1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
|
/****************************************************************************
*
* 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);
}
|
