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Merge branch 'ioctl' into hott

This commit is contained in:
Simon Wilks 2013-01-24 23:57:54 +01:00
parent 0669d2aee0 b9009390d7
commit 23f0be6b02
5 changed files with 245 additions and 1 deletions
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239
apps/px4/tests/test_hott_telemetry.c Normal file
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@ -0,0 +1,239 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Simon Wilks <sjwilks@gmail.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 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_hott_telemetry.c
*
* Tests the Graupner HoTT telemetry support.
*
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <drivers/drv_gpio.h>
#include <nuttx/config.h>
#include <sys/types.h>
#include <debug.h>
#include <errno.h>
#include <fcntl.h>
#include <poll.h>
#include <stdio.h>
#include <stdlib.h>
#include <termios.h>
#include <unistd.h>
#include "tests.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
static int open_uart(const char *device)
{
/* baud rate */
int speed = B19200;
/* open uart */
int uart = open(device, O_RDWR | O_NOCTTY);
if (uart < 0) {
errx(1, "FAIL: Error opening port");
return ERROR;
}
/* Try to set baud rate */
struct termios uart_config;
/* Fill the struct for the new configuration */
tcgetattr(uart, &uart_config);
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
errx(1, "FAIL: Error setting baudrate / termios config for cfsetispeed, cfsetospeed");
return ERROR;
}
if (tcsetattr(uart, TCSANOW, &uart_config) < 0) {
errx(1, "FAIL: Error setting baudrate / termios config for tcsetattr");
return ERROR;
}
return uart;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: test_hott_telemetry
****************************************************************************/
int test_hott_telemetry(int argc, char *argv[])
{
warnx("HoTT Telemetry Test Requirements:");
warnx("- Radio on and Electric Air. Mod on (telemetry -> sensor select).");
warnx("- Receiver telemetry port must be in telemetry mode.");
warnx("- Connect telemetry wire to /dev/ttyS1 (USART2).");
warnx("Testing...");
const char device[] = "/dev/ttyS1";
int fd = open_uart(device);
if (fd < 0) {
close(fd);
return ERROR;
}
/* Activate single wire mode */
ioctl(fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
char send = 'a';
write(fd, &send, 1);
/* Since TX and RX are now connected we should be able to read in what we wrote */
const int timeout = 1000;
struct pollfd fds[] = { { .fd = fd, .events = POLLIN } };
if (poll(fds, 1, timeout) == 0) {
errx(1, "FAIL: Could not read sent data.");
}
char receive;
read(fd, &receive, 1);
warnx("PASS: Single wire enabled. Sent %x and received %x", send, receive);
/* Attempt to read HoTT poll messages from the HoTT receiver */
int received_count = 0;
int valid_count = 0;
const int max_polls = 5;
uint8_t byte;
for (; received_count < 5; received_count++) {
if (poll(fds, 1, timeout) == 0) {
errx(1, "FAIL: Could not read sent data. Is your HoTT receiver plugged in on %s?", device);
break;
} else {
read(fd, &byte, 1);
if (byte == 0x80) {
valid_count++;
}
/* Read the device ID being polled */
read(fd, &byte, 1);
}
}
if (received_count > 0 && valid_count > 0) {
if (received_count == max_polls && valid_count == max_polls) {
warnx("PASS: Received %d out of %d valid byte pairs from the HoTT receiver device.", received_count, max_polls);
} else {
warnx("WARN: Received %d out of %d byte pairs of which %d were valid from the HoTT receiver device.", received_count, max_polls, valid_count);
}
} else {
/* Let's work out what went wrong */
if (received_count == 0) {
errx(1, "FAIL: Could not read any polls from HoTT receiver device.");
}
if (valid_count == 0) {
errx(1, "FAIL: Received unexpected values from the HoTT receiver device.");
}
}
/* Attempt to send a HoTT response messages */
uint8_t response[] = {0x7c, 0x8e, 0x00, 0xe0, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, \
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf4, 0x01, 0x00, 0x00, \
0x19, 0x00, 0x00, 0x00, 0x30, 0x75, 0x78, 0x00, 0x00, 0x00, \
0x00, 0x00, 0x00, 0x7d, 0x12
};
usleep(5000);
for (unsigned int i = 0; i < sizeof(response); i++) {
write(fd, &response[i], 1);
usleep(1000);
}
warnx("PASS: Response sent to the HoTT receiver device. Voltage should now show 2.5V.");
/* Disable single wire */
ioctl(fd, TIOCSSINGLEWIRE, ~SER_SINGLEWIRE_ENABLED);
write(fd, &send, 1);
/* We should timeout as there will be nothing to read (TX and RX no longer connected) */
if (poll(fds, 1, timeout) == 0) {
errx(1, "FAIL: timeout expected.");
}
warnx("PASS: Single wire disabled.");
close(fd);
exit(0);
}

1
apps/px4/tests/tests.h
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@ -93,6 +93,7 @@ extern int test_uart_send(int argc, char *argv[]);
extern int test_sleep(int argc, char *argv[]);
extern int test_time(int argc, char *argv[]);
extern int test_uart_console(int argc, char *argv[]);
extern int test_hott_telemetry(int argc, char *argv[]);
extern int test_jig_voltages(int argc, char *argv[]);
extern int test_param(int argc, char *argv[]);
extern int test_bson(int argc, char *argv[]);

1
apps/px4/tests/tests_main.c
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@ -100,6 +100,7 @@ const struct {
{"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST | OPT_NOALLTEST},
{"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST},
{"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST},
{"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST},
{"tone", test_tone, 0},
{"sleep", test_sleep, OPT_NOJIGTEST},
{"time", test_time, OPT_NOJIGTEST},

3
nuttx/configs/px4fmu/nsh/defconfig
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@ -226,6 +226,8 @@ CONFIG_AT24XX_MTD_BLOCKSIZE=256
# CONFIG_SERIAL_CONSOLE_REINIT - re-initializes the console serial port
# immediately after creating the /dev/console device. This is required
# if the console serial port has RX DMA enabled.
# CONFIG_STM32_USART_SINGLEWIRE - Serial driver supports single wire mode. If
# this is not defined, then this mode cannot be enabled.
#
# CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the
# console and ttys0 (default is the USART1).
@ -240,6 +242,7 @@ CONFIG_AT24XX_MTD_BLOCKSIZE=256
#
CONFIG_SERIAL_TERMIOS=y
CONFIG_SERIAL_CONSOLE_REINIT=y
CONFIG_STM32_USART_SINGLEWIRE=y
CONFIG_USART1_SERIAL_CONSOLE=y
CONFIG_USART2_SERIAL_CONSOLE=n

2
nuttx/include/nuttx/serial/tioctl.h
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@ -177,7 +177,7 @@
#define TIOCSSINGLEWIRE _TIOC(0x002c) /* Set single-wire mode */
#define TIOCGSINGLEWIRE _TIOC(0x002d) /* Get single-wire mode */
# define SER_SINGLEWIRE_ENABLED (1 << 0) /* Enable/disable single-wire support */
# define SER_SINGLEWIRE_ENABLED (1 << 0) /* Enable/disble single-wire support */
/* Debugging */