/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* 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_ppm_loopback.c
* Tests the PWM outputs and PPM input
*
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_rc_input.h>
#include <systemlib/err.h>
#include "tests.h"
#include <math.h>
#include <float.h>
int test_ppm_loopback(int argc, char *argv[])
{
int servo_fd, result;
servo_position_t data[PWM_OUTPUT_MAX_CHANNELS];
servo_position_t pos;
servo_fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR);
if (servo_fd < 0) {
printf("failed opening /dev/pwm_servo\n");
}
result = read(servo_fd, &data, sizeof(data));
if (result != sizeof(data)) {
printf("failed bulk-reading channel values\n");
}
printf("Servo readback, pairs of values should match defaults\n");
unsigned servo_count;
result = ioctl(servo_fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
if (result != OK) {
warnx("PWM_SERVO_GET_COUNT");
return ERROR;
}
for (unsigned i = 0; i < servo_count; i++) {
result = ioctl(servo_fd, PWM_SERVO_GET(i), (unsigned long)&pos);
if (result < 0) {
printf("failed reading channel %u\n", i);
}
printf("%u: %u %u\n", i, pos, data[i]);
}
/* tell safety that its ok to disable it with the switch */
result = ioctl(servo_fd, PWM_SERVO_SET_ARM_OK, 0);
if (result != OK)
warnx("FAIL: PWM_SERVO_SET_ARM_OK");
/* tell output device that the system is armed (it will output values if safety is off) */
result = ioctl(servo_fd, PWM_SERVO_ARM, 0);
if (result != OK)
warnx("FAIL: PWM_SERVO_ARM");
int pwm_values[] = {1200, 1300, 1900, 1700, 1500, 1250, 1800, 1400};
printf("Advancing channel 0 to 1100\n");
result = ioctl(servo_fd, PWM_SERVO_SET(0), 1100);
printf("Advancing channel 1 to 1900\n");
result = ioctl(servo_fd, PWM_SERVO_SET(1), 1900);
printf("Advancing channel 2 to 1200\n");
result = ioctl(servo_fd, PWM_SERVO_SET(2), 1200);
for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) {
result = ioctl(servo_fd, PWM_SERVO_SET(i), pwm_values[i]);
if (result) {
(void)close(servo_fd);
return ERROR;
}
}
/* give driver 10 ms to propagate */
usleep(10000);
/* open PPM input and expect values close to the output values */
int ppm_fd = open(RC_INPUT_DEVICE_PATH, O_RDONLY);
struct rc_input_values rc;
result = read(ppm_fd, &rc, sizeof(rc));
if (result != sizeof(rc)) {
warnx("Error reading RC output");
(void)close(servo_fd);
(void)close(ppm_fd);
return ERROR;
}
/* go and check values */
for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) {
result = ioctl(servo_fd, PWM_SERVO_GET(i), pwm_values[i]);
if (result) {
(void)close(servo_fd);
return ERROR;
}
}
return 0;
}
