forked from Archive/PX4-Autopilot
Retire old test cases for drivers that have been removed.
This commit is contained in:
px4dev
parent
7f18fcd556
commit
4f20d9a24b
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@ -56,10 +56,6 @@
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#include "tests.h"
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#include <arch/board/drv_lis331.h>
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#include <arch/board/drv_bma180.h>
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#include <arch/board/drv_l3gd20.h>
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#include <arch/board/drv_hmc5883l.h>
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#include <drivers/drv_accel.h>
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/****************************************************************************
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@ -75,10 +71,6 @@
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****************************************************************************/
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//static int lis331(int argc, char *argv[]);
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static int l3gd20(int argc, char *argv[]);
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static int bma180(int argc, char *argv[]);
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static int hmc5883l(int argc, char *argv[]);
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static int ms5611(int argc, char *argv[]);
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static int mpu6000(int argc, char *argv[]);
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/****************************************************************************
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@ -90,12 +82,7 @@ struct {
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const char *path;
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int (* test)(int argc, char *argv[]);
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} sensors[] = {
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{"bma180", "/dev/bma180", bma180},
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{"mpu6000", "/dev/accel", mpu6000},
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{"l3gd20", "/dev/l3gd20", l3gd20},
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{"hmc5883l", "/dev/hmc5883l", hmc5883l},
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{"ms5611", "/dev/ms5611", ms5611},
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// {"lis331", "/dev/lis331", lis331},
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{NULL, NULL, NULL}
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};
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@ -107,226 +94,6 @@ struct {
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* Private Functions
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****************************************************************************/
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//static int
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//lis331(int argc, char *argv[])
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//{
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// int fd;
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// int16_t buf[3];
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// int ret;
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//
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// fd = open("/dev/lis331", O_RDONLY);
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// if (fd < 0) {
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// printf("\tlis331: not present on PX4FMU v1.5 and later\n");
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// return ERROR;
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// }
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//
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// if (ioctl(fd, LIS331_SETRATE, LIS331_RATE_50Hz) ||
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// ioctl(fd, LIS331_SETRANGE, LIS331_RANGE_4G)) {
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//
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// printf("LIS331: ioctl fail\n");
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// return ERROR;
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// }
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//
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// /* wait at least 100ms, sensor should have data after no more than 20ms */
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// usleep(100000);
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//
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// /* read data - expect samples */
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// ret = read(fd, buf, sizeof(buf));
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// if (ret != sizeof(buf)) {
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// printf("LIS331: read1 fail (%d)\n", ret);
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// return ERROR;
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// }
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//
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// /* read data - expect no samples (should not be ready again yet) */
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// ret = read(fd, buf, sizeof(buf));
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// if (ret != 0) {
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// printf("LIS331: read2 fail (%d)\n", ret);
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// return ERROR;
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// }
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//
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// /* XXX more tests here */
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//
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// return 0;
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//}
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static int
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l3gd20(int argc, char *argv[])
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{
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printf("\tL3GD20: test start\n");
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fflush(stdout);
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int fd;
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int16_t buf[3] = {0, 0, 0};
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int ret;
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fd = open("/dev/l3gd20", O_RDONLY | O_NONBLOCK);
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if (fd < 0) {
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printf("L3GD20: open fail\n");
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return ERROR;
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}
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// if (ioctl(fd, L3GD20_SETRATE, L3GD20_RATE_760HZ_LP_50HZ) ||
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// ioctl(fd, L3GD20_SETRANGE, L3GD20_RANGE_500DPS)) {
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//
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// printf("L3GD20: ioctl fail\n");
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// return ERROR;
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// } else {
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// printf("\tconfigured..\n");
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// }
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//
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// /* wait at least 100ms, sensor should have data after no more than 2ms */
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// usleep(100000);
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/* read data - expect samples */
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ret = read(fd, buf, sizeof(buf));
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if (ret != sizeof(buf)) {
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printf("\tL3GD20: read1 fail (%d should have been %d)\n", ret, sizeof(buf));
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//return ERROR;
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} else {
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printf("\tL3GD20 values #1: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
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}
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/* wait at least 2 ms, sensor should have data after no more than 1.5ms */
