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px4_autopilot/apps/px4/tests/test_sensors.c

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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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 PX4 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.
*
****************************************************************************/
/**
* @file test_sensors.c
* Tests the onboard sensors.
*
* The sensors app must not be running when performing this test.
*/
#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 <arch/board/board.h>
#include <nuttx/spi.h>
#include "tests.h"
#include <arch/board/drv_lis331.h>
#include <arch/board/drv_bma180.h>
#include <arch/board/drv_l3gd20.h>
#include <arch/board/drv_hmc5883l.h>
#include <drivers/drv_accel.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
//static int lis331(int argc, char *argv[]);
static int l3gd20(int argc, char *argv[]);
static int bma180(int argc, char *argv[]);
static int hmc5883l(int argc, char *argv[]);
static int ms5611(int argc, char *argv[]);
static int mpu6000(int argc, char *argv[]);
/****************************************************************************
* Private Data
****************************************************************************/
struct {
const char *name;
const char *path;
int (* test)(int argc, char *argv[]);
} sensors[] = {
{"bma180", "/dev/bma180", bma180},
{"mpu6000", "/dev/accel", mpu6000},
{"l3gd20", "/dev/l3gd20", l3gd20},
{"hmc5883l", "/dev/hmc5883l", hmc5883l},
{"ms5611", "/dev/ms5611", ms5611},
// {"lis331", "/dev/lis331", lis331},
{NULL, NULL, NULL}
};
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
//static int
//lis331(int argc, char *argv[])
//{
// int fd;
// int16_t buf[3];
// int ret;
//
// fd = open("/dev/lis331", O_RDONLY);
// if (fd < 0) {
// printf("\tlis331: not present on PX4FMU v1.5 and later\n");
// return ERROR;
// }
//
// if (ioctl(fd, LIS331_SETRATE, LIS331_RATE_50Hz) ||
// ioctl(fd, LIS331_SETRANGE, LIS331_RANGE_4G)) {
//
// printf("LIS331: ioctl fail\n");
// return ERROR;
// }
//
// /* wait at least 100ms, sensor should have data after no more than 20ms */
// usleep(100000);
//
// /* read data - expect samples */
// ret = read(fd, buf, sizeof(buf));
// if (ret != sizeof(buf)) {
// printf("LIS331: read1 fail (%d)\n", ret);
// return ERROR;
// }
//
// /* read data - expect no samples (should not be ready again yet) */
// ret = read(fd, buf, sizeof(buf));
// if (ret != 0) {
// printf("LIS331: read2 fail (%d)\n", ret);
// return ERROR;
// }
//
// /* XXX more tests here */
//
// return 0;
//}
static int
l3gd20(int argc, char *argv[])
{
printf("\tL3GD20: test start\n");
fflush(stdout);
int fd;
int16_t buf[3] = {0, 0, 0};
int ret;
fd = open("/dev/l3gd20", O_RDONLY | O_NONBLOCK);
if (fd < 0) {
printf("L3GD20: open fail\n");
return ERROR;
}
// if (ioctl(fd, L3GD20_SETRATE, L3GD20_RATE_760HZ_LP_50HZ) ||
// ioctl(fd, L3GD20_SETRANGE, L3GD20_RANGE_500DPS)) {
//
// printf("L3GD20: ioctl fail\n");
// return ERROR;
// } else {
// printf("\tconfigured..\n");
// }
//
// /* wait at least 100ms, sensor should have data after no more than 2ms */
// usleep(100000);
/* read data - expect samples */
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tL3GD20: read1 fail (%d should have been %d)\n", ret, sizeof(buf));
//return ERROR;
} else {
printf("\tL3GD20 values #1: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
}
/* wait at least 2 ms, sensor should have data after no more than 1.5ms */
usleep(2000);
/* read data - expect no samples (should not be ready again yet) */
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tL3GD20: read2 fail (%d)\n", ret);
close(fd);
return ERROR;
} else {
printf("\tL3GD20 values #2: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
}
/* empty sensor buffer */
ret = 0;
while (ret != sizeof(buf)) {
// Keep reading until successful
ret = read(fd, buf, sizeof(buf));
}
/* test if FIFO is operational */
usleep(14800); // Expecting 10 measurements
ret = 0;
int count = 0;
bool dataready = true;
while (dataready) {
// Keep reading until successful
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
dataready = false;
} else {
count++;
}
}
printf("\tL3GD20: Drained FIFO with %d values (expected 8-12)\n", count);
/* read data - expect no samples (should not be ready again yet) */
ret = read(fd, buf, sizeof(buf));
if (ret != 0) {
printf("\tL3GD20: Note: read3 got data - there should not have been data ready\n", ret);
// return ERROR;
}
close(fd);
/* Let user know everything is ok */
printf("\tOK: L3GD20 passed all tests successfully\n");
return OK;
}
static int
bma180(int argc, char *argv[])
{
// XXX THIS SENSOR IS OBSOLETE
