test_uart_break.c

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/**
 * @file test_uart_break.c
 * @author Lorenz Meier <lorenz@px4.io>
 * @author David Sidrane <david_s5@nscdg.com>
 */

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/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>

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;

}