void* blinking_function(void* ptr){
int toggle = 1;
while(get_state()!=EXITING){
if(toggle){
enable_servo_power_rail();
toggle = 0;
}
else{
disable_servo_power_rail();
toggle = 1;
}
usleep(500000);
}
return NULL;
}
// main() has a brief setup and starts one background thread.
// then it enters one big while loop for testing multiple capes.
int main(){
int ret;
float volt;
imu_data_t data; // not really used, just necessary to test imu
// use defaults for now, except also enable magnetometer.
imu_config_t conf = get_default_imu_config();
conf.enable_magnetometer=1;
// counters for how many pass and fail
num_passes = 0;
num_fails = 0;
// initialize_cape, this should never fail unless software is not set up
// in which case a useful error message should be printed out.
if(initialize_cape()<0){
printf("initialize_cape() failed, this is a software issue,\n");
printf("not a hardware issue. Try running install.sh and restart\n");
return -1;
}
// set up the button handlers once
set_pause_pressed_func(&on_pause_pressed);
set_pause_released_func(&on_pause_released);
set_mode_pressed_func(&on_mode_pressed);
set_mode_released_func(&on_mode_released);
// start blinking thread for 6V test
pthread_create(&blinking_thread, NULL, blinking_function, (void*) NULL);
// print welcome
clear_screen();
goto_line(0);
printf("Welcome to the Robotics Cape tester!\n\n");
printf("this will walk you through testing multiple capes and keep\n");
printf("track of how many pass and fail.\n");
printf("Closing the program erases the pass/fail count.\n\n");
printf("Press enter to begin, anything else to quit.\n");
if(continue_or_quit()<1){
goto END;
}
/***************************************************************************
* Begin main while loop
***************************************************************************/
while(get_state()!=EXITING){
line = 0; // reset current printing line to top of terminal
set_led(RED,OFF);
set_led(GREEN,OFF);
// clear screen and print pass/fail header
clear_screen();
goto_line(line);
printf("passes: %d fails: %d\n", num_passes, num_fails);
line+=2;
goto_line(INSTRUCTION_LINE-1);
printf("*******************************************************************\n");
printf("Place a new cape in the test jig but don't connect anything else.\n");
printf("Press any key to start test.\n");
// wait to start test
if(continue_or_quit()<0){
goto END;
}
/***********************************************************************
* begin list of tests
***********************************************************************/
// make sure 12V DC supply is disconnected
CHECK_DC_DISCONNECT:
volt = get_dc_jack_voltage();
if(volt>2.0){
clear_instruction_area();
printf("Voltage detected on the DC jack input. This is supposed to be\n");
printf("disconnected for this part of the test.\n");
printf("Disconnect and hit ENTER to continue\n");
printf("If the DC supply was disconnected, there may be a problem with resistors\n");
printf("R1 or R14, press any key other than ENTER to FAIL this test.\n");
ret = continue_or_quit();
if(ret==1) goto CHECK_DC_DISCONNECT;
else if(ret<0) goto END;
else{
goto_line(line);
printf("FAILED DC JACK VOLTAGE TEST\n");
line++;
fail_test();
continue;
}
}
// test imu
ret = initialize_imu(&data, conf);
power_off_imu();
goto_line(line);
line++;
if(ret<0){
printf("FAILED MPU9250 IMU\n");
fail_test();
continue; // go to beginning to test next cape
}
printf("PASSED MPU9250 IMU\n");
// test barometer
ret = initialize_barometer(BMP_OVERSAMPLE_16,BMP_FILTER_OFF);
power_off_barometer();
goto_line(line);
line++;
if(ret<0){
printf("FAILED BMP280 BAROMETER\n");
fail_test();
continue; // go to beginning to test next cape
}
printf("PASSED BMP280 BAROMETER\n");
// test buttons/LEDS
clear_instruction_area();
printf("Press the PAUSE button on cape, the RED led should light up.\n");
printf("Press the MODE button on cape, the GREEN led should light up.\n");
printf("Press ENTER to indicate the buttons/leds work\n");
printf("Press any other key to indicate a failure\n");
ret = continue_or_quit();
goto_line(line);
line++;
if(ret==0){
printf("FAILED BUTTON/LED\n");
fail_test();
continue;
}
else if(ret<0) goto END;
printf("PASSED BUTTON/LED\n");
// DC power jack ADC check
clear_instruction_area();
printf("Plug in the 12V power supply, GREEN CHG LED should turn on.\n");
printf("Press ENTER if the GREEN CHG LED turns on\n");
printf("Press any other key if not\n");
ret = continue_or_quit();
if(ret<0) goto END;
goto_line(line);
line++;
if(ret==0){
printf("FAILED CHARGER\n");
printf("CHG_IC may be bad.\n");
fail_test();
