Tests for all PWM pins

src/systemcmds/tests/test_ppm_loopback.c

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+/****************************************************************************
+ *
+ *   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;
+}