// TEST REMAINS, BUT ALWAYS RETURNS OK
printf("\tBMA180: test start\n");
fflush(stdout);
int fd;
int16_t buf[3] = {0, 0, 0};
int ret;
fd = open("/dev/bma180", O_RDONLY);
if (fd < 0) {
printf("\tBMA180: open fail\n");
return OK;
}
// if (ioctl(fd, LIS331_SETRATE, LIS331_RATE_50Hz) ||
// ioctl(fd, LIS331_SETRANGE, LIS331_RANGE_4G)) {
//
// printf("BMA180: ioctl fail\n");
// return ERROR;
// }
//
/* wait at least 100ms, sensor should have data after no more than 20ms */
usleep(100000);
/* read data - expect samples */
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tBMA180: read1 fail (%d)\n", ret);
close(fd);
return OK;
} else {
printf("\tBMA180 values: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
}
/* wait at least 10ms, sensor should have data after no more than 2ms */
usleep(100000);
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tBMA180: read2 fail (%d)\n", ret);
close(fd);
return OK;
} else {
printf("\tBMA180: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
}
/* empty sensor buffer */
ret = 0;
while (ret != sizeof(buf)) {
// Keep reading until successful
ret = read(fd, buf, sizeof(buf));
}
ret = read(fd, buf, sizeof(buf));
if (ret != 0) {
printf("\tBMA180: Note: read3 got data - there should not have been data ready\n", ret);
}
/* Let user know everything is ok */
printf("\tOK: BMA180 passed all tests successfully\n");
close(fd);
return OK;
}
static int
mpu6000(int argc, char *argv[])
{
printf("\tMPU-6000: test start\n");
fflush(stdout);
int fd;
struct accel_report buf;
int ret;
fd = open("/dev/accel", O_RDONLY);
if (fd < 0) {
printf("\tMPU-6000: open fail, run <mpu6000 start> first.\n");
return ERROR;
}
/* wait at least 100ms, sensor should have data after no more than 20ms */
usleep(100000);
/* read data - expect samples */
ret = read(fd, &buf, sizeof(buf));
if (ret < 3) {
printf("\tMPU-6000: read1 fail (%d)\n", ret);
return ERROR;
} else {
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]);
}
// /* wait at least 10ms, sensor should have data after no more than 2ms */
// usleep(100000);
// ret = read(fd, buf, sizeof(buf));
// if (ret != sizeof(buf)) {
// printf("\tMPU-6000: read2 fail (%d)\n", ret);
// return ERROR;
// } else {
// 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]);
// }
/* XXX more tests here */
/* Let user know everything is ok */
printf("\tOK: MPU-6000 passed all tests successfully\n");
return OK;
}
static int
ms5611(int argc, char *argv[])
{
printf("\tMS5611: test start\n");
fflush(stdout);
int fd;
float buf[3] = {0.0f, 0.0f, 0.0f};
int ret;
fd = open("/dev/ms5611", O_RDONLY);
if (fd < 0) {
printf("\tMS5611: open fail\n");
return ERROR;
}
for (int i = 0; i < 5; i++) {
/* read data - expect samples */
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
if ((int8_t)ret == -EAGAIN || (int8_t)ret == -EINPROGRESS) {
/* waiting for device to become ready, this is not an error */
} else {
printf("\tMS5611: read fail (%d)\n", ret);
close(fd);
return ERROR;
}
} else {
/* hack for float printing */
int32_t pressure_int = buf[0];
int32_t altitude_int = buf[1];
int32_t temperature_int = buf[2];
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));
}
/* wait at least 10ms, sensor should have data after no more than 6.5ms */
usleep(10000);
}
close(fd);
/* Let user know everything is ok */
printf("\tOK: MS5611 passed all tests successfully\n");
return OK;
}
static int
hmc5883l(int argc, char *argv[])
{
printf("\tHMC5883L: test start\n");
fflush(stdout);
int fd;
int16_t buf[7] = {0, 0, 0};
int ret;
fd = open("/dev/hmc5883l", O_RDONLY);
if (fd < 0) {
printf("\tHMC5883L: open fail\n");
return ERROR;
}
int i;
for (i = 0; i < 5; i++) {
/* wait at least 7ms, sensor should have data after no more than 6.5ms */
usleep(7000);
/* read data - expect samples */
ret = read(fd, buf, sizeof(buf));
if (ret != sizeof(buf)) {
printf("\tHMC5883L: read1 fail (%d) values: x:%d\ty:%d\tz:%d\n", ret, buf[0], buf[1], buf[2]);
close(fd);
return ERROR;
} else {
printf("\tHMC5883L: x:%d\ty:%d\tz:%d\n", buf[0], buf[1], buf[2]);
}
}
close(fd);
/* Let user know everything is ok */
printf("\tOK: HMC5883L passed all tests successfully\n");
return OK;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: test_sensors
****************************************************************************/
int test_sensors(int argc, char *argv[])
{
unsigned i;
printf("Running sensors tests:\n\n");
fflush(stdout);
int ret = OK;
for (i = 0; sensors[i].name; i++) {
printf(" sensor: %s\n", sensors[i].name);
/* Flush and leave enough time for the flush to become effective */
fflush(stdout);
usleep(50000);
/* Test the sensor - if the tests crash at this point, the right sensor name has been printed */
ret += sensors[i].test(argc, argv);
}
return ret;
}