supports MindPXv2 borad which is a product from AirMind.

src/drivers/test_ppm/test_ppm.cpp

@@ -0,0 +1,290 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015, 2016 Airmind 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 Airmind 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.cpp
+ *
+ * @author sudragon
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+#include <getopt.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/conversions.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/clock.h>
+
+#include <board_config.h>
+#include <drivers/drv_hrt.h>
+
+#define TEST_PPM_PIN      (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
+
+class TEST_PPM
+{
+public:
+	TEST_PPM(unsigned channels);
+	virtual ~TEST_PPM(void);
+	virtual int		init();
+	unsigned 		_values[20];
+	unsigned 		_gaps[20];
+	unsigned 		_channels;
+	unsigned 		_plus_width;
+protected:
+
+private:
+	struct hrt_call		_call;
+	unsigned 		_call_times;
+	void			start();
+
+	void			stop();
+	void 			do_out();
+	static void		loops(void *arg);
+
+
+};
+
+
+/** driver 'main' command */
+extern "C" { __EXPORT int test_ppm_main(int argc, char *argv[]); }
+
+TEST_PPM::TEST_PPM(unsigned channels) :
+	_channels(channels),
+	_plus_width(400),
+	_call{},
+	_call_times(0)
+{
+	memset(&_call, 0, sizeof(_call));
+
+	for (int i = 0; i < 20; i++) {
+		_values[i] = 1500;
+	}
+
+	_values[0] = 5000;
+}
+
+TEST_PPM::~TEST_PPM()
+{
+	/* make sure we are truly inactive */
+	stop();
+}
+
+int
+TEST_PPM::init()
+{
+	stm32_configgpio(TEST_PPM_PIN);
+	start();
+	return OK;
+}
+
+
+void
+TEST_PPM::start()
+{
+	stop();
+	_call_times = 0;
+	hrt_call_after(&_call, 1000, (hrt_callout)&TEST_PPM::loops, this);
+}
+
+void
+TEST_PPM::stop()
+{
+	hrt_cancel(&_call);
+}
+
+void
+TEST_PPM::loops(void *arg)
+{
+	TEST_PPM *dev = reinterpret_cast<TEST_PPM *>(arg);
+	dev->do_out();
+}
+void
+TEST_PPM::do_out(void)
+{
+	if ((_call_times % 2) == 0) {
+		stm32_gpiowrite(TEST_PPM_PIN, false);
+		hrt_call_after(&_call, _values[_call_times / 2] - _plus_width, (hrt_callout)&TEST_PPM::loops, this);
+
+	} else {
+		stm32_gpiowrite(TEST_PPM_PIN, true);
+		hrt_call_after(&_call, _plus_width, (hrt_callout)&TEST_PPM::loops, this);
+	}
+
+	if ((_call_times / 2) < _channels + 1) { _call_times++; }
+
+	else { _call_times = 0; }
+}
+
+namespace test_ppm
+{
+
+TEST_PPM	*g_test = nullptr;
+
+void	start(unsigned channels);
+void	stop();
+void	usage();
+void 	set(unsigned ch, unsigned value);
+
+/**
+ * Start the driver.
+ *
+ * This function only returns if the driver is up and running
+ * or failed to detect the sensor.
+ */
+void
+start(unsigned  channels)
+{
+
+	if (g_test != nullptr)
+		/* if already started, the still command succeeded */
+	{
+		errx(1, "already started");
+	}
+
+	g_test = new TEST_PPM(channels);
+
+	if (g_test == nullptr) {
+		goto fail;
+	}
+
+	if (OK != g_test->init()) {
+		goto fail;
+	}
+
+	exit(0);
+fail:
+
+	if (g_test != nullptr) {
+		delete(g_test);
+		g_test = nullptr;
+	}
+
+	errx(1, "test_ppm  start failed");
+}
+
+void
+stop()
+{
+	if (g_test != nullptr) {
+		delete g_test;
+		g_test = nullptr;
+
+	} else {
+		/* warn, but not an error */
+		warnx("test_ppm already stopped.");
+	}
+
+	exit(0);
+}
+
+void
+set(unsigned  ch, unsigned value)
+{
+	if (ch > 18 || ch < 1) {warnx("channel is not valid.");}
+
+	if (value > 2500 || value < 1) { warnx("value is not valid.");}
+
+	g_test->_values[ch] = value;
+	g_test->_gaps[ch] = 2500 - value;
+
+	if (ch == g_test->_channels) { g_test->_gaps[ch] = 5000; }
+
+	return;
+}
+
+void
+usage()
+{
+	warnx("missing command: try 'start',  'stop', 'set'\n");
+}
+
+} // namespace
+
+int
+test_ppm_main(int argc, char *argv[])
+{
+	const char *verb = argv[1];
+	unsigned  channels = 7;
+
+	/*
+	 * Start/load the driver.
+
+	 */
+
+	if (!strcmp(verb, "start")) {
+		test_ppm::start(channels);
+		exit(0);
+	}
+
+	if (!strcmp(verb, "stop")) {
+
+		test_ppm::stop();
+		exit(0);
+	}
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(verb, "set")) {
+		if (argc < 4) {
+			errx(1, "Usage: test_ppm  set  <channel> <value>");
+		}
+
+		unsigned channel  = strtol(argv[2], NULL, 0);
+		unsigned value	= strtol(argv[3], NULL, 0);
+
+		test_ppm::set(channel, value);
+		exit(0);
+	}
+
+
+
+	test_ppm::usage();
+	exit(1);
+}