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Changes required for overo gps passthrough to twog.

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This commit is contained in:
Paul Cox
2010-09-22 10:42:12 +00:00
parent df2c7308ab
commit 6a853b8a2c
4 changed files with 154 additions and 40 deletions
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sw/airborne/beth/overo_gcs_com.c
+2 -1
View File
@@ -11,8 +11,9 @@
//bill laptop
//#define GCS_HOST "10.31.4.5"
#define GCS_HOST "192.168.2.10"
//auto4
#define GCS_HOST "10.31.4.104"
//#define GCS_HOST "10.31.4.104"
#define GCS_PORT 4242
#define DATALINK_PORT 4243
sw/airborne/beth/overo_test_uart.c
+90 -28
View File
@@ -34,6 +34,7 @@
#include "gps.h"
#include "messages2.h"
//#include "dl_protocol2.h"
#include "airframe.h"
#include "fms_periodic.h"
@@ -42,6 +43,8 @@
#include "overo_gcs_com.h"
#include "uart_hw.h"
#include "pprz_transport.h"
struct OveroController {
int armed;
@@ -52,41 +55,44 @@ static void main_exit(int sig);
static void main_talk_with_tiny(void);
void check_gps(void);
//make gps.c happy without incluing navigation code
uint8_t nav_utm_zone0 = 5;
//make gps.c happy without including navigation code
uint8_t nav_utm_zone0 = 31;
static uint16_t foo = 0;
//struct FmsSerialPort* fmssp;
//int spfd;
uint8_t portnum;
#ifdef GPS_CONFIGURE
static uint8_t donegpsconf = 0;
#endif
static uint8_t configgps = 0;
int main(int argc, char *argv[]) {
portnum = 0;
if (argc > 1) {
portnum = atoi(argv[1]);
if (portnum > 10 ) {
printf("Port number must be <11\n");
return -1;
}
portnum = atoi(argv[1]);
} else portnum = 0;
if (argc > 2) configgps = atoi(argv[2]);
if (configgps)
#ifdef GPS_CONFIGURE
printf("Will configure GPS.\n");
#else
printf("Rebuild with GPS configure support.\n");
#endif
}
printf("Using /dev/ttyUSB%d for GPS\n",portnum);
printf("Using /dev/ttyUSB%d\n",portnum);
(void) signal(SIGINT, main_exit);
uart_init();
uart_init();
gps_init();
/* fmssp = serial_port_new();
//speed_t speed;
if (serial_port_open_raw(fmssp,"/dev/ttyUSB0",B9600)){
printf("error opening USB serial port!");
return -1;
}
spfd = (int)fmssp->fd;
*/
/* Initalize the event library */
event_init();
@@ -96,7 +102,11 @@ int main(int argc, char *argv[]) {
TRACE(TRACE_ERROR, "%s", "failed to start periodic generator\n");
return -1;
}
#ifdef GPS_CONFIGURE
//periodic task is launched so we are now ready to use uart to request gps baud change...
if (configgps) gps_configure_uart();
#endif
event_dispatch();
//should never occur!