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usleep(2000);
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/* read data - expect no samples (should not be ready again yet) */
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ret = read(fd, buf, sizeof(buf));
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if (ret != sizeof(buf)) {
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printf("\tL3GD20: read2 fail (%d)\n", ret);
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close(fd);
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return ERROR;
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} else {
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printf("\tL3GD20 values #2: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
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}
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/* empty sensor buffer */
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ret = 0;
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while (ret != sizeof(buf)) {
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// Keep reading until successful
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ret = read(fd, buf, sizeof(buf));
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}
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/* test if FIFO is operational */
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usleep(14800); // Expecting 10 measurements
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ret = 0;
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int count = 0;
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bool dataready = true;
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while (dataready) {
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// Keep reading until successful
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ret = read(fd, buf, sizeof(buf));
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if (ret != sizeof(buf)) {
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dataready = false;
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} else {
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count++;
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}
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}
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printf("\tL3GD20: Drained FIFO with %d values (expected 8-12)\n", count);
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/* read data - expect no samples (should not be ready again yet) */
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ret = read(fd, buf, sizeof(buf));
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if (ret != 0) {
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printf("\tL3GD20: Note: read3 got data - there should not have been data ready\n", ret);
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// return ERROR;
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}
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close(fd);
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/* Let user know everything is ok */
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printf("\tOK: L3GD20 passed all tests successfully\n");
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return OK;
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}
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static int
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bma180(int argc, char *argv[])
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{
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// XXX THIS SENSOR IS OBSOLETE
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// TEST REMAINS, BUT ALWAYS RETURNS OK
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printf("\tBMA180: test start\n");
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fflush(stdout);
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int fd;
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int16_t buf[3] = {0, 0, 0};
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int ret;
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fd = open("/dev/bma180", O_RDONLY);
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if (fd < 0) {
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printf("\tBMA180: open fail\n");
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return OK;
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}
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// if (ioctl(fd, LIS331_SETRATE, LIS331_RATE_50Hz) ||
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// ioctl(fd, LIS331_SETRANGE, LIS331_RANGE_4G)) {
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//
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// printf("BMA180: ioctl fail\n");
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// return ERROR;
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// }
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//
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/* wait at least 100ms, sensor should have data after no more than 20ms */
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usleep(100000);
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/* read data - expect samples */
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ret = read(fd, buf, sizeof(buf));
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if (ret != sizeof(buf)) {
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printf("\tBMA180: read1 fail (%d)\n", ret);
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close(fd);
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return OK;
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} else {
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printf("\tBMA180 values: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
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}
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/* wait at least 10ms, sensor should have data after no more than 2ms */
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usleep(100000);
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ret = read(fd, buf, sizeof(buf));
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if (ret != sizeof(buf)) {
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printf("\tBMA180: read2 fail (%d)\n", ret);
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close(fd);
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return OK;
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} else {
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printf("\tBMA180: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
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}
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/* empty sensor buffer */
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ret = 0;
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while (ret != sizeof(buf)) {
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// Keep reading until successful
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ret = read(fd, buf, sizeof(buf));
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}
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ret = read(fd, buf, sizeof(buf));
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if (ret != 0) {
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printf("\tBMA180: Note: read3 got data - there should not have been data ready\n", ret);
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}
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/* Let user know everything is ok */
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printf("\tOK: BMA180 passed all tests successfully\n");
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close(fd);
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return OK;
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}
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static int
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mpu6000(int argc, char *argv[])
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{
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@ -379,103 +146,6 @@ mpu6000(int argc, char *argv[])
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return OK;
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}
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static int
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ms5611(int argc, char *argv[])
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{
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printf("\tMS5611: test start\n");
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fflush(stdout);
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int fd;