continue;
}
printf("PASSED CHARGER\n");
volt = get_dc_jack_voltage();
if(volt<11.0 || volt>13.0){
printf("FAILED 12V DC VOLTAGE\n");
printf("measuring %0.2fV at DC jack, should be roughly 12V\n", volt);
printf("Resistors R1 or R14 may be bad, shorted, or missing.\n");
fail_test();
continue;
}
line++;
printf("PASSED 12V DC VOLTAGE\n");
// 5V regulator test
clear_instruction_area();
printf("Plug in the 4-pin dongle to PWR socket\n");
printf("Press ENTER if the dongle LED lights up, any other key if not.\n");
ret = continue_or_quit();
goto_line(line);
line++;
if(ret==0){
printf("FAILED 5V REGULATOR\n");
printf("Diode D3 or IC 5VREG may be bad\n");
fail_test();
continue;
}
else if(ret<0) goto END;
printf("PASSED 5V REGULATOR\n");
// battery ADC check
clear_instruction_area();
printf("Plug in 2-cell battery and press any key to continue\n");
ret = continue_or_quit();
if(ret<0) goto END;
volt = get_battery_voltage();
goto_line(line);
line++;
if(volt<5.0 || volt>9.0){
printf("FAILED BATTERY VOLTAGE\n");
printf("measuring %0.2fV at battery, should be between 6 and 8.4\n", volt);
printf("Resistors R19 or R25 may be bad, shorted, or missing.\n");
fail_test();
continue;
}
printf("PASSED BATTERY VOLTAGE\n");
// battery discharge check
clear_instruction_area();
printf("Disconnect the 12V DC power supply.\n");
printf("If 4-pin dongle LED is still lit, press ENTER\n");
printf("Otherwise press any other key.\n");
ret = continue_or_quit();
if(ret<0) goto END;
goto_line(line);
line++;
if(ret==0){
printf("FAILED BATTERY DISCHARGE\n");
printf("Diode D2, or mosfet Q3 are bad.\n");
fail_test();
continue;
}
printf("PASSED BATTERY DISCHARGE\n");
// 6V regulator check
clear_instruction_area();
printf("Plug in the 3-pin dongle into any of the 8 servo channels.\n");
printf("If the dongle LED is blinking press ENTER.\n");
printf("Otherwise press any other key.\n");
ret = continue_or_quit();
if(ret<0) goto END;
goto_line(line);
line++;
if(ret==0){
printf("FAILED 6VREG\n");
printf("AOZ1284PI 6VREG or supporting components are bad.\n");
fail_test();
continue;
}
printf("PASSED 6VREG CHECK\n");
// END OF TESTING THIS CAPE, PASSED!!!
num_passes++;
printf("COMPLETE TEST PASSED\n");
goto_line(0);
printf("passes: %d fails: %d\n", num_passes, num_fails);
clear_instruction_area();
printf("Press any key to continue with next cape\n");
continue_or_quit();
if(ret<0) goto END;
// now loop back to test next cape
} // end while(get_state()!= EXITING)
// if we got here there was a critical error or user hit ctrl+c
END:
pthread_join(blinking_thread, NULL);
disable_servo_power_rail();
cleanup_cape();
clear_screen();
return 0;
}
/******************************************************************
* int cleanup_cape()
* shuts down library and hardware functions cleanly
* you should call this before your main() function returns
*******************************************************************/
int cleanup_cape(){
set_state(EXITING);
// allow up to 3 seconds for thread cleanup
struct timespec thread_timeout;
clock_gettime(CLOCK_REALTIME, &thread_timeout);
thread_timeout.tv_sec += 3;
int thread_err = 0;
thread_err = pthread_timedjoin_np(pause_pressed_thread, NULL, &thread_timeout);
if(thread_err == ETIMEDOUT){
printf("WARNING: pause_pressed_thread exit timeout\n");
}
thread_err = 0;
thread_err = pthread_timedjoin_np(pause_unpressed_thread, NULL, &thread_timeout);
if(thread_err == ETIMEDOUT){
printf("WARNING: pause_unpressed_thread exit timeout\n");
}
thread_err = 0;
thread_err = pthread_timedjoin_np(mode_pressed_thread, NULL, &thread_timeout);
if(thread_err == ETIMEDOUT){
printf("WARNING: mode_pressed_thread exit timeout\n");
}
thread_err = 0;
thread_err = pthread_timedjoin_np(mode_unpressed_thread, NULL, &thread_timeout);
if(thread_err == ETIMEDOUT){
printf("WARNING: mode_unpressed_thread exit timeout\n");
}
thread_err = 0;
thread_err = pthread_timedjoin_np(imu_interrupt_thread, NULL, &thread_timeout);
if(thread_err == ETIMEDOUT){
printf("WARNING: imu_interrupt_thread exit timeout\n");
}
#ifdef DEBUG
printf("turning off GPIOs & PWM\n");
#endif
set_led(GREEN,LOW);
set_led(RED,LOW);
disable_motors();
deselect_spi1_slave(1);
deselect_spi1_slave(2);
disable_servo_power_rail();
#ifdef DEBUG
printf("turning off PRU\n");
#endif
prussdrv_pru_disable(0);
prussdrv_pru_disable(1);
prussdrv_exit();
#ifdef DEBUG
printf("deleting PID file\n");
#endif
FILE* fd;
// clean up the pid_file if it still exists
fd = fopen(PID_FILE, "r");
if (fd != NULL) {
// close and delete the old file
fclose(fd);
remove(PID_FILE);
}
printf("\nExiting Cleanly\n");
return 0;
}
