(0);
return OK;
}
apps/px4/tests/test_jig_voltages.c
+62 -111
View File
@@ -52,7 +52,8 @@
#include "tests.h"
#include <nuttx/analog/adc.h>
#include <drivers/drv_adc.h>
#include <systemlib/err.h>
/****************************************************************************
* Pre-processor Definitions
@@ -89,129 +90,79 @@
int test_jig_voltages(int argc, char *argv[])
{
int fd0 = 0;
int ret = OK;
const int nchannels = 4;
int fd = open(ADC_DEVICE_PATH, O_RDONLY);
int ret = OK;
struct adc_msg4_s
{
uint8_t am_channel1; /* The 8-bit ADC Channel */
int32_t am_data1; /* ADC convert result (4 bytes) */
uint8_t am_channel2; /* The 8-bit ADC Channel */
int32_t am_data2; /* ADC convert result (4 bytes) */
uint8_t am_channel3; /* The 8-bit ADC Channel */
int32_t am_data3; /* ADC convert result (4 bytes) */
uint8_t am_channel4; /* The 8-bit ADC Channel */
int32_t am_data4; /* ADC convert result (4 bytes) */
}__attribute__((__packed__));;
struct adc_msg4_s sample1[4];
size_t readsize;
ssize_t nbytes;
int i = 0;
int j = 0;
int errval;
char name[11];
sprintf(name, "/dev/adc%d", j);
fd0 = open(name, O_RDONLY | O_NONBLOCK);
if (fd0 < 0)
{
printf("ADC: %s open fail\n", name);
return ERROR;
} else {
printf("Opened %s successfully\n", name);
if (fd < 0) {
warnx("can't open ADC device");
return 1;
}
/* make space for a maximum of eight channels */
struct adc_msg_s data[8];
/* read all channels available */
ssize_t count = read(fd, data, sizeof(data));
if (count < 0) {
close(fd);
warnx("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");
warnx("\t ADC operational.\n");
/* Expected values */
int16_t expected_min[] = {2700, 2700, 2200, 2000};
int16_t expected_max[] = {3000, 3000, 2500, 2200};
char* check_res[nchannels];
char *check_res[channels];
/* first adc read round */
readsize = 4 * sizeof(struct adc_msg_s);
if (channels < 4) {
close(fd);
warnx("not all four test channels available, aborting.");
return 1;
/* Empty all buffers */
do {
nbytes = read(fd0, sample1, readsize);
} 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;
message("Sample:");
message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
data[0].am_channel, (int)(data[0].am_data), expected_min[0], expected_max[0], check_res[0]);
message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
data[1].am_channel, (int)(data[1].am_data), expected_min[1], expected_max[1], check_res[1]);
message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
data[2].am_channel, (int)(data[2].am_data), expected_min[2], expected_max[2], check_res[2]);
message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
data[3].am_channel, (int)(data[3].am_data), expected_min[3], expected_max[3], check_res[3]);
if (ret != OK) {
printf("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.\n");
goto errout_with_dev;
}
}
while (nbytes > 0);
up_udelay(20000);//microseconds
/* Take measurements */
nbytes = read(fd0, sample1, readsize);
printf("\t JIG voltages test successful.\n");
/* Handle unexpected return values */
errout_with_dev:
if (nbytes <= 0)
{
errval = errno;
if (errval != EINTR)
{
message("read %s failed: %d\n",
name, errval);
errval = 3;
goto errout_with_dev;
}
message("\tInterrupted read...\n");
}
else if (nbytes == 0)
{
message("\tNo data read, Ignoring\n");
}
/* Print the sample data on successful return */
else
{
int nsamples = nbytes / sizeof(struct adc_msg_s);
if (nsamples * sizeof(struct adc_msg_s) != nbytes)
{
message("\tread size=%d is not a multiple of sample size=%d, Ignoring\n",
nbytes, sizeof(struct adc_msg_s));
}
else
{
/* Check values */
check_res[0] = (expected_min[0] < sample1[i].am_data1 && expected_max[0] > sample1[i].am_data1) ? "OK" : "FAIL";
check_res[1] = (expected_min[1] < sample1[i].am_data2 && expected_max[1] > sample1[i].am_data2) ? "OK" : "FAIL";
check_res[2] = (expected_min[2] < sample1[i].am_data3 && expected_max[2] > sample1[i].am_data3) ? "OK" : "FAIL";
check_res[3] = (expected_min[3] < sample1[i].am_data4 && expected_max[3] > sample1[i].am_data4) ? "OK" : "FAIL";
/* Accumulate result */
ret += (expected_min[0] > sample1[i].am_data1 || expected_max[0] < sample1[i].am_data1) ? 1 : 0;
// XXX Chan 11 not connected on test setup
