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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-21 16:37:45 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-21 16:37:45 +0100 |
commit | 831f153b7385fecb180c977727eb6b2f8bef1317 (patch) | |
tree | ed8d92a1241e1e0bea258053431aeffb9996b38a | |
parent | d96dfc0f61776ae23a42dd62674b6578ae328d7d (diff) | |
download | px4-firmware-831f153b7385fecb180c977727eb6b2f8bef1317.tar.gz px4-firmware-831f153b7385fecb180c977727eb6b2f8bef1317.tar.bz2 px4-firmware-831f153b7385fecb180c977727eb6b2f8bef1317.zip |
Add tight RC test
-rw-r--r-- | src/systemcmds/tests/module.mk | 3 | ||||
-rw-r--r-- | src/systemcmds/tests/test_rc.c | 146 | ||||
-rw-r--r-- | src/systemcmds/tests/tests.h | 1 | ||||
-rw-r--r-- | src/systemcmds/tests/tests_main.c | 1 |
4 files changed, 150 insertions, 1 deletions
diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk index 5d5fe50d3..68a080c77 100644 --- a/src/systemcmds/tests/module.mk +++ b/src/systemcmds/tests/module.mk @@ -27,4 +27,5 @@ SRCS = test_adc.c \ test_file.c \ tests_main.c \ test_param.c \ - test_ppm_loopback.c + test_ppm_loopback.c \ + test_rc.c diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c new file mode 100644 index 000000000..72619fc8b --- /dev/null +++ b/src/systemcmds/tests/test_rc.c @@ -0,0 +1,146 @@ +/**************************************************************************** + * + * 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 <poll.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_rc(int argc, char *argv[]) +{ + + int _rc_sub = orb_subscribe(ORB_ID(input_rc)); + + /* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */ + struct rc_input_values rc_input; + struct rc_input_values rc_last; + orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + usleep(100000); + + /* open PPM input and expect values close to the output values */ + + bool rc_updated; + orb_check(_rc_sub, &rc_updated); + + warnx("Reading PPM values - press any key to abort"); + warnx("This test guarantees: 10 Hz update rates, no glitches (channel values), no channel count changes."); + + if (rc_updated) { + + /* copy initial set */ + for (unsigned i = 0; i < rc_input.channel_count; i++) { + rc_last.values[i] = rc_input.values[i]; + } + + rc_last.channel_count = rc_input.channel_count; + + /* poll descriptor */ + struct pollfd fds[2]; + fds[0].fd = _rc_sub; + fds[0].events = POLLIN; + fds[1].fd = 0; + fds[1].events = POLLIN; + + while (true) { + + int ret = poll(fds, 2, 200); + + if (ret > 0) { + + if (fds[0].revents & POLLIN) { + + orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + + /* go and check values */ + for (unsigned i = 0; i < rc_input.channel_count; i++) { + if (fabsf(rc_input.values[i] - rc_last.values[i]) > 20) { + warnx("comparison fail: RC: %d, expected: %d", rc_input.values[i], rc_last.values[i]); + (void)close(_rc_sub); + return ERROR; + } + + rc_last.values[i] = rc_input.values[i]; + } + + if (rc_last.channel_count != rc_input.channel_count) { + warnx("channel count mismatch: last: %d, now: %d", rc_last.channel_count, rc_input.channel_count); + (void)close(_rc_sub); + return ERROR; + } + + if (hrt_absolute_time() - rc_input.timestamp > 100000) { + warnx("TIMEOUT, less than 10 Hz updates"); + (void)close(_rc_sub); + return ERROR; + } + + } else { + /* key pressed, bye bye */ + return 0; + } + + } + } + + } else { + warnx("failed reading RC input data"); + return ERROR; + } + + warnx("PPM CONTINUITY TEST PASSED SUCCESSFULLY!"); + + return 0; +} diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h index 5cbc5ad88..a57d04be3 100644 --- a/src/systemcmds/tests/tests.h +++ b/src/systemcmds/tests/tests.h @@ -108,6 +108,7 @@ extern int test_param(int argc, char *argv[]); extern int test_bson(int argc, char *argv[]); extern int test_file(int argc, char *argv[]); extern int test_mixer(int argc, char *argv[]); +extern int test_rc(int argc, char *argv[]); __END_DECLS diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index cd998dd18..1088a4407 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -105,6 +105,7 @@ const struct { {"bson", test_bson, 0}, {"file", test_file, 0}, {"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST}, {"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST}, {NULL, NULL, 0} }; |