PPM loopback test

1 files changed, 66 insertions, 42 deletions

diff --git a/src/systemcmds/tests/test_ppm_loopback.c b/src/systemcmds/tests/test_ppm_loopback.c
index 6d4e45c4c..b9041b013 100644
--- a/src/systemcmds/tests/test_ppm_loopback.c
+++ b/src/systemcmds/tests/test_ppm_loopback.c
@@ -51,6 +51,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_rc_input.h>
+#include <uORB/topics/rc_channels.h>
 #include <systemlib/err.h>
 
 #include "tests.h"
@@ -61,6 +62,8 @@
 int test_ppm_loopback(int argc, char *argv[])
 {
 
+	int _rc_sub = orb_subscribe(ORB_ID(input_rc));
+
 	int servo_fd, result;
 	servo_position_t data[PWM_OUTPUT_MAX_CHANNELS];
 	servo_position_t pos;
@@ -71,12 +74,6 @@ int test_ppm_loopback(int argc, char *argv[])
 		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;
@@ -93,62 +90,89 @@ int test_ppm_loopback(int argc, char *argv[])
 			printf("failed reading channel %u\n", i);
 		}
 
-		printf("%u: %u %u\n", i, pos, data[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");
+	// /* 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;
+	// 	} else {
+	// 		warnx("channel %d set to %d", i, pwm_values[i]);
+	// 	}
+	// }
+
+	warnx("servo count: %d", servo_count);
+
+	struct pwm_output_values pwm_out = {.values = {0}, .channel_count = 0};
 
 	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;
-		}
+		pwm_out.values[i] = pwm_values[i];
+		//warnx("channel %d: disarmed PWM: %d", i+1, pwm_values[i]);
+		pwm_out.channel_count++;
 	}
 
+	result = ioctl(servo_fd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm_out);
+
 	/* give driver 10 ms to propagate */
-	usleep(10000);
+
+	/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
+	struct rc_input_values	rc_input;
+	orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
+	usleep(100000);
 
 	/* open PPM input and expect values close to the output values */
 
-	int ppm_fd = open(RC_INPUT_DEVICE_PATH, O_RDONLY);
+	bool rc_updated;
+	orb_check(_rc_sub, &rc_updated);
 
-	struct rc_input_values rc;
-	result = read(ppm_fd, &rc, sizeof(rc));
+	if (rc_updated) {
 
-	if (result != sizeof(rc)) {
-		warnx("Error reading RC output");
-		(void)close(servo_fd);
-		(void)close(ppm_fd);
-		return ERROR;
-	}
+		orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
 
-	/* 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;
+		// 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++) {
+			if (fabsf(rc_input.values[i] - pwm_values[i]) > 10) {
+				warnx("comparison fail: RC: %d, expected: %d", rc_input.values[i], pwm_values[i]);
+				(void)close(servo_fd);
+				return ERROR;
+			}
 		}
+	} else {
+		warnx("failed reading RC input data");
+		return ERROR;
 	}
 
+	warnx("PPM LOOPBACK TEST PASSED SUCCESSFULLY!");
+
 	return 0;
 }