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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Adding Test for sending break on u[s]arts
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
cc0a4248f8
commit
b7521e1b38
@@ -68,6 +68,7 @@ set(srcs
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if(${OS} STREQUAL "nuttx")
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list(APPEND srcs
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test_time.c
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test_uart_break.c
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)
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endif()
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@@ -0,0 +1,259 @@
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/****************************************************************************
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* px4/sensors/test_uart_break.c
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*
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* Copyright (C) 2012-2016 PX4 Development Team. All rights reserved.
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* Lorenz Meier <lm@inf.ethz.ch>
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* David Sidrane <david_s5@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <sys/types.h>
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#include <sys/ioctl.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <termios.h>
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#include <string.h>
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#include <arch/board/board.h>
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#include "tests_main.h"
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#include <math.h>
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#include <float.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: test_led
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****************************************************************************/
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int test_uart_break(int argc, char *argv[])
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{
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int uart2_nwrite0 = 0;
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int uart2_nwrite1 = 0;
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int uart2_buffer_size = 0;
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/* assuming NuttShell is on UART1 (/dev/ttyS0) */
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int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY); //
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if (uart2 < 0) {
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printf("ERROR opening UART2, aborting..\n");
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return uart2;
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}
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struct termios uart2_config;
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struct termios uart2_config_original;
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int termios_state = 0;
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int ret;
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/* let the line settle */
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usleep(100000);
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/* Read the buffer length */
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ioctl(uart2, FIONSPACE, (unsigned long)&uart2_buffer_size);
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#define UART_BREAK_RUNTIME_CONF
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#ifdef UART_BREAK_RUNTIME_CONF
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if ((termios_state = tcgetattr(uart2, &uart2_config)) < 0) {
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printf("ERROR getting termios config for UART2: %d\n", termios_state);
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ret = termios_state;
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goto cleanup;
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}
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memcpy(&uart2_config_original, &uart2_config, sizeof(struct termios));
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/* Set baud rate */
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if (cfsetispeed(&uart2_config, B9600) < 0 || cfsetospeed(&uart2_config, B9600) < 0) {
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printf("ERROR setting termios config for UART2: %d\n", termios_state);
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ret = ERROR;
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goto cleanup;
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}
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if ((termios_state = tcsetattr(uart2, TCSANOW, &uart2_config)) < 0) {
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printf("ERROR setting termios config for UART2\n");
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ret = termios_state;
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goto cleanup;
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}
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/* let the line settle */
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usleep(100000);
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/* Signal on Console for rough timing */
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printf("1");
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fflush(stdout);
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/* Start Break */
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ioctl(uart2, TIOCSBRK, 0);
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usleep(250000);
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/* End Break */
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ioctl(uart2, TIOCCBRK, 0);
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/* Signal on Console for rough timing */
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printf("0");
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fflush(stdout);
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/* let the line settle */
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usleep(100000);
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#endif
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uint8_t sample_uart2[] = {'U', 'A', 'R', 'T', '2', ' ', '#', 0xff};
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int messages = uart2_buffer_size / sizeof(sample_uart2);
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messages = messages / 2;
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int i, r;
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for (i = 0; i < messages; i++) {
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/* uart2 -> */
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r = write(uart2, sample_uart2, sizeof(sample_uart2));
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if (r > 0) {
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uart2_nwrite0 += r;
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}
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}
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/* Ensure we are sending */
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usleep(100000);
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/* Signal on Console for rough timing */
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printf("1");
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fflush(stdout);
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/* Start Break */
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ioctl(uart2, TIOCSBRK, 0);
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usleep(250000);
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/* End Break */
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ioctl(uart2, TIOCCBRK, 0);
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/* Signal on Console for rough timing */
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printf("0");
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fflush(stdout);
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/* Begin writing again*/
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for (i = 0; i < messages; i++) {
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/* uart2 -> */
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r = write(uart2, sample_uart2, sizeof(sample_uart2));
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if (r > 0) {
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uart2_nwrite1 += r;
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}
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}
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int left = -1;
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int wait = 0;
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for (wait = 0; wait < 1000 && left != uart2_buffer_size; wait++) {
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ioctl(uart2, FIONSPACE, (unsigned long)&left);
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usleep(250000);
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}
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#define UART_BREAK_RUNTIME_CONF
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#ifdef UART_BREAK_RUNTIME_CONF
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/* Set back to original settings */
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if ((termios_state = tcsetattr(uart2, TCSANOW, &uart2_config_original)) < 0) {
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printf("ERROR setting termios config for UART2\n");
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ret = termios_state;
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goto cleanup;
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}
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#endif
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close(uart2);
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printf("uart2_buffer_size %d wait %d uart2_nwrite0 %d uart2_nwrite1 %d\n", uart2_buffer_size, wait, uart2_nwrite0,
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uart2_nwrite1);
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return OK;
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cleanup:
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close(uart2);
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return ret;
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}
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@@ -83,6 +83,7 @@ const struct {
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{"sensors", test_sensors, 0},
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{"time", test_time, OPT_NOJIGTEST},
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{"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST},
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{"uart_break", test_uart_break, OPT_NOJIGTEST | OPT_NOALLTEST},
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#else
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{"rc", rc_tests_main, 0},
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#endif /* __PX4_NUTTX */
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@@ -82,6 +82,7 @@ extern int test_sleep(int argc, char *argv[]);
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extern int test_time(int argc, char *argv[]);
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extern int test_tone(int argc, char *argv[]);
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extern int test_uart_baudchange(int argc, char *argv[]);
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extern int test_uart_break(int argc, char *argv[]);
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extern int test_uart_console(int argc, char *argv[]);
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extern int test_uart_loopback(int argc, char *argv[]);
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extern int test_uart_send(int argc, char *argv[]);
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