1 files changed, 240 insertions, 0 deletions
diff --git a/src/systemcmds/tests/test_hott_telemetry.c b/src/systemcmds/tests/test_hott_telemetry.c
new file mode 100644
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+++ b/src/systemcmds/tests/test_hott_telemetry.c
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+/****************************************************************************
+ *
+ *   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 <systemlib/err.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, TIOCSSINGLEWIRE, SER_SINGLEWIRE_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, TIOCSSINGLEWIRE, ~SER_SINGLEWIRE_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);
+}