test_ppm.cpp

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/**
 * @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 <perf/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()
{
    px4_arch_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 = static_cast<TEST_PPM *>(arg);
    dev->do_out();
}
void
TEST_PPM::do_out(void)
{
    if ((_call_times % 2) == 0) {
        px4_arch_gpiowrite(TEST_PPM_PIN, false);
        hrt_call_after(&_call, _values[_call_times / 2] - _plus_width, (hrt_callout)&TEST_PPM::loops, this);

    } else {
        px4_arch_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[])
{
    if (argc < 2) {
        test_ppm::usage();
        return -1;
    }

    const char *verb = argv[1];
    unsigned  channels = 7;

    /*
     * Start/load the driver.
     */
    if (!strcmp(verb, "start")) {
        test_ppm::start(channels);
        return 0;
    }

    if (!strcmp(verb, "stop")) {

        test_ppm::stop();
        return 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);
        return 0;
    }

    test_ppm::usage();
    return -1;
}