/****************************************************************************
*
* 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 <systemlib/err.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);
}
