From 13b07efc49584ea8b864403ff15bae9042ffb3af Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 10 Oct 2013 00:12:39 +0200 Subject: added hw test, added better io debugging --- makefiles/config_px4fmu-v2_default.mk | 3 ++ src/drivers/px4io/px4io.cpp | 9 +++-- src/examples/hwtest/hwtest.c | 74 +++++++++++++++++++++++++++++++++++ src/examples/hwtest/module.mk | 40 +++++++++++++++++++ 4 files changed, 123 insertions(+), 3 deletions(-) create mode 100644 src/examples/hwtest/hwtest.c create mode 100644 src/examples/hwtest/module.mk diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index e12d61a53..66216f8fe 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -128,6 +128,9 @@ MODULES += lib/geo # https://pixhawk.ethz.ch/px4/dev/debug_values #MODULES += examples/px4_mavlink_debug +# Hardware test +MODULES += examples/hwtest + # # Transitional support - add commands from the NuttX export archive. # diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 969dbefea..f6d4f1ed4 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1545,7 +1545,7 @@ PX4IO::print_debug() int io_fd = -1; if (io_fd < 0) { - io_fd = ::open("/dev/ttyS0", O_RDONLY | O_NONBLOCK); + io_fd = ::open("/dev/ttyS0", O_RDONLY | O_NONBLOCK | O_NOCTTY); } /* read IO's output */ @@ -1555,7 +1555,7 @@ PX4IO::print_debug() fds[0].events = POLLIN; usleep(500); - int pret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), 10); + int pret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), 0); if (pret > 0) { int count; @@ -1606,6 +1606,8 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries) memcpy(&msg->text[0], buf, count); buf += count; buflen -= count; + } else { + continue; } /* @@ -1644,7 +1646,8 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries) /* ensure a closing newline */ msg->text[0] = '\n'; msg->text[1] = '\0'; - int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, 1); + + int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2); retries--; diff --git a/src/examples/hwtest/hwtest.c b/src/examples/hwtest/hwtest.c new file mode 100644 index 000000000..06337be32 --- /dev/null +++ b/src/examples/hwtest/hwtest.c @@ -0,0 +1,74 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * 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 hwtest.c + * + * Simple functional hardware test. + * + * @author Lorenz Meier + */ + +#include +#include +#include +#include +#include +#include + +__EXPORT int ex_hwtest_main(int argc, char *argv[]); + +int ex_hwtest_main(int argc, char *argv[]) +{ + struct actuator_controls_s actuators; + memset(&actuators, 0, sizeof(actuators)); + orb_advert_t actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_0), &actuators); + + int i; + float rcvalue = -1.0f; + hrt_abstime stime; + + while (true) { + stime = hrt_absolute_time(); + while (hrt_absolute_time() - stime < 1000000) { + for (i=0; i<8; i++) + actuators.control[i] = rcvalue; + actuators.timestamp = hrt_absolute_time(); + orb_publish(ORB_ID(actuator_controls_0), actuator_pub_fd, &actuators); + } + warnx("servos set to %.1f", rcvalue); + rcvalue *= -1.0f; + } + + return OK; +} diff --git a/src/examples/hwtest/module.mk b/src/examples/hwtest/module.mk new file mode 100644 index 000000000..6e70863ed --- /dev/null +++ b/src/examples/hwtest/module.mk @@ -0,0 +1,40 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Hardware test example application +# + +MODULE_COMMAND = ex_hwtest + +SRCS = hwtest.c -- cgit v1.2.3