test_jig_voltages.c

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/**
 * @file test_jig_voltages.c
 * Tests for jig voltages.
 */

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>

#include <sys/types.h>

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>

#include "tests_main.h"

#include <drivers/drv_adc.h>
#include <systemlib/err.h>

int test_jig_voltages(int argc, char *argv[])
{
    int fd = open(ADC0_DEVICE_PATH, O_RDONLY);
    int ret = OK;

    if (fd < 0) {
        PX4_ERR("can't open ADC device");
        return 1;
    }

    /* make space for the  maximum channels */
    px4_adc_msg_t data[PX4_MAX_ADC_CHANNELS];

    /* read all channels available */
    ssize_t count = read(fd, data, sizeof(data));

    if (count < 0) {
        close(fd);
        PX4_ERR("can't read from ADC driver. Forgot 'adc start' command?");
        return 1;
    }

    unsigned channels = count / sizeof(data[0]);

    for (unsigned j = 0; j < channels; j++) {
        printf("%d: %u  ", data[j].am_channel, data[j].am_data);
    }

    printf("\n");

    PX4_INFO("\t ADC operational.\n");

    /* Expected values */
    int16_t expected_min[] = {2800, 2800, 1800,  800};
    int16_t expected_max[] = {3100, 3100, 2100, 1100};
    char *check_res[channels];

    if (channels < 4) {
        close(fd);
        PX4_ERR("not all four test channels available, aborting.");
        return 1;

    } else {
        /* Check values */
        check_res[0] = (expected_min[0] < data[0].am_data && expected_max[0] > data[0].am_data) ? "OK" : "FAIL";
        check_res[1] = (expected_min[1] < data[1].am_data && expected_max[1] > data[1].am_data) ? "OK" : "FAIL";
        check_res[2] = (expected_min[2] < data[2].am_data && expected_max[2] > data[2].am_data) ? "OK" : "FAIL";
        check_res[3] = (expected_min[3] < data[3].am_data && expected_max[3] > data[3].am_data) ? "OK" : "FAIL";

        /* Accumulate result */
        ret += (expected_min[0] > data[0].am_data || expected_max[0] < data[0].am_data) ? 1 : 0;
        ret += (expected_min[1] > data[1].am_data || expected_max[1] < data[1].am_data) ? 1 : 0;
        ret += (expected_min[2] > data[2].am_data || expected_max[2] < data[2].am_data) ? 1 : 0;
        ret += (expected_min[3] > data[3].am_data || expected_max[3] < data[3].am_data) ? 1 : 0;

        PX4_INFO("Sample:");
        PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
             data[0].am_channel, (int)(data[0].am_data), expected_min[0], expected_max[0], check_res[0]);
        PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
             data[1].am_channel, (int)(data[1].am_data), expected_min[1], expected_max[1], check_res[1]);
        PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
             data[2].am_channel, (int)(data[2].am_data), expected_min[2], expected_max[2], check_res[2]);
        PX4_INFO("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s",
             data[3].am_channel, (int)(data[3].am_data), expected_min[3], expected_max[3], check_res[3]);

        if (ret != OK) {
            PX4_ERR("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.");
            goto errout_with_dev;
        }
    }

    PX4_INFO("JIG voltages test successful.");

errout_with_dev:

    if (fd != 0) { close(fd); }

    return ret;
}