diff options
| -rw-r--r-- | apps/px4/tests/test_hott_telemetry.c | 239 | ||||
| -rw-r--r-- | apps/px4/tests/tests.h | 1 | ||||
| -rw-r--r-- | apps/px4/tests/tests_main.c | 1 | ||||
| -rw-r--r-- | nuttx/arch/arm/src/stm32/stm32_serial.c | 21 | ||||
| -rw-r--r-- | nuttx/drivers/serial/serial.c | 1 |
5 files changed, 263 insertions, 0 deletions
diff --git a/apps/px4/tests/test_hott_telemetry.c b/apps/px4/tests/test_hott_telemetry.c new file mode 100644 index 000000000..dbef021e3 --- /dev/null +++ b/apps/px4/tests/test_hott_telemetry.c @@ -0,0 +1,239 @@ +/**************************************************************************** + * + * 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 <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, TIOCSRS485, SER_RS485_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, TIOCSRS485, ~SER_RS485_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); +} diff --git a/apps/px4/tests/tests.h b/apps/px4/tests/tests.h index 46450d10b..cc3f5493a 100644 --- a/apps/px4/tests/tests.h +++ b/apps/px4/tests/tests.h @@ -93,6 +93,7 @@ extern int test_uart_send(int argc, char *argv[]); extern int test_sleep(int argc, char *argv[]); extern int test_time(int argc, char *argv[]); extern int test_uart_console(int argc, char *argv[]); +extern int test_hott_telemetry(int argc, char *argv[]); extern int test_jig_voltages(int argc, char *argv[]); extern int test_param(int argc, char *argv[]); extern int test_bson(int argc, char *argv[]); diff --git a/apps/px4/tests/tests_main.c b/apps/px4/tests/tests_main.c index 26f7ef96b..906d25f9e 100644 --- a/apps/px4/tests/tests_main.c +++ b/apps/px4/tests/tests_main.c @@ -101,6 +101,7 @@ struct { {"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST | OPT_NOALLTEST, 0}, {"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST, 0}, {"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST, 0}, + {"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST, 0}, {"tone", test_tone, 0, 0}, {"sleep", test_sleep, OPT_NOJIGTEST, 0}, {"time", test_time, OPT_NOJIGTEST, 0}, diff --git a/nuttx/arch/arm/src/stm32/stm32_serial.c b/nuttx/arch/arm/src/stm32/stm32_serial.c index 0868c3cd3..80c4ce357 100644 --- a/nuttx/arch/arm/src/stm32/stm32_serial.c +++ b/nuttx/arch/arm/src/stm32/stm32_serial.c @@ -1307,6 +1307,27 @@ static int up_ioctl(struct file *filep, int cmd, unsigned long arg) } break; + /* Set RS485 mode */ + case TIOCSRS485: + { + /* Change the TX port to be open-drain/push-pull */ + if (arg == SER_RS485_ENABLED) { + stm32_configgpio(priv->tx_gpio | GPIO_OPENDRAIN); + } else { + stm32_configgpio(priv->tx_gpio | GPIO_PUSHPULL); + } + + /* Enable/disable half-duplex mode */ + uint32_t cr = up_serialin(priv, STM32_USART_CR3_OFFSET); + if (arg == SER_RS485_ENABLED) { + cr |= (USART_CR3_HDSEL); + } else { + cr &= ~(USART_CR3_HDSEL); + } + up_serialout(priv, STM32_USART_CR3_OFFSET, cr); + } + break; + #ifdef CONFIG_SERIAL_TERMIOS case TCGETS: { diff --git a/nuttx/drivers/serial/serial.c b/nuttx/drivers/serial/serial.c index c650da5db..c31d12eee 100644 --- a/nuttx/drivers/serial/serial.c +++ b/nuttx/drivers/serial/serial.c @@ -687,6 +687,7 @@ static int uart_ioctl(FAR struct file *filep, int cmd, unsigned long arg) *(int *)arg = count; } + break; #ifdef CONFIG_SERIAL_TERMIOS case TCGETS: |