added hw test, added better io debugging

4 files changed, 123 insertions, 3 deletions

diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index e12d61a53..66216f8fe 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -128,6 +128,9 @@ MODULES		+= lib/geo
 # https://pixhawk.ethz.ch/px4/dev/debug_values
 #MODULES		+= examples/px4_mavlink_debug
 
+# Hardware test
+MODULES			+= examples/hwtest
+
 #
 # Transitional support - add commands from the NuttX export archive.
 #
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 969dbefea..f6d4f1ed4 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1545,7 +1545,7 @@ PX4IO::print_debug()
 	int io_fd = -1;
 
 	if (io_fd < 0) {
-		io_fd = ::open("/dev/ttyS0", O_RDONLY | O_NONBLOCK);
+		io_fd = ::open("/dev/ttyS0", O_RDONLY | O_NONBLOCK | O_NOCTTY);
 	}
 
 	/* read IO's output */
@@ -1555,7 +1555,7 @@ PX4IO::print_debug()
 		fds[0].events = POLLIN;
 
 		usleep(500);
-		int pret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), 10);
+		int pret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), 0);
 
 		if (pret > 0) {
 			int count;
@@ -1606,6 +1606,8 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
 				memcpy(&msg->text[0], buf, count);
 				buf += count;
 				buflen -= count;
+			} else {
+				continue;
 			}
 
 			/*
@@ -1644,7 +1646,8 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
 		/* ensure a closing newline */
 		msg->text[0] = '\n';
 		msg->text[1] = '\0';
-		int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, 1);
+
+		int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2);
 
 		retries--;
 
diff --git a/src/examples/hwtest/hwtest.c b/src/examples/hwtest/hwtest.c
new file mode 100644
index 000000000..06337be32
--- /dev/null
+++ b/src/examples/hwtest/hwtest.c
@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author:    Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 hwtest.c
+ *
+ * Simple functional hardware test.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/actuator_controls.h>
+
+__EXPORT int ex_hwtest_main(int argc, char *argv[]);
+
+int ex_hwtest_main(int argc, char *argv[])
+{
+    struct actuator_controls_s actuators;
+    memset(&actuators, 0, sizeof(actuators));
+    orb_advert_t actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_0), &actuators);
+
+    int i;
+    float rcvalue = -1.0f;
+    hrt_abstime stime;
+
+    while (true) {
+        stime = hrt_absolute_time();
+        while (hrt_absolute_time() - stime < 1000000) {
+            for (i=0; i<8; i++)
+                actuators.control[i] = rcvalue;
+            actuators.timestamp = hrt_absolute_time(); 
+            orb_publish(ORB_ID(actuator_controls_0), actuator_pub_fd, &actuators);
+        }
+        warnx("servos set to %.1f", rcvalue);
+        rcvalue *= -1.0f;
+    }
+
+    return OK;
+}
diff --git a/src/examples/hwtest/module.mk b/src/examples/hwtest/module.mk
new file mode 100644
index 000000000..6e70863ed
--- /dev/null
+++ b/src/examples/hwtest/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Hardware test example application
+#
+
+MODULE_COMMAND	= ex_hwtest
+
+SRCS		= hwtest.c