px4-firmware/apps/px4/tests/test_hrt.c

220 lines
5.9 KiB
C

/****************************************************************************
* px4/sensors/test_hrt.c
*
* 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 NuttX 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <time.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <arch/board/up_hrt.h>
#include <arch/board/drv_tone_alarm.h>
#include <nuttx/spi.h>
#include "tests.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
extern uint16_t ppm_buffer[];
extern unsigned ppm_decoded_channels;
extern uint16_t ppm_edge_history[];
extern uint16_t ppm_pulse_history[];
int test_ppm(int argc, char *argv[])
{
#ifdef CONFIG_HRT_PPM
unsigned i;
printf("channels: %u\n", ppm_decoded_channels);
for (i = 0; i < ppm_decoded_channels; i++)
printf(" %u\n", ppm_buffer[i]);
printf("edges\n");
for (i = 0; i < 32; i++)
printf(" %u\n", ppm_edge_history[i]);
printf("pulses\n");
for (i = 0; i < 32; i++)
printf(" %u\n", ppm_pulse_history[i]);
fflush(stdout);
#else
printf("PPM not configured\n");
#endif
return 0;
}
int test_tone(int argc, char *argv[])
{
#ifdef CONFIG_TONE_ALARM
int fd, result;
unsigned long tone;
fd = open("/dev/tone_alarm", O_WRONLY);
if (fd < 0) {
printf("failed opening /dev/tone_alarm\n");
goto out;
}
tone = 1;
if (argc == 2)
tone = atoi(argv[1]);
if (tone == 0) {
result = ioctl(fd, TONE_SET_ALARM, 0);
if (result < 0) {
printf("failed clearing alarms\n");
goto out;
} else {
printf("Alarm stopped.\n");
}
} else {
result = ioctl(fd, TONE_SET_ALARM, 0);
if (result < 0) {
printf("failed clearing alarms\n");
goto out;
}
result = ioctl(fd, TONE_SET_ALARM, tone);
if (result < 0) {
printf("failed setting alarm %lu\n", tone);
} else {
printf("Alarm %lu (disable with: tests tone 0)\n", tone);
}
}
out:
if (fd >= 0)
close(fd);
#endif
return 0;
}
/****************************************************************************
* Name: test_hrt
****************************************************************************/
int test_hrt(int argc, char *argv[])
{
struct hrt_call call;
hrt_abstime prev, now;
int i;
struct timeval tv1, tv2;
printf("start-time (hrt, sec/usec), end-time (hrt, sec/usec), microseconds per half second\n");
for (i = 0; i < 10; i++) {
prev = hrt_absolute_time();
gettimeofday(&tv1, NULL);
usleep(500000);
now = hrt_absolute_time();
gettimeofday(&tv2, NULL);
printf("%lu (%lu/%lu), %lu (%lu/%lu), %lu\n",
(unsigned long)prev, (unsigned long)tv1.tv_sec, (unsigned long)tv1.tv_usec,
(unsigned long)now, (unsigned long)tv2.tv_sec, (unsigned long)tv2.tv_usec,
(unsigned long)(hrt_absolute_time() - prev));
fflush(stdout);
}
usleep(1000000);
printf("one-second ticks\n");
for (i = 0; i < 10; i++) {
hrt_call_after(&call, 1000000, NULL, NULL);
while (!hrt_called(&call)) {
usleep(1000);
}
printf("tick\n");
fflush(stdout);
}
return 0;
}