mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-07 01:04:19 +08:00
Completed sensors test, WIP on ADC test
This commit is contained in:
Lorenz Meier
+53
-116
@@ -1,7 +1,6 @@
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/****************************************************************************
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* px4/sensors/test_gpio.c
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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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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@@ -13,7 +12,7 @@
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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 NuttX nor the names of its contributors may be
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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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@@ -32,9 +31,10 @@
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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/**
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* @file test_adc.c
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* Test for the analog to digital converter.
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*/
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#include <nuttx/config.h>
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#include <nuttx/arch.h>
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@@ -54,91 +54,46 @@
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#include <nuttx/analog/adc.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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/****************************************************************************
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* Private Data
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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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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: test_gpio
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****************************************************************************/
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int test_adc(int argc, char *argv[])
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{
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int fd0;
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int fd0 = 0;
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int ret = 0;
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//struct adc_msg_s sample[4],sample2[4],sample3[4],sample4[4],sample5[4],sample6[4],sample7[4],sample8[4],sample9[4];
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#pragma pack(push,1)
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struct adc_msg4_s {
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uint8_t am_channel1; /* The 8-bit ADC Channel */
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int32_t am_data1; /* ADC convert result (4 bytes) */
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uint8_t am_channel2; /* The 8-bit ADC Channel */
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int32_t am_data2; /* ADC convert result (4 bytes) */
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uint8_t am_channel3; /* The 8-bit ADC Channel */
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int32_t am_data3; /* ADC convert result (4 bytes) */
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uint8_t am_channel4; /* The 8-bit ADC Channel */
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int32_t am_data4; /* ADC convert result (4 bytes) */
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} __attribute__((__packed__));;
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uint8_t am_channel1; /**< The 8-bit ADC Channel 1 */
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int32_t am_data1; /**< ADC convert result 1 (4 bytes) */
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uint8_t am_channel2; /**< The 8-bit ADC Channel 2 */
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int32_t am_data2; /**< ADC convert result 2 (4 bytes) */
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uint8_t am_channel3; /**< The 8-bit ADC Channel 3 */
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int32_t am_data3; /**< ADC convert result 3 (4 bytes) */
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uint8_t am_channel4; /**< The 8-bit ADC Channel 4 */
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int32_t am_data4; /**< ADC convert result 4 (4 bytes) */
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};
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#pragma pack(pop)
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struct adc_msg4_s sample1[4], sample2[4];
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struct adc_msg4_s sample1;
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size_t readsize;
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ssize_t nbytes, nbytes2;
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int i;
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ssize_t nbytes;
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int j;
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int errval;
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for (j = 0; j < 1; j++) {
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char name[11];
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sprintf(name, "/dev/adc%d", j);
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fd0 = open(name, O_RDONLY | O_NONBLOCK);
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fd0 = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
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if (fd0 < 0) {
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printf("ADC: %s open fail\n", name);
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return ERROR;
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if (fd0 <= 0) {
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message("/dev/adc0 open fail: %d", errno);
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return ERROR;
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} else {
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printf("Opened %s successfully\n", name);
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}
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} else {
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message("opened /dev/adc0 successfully");
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}
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usleep(10000);
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/* first adc read round */
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readsize = 4 * sizeof(struct adc_msg_s);
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up_udelay(10000);//microseconds
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nbytes = read(fd0, sample1, readsize);
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up_udelay(10000);//microseconds
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nbytes2 = read(fd0, sample2, readsize);
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// nbytes2 = read(fd0, sample3, readsize);
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// nbytes2 = read(fd0, sample4, readsize);
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// nbytes2 = read(fd0, sample5, readsize);
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// nbytes2 = read(fd0, sample6, readsize);
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// nbytes2 = read(fd0, sample7, readsize);
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// nbytes2 = read(fd0, sample8, readsize);
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//nbytes2 = read(fd0, sample9, readsize);
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for (j = 0; j < 10; j++) {
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/* sleep 1 millisecond */
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usleep(1000);
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nbytes = read(fd0, &sample1, sizeof(sample1));
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/* Handle unexpected return values */
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@@ -146,62 +101,44 @@ int test_adc(int argc, char *argv[])
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errval = errno;
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if (errval != EINTR) {
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message("read %s failed: %d\n",
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name, errval);
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message("reading /dev/adc0 failed: %d", errval);
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errval = 3;
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goto errout_with_dev;
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}
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message("\tInterrupted read...\n");
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message("\tinterrupted read..");
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} else if (nbytes == 0) {
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message("\tNo data read, Ignoring\n");
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message("\tno data read, ignoring.");
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ret = ERROR;
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}
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/* Print the sample data on successful return */
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else {
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int nsamples = nbytes / sizeof(struct adc_msg_s);
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if (nsamples * sizeof(struct adc_msg_s) != nbytes) {
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message("\tread size=%d is not a multiple of sample size=%d, Ignoring\n",
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nbytes, sizeof(struct adc_msg_s));
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if (nbytes != sizeof(sample1)) {
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message("\tsample 1 size %d is not matching struct size %d, ignoring",
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nbytes, sizeof(sample1));
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ret = ERROR;
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} else {
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message("Sample:");
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for (i = 0; i < 1 ; i++) {
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message("%d: channel: %d value: %d\n",
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i, sample1[i].am_channel1, sample1[i].am_data1);
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message("Sample:");
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message("%d: channel: %d value: %d\n",
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i, sample1[i].am_channel2, sample1[i].am_data2);
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message("Sample:");
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message("%d: channel: %d value: %d\n",
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i, sample1[i].am_channel3, sample1[i].am_data3);
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message("Sample:");
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message("%d: channel: %d value: %d\n",
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i, sample1[i].am_channel4, sample1[i].am_data4);
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message("Sample:");
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message("%d: channel: %d value: %d\n",
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i + 1, sample2[i].am_channel1, sample2[i].am_data1);
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message("Sample:");
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message("%d: channel: %d value: %d\n",
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i + 1, sample2[i].am_channel2, sample2[i].am_data2);
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message("Sample:");
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message("%d: channel: %d value: %d\n",
