Adding Test for sending break on u[s]arts

src/systemcmds/tests/CMakeLists.txt

@@ -68,6 +68,7 @@ set(srcs
 if(${OS} STREQUAL "nuttx")
 	list(APPEND srcs
 		test_time.c
+		test_uart_break.c
 		)
 endif()
 

src/systemcmds/tests/test_uart_break.c

@@ -0,0 +1,259 @@
+/****************************************************************************
+ * px4/sensors/test_uart_break.c
+ *
+ *  Copyright (C) 2012-2016 PX4 Development Team. All rights reserved.
+ *            Lorenz Meier <lm@inf.ethz.ch>
+ *            David Sidrane <david_s5@nscdg.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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <px4_defines.h>
+
+#include <sys/types.h>
+#include <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <termios.h>
+#include <string.h>
+
+#include <arch/board/board.h>
+
+#include "tests_main.h"
+
+#include <math.h>
+#include <float.h>
+
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: test_led
+ ****************************************************************************/
+
+int test_uart_break(int argc, char *argv[])
+{
+	int uart2_nwrite0 = 0;
+	int uart2_nwrite1 = 0;
+	int uart2_buffer_size = 0;
+
+	/* assuming NuttShell is on UART1 (/dev/ttyS0) */
+	int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY); //
+
+	if (uart2 < 0) {
+		printf("ERROR opening UART2, aborting..\n");
+		return uart2;
+	}
+
+	struct termios uart2_config;
+
+	struct termios uart2_config_original;
+
+	int termios_state = 0;
+
+	int ret;
+
+	/* let the line settle */
+
+	usleep(100000);
+
+	/* Read the  buffer length */
+
+	ioctl(uart2, FIONSPACE, (unsigned long)&uart2_buffer_size);
+
+
+#define UART_BREAK_RUNTIME_CONF
+#ifdef UART_BREAK_RUNTIME_CONF
+
+	if ((termios_state = tcgetattr(uart2, &uart2_config)) < 0) {
+		printf("ERROR getting termios config for UART2: %d\n", termios_state);
+		ret = termios_state;
+		goto cleanup;
+	}
+
+	memcpy(&uart2_config_original, &uart2_config, sizeof(struct termios));
+
+	/* Set baud rate */
+	if (cfsetispeed(&uart2_config, B9600) < 0 || cfsetospeed(&uart2_config, B9600) < 0) {
+		printf("ERROR setting termios config for UART2: %d\n", termios_state);
+		ret = ERROR;
+		goto cleanup;
+	}
+
+	if ((termios_state = tcsetattr(uart2, TCSANOW, &uart2_config)) < 0) {
+		printf("ERROR setting termios config for UART2\n");
+		ret = termios_state;
+		goto cleanup;
+	}
+
+	/* let the line settle */
+
+	usleep(100000);
+
+	/* Signal  on Console for rough timing */
+
+	printf("1");
+	fflush(stdout);
+
+	/* Start Break */
+
+	ioctl(uart2, TIOCSBRK, 0);
+	usleep(250000);
+
+	/* End Break */
+
+	ioctl(uart2, TIOCCBRK, 0);
+
+	/* Signal  on Console for rough timing */
+
+	printf("0");
+	fflush(stdout);
+
+	/* let the line settle */
+
+	usleep(100000);
+
+
+#endif
+
+	uint8_t sample_uart2[] = {'U', 'A', 'R', 'T', '2', ' ', '#', 0xff};
+
+	int messages = uart2_buffer_size / sizeof(sample_uart2);
+	messages = messages / 2;
+	int i, r;
+
+	for (i = 0; i < messages; i++) {
+		/* uart2 -> */
+		r = write(uart2, sample_uart2, sizeof(sample_uart2));
+
+		if (r > 0) {
+			uart2_nwrite0 += r;
+		}
+	}
+
+	/* Ensure we are sending */
+
+	usleep(100000);
+
+	/* Signal  on Console for rough timing */
+
+	printf("1");
+	fflush(stdout);
+
+	/* Start Break */
+
+	ioctl(uart2, TIOCSBRK, 0);
+	usleep(250000);
+
+	/* End Break */
+
+	ioctl(uart2, TIOCCBRK, 0);
+
+	/* Signal  on Console for rough timing */
+
+	printf("0");
+	fflush(stdout);
+
+	/* Begin writing again*/
+
+	for (i = 0; i < messages; i++) {
+		/* uart2 -> */
+		r = write(uart2, sample_uart2, sizeof(sample_uart2));
+
+		if (r > 0) {
+			uart2_nwrite1 += r;
+		}
+	}
+
+	int left = -1;
+	int wait = 0;
+
+	for (wait = 0; wait < 1000 && left != uart2_buffer_size;  wait++) {
+		ioctl(uart2, FIONSPACE, (unsigned long)&left);
+		usleep(250000);
+	}
+
+#define UART_BREAK_RUNTIME_CONF
+#ifdef UART_BREAK_RUNTIME_CONF
+
+	/* Set back to original settings */
+	if ((termios_state = tcsetattr(uart2, TCSANOW, &uart2_config_original)) < 0) {
+		printf("ERROR setting termios config for UART2\n");
+		ret = termios_state;
+		goto cleanup;
+	}
+
+#endif
+	close(uart2);
+
+	printf("uart2_buffer_size %d wait %d uart2_nwrite0 %d uart2_nwrite1 %d\n", uart2_buffer_size, wait, uart2_nwrite0,
+	       uart2_nwrite1);
+
+	return OK;
+cleanup:
+	close(uart2);
+	return ret;
+
+}

src/systemcmds/tests/tests_main.c

@@ -83,6 +83,7 @@ const struct {
 	{"sensors",		test_sensors,	0},
 	{"time",		test_time,	OPT_NOJIGTEST},
 	{"uart_baudchange",	test_uart_baudchange,	OPT_NOJIGTEST},
+	{"uart_break",		test_uart_break,	OPT_NOJIGTEST | OPT_NOALLTEST},
 #else
 	{"rc",			rc_tests_main,	0},
 #endif /* __PX4_NUTTX */

src/systemcmds/tests/tests_main.h

@@ -82,6 +82,7 @@ extern int	test_sleep(int argc, char *argv[]);
 extern int	test_time(int argc, char *argv[]);
 extern int	test_tone(int argc, char *argv[]);
 extern int	test_uart_baudchange(int argc, char *argv[]);
+extern int	test_uart_break(int argc, char *argv[]);
 extern int	test_uart_console(int argc, char *argv[]);
 extern int	test_uart_loopback(int argc, char *argv[]);
 extern int	test_uart_send(int argc, char *argv[]);