SalimTerryLi
5 years ago
committed by
GitHub
30 changed files with 337 additions and 478 deletions
@ -1,3 +1,6 @@
@@ -1,3 +1,6 @@
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uint64 timestamp # time since system start (microseconds) |
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int16[12] channel_id # ADC channel IDs, negative for non-existent |
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float32[12] channel_value # ADC channel value in volt, valid if channel ID is positive |
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uint32 device_id # unique device ID for the sensor that does not change between power cycles |
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int16[12] channel_id # ADC channel IDs, negative for non-existent, TODO: should be kept same as array index |
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int32[12] raw_data # ADC channel raw value, accept negative value, valid if channel ID is positive |
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uint32 resolution # ADC channel resolution |
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float32 v_ref # ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution) |
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@ -1,133 +0,0 @@
@@ -1,133 +0,0 @@
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/****************************************************************************
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* |
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* Copyright (C) 2012-2019 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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* 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_jig_voltages.c |
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* Tests for jig voltages. |
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*/ |
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#include <px4_platform_common/px4_config.h> |
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#include <px4_platform_common/defines.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 "tests_main.h" |
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#include <drivers/drv_adc.h> |
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#include <systemlib/err.h> |
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int test_jig_voltages(int argc, char *argv[]) |
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{ |
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int fd = open(ADC0_DEVICE_PATH, O_RDONLY); |
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int ret = OK; |
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if (fd < 0) { |
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PX4_ERR("can't open ADC device"); |
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return 1; |
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} |
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/* make space for the maximum channels */ |
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px4_adc_msg_t data[PX4_MAX_ADC_CHANNELS]; |
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/* read all channels available */ |
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ssize_t count = read(fd, data, sizeof(data)); |
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if (count < 0) { |
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close(fd); |
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PX4_ERR("can't read from ADC driver. Forgot 'adc start' command?"); |
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return 1; |
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} |
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unsigned channels = count / sizeof(data[0]); |
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for (unsigned j = 0; j < channels; j++) { |
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printf("%d: %u ", data[j].am_channel, data[j].am_data); |
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} |
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printf("\n"); |
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PX4_INFO("\t ADC operational.\n"); |
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/* Expected values */ |
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int16_t expected_min[] = {2800, 2800, 1800, 800}; |
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int16_t expected_max[] = {3100, 3100, 2100, 1100}; |
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char *check_res[channels]; |
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if (channels < 4) { |
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close(fd); |
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PX4_ERR("not all four test channels available, aborting."); |
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return 1; |
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} else { |
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/* Check values */ |
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check_res[0] = (expected_min[0] < data[0].am_data && expected_max[0] > data[0].am_data) ? "OK" : "FAIL"; |
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check_res[1] = (expected_min[1] < data[1].am_data && expected_max[1] > data[1].am_data) ? "OK" : "FAIL"; |
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check_res[2] = (expected_min[2] < data[2].am_data && expected_max[2] > data[2].am_data) ? "OK" : "FAIL"; |
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check_res[3] = (expected_min[3] < data[3].am_data && expected_max[3] > data[3].am_data) ? "OK" : "FAIL"; |
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/* Accumulate result */ |
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ret += (expected_min[0] > data[0].am_data || expected_max[0] < data[0].am_data) ? 1 : 0; |
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ret += (expected_min[1] > data[1].am_data || expected_max[1] < data[1].am_data) ? 1 : 0; |
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ret += (expected_min[2] > data[2].am_data || expected_max[2] < data[2].am_data) ? 1 : 0; |
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ret += (expected_min[3] > data[3].am_data || expected_max[3] < data[3].am_data) ? 1 : 0; |
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PX4_INFO("Sample:"); |
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PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s", |
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data[0].am_channel, (int)(data[0].am_data), expected_min[0], expected_max[0], check_res[0]); |
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PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s", |
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data[1].am_channel, (int)(data[1].am_data), expected_min[1], expected_max[1], check_res[1]); |
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PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s", |
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data[2].am_channel, (int)(data[2].am_data), expected_min[2], expected_max[2], check_res[2]); |
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PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s", |
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data[3].am_channel, (int)(data[3].am_data), expected_min[3], expected_max[3], check_res[3]); |
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if (ret != OK) { |