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i + 1, sample2[i].am_channel3, sample2[i].am_data3);
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message("Sample:");
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message("%d: channel: %d value: %d\n",
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i + 1, sample2[i].am_channel4, sample2[i].am_data4);
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// message("%d: channel: %d value: %d\n",
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// i, sample9[i].am_channel, sample9[i].am_data);
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}
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message("CYCLE %d:", j);
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message("channel: %d value: %d",
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sample1.am_channel1, sample1.am_data1);
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message("channel: %d value: %d",
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sample1.am_channel2, sample1.am_data2);
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message("channel: %d value: %d",
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sample1.am_channel3, sample1.am_data3);
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message("channel: %d value: %d",
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sample1.am_channel4, sample1.am_data4);
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}
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}
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fflush(stdout);
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}
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printf("\t ADC test successful.\n");
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message("\t ADC test successful.");
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errout_with_dev:
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+130
-11
@@ -1,7 +1,7 @@
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/****************************************************************************
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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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* 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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@@ -36,7 +36,7 @@
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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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* @author Lorenz Meier <lm@inf.ethz.ch>
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*/
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#include <nuttx/config.h>
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@@ -56,7 +56,10 @@
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#include "tests.h"
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#include <drivers/drv_gyro.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_mag.h>
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#include <drivers/drv_baro.h>
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/****************************************************************************
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* Pre-processor Definitions
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@@ -70,8 +73,10 @@
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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 mpu6000(int argc, char *argv[]);
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static int accel(int argc, char *argv[]);
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static int gyro(int argc, char *argv[]);
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static int mag(int argc, char *argv[]);
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static int baro(int argc, char *argv[]);
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/****************************************************************************
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* Private Data
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@@ -82,7 +87,10 @@ 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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{"mpu6000", "/dev/accel", mpu6000},
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{"accel", "/dev/accel", accel},
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{"gyro", "/dev/gyro", gyro},
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{"mag", "/dev/mag", mag},
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{"baro", "/dev/baro", baro},
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{NULL, NULL, NULL}
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};
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@@ -95,9 +103,9 @@ struct {
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****************************************************************************/
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static int
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mpu6000(int argc, char *argv[])
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accel(int argc, char *argv[])
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{
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printf("\tMPU-6000: test start\n");
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printf("\tACCEL: test start\n");
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fflush(stdout);
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int fd;
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@@ -107,7 +115,7 @@ mpu6000(int argc, char *argv[])
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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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printf("\tACCEL: open fail, run <mpu6000 start> or <lsm303 start> or <bma180 start> first.\n");
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return ERROR;
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}
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@@ -118,11 +126,11 @@ mpu6000(int argc, char *argv[])
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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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printf("\tACCEL: 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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printf("\tACCEL values: acc: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
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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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@@ -141,7 +149,118 @@ mpu6000(int argc, char *argv[])
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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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printf("\tOK: ACCEL 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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gyro(int argc, char *argv[])
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{
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printf("\tGYRO: test start\n");
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fflush(stdout);
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int fd;
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struct gyro_report buf;
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int ret;
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fd = open("/dev/gyro", O_RDONLY);
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if (fd < 0) {
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printf("\tGYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
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return ERROR;
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}
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/* wait at least 5 ms, sensor should have data after that */
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usleep(5000);
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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("\tGYRO: read fail (%d)\n", ret);
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return ERROR;
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} else {
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printf("\tGYRO values: rates: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
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}
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/* Let user know everything is ok */
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printf("\tOK: GYRO 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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mag(int argc, char *argv[])
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{
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printf("\tMAG: test start\n");
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fflush(stdout);
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int fd;
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struct mag_report buf;
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int ret;
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fd = open("/dev/mag", O_RDONLY);
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if (fd < 0) {
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printf("\tMAG: open fail, run <hmc5883 start> or <lsm303 start> first.\n");
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return ERROR;
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}
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/* wait at least 5 ms, sensor should have data after that */
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usleep(5000);
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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("\tMAG: read fail (%d)\n", ret);
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return ERROR;
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} else {
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printf("\tMAG values: mag. field: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
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}
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/* Let user know everything is ok */
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printf("\tOK: MAG 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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baro(int argc, char *argv[])
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{
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printf("\tBARO: test start\n");
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fflush(stdout);
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int fd;
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struct baro_report buf;
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int ret;
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fd = open("/dev/baro", O_RDONLY);
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if (fd < 0) {
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printf("\tBARO: open fail, run <ms5611 start> or <lps331 start> first.\n");
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return ERROR;
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}
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/* wait at least 5 ms, sensor should have data after that */
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usleep(5000);
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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("\tBARO: read fail (%d)\n", ret);
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return ERROR;
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} else {
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printf("\tBARO values: pressure: %8.4f mbar\taltitude: %8.4f m\ttemperature: %8.4f deg Celsius\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature);
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}
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/* Let user know everything is ok */
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printf("\tOK: BARO passed all tests successfully\n");
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return OK;
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}
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