mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-14 00:20:36 +08:00
Tim Dyer
b65ff53b00
Working crazyflie firmware build * Console on USART3 * Could not disable building PX4IO firmware, currently commented out Don't build PX4IO firmware if the board doesn't ask for it Added crazyflie motor driver Fixed wrong register CLK_SEL is in PWR_MGMT_1 Initial I2C/SPI MPU9250 device * Tested with I2C * Need to add error checking * Intermittent crash on stop call Working ak8963 mag driver Functional lps25h driver. Work in progress. Works well enough to probe and allow sensors task to start. Added serial port test module HACK! Get sensors module working Set crazyflie PWM range Extend baudrate for Crazyflie's NRF radio Added dummy tone alarm to allow for init Added autostart script for Crazyflie
135 lines
3.6 KiB
C
135 lines
3.6 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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* Author: Anton Babushkin <anton.babushkin@me.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file screen.c
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*
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* Using screen to read serial ports.
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*
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* @author Tim Dyer <>
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*/
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#include <px4_defines.h>
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#include <fcntl.h>
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#include <stdio.h>
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#include <sys/ioctl.h>
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#include <systemlib/err.h>
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#include <poll.h>
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#include <termios.h>
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__EXPORT int screen_main(int argc, char *argv[]);
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int
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open_uart(const char *device);
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int screen_main(int argc, char *argv[])
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{
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int uart = open_uart("/dev/ttyS2");
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//static const int timeout_ms = 1000;
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for (;;)
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{
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char c;
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ssize_t size = read(uart, &c, 1);
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if (size)
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{
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printf("%c", c);
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}
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/*
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struct pollfd fds;
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fds.fd = uart;
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fds.events = POLLIN;
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char c;
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if (poll(&fds, 1, timeout_ms) > 0) {
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read(uart, &c, 1);
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printf("%c", c);
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} else {
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warnx("UART timeout on TX/RX port");
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//return ERROR;
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}
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*/
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}
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return OK;
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}
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int
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open_uart(const char *device)
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{
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/* baud rate */
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static const speed_t speed = B1000000;
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/* open uart */
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const int uart = open(device, O_RDWR | O_NOCTTY);
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if (uart < 0) {
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err(1, "ERR: opening %s", device);
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}
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/* Back up the original uart configuration to restore it after exit */
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int termios_state;
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struct termios uart_config_original;
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if ((termios_state = tcgetattr(uart, &uart_config_original)) < 0) {
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close(uart);
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err(1, "ERR: %s: %d", device, termios_state);
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}
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/* Fill the struct for the new configuration */
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struct termios uart_config;
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tcgetattr(uart, &uart_config);
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/* Clear ONLCR flag (which appends a CR for every LF) */
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uart_config.c_oflag &= ~ONLCR;
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/* Set baud rate */
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if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
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close(uart);
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err(1, "ERR: %s: %d (cfsetispeed, cfsetospeed)",
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device, termios_state);
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}
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if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
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close(uart);
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err(1, "ERR: %s (tcsetattr)", device);
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}
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return uart;
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}
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