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nuttx-apps/examples/lsm330spi_test/lsm330spi_test_main.c
anchao 220653f21c Squashed commit of the following: 
Author: anchao <anchao@pinecone.net>

     apps/, most main() function: Correct CONFIG_BUILD_LOADABLE usage
     Loadable apps/: Correct loadable symbol table generate
     apps/system/ubloxmodem:  Fix build break
     apps/examples/ostest: start restart/waitpid/user test from main loop
     apps/nshlib:  Expand reboot and poweroff commands to include a second, optional mode argument

    Author: Gregory Nutt <gnutt@nuttx.org>

     An attempt to fix build issues.  Does not work.
     apps/examples/ostest:  Fix some inappropriate renaming of static functions introduced with recent patches.
     apps/builtin/exec_builtin.c:  Fix a error introduced by recent comments.  Found in build testing.

    Author: anchao <anchao@pinecone.net>

     apps/builtin/exec_builtin.c:  Try posix_spawn if builtin apps do not have have an entry point.
     apps/Application.mk: introduce MODULE config to simplify tristate(m)
     apps/nsh:  Change the nuttx shell module type to tristate
     apps:  Add loadable application support
     script/mksymtab:  Generate symbol table name by default
     apps/builtin:  Allow loadable applications can register with apps/builtin.
2018-08-23 11:06:15 -06:00

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/****************************************************************************
* examples/lsm330spi_test/lsm330spi_test_main.c
*
* Copyright (C) 2018 RAF Research. All rights reserved.
* Author: Bob Feretich <bob.feretich@rafresearch/com>
*
* 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 <stdint.h>
#include <stdio.h>
#include <string.h>
#include <fcntl.h>
#include <nuttx/fs/fs.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>
#include <errno.h>
#include <nuttx/spi/spi.h>
#undef __KERNEL__
#include <arch/board/board.h>
#include <nuttx/fs/fs.h>
#include <nuttx/sensors/lsm330.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define ARRAYSIZE(x) (sizeof((x)) / sizeof((x)[0]))
#define PASSED 0
#define SUB_PROMPT "stst >"
#define CRED "\x1b[31m"
#define CGREEN "\x1b[32m"
#define CYELLOW "\x1b[33m"
#define CBLUE "\x1b[34m"
#define CMAGENTA "\x1b[35m"
#define CCYAN "\x1b[36m"
#define CRESET "\x1b[0m"
/* Return codes */
#define RC_OPENFAILA (-1)
#define RC_OPENRONLYA (-2)
#define RC_SEEKFAILA (-3)
#define RC_READFAILA (-4)
#define RC_IDFAILA (-5)
#define RC_SEEK2FAILA (-6)
#define RC_WRITEFAILA (-7)
#define RC_READ2FAILA (-8)
#define RC_WRMFAILA (-9)
#define RC_SEEK3FAILA (-10)
#define RC_READ3FAILA (-11)
#define RC_OPENFAILG (-21)
#define RC_OPENRONLYG (-22)
#define RC_SEEKFAILG (-23)
#define RC_READFAILG (-24)
#define RC_IDFAILG (-25)
#define RC_SEEK2FAILG (-26)
#define RC_WRITEFAILG (-27)
#define RC_READ2FAILG (-28)
#define RC_WRMFAILG (-29)
#define RC_SEEK3FAILG (-30)
#define RC_READ3FAILG (-31)
#define RC_INVALPATH (-41)
#define RC_INVALPARM (-42)
/****************************************************************************
* Private Types
****************************************************************************/
typedef CODE int (*test_ptr_t)(int, FAR char *);
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: subtest_prompt
*
* Description:
* 1. Display the prompt.
* 2. Receive a character from the console port.
* 3. Filter the input character. Invalid characters convert to either
* '!' (error) of '*' (invalid character).
* 4. Echo the character.