printf("goodbye! (%d)\n",foo);
@@ -104,20 +114,19 @@ int main(int argc, char *argv[]) {
return 0;
}
static uint16_t tempstatus = 0;
static void main_periodic(int my_sig_num) {
RunOnceEvery(10, {DOWNLINK_SEND_MOTOR(gcs_com.udp_transport, &tempstatus, &foo );});
RunOnceEvery(50, {DOWNLINK_SEND_ALIVE(gcs_com.udp_transport, 16, MD5SUM);});
//RunOnceEvery(50, {DOWNLINK_SEND_ALIVE(gcs_com.udp_transport, 16, MD5SUM);});
#ifdef USE_UART0
uart0_handler();
#elif USE_UART1
#endif
#ifdef USE_UART1
uart1_handler();
#endif
DatalinkEvent()
main_talk_with_tiny();
check_gps();
@@ -125,22 +134,77 @@ static void main_periodic(int my_sig_num) {
}
#include "downlink.h"
#if 0
uint8_t downlink_nb_ovrn;
uint16_t downlink_nb_bytes;
uint16_t downlink_nb_msgs;
#define __Transport(dev, _x) dev##_x
#define _Transport(dev, _x) __Transport(dev, _x)
#define Transport(_chan, _fun) _Transport(_chan, _fun)
#define DownlinkIDsSize(_chan, _x) (_x+2)
#define DownlinkSizeOf(_chan, _x) Transport(_chan, SizeOf(DownlinkIDsSize(_chan, _x)))
#define DownlinkCheckFreeSpace(_chan, _x) Transport(_chan, CheckFreeSpace((uint8_t)(_x)))
#define DownlinkPutUint8ByAddr(_chan, _x) Transport(_chan, PutUint8ByAddr(_x))
#define DownlinkPutUint8Array(_chan, _n, _x) Transport(_chan, PutUint8Array(_n, _x))
#define DownlinkOverrun(_chan) downlink_nb_ovrn++;
#define DownlinkCountBytes(_chan, _n) downlink_nb_bytes += _n;
#define DownlinkStartMessage(_chan, _name, msg_id, payload_len) { \
downlink_nb_msgs++; \
Transport(_chan, Header(DownlinkIDsSize(_chan, payload_len))); \
Transport(_chan, PutUint8(AC_ID)); \
Transport(_chan, PutNamedUint8(_name, msg_id)); \
}
#define DownlinkEndMessage(_chan) Transport(_chan, Trailer())
#define __DOWNLINK_SEND_HITL_UBX(_chan, class, id, ac_id, nb_ubx_payload, ubx_payload){ \
if (DownlinkCheckFreeSpace(_chan, DownlinkSizeOf(_chan, 0+1+1+1+1+nb_ubx_payload*1))) {\
DownlinkCountBytes(_chan, DownlinkSizeOf(_chan, 0+1+1+1+1+nb_ubx_payload*1)); \
DownlinkStartMessage(_chan, "HITL_UBX", DL_HITL_UBX, 0+1+1+1+1+nb_ubx_payload*1) \
DownlinkPutUint8ByAddr(_chan, (class)); \
DownlinkPutUint8ByAddr(_chan, (id)); \
DownlinkPutUint8ByAddr(_chan, (ac_id)); \
DownlinkPutUint8Array(_chan, nb_ubx_payload, ubx_payload); \
DownlinkEndMessage(_chan ) \
} else \
DownlinkOverrun(_chan ); \
}
#endif
void check_gps(void){
/* if (GpsTimeoutError) {
printf("gps timeout\n");
}
*/
}*/
if (GpsBuffer()) {
ReadGpsBuffer();
}
if (gps_msg_received) {
printf("gps msg rx\n");
/* parse and use GPS messages */
#ifdef GPS_CONFIGURE
if (gps_configuring)
gps_configure();
else {
if (!donegpsconf) {
printf("Finished GPS configuration.\n");
donegpsconf=1;
}
parse_gps_msg();
}
#else
parse_gps_msg();
#endif
printf("gps msg rx %x %x\n",ubx_class,ubx_id);
const uint8_t ac_id = 3;
//DOWNLINK_SEND_HITL_UBX(gcs_com.udp_transport, &ubx_class, &ubx_id, &ac_id, &ubx_len ,ubx_msg_buf);
DOWNLINK_SEND_HITL_UBX(PprzTransport, &ubx_class, &ubx_id, &ac_id, ubx_len ,ubx_msg_buf);
gps_msg_received = FALSE;
if (gps_pos_available) {
printf("gps pos avail\n");
@@ -153,8 +217,6 @@ void check_gps(void){
}
static void main_exit(int sig) {