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PX4_ERR("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages."); |
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goto errout_with_dev; |
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} |
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} |
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PX4_INFO("JIG voltages test successful."); |
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errout_with_dev: |
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if (fd != 0) { close(fd); } |
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return ret; |
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} |
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@ -0,0 +1,120 @@
@@ -0,0 +1,120 @@
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/****************************************************************************
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* |
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* Copyright (C) 2012-2019 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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* 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_jig_voltages.c |
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* Tests for jig voltages. |
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*/ |
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#include <px4_platform_common/defines.h> |
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#include <unistd.h> |
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#include "tests_main.h" |
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#include <drivers/drv_adc.h> |
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#include <uORB/Subscription.hpp> |
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#include <uORB/topics/adc_report.h> |
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int test_jig_voltages(int argc, char *argv[]) |
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{ |
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uORB::Subscription _adc_sub{ORB_ID(adc_report)}; |
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adc_report_s adc; |
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px4_usleep(50000); // sleep 50ms and wait for adc report
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if (_adc_sub.update(&adc)) { |
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PX4_INFO_RAW("DeviceID: %d\n", adc.device_id); |
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PX4_INFO_RAW("Resolution: %d\n", adc.resolution); |
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PX4_INFO_RAW("Voltage Reference: %f\n", adc.v_ref); |
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unsigned channels = 0; |
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for (int i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) { |
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PX4_INFO_RAW("%d: %d ", adc.channel_id[i], adc.raw_data[i]); |
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if (adc.channel_id[i] != -1) { |
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++channels; |
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} |
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} |
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PX4_INFO_RAW("\n"); |
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PX4_INFO("\t ADC operational.\n"); |
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/* Expected values */ |
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int16_t expected_min[] = {2800, 2800, 1800, 800}; |
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int16_t expected_max[] = {3100, 3100, 2100, 1100}; |
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const char *check_res[channels]; |
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if (channels < 4) { |
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PX4_ERR("not all four test channels available, aborting."); |
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return 1; |
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} else { |
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int ret = OK; |
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/* Check values */ |
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check_res[0] = (expected_min[0] < adc.raw_data[0] && expected_max[0] > adc.raw_data[0]) ? "OK" : "FAIL"; |
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check_res[1] = (expected_min[1] < adc.raw_data[1] && expected_max[1] > adc.raw_data[1]) ? "OK" : "FAIL"; |
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check_res[2] = (expected_min[2] < adc.raw_data[2] && expected_max[2] > adc.raw_data[2]) ? "OK" : "FAIL"; |
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check_res[3] = (expected_min[3] < adc.raw_data[3] && expected_max[3] > adc.raw_data[3]) ? "OK" : "FAIL"; |
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/* Accumulate result */ |
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ret += (expected_min[0] > adc.raw_data[0] || expected_max[0] < adc.raw_data[0]) ? 1 : 0; |
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ret += (expected_min[1] > adc.raw_data[1] || expected_max[1] < adc.raw_data[1]) ? 1 : 0; |
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ret += (expected_min[2] > adc.raw_data[2] || expected_max[2] < adc.raw_data[2]) ? 1 : 0; |
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ret += (expected_min[3] > adc.raw_data[3] || expected_max[3] < adc.raw_data[3]) ? 1 : 0; |
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PX4_INFO("Sample:"); |
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PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s", |
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adc.channel_id[0], (int)(adc.raw_data[0]), expected_min[0], expected_max[0], check_res[0]); |
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PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s", |
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adc.channel_id[1], (int)(adc.raw_data[1]), expected_min[1], expected_max[1], check_res[1]); |
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PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s", |
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adc.channel_id[2], (int)(adc.raw_data[2]), expected_min[2], expected_max[2], check_res[2]); |
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PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s", |
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adc.channel_id[3], (int)(adc.raw_data[3]), expected_min[3], expected_max[3], check_res[3]); |
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if (ret != OK) { |
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PX4_ERR("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages."); |
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return ret; |
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} |
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} |
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PX4_INFO("JIG voltages test successful."); |
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return OK; |
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} else { |
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return 1; |
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} |
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} |
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