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float buf[3] = {0.0f, 0.0f, 0.0f};
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int ret;
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fd = open("/dev/ms5611", O_RDONLY);
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if (fd < 0) {
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printf("\tMS5611: open fail\n");
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return ERROR;
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}
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for (int i = 0; i < 5; i++) {
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/* read data - expect samples */
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ret = read(fd, buf, sizeof(buf));
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if (ret != sizeof(buf)) {
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if ((int8_t)ret == -EAGAIN || (int8_t)ret == -EINPROGRESS) {
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/* waiting for device to become ready, this is not an error */
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} else {
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printf("\tMS5611: read fail (%d)\n", ret);
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close(fd);
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return ERROR;
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}
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} else {
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/* hack for float printing */
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int32_t pressure_int = buf[0];
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int32_t altitude_int = buf[1];
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int32_t temperature_int = buf[2];
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printf("\tMS5611: pressure:%d.%03d mbar - altitude: %d.%02d meters - temp:%d.%02d deg celcius\n", pressure_int, (int)(buf[0] * 1000 - pressure_int * 1000), altitude_int, (int)(buf[1] * 100 - altitude_int * 100), temperature_int, (int)(buf[2] * 100 - temperature_int * 100));
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}
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/* wait at least 10ms, sensor should have data after no more than 6.5ms */
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usleep(10000);
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}
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close(fd);
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/* Let user know everything is ok */
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printf("\tOK: MS5611 passed all tests successfully\n");
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return OK;
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}
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static int
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hmc5883l(int argc, char *argv[])
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{
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printf("\tHMC5883L: test start\n");
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fflush(stdout);
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int fd;
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int16_t buf[7] = {0, 0, 0};
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int ret;
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fd = open("/dev/hmc5883l", O_RDONLY);
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if (fd < 0) {
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printf("\tHMC5883L: open fail\n");
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return ERROR;
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}
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int i;
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for (i = 0; i < 5; i++) {
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/* wait at least 7ms, sensor should have data after no more than 6.5ms */
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usleep(7000);
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/* read data - expect samples */
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ret = read(fd, buf, sizeof(buf));
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if (ret != sizeof(buf)) {
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printf("\tHMC5883L: read1 fail (%d) values: x:%d\ty:%d\tz:%d\n", ret, buf[0], buf[1], buf[2]);
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close(fd);
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return ERROR;
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} else {
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printf("\tHMC5883L: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
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}
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}
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close(fd);
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/* Let user know everything is ok */
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printf("\tOK: HMC5883L passed all tests successfully\n");
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return OK;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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@ -61,8 +61,6 @@
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#include <arch/board/drv_tone_alarm.h>
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#include <arch/board/up_adc.h>
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#include <arch/board/board.h>
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#include <arch/board/drv_bma180.h>
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#include <arch/board/drv_l3gd20.h>
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#include <arch/board/drv_led.h>
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#include <arch/board/drv_eeprom.h>
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@ -181,7 +179,7 @@ int nsh_archinitialize(void)
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return -ENODEV;
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}
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// Setup 10 MHz clock (maximum rate the BMA180 can sustain)
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// Default SPI1 to 1MHz and de-assert the known chip selects.
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SPI_SETFREQUENCY(spi1, 10000000);
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SPI_SETBITS(spi1, 8);
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SPI_SETMODE(spi1, SPIDEV_MODE3);
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@ -192,33 +190,6 @@ int nsh_archinitialize(void)
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message("[boot] Successfully initialized SPI port 1\r\n");
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/* initialize SPI peripherals redundantly */
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int gyro_attempts = 0;
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int gyro_fail = 0;
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while (gyro_attempts < 5)
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{
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gyro_fail = l3gd20_attach(spi1, PX4_SPIDEV_GYRO);
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gyro_attempts++;
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if (gyro_fail == 0) break;
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up_udelay(1000);
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}
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if (!gyro_fail) message("[boot] Found L3GD20 gyro\n");
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int acc_attempts = 0;
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int acc_fail = 0;
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while (acc_attempts < 5)
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{
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acc_fail = bma180_attach(spi1, PX4_SPIDEV_ACCEL);
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acc_attempts++;
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if (acc_fail == 0) break;
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up_udelay(1000);
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}
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if (!acc_fail) message("[boot] Found BMA180 accelerometer\n");
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/* initialize I2C2 bus */
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i2c2 = up_i2cinitialize(2);
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