*
****************************************************************************/
static char subtest_prompt(FAR char *prompt)
{
char c;
printf("%s", prompt);
fflush(stdout);
c = getchar();
if (c < 1)
{
c = '!';
}
else if ((c < 0x20 || c > 0x7e) && c != '\r')
{
c = '*';
}
if (c != '\r')
{
putchar(c);
}
printf("\n");
return c;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: lsm330acl_test
*
* Description:
* This function is public so that it can be called by board diagnostic
* programs that contain the LSM330.
*
****************************************************************************/
int lsm330acl_test(int is_interactive, char *path)
{
int fd;
int ret;
int errcode;
int i;
char ch1 = 0;
struct XYZ
{
int16_t d[3];
};
unsigned char tstchars[] =
{
0x5e, 0xc5, 0x00
};
char bfr[32] __attribute__((aligned(2)));
FAR struct XYZ *pxyz = (struct XYZ *)(&bfr[2]); /* Padding and Status byte 1st */
int rc = PASSED;
int rc_step = PASSED;
printf("\nOBSC sensor diagnostic started...\n");
errno = 0;
fd = open(path, O_RDWR);
if (fd < 0 || (errno != EROFS && errno != 0))
{
errcode = errno;
printf(CRED "ERROR: Failed to open %s: %d" CRESET "\n", path, errcode);
return RC_OPENFAILA;
}
else if (errno == EROFS)
{
printf(CRED "ERROR: Accelerometer mounted as Read Only." CRESET "\n", path, errno);
rc = RC_OPENRONLYA;
}
printf("open errno=%d\n", errno);
do
{
/* Read id register */
printf("Reading LSM330 ACL ID_REG...\n");
ret = lseek(fd, LSM330_ACL_IDREG, SEEK_SET);
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d" CRESET "\n",
LSM330_GYRO_IDREG, path, errcode);
rc = RC_SEEKFAILA;
goto error_exit;
}
memset(bfr, 0xAA, sizeof(bfr));
ret = read(fd, bfr, 1); /* read the sensor id */
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Failed to read sensor ID from %s: %d" CRESET "\n",
path, errcode);
rc = RC_READFAILA;
goto error_exit;
}
if (bfr[0] != LSM330_ACL_IDREG_VALUE)
{
printf(CRED "ERROR: Sensor ID is 0x%02X, expected 0x%02X." CRESET "\n",
bfr[0], LSM330_ACL_IDREG_VALUE);
if (rc == 0)
{
rc = RC_IDFAILA;
}
if (!is_interactive)
{
goto error_exit;
}
}
else
{
printf("Sensor ID 0x%02X is correct!\n", bfr[0]);
}
if (is_interactive)
{
ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n"
SUB_PROMPT);
}
if (ch1 == 'x')
{
goto quick_exit;
}
}
while (ch1 == 'l');
do
{
/* write and read a scratch register */
printf("Writing and reading a scratch register...\n");
ret = lseek(fd, LSM330_ACL_SCRATCH, SEEK_SET);
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d" CRESET "\n",
LSM330_ACL_SCRATCH, path, errcode);
rc = RC_SEEK2FAILA;
goto error_exit;
}
rc_step = PASSED;
for (i = 0; i < sizeof(tstchars); i++)
{
memset(bfr, 0xAA, sizeof(bfr));
bfr[0] = (char)tstchars[i];
ret = write(fd, bfr, 1); /* write the scratch register */
if (ret < 0 && rc != RC_OPENRONLYA)
{
errcode = errno;
printf(CRED "ERROR: Write operation failed to %s: %d" CRESET "\n",
path, errcode);
rc = RC_WRITEFAILA;
goto error_exit;
}
memset(bfr, 0xAA, sizeof(bfr));
