diff options
Diffstat (limited to 'src/systemcmds/tests/test_ppm_loopback.c')
-rw-r--r-- | src/systemcmds/tests/test_ppm_loopback.c | 154 |
1 files changed, 154 insertions, 0 deletions
diff --git a/src/systemcmds/tests/test_ppm_loopback.c b/src/systemcmds/tests/test_ppm_loopback.c new file mode 100644 index 000000000..6d4e45c4c --- /dev/null +++ b/src/systemcmds/tests/test_ppm_loopback.c @@ -0,0 +1,154 @@ +/**************************************************************************** + * + * 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 <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_ppm_loopback(int argc, char *argv[]) +{ + + int servo_fd, result; + servo_position_t data[PWM_OUTPUT_MAX_CHANNELS]; + servo_position_t pos; + + servo_fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR); + + if (servo_fd < 0) { + 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; + result = ioctl(servo_fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count); + if (result != OK) { + warnx("PWM_SERVO_GET_COUNT"); + return ERROR; + } + + for (unsigned i = 0; i < servo_count; i++) { + result = ioctl(servo_fd, PWM_SERVO_GET(i), (unsigned long)&pos); + + if (result < 0) { + printf("failed reading channel %u\n", 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"); + + 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; + } + } + + /* give driver 10 ms to propagate */ + usleep(10000); + + /* open PPM input and expect values close to the output values */ + + 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++) { + result = ioctl(servo_fd, PWM_SERVO_GET(i), pwm_values[i]); + if (result) { + (void)close(servo_fd); + return ERROR; + } + } + + return 0; +} |