forked from Archive/PX4-Autopilot
509 lines
13 KiB
C
509 lines
13 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file test_sensors.c
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* Tests the onboard sensors.
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*
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* The sensors app must not be running when performing this test.
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*/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <debug.h>
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#include <arch/board/board.h>
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#include <nuttx/spi.h>
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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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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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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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* Private Data
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****************************************************************************/
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struct {
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const char *name;
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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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/****************************************************************************
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* Public Data
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****************************************************************************/
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/****************************************************************************
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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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printf("\tMPU-6000: test start\n");
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fflush(stdout);
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int fd;
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struct accel_report buf;
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int ret;
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fd = open("/dev/accel", O_RDONLY);
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if (fd < 0) {
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printf("\tMPU-6000: open fail, run <mpu6000 start> first.\n");
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return ERROR;
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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 < 3) {
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printf("\tMPU-6000: read1 fail (%d)\n", ret);
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return ERROR;
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} else {
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printf("\tMPU-6000 values: acc: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);//\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
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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("\tMPU-6000: read2 fail (%d)\n", ret);
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// return ERROR;
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// } else {
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// printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
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// }
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/* XXX more tests here */
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/* Let user know everything is ok */
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printf("\tOK: MPU-6000 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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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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/****************************************************************************
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* Name: test_sensors
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****************************************************************************/
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int test_sensors(int argc, char *argv[])
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{
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unsigned i;
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printf("Running sensors tests:\n\n");
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fflush(stdout);
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int ret = OK;
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for (i = 0; sensors[i].name; i++) {
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printf(" sensor: %s\n", sensors[i].name);
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/* Flush and leave enough time for the flush to become effective */
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fflush(stdout);
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usleep(50000);
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/* Test the sensor - if the tests crash at this point, the right sensor name has been printed */
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ret += sensors[i].test(argc, argv);
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}
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return ret;
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}
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