ret = read(fd, bfr, 1); /* read the scratch register */
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Read operation failed from %s: %d" CRESET "\n",
path, errcode);
rc = RC_READ2FAILA;
goto error_exit;
}
if (bfr[0] != (char)tstchars[i])
{
printf(CRED "ERROR: Wrote 0x%02X, read back 0x%02X." CRESET "\n",
tstchars[i], bfr[0]);
rc_step = RC_WRMFAILA;
if (rc == 0)
{
rc = RC_WRMFAILA;
}
if (!is_interactive)
{
goto error_exit;
}
}
}
if (rc_step == PASSED)
{
printf("Read/write test passed!\n");
}
if (is_interactive)
{
ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n"
SUB_PROMPT);
}
if (ch1 == 'x')
{
goto quick_exit;
}
}
while (ch1 == 'l');
do
{
/* Read live data */
printf("Reading Live Data...\n");
ret = lseek(fd, LSM330_ACL_STATUS, SEEK_SET);
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d" CRESET "\n",
LSM330_ACL_STATUS, path, errcode);
rc = RC_SEEK3FAILA;
goto error_exit;
}
memset(bfr, 0xAA, sizeof(bfr));
ret = read(fd, &bfr[1], 7); /* read live accelerometer data */
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Read operation failed from %s: %d" CRESET "\n",
path, errcode);
rc = RC_READ3FAILA;
goto error_exit;
}
printf("LSM330 ACL = (%6d, %6d, %6d), Stat=0x%02X\n",
pxyz->d[0], pxyz->d[1], pxyz->d[2], bfr[1]);
if (is_interactive)
{
ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n"
SUB_PROMPT);
}
if (ch1 == 'x')
{
goto quick_exit;
}
}
while (ch1 == 'l');
error_exit:
quick_exit:
close(fd);
if (rc == PASSED)
{
printf(CGREEN "LSM330 accelerometer diagnostic completed successfully." CRESET "\n");
}
return rc;
}
/****************************************************************************
* Name: lsm330gyro_test
*
* Description:
* This function is public so that it can be called by board diagnostic
* programs that contain the LSM330.
*
****************************************************************************/
int lsm330gyro_test(int is_interactive, FAR char *path)
{
int fd;
int ret;
int errcode;
int i;
char ch1 = 0;
struct XYZ
{
int16_t d[3];
};
unsigned char tstchars[] =
{
0x5e, 0xc5, 0x00
};
char bfr[32] __attribute__((aligned(2)));
FAR struct XYZ *pxyz = (struct XYZ *)(&bfr[2]); /* Temp and Status byte 1st */
int rc = PASSED;
int rc_step = PASSED;
errno = 0;
printf("\nLSL330 gyroscope diagnostic started...\n");
fd = open (path, O_RDWR);
if (fd < 0 || (errno != EROFS && errno != 0))
{
errcode = errno;
printf(CRED "ERROR: Failed to open %s: %d" CRESET "\n", path, errcode);
return RC_OPENFAILG;
}
else if (errno == EROFS)
{
printf(CRED "ERROR: Gyroscope mounted as Read Only." CRESET "\n", path,
errno);
rc = RC_OPENRONLYG;
}
printf("open errno=%d\n", errno);
do
{
/* Read id register */
printf("Reading LSM330 GYRO ID_REG...\n");
ret = lseek(fd, LSM330_GYRO_IDREG, SEEK_SET);
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d" CRESET "\n",
LSM330_GYRO_IDREG, path, errcode);
rc = RC_SEEKFAILG;
goto error_exit;
}
memset(bfr, 0xAA, sizeof(bfr));
ret = read(fd, bfr, 1); /* read the sensor id */