//ret += (expected_min[1] > sample1[i].am_data2 || expected_max[1] < sample1[i].am_data2) ? 1 : 0;
ret += (expected_min[2] > sample1[i].am_data3 || expected_max[2] < sample1[i].am_data3) ? 1 : 0;
ret += (expected_min[3] > sample1[i].am_data4 || expected_max[3] < sample1[i].am_data4) ? 1 : 0;
message("Sample:");
message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
i, sample1[i].am_channel1, sample1[i].am_data1, expected_min[0], expected_max[0], check_res[0]);
message("Sample:");
message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
i, sample1[i].am_channel2, sample1[i].am_data2, expected_min[1], expected_max[1], check_res[1]);
message("Sample:");
message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
i, sample1[i].am_channel3, sample1[i].am_data3, expected_min[2], expected_max[2], check_res[2]);
message("Sample:");
message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
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;
}
apps/px4/tests/test_sleep.c
+1 -2
View File
@@ -90,9 +90,8 @@ int test_sleep(int argc, char *argv[])
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");
apps/px4/tests/tests_main.c
+26 -13
View File
@@ -78,11 +78,10 @@ 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)
@@ -107,9 +106,9 @@ struct {
{"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},
{"param", test_param, OPT_NOJIGTEST, 0},
{"bson", test_bson, OPT_NOJIGTEST, 0},
{"file", test_file, OPT_NOJIGTEST, 0},
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST, 0},
{NULL, NULL, 0, 0}
};
@@ -133,6 +132,11 @@ test_all(int argc, char *argv[])
unsigned i;
char *args[2] = {"all", NULL};
unsigned int failcount = 0;
unsigned int testscount = 0;
/* store test results */
bool passed[(sizeof(tests) / sizeof(tests[0]))];
memset(&passed, 0, sizeof(passed));
printf("\nRunning all tests...\n\n");
@@ -149,10 +153,12 @@ test_all(int argc, char *argv[])
failcount++;
} else {
tests[i].passed = 1;
passed[i] = true;
printf(" [%s] \t\t\tPASS\n", tests[i].name);
fflush(stdout);
}
testscount++;
}
}
@@ -175,7 +181,7 @@ test_all(int argc, char *argv[])
printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n");
printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n");
printf("\n");
printf(" All tests passed (%d of %d)\n", i, i);
printf(" All tests passed (%d of %d)\n", testscount, testscount);
} else {
printf(" ______ ______ __ __ \n");
@@ -184,7 +190,7 @@ test_all(int argc, char *argv[])
printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n");
printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n");
printf("\n");
printf(" Some tests failed (%d of %d)\n", failcount, i);
printf(" Some tests failed (%d of %d)\n", failcount, testscount);
}
printf("\n");
@@ -195,7 +201,7 @@ 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);
}
}
@@ -242,6 +248,11 @@ int test_jig(int argc, char *argv[])
unsigned i;
char *args[2] = {"jig", NULL};
unsigned int failcount = 0;
unsigned int testscount = 0;
/* store test results */
bool passed[(sizeof(tests) / sizeof(tests[0]))];
memset(&passed, 0, sizeof(passed));
printf("\nRunning all tests...\n\n");
for (i = 0; tests[i].name; i++) {
@@ -255,10 +266,12 @@ int test_jig(int argc, char *argv[])
fflush(stderr);
failcount++;
} else {
tests[i].passed = 1;
passed[i] = true;
printf(" [%s] \t\t\tPASS\n", tests[i].name);
fflush(stdout);
}
testscount++;
}
}
@@ -279,7 +292,7 @@ int test_jig(int argc, char *argv[])
printf(" \\ \\_\\ \\_\\ \\ \\_____\\ \\ \\_____\\ \\ \\_____\\ \\ \\_\\ \\_\\ \n");
printf(" \\/_/\\/_/ \\/_____/ \\/_____/ \\/_____/ \\/_/\\/_/ \n");
printf("\n");
printf(" All tests passed (%d of %d)\n", i, i);
printf(" All tests passed (%d of %d)\n", testscount, testscount);
} else {
printf(" ______ ______ __ __ \n");
printf(" /\\ ___\\ /\\ __ \\ /\\ \\ /\\ \\ \n");
@@ -287,7 +300,7 @@ int test_jig(int argc, char *argv[])
printf(" \\ \\_\\ \\ \\_\\ \\_\\ \\ \\_\\ \\ \\_____\\ \n");
printf(" \\/_/ \\/_/\\/_/ \\/_/ \\/_____/ \n");
printf("\n");
printf(" Some tests failed (%d of %d)\n", failcount, i);
printf(" Some tests failed (%d of %d)\n", failcount, testscount);
}
printf("\n");
@@ -296,7 +309,7 @@ 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[k] && !(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);
}