Mirrors_Framework/PX4-Autopilot
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Trying to get single wire working. Not quite there yet.

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This commit is contained in:
Simon Wilks
2012-11-29 02:30:46 +01:00
parent 14d874f4a1
commit d6e54c3ce4
2 changed files with 34 additions and 59 deletions
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apps/hott_telemetry/hott_telemetry_main.c
+33 -58
View File
@@ -71,10 +71,10 @@
static int thread_should_exit = false; /**< Deamon exit flag */
static int thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
static uint32_t uart_addr; /**< The regsitry address of the UART for direct access */
static char *daemon_name = "hott_telemetry";
static char *commandline_usage = "usage: hott_telemetry start|status|stop [-d <device>]";
/* A little console messaging experiment - console helper macro */
#define FATAL_MSG(_msg) fprintf(stderr, "[%s] %s\n", daemon_name, _msg); exit(1);
#define ERROR_MSG(_msg) fprintf(stderr, "[%s] %s\n", daemon_name, _msg);
@@ -91,22 +91,22 @@ int hott_telemetry_thread_main(int argc, char *argv[]);
static int read_data(int uart, int *id);
static int send_data(int uart, uint8_t *buffer, int size);
static void uart_disable_rx(void);
static void uart_disable_tx(void);
static uint32_t get_uart_address(const char *device);
static int open_uart(const char *uart_name, struct termios *uart_config_original)
static int open_uart(const char *device, struct termios *uart_config_original)
{
/* Change the TX port to be open-drain */
stm32_configgpio(GPIO_UART5_TX | GPIO_OPENDRAIN);
/* baud rate */
int speed = B19200;
int uart;
/* open uart */
uart = open(uart_name, O_RDWR | O_NOCTTY);
uart = open(device, O_RDWR | O_NOCTTY);
if (uart < 0) {
char msg[80];
sprintf(msg, "Error opening port: %s\n", uart_name);
sprintf(msg, "Error opening port: %s\n", device);
FATAL_MSG(msg);
}
@@ -117,7 +117,7 @@ static int open_uart(const char *uart_name, struct termios *uart_config_original
/* Back up the original uart configuration to restore it after exit */
char msg[80];
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
sprintf(msg, "Error getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
sprintf(msg, "Error getting baudrate / termios config for %s: %d\n", device, termios_state);
close(uart);
FATAL_MSG(msg);
}
@@ -131,43 +131,48 @@ static int open_uart(const char *uart_name, struct termios *uart_config_original
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
sprintf(msg, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n",
uart_name, termios_state);
device, termios_state);
close(uart);
FATAL_MSG(msg);
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
sprintf(msg, "Error setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
sprintf(msg, "Error setting baudrate / termios config for %s (tcsetattr)\n", device);
close(uart);
FATAL_MSG(msg);
}
uint32_t cr;
cr = getreg32(STM32_UART5_CR3);
cr |= (USART_CR3_HDSEL);
//cr &= ~(USART_CR2_LINEN|USART_CR2_CLKEN|USART_CR3_SCEN|USART_CR3_IREN);
putreg32(cr, STM32_UART5_CR3);
return uart;
}
int read_data(int uart, int *id)
{
uart_disable_tx();
const int timeout = 1000;
struct pollfd fds[] = { { .fd = uart, .events = POLLIN } };
if (poll(fds, 1, timeout) > 0) {
//if (poll(fds, 1, timeout) > 0) {
/* get the mode: binary or text */
char mode;
read(uart, &mode, 1);
/* read the poll ID (device ID being targetted) */
read(uart, id, 1);
/* if we have a binary mode request */
if (mode != BINARY_MODE_REQUEST_ID) {
return ERROR;
}
} else {
ERROR_MSG("UART timeout on TX/RX port");
return ERROR;
}
//} else {
// ERROR_MSG("UART timeout on TX/RX port");
// return ERROR;
//}
return OK;
}
@@ -175,8 +180,6 @@ int send_data(int uart, uint8_t *buffer, int size)
{
usleep(POST_READ_DELAY_IN_USECS);
uart_disable_rx();
uint16_t checksum = 0;
for(int i = 0; i < size; i++) {
if (i == size - 1) {
@@ -185,9 +188,12 @@ int send_data(int uart, uint8_t *buffer, int size)
} else {
checksum += buffer[i];
}
write(uart, &buffer[i], 1);
// THIS SHOULDN'T BE NECESSARY!
char dummy;
read(uart, &dummy, 1);
/* Sleep before sending the next byte. */
usleep(POST_WRITE_DELAY_IN_USECS);
}
@@ -195,36 +201,6 @@ int send_data(int uart, uint8_t *buffer, int size)
return OK;
}
void uart_disable_rx(void)
{
uint32_t cr;
cr = getreg32(uart_addr);
cr &= ~(USART_CR1_RE); // turn off RX
cr |= (USART_CR1_TE); // turn on TX
putreg32(cr, uart_addr);
}
void uart_disable_tx(void)
{
uint32_t cr;
cr = getreg32(uart_addr);
cr |= (USART_CR1_RE); // turn on RX
cr &= ~(USART_CR1_TE); // turn off TX
putreg32(cr, uart_addr);
}
uint32_t get_uart_address(const char *device)
{
/* Map the tty device number to the UART address */
switch(device[strlen(device) - 1]) {
case '0': return STM32_USART1_CR1;
case '1': return STM32_USART2_CR1;
case '2': return STM32_UART5_CR1;
case '3': return STM32_USART6_CR1;
default: return STM32_UART5_CR1;
}
}
int hott_telemetry_thread_main(int argc, char *argv[])
{
INFO_MSG("starting");
@@ -258,11 +234,6 @@ int hott_telemetry_thread_main(int argc, char *argv[])
exit(ERROR);
}
/* Since we need to enable/disable both TX and RX on the UART at the device level
* we need to know the register address of the UART we are working with. Making it
* global so it's easy to remove later when TX/RX control is provided by Nuttx. */
uart_addr = get_uart_address(device);
messages_init();
uint8_t buffer[MESSAGE_BUFFER_SIZE];
@@ -277,7 +248,11 @@ int hott_telemetry_thread_main(int argc, char *argv[])
default:
continue; // Not a module we support.
}
//printf("Write start\n");
send_data(uart, buffer, size);
//printf("Write end\n");
} else {
printf("NOK: %x\n", id);
}
}
apps/hott_telemetry/messages.h
+1 -1
View File
@@ -56,7 +56,7 @@
/* A pause of 3ms is required between each uint8_t sent back to the HoTT receiver. Much lower
* values can be used in practise though.
*/
#define POST_WRITE_DELAY_IN_USECS 1500
#define POST_WRITE_DELAY_IN_USECS 2000
// Protocol constants.
#define BINARY_MODE_REQUEST_ID 0x80 // Binary mode request.