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Failed to read sensor ID from %s: %d" CRESET "\n",
path, errcode);
rc = RC_READFAILG;
goto error_exit;
}
if (bfr[0] != LSM330_GYRO_IDREG_VALUE)
{
printf(CRED "ERROR: Sensor ID is 0x%02X, expected 0x%02X." CRESET "\n",
bfr[0], LSM330_GYRO_IDREG_VALUE);
if (rc == 0)
{
rc = RC_IDFAILG;
}
if (!is_interactive)
{
goto error_exit;
}
}
else
{
printf("Sensor ID 0x%02X is correct!\n", bfr[0]);
}
if (is_interactive)
{
ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n"
SUB_PROMPT);
}
if (ch1 == 'x')
{
goto quick_exit;
}
}
while (ch1 == 'l');
do
{
/* Write and read a scratch register */
printf("Writing and reading a scratch register...\n");
ret = lseek(fd, LSM330_GYRO_SCRATCH, SEEK_SET);
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d" CRESET "\n",
LSM330_GYRO_SCRATCH, path, errcode);
rc = RC_SEEK2FAILG;
goto error_exit;
}
rc_step = PASSED;
for (i = 0; i < sizeof(tstchars); i++)
{
memset(bfr, 0xaa, sizeof(bfr));
bfr[0] = (char)tstchars[i];
ret = write(fd, bfr, 1); /* write the scratch register */
if (ret < 0 && rc != RC_OPENRONLYG)
{
errcode = errno;
printf(CRED "ERROR: Write operation failed to %s: %d" CRESET "\n",
path, errcode);
rc = RC_WRITEFAILG;
goto error_exit;
}
memset(bfr, 0xaa, sizeof(bfr));
ret = read(fd, bfr, 1); /* read the scratch register */
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Read operation failed from %s: %d" CRESET "\n",
path, errcode);
rc = RC_READ2FAILG;
goto error_exit;
}
if (bfr[0] != (char)tstchars[i])
{
printf(CRED "ERROR: Wrote 0x%02X, read back 0x%02X." CRESET "\n",
tstchars[i], bfr[0]);
rc_step = RC_WRMFAILG;
if (rc == 0)
{
rc = RC_WRMFAILG;
}
if (!is_interactive)
{
goto error_exit;
}
}
}
if (rc_step == PASSED)
{
printf("Read/write test passed!\n");
}
if (is_interactive)
{
ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n"
SUB_PROMPT);
}
if (ch1 == 'x')
{
goto quick_exit;
}
}
while (ch1 == 'l');
do
{
/* Read live data */
printf("Reading Live Data...\n");
ret = lseek(fd, LSM330_GYRO_OUT_TEMP, SEEK_SET);
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d" CRESET "\n",
LSM330_GYRO_OUT_TEMP, path, errcode);
rc = RC_SEEK3FAILG;
goto error_exit;
}
memset(bfr, 0xaa, sizeof(bfr));
ret = read(fd, bfr, 8); /* read live accelerometer data */
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Read operation failed from %s: %d" CRESET "\n",
path, errcode);
rc = RC_READ3FAILG;
goto error_exit;
}
printf("LSM330 GYRO = (%6d, %6d, %6d), Temp=%d, Stat=0x%02X\n",
pxyz->d[0], pxyz->d[1], pxyz->d[2], bfr[0]&0x0FF, bfr[1]);
if (is_interactive)
{
ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n"
SUB_PROMPT);
}
if (ch1 == 'x')
{
goto quick_exit;
}
}
while (ch1 == 'l');
error_exit:
quick_exit:
close(fd);
if (rc == PASSED)
{
printf(CGREEN "LSM330 gyroscope diagnostic completed successfully." CRESET "\n");
}
return rc;
}
/****************************************************************************
* Name: lsm330spi_test_main
*
* Description:
* This program defaults to testing in interactive mode.
