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mpu6000: remove factory test for fmu-v2

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This commit is contained in:
Julian Oes
2019-10-18 12:09:51 +02:00
committed by Daniel Agar
parent 22c4bb498c
commit f9ddbd7e2a
4 changed files with 18 additions and 1 deletions
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1
cmake/px4_add_board.cmake
View File

@@ -218,6 +218,7 @@ function(px4_add_board)
if(CONSTRAINED_FLASH) if(CONSTRAINED_FLASH)
set(px4_constrained_flash_build "1" CACHE INTERNAL "constrained flash build" FORCE) set(px4_constrained_flash_build "1" CACHE INTERNAL "constrained flash build" FORCE)
add_definitions(-DCONSTRAINED_FLASH)
endif() endif()
if(TESTING) if(TESTING)

2
src/drivers/imu/mpu6000/MPU6000.cpp
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@@ -383,6 +383,7 @@ MPU6000::_set_icm_acc_dlpf_filter(uint16_t frequency_hz)
write_checked_reg(ICMREG_ACCEL_CONFIG2, filter); write_checked_reg(ICMREG_ACCEL_CONFIG2, filter);
} }
#ifndef CONSTRAINED_FLASH
/* /*
perform a self-test comparison to factory trim values. This takes perform a self-test comparison to factory trim values. This takes
about 200ms and will return OK if the current values are within 14% about 200ms and will return OK if the current values are within 14%
@@ -526,6 +527,7 @@ MPU6000::factory_self_test()
return ret; return ret;
} }
#endif
/* /*
deliberately trigger an error in the sensor to trigger recovery deliberately trigger an error in the sensor to trigger recovery

2
src/drivers/imu/mpu6000/MPU6000.hpp
View File

@@ -317,12 +317,14 @@ public:
void print_registers(); void print_registers();
#ifndef CONSTRAINED_FLASH
/** /**
* Test behaviour against factory offsets * Test behaviour against factory offsets
* *
* @return 0 on success, 1 on failure * @return 0 on success, 1 on failure
*/ */
int factory_self_test(); int factory_self_test();
#endif
// deliberately cause a sensor error // deliberately cause a sensor error
void test_error(); void test_error();

14
src/drivers/imu/mpu6000/mpu6000_main.cpp
View File

@@ -104,7 +104,9 @@ void reset(enum MPU6000_BUS busid);
void info(enum MPU6000_BUS busid); void info(enum MPU6000_BUS busid);
void regdump(enum MPU6000_BUS busid); void regdump(enum MPU6000_BUS busid);
void testerror(enum MPU6000_BUS busid); void testerror(enum MPU6000_BUS busid);
#ifndef CONSTRAINED_FLASH
void factorytest(enum MPU6000_BUS busid); void factorytest(enum MPU6000_BUS busid);
#endif
void usage(); void usage();
/** /**
@@ -293,6 +295,7 @@ testerror(enum MPU6000_BUS busid)
exit(0); exit(0);
} }
#ifndef CONSTRAINED_FLASH
/** /**
* Dump the register information * Dump the register information
*/ */
@@ -310,11 +313,16 @@ factorytest(enum MPU6000_BUS busid)
exit(0); exit(0);
} }
#endif
void void
usage() usage()
{ {
warnx("missing command: try 'start', 'info', 'stop',\n'reset', 'regdump', 'factorytest', 'testerror'"); warnx("missing command: try 'start', 'info', 'stop',\n'reset', 'regdump', 'testerror'"
#ifndef CONSTRAINED_FLASH
", 'factorytest'"
#endif
);
warnx("options:"); warnx("options:");
warnx(" -X external I2C bus"); warnx(" -X external I2C bus");
warnx(" -I internal I2C bus"); warnx(" -I internal I2C bus");
@@ -421,10 +429,14 @@ mpu6000_main(int argc, char *argv[])
mpu6000::regdump(busid); mpu6000::regdump(busid);
} }
#ifndef CONSTRAINED_FLASH
if (!strcmp(verb, "factorytest")) { if (!strcmp(verb, "factorytest")) {
mpu6000::factorytest(busid); mpu6000::factorytest(busid);
} }
#endif
if (!strcmp(verb, "testerror")) { if (!strcmp(verb, "testerror")) {
mpu6000::testerror(busid); mpu6000::testerror(busid);
} }