* To run in batch mode use a first parameter of b. E.g. lsm330spi_test -b
*
****************************************************************************/
#ifdef BUILD_MODULE
int main(int argc, FAR char *argv[])
#else
int lsm330spi_test_main(int argc, FAR char *argv[])
#endif
{
int rc = 0;
int step_rc = 0;
uint8_t ch;
int is_interactive = 1; /* program defaults to interactive */
int flag_present = 0; /* default to no flag coded */
uint32_t ui;
struct stat sbuf;
/* The two arrays below must be synchronized */
test_ptr_t test_ptr_array[] = /* Array of test programs */
{
lsm330acl_test, /* LSM330 accelerometer tests */
lsm330gyro_test, /* LSM330 gyroscope tests */
};
FAR char *test_path[sizeof(test_ptr_array) / sizeof(test_ptr_array[0])];
if (argc < 2 || *argv[1] == 0 || *(argv[1]+1) == 0)
{
goto print_help;
}
/* We have at least 2 parameters, and the first parameter has at least two characters. */
if (*argv[1] == '-')
{
flag_present = 1;
if (*(argv[1]+1) == 'b')
{
is_interactive = 0;
}
else if (*(argv[1]+1) == 'i')
{
is_interactive = 1;
}
else
{
goto print_help;
}
}
if (flag_present && argc < 3)
{
goto print_help;
}
test_path[0] = argv[1 + flag_present];
test_path[1] = argv[2 + flag_present];
printf("path_acl=%s\n", test_path[0]);
printf("path_gyro=%s\n", test_path[1]);
if (stat(test_path[0], &sbuf))
{
printf(CRED "Error: Accelerometer path not found. Path=%s" CRESET "\n", test_path[0]);
rc = RC_INVALPATH;
}
if (stat(test_path[1], &sbuf))
{
printf(CRED "Error: Gyroscope path not found. Path=%s" CRESET "\n", test_path[1]);
rc = RC_INVALPATH;
}
if (rc)
{
return rc;
}
if (is_interactive)
{
printf("LSM330 diagnostic started in interactive mode... \n");
ch = 0;
while (ch != 'x')
{
printf("Enter test section...\n");
printf(" 1 = SPI2 LSM330 ACL Tests.\n");
printf(" 2 = SPI2 LSM330 GYRO Tests.\n");
printf(" i = Toggle interactive mode.\n");
printf(" x = Exit. (at anytime).\n");
printf("stst> ");
fflush(stdout);
ch = getchar();
if (ch < 1)
{
ch = '!';
}
else if ((ch < 0x20 || ch > 0x7e) && ch != '\r')
{
ch = '*';
}
if (ch != '\r')
{
putchar(ch);
}
printf("\n");
if (ch == 'x')
{
return 0;
}
ui = ch - 0x31; /* make index zero origin */
if (ch == 'i')
{
if (is_interactive == 0)
{
is_interactive = 1;
printf("Set to interactive mode.\n");
}
else
{
is_interactive = 0;
printf("Set to batch mode.\n");
}
}
else if (ui >= (sizeof(test_ptr_array) / sizeof(test_ptr_array[0])))
{
printf("Huh?\n");
}
else
{
if (test_ptr_array[ui] == 0)
{
printf ("Test not supported yet.\n");
}
else
{
test_ptr_array[ui](is_interactive, test_path[ui]);
}
}
}
}
else /* not interactive mode */
{
printf("LSM330 sensor diagnostic started in batch mode...\n");
for (ui = 0; ui < (sizeof(test_ptr_array) / sizeof(test_ptr_array[0])); ui++)
{
step_rc = 0;
if (test_ptr_array[ui] != 0)
{
/* Call the next test routine */
step_rc = test_ptr_array[ui](is_interactive, test_path[ui]);
}
if (step_rc != 0 && rc == 0)
{
rc = step_rc;
}
sleep(1);
}
}
printf("LSM330 sensor diagnostic completed.\n");
return rc;
print_help:
printf("Usage...\n");
printf("lsm330spi_test [-b | -i] <dev_path_acl> <dev_path_gyro>\n");
printf(" -b = batch mode execution\n");
printf(" -i = interactive mode execution (default)\n");
printf(" <dev_path_acl> = Device path and name for the LSM330 accelerometer\n");
printf(" <dev_path_gyro> = Device path and name for the LSM330 gyroscope\n");
printf(" Example:\n");
printf(" lsm330spi_test -b /dev/lsm330acl0 /dev/lsm330gyro0\n");
return RC_INVALPARM;
}
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