printf("Initiating shutdown...\n");
printf("Application Exiting...\n");
exit(EXIT_SUCCESS);
}
sw/airborne/beth/uart_hw.c
+52 -3
View File
@@ -31,6 +31,7 @@
#include "fms_serial_port.h"
#ifdef USE_UART0
volatile uint16_t uart0_rx_insert_idx, uart0_rx_extract_idx;
@@ -44,14 +45,50 @@ struct FmsSerialPort* fmssp0;
int uart0_fd;
extern uint8_t portnum;
//This function will close our UART and reopen with the new baud rate
#ifdef GPS_CONFIGURE
void uart0_init_param( uint16_t baud, uint8_t mode, uint8_t fmode) {
//serial_port_flush_output(fmssp0);
serial_port_close(fmssp0);
fmssp0 = serial_port_new();
if (portnum == 0) {
printf("opening ttyUSB0 on uart0 at %d\n",GPS_BAUD);
serial_port_open_raw(fmssp0,"/dev/ttyUSB0",GPS_BAUD);
}
if (portnum == 1) {
printf("opening ttyUSB1 on uart0 at %d\n",GPS_BAUD);
serial_port_open_raw(fmssp0,"/dev/ttyUSB1",GPS_BAUD);
}
uart0_fd = (int)fmssp0->fd;
// initialize the transmit data queue
uart0_tx_extract_idx = 0;
uart0_tx_insert_idx = 0;
uart0_tx_running = FALSE;
// initialize the receive data queue
uart0_rx_extract_idx = 0;
uart0_rx_insert_idx = 0;
}
#endif
void uart0_init( void ) {
fmssp0 = serial_port_new();
//TODO: set device name in application and pass as argument
if (portnum == 0) {
printf("opening ttyUSB0 on uart0 at %d\n",UART0_BAUD);
serial_port_open_raw(fmssp0,"/dev/ttyUSB0",UART0_BAUD);
}
if (portnum == 1) {
printf("opening ttyUSB1 on uart0 at %d\n",UART0_BAUD);
serial_port_open_raw(fmssp0,"/dev/ttyUSB1",UART0_BAUD);
}
uart0_fd = (int)fmssp0->fd;
@@ -82,6 +119,7 @@ void uart0_transmit( uint8_t data ) {
else { // no, set running flag and write to output register
uart0_tx_running = TRUE;
write(uart0_fd,&data,1);
//printf("w %x\n",data);
}
}
@@ -99,15 +137,16 @@ void uart0_handler(void) {
// check if more data to send
if (uart0_tx_insert_idx != uart0_tx_extract_idx) {
write(uart0_fd,&uart0_tx_buffer[uart0_tx_extract_idx],1);
//printf("w %x\n",uart0_tx_buffer[uart0_tx_extract_idx]);
uart0_tx_extract_idx++;
uart0_tx_extract_idx %= UART0_TX_BUFFER_SIZE;
}
else {
uart0_tx_running = FALSE; // clear running flag
// USART_ITConfig(USART1, USART_IT_TXE, DISABLE);
}
if(read(uart0_fd,&c,1) > 0){
//printf("r %x %c\n",c,c);
uint16_t temp = (uart0_rx_insert_idx + 1) % UART0_RX_BUFFER_SIZE;
uart0_rx_buffer[uart0_rx_insert_idx] = c;
// check for more room in queue
@@ -135,7 +174,14 @@ void uart1_init( void ) {
fmssp1 = serial_port_new();
serial_port_open_raw(fmssp1,"/dev/ttyUSB1",UART1_BAUD);
if (portnum == 0) {
printf("opening ttyUSB1 on uart1 at %d\n",UART1_BAUD);
serial_port_open_raw(fmssp1,"/dev/ttyUSB1",UART1_BAUD);
}
if (portnum == 1) {
printf("opening ttyUSB0 on uart1 at %d\n",UART1_BAUD);
serial_port_open_raw(fmssp1,"/dev/ttyUSB0",UART1_BAUD);
}
uart1_fd = (int)fmssp1->fd;
@@ -164,6 +210,7 @@ void uart1_transmit( uint8_t data ) {
}
else { // no, set running flag and write to output register
uart1_tx_running = TRUE;
//printf("z %x\n",data);
write(uart1_fd,&data,1);
}
@@ -182,15 +229,16 @@ void uart1_handler(void) {
// check if more data to send
if (uart1_tx_insert_idx != uart1_tx_extract_idx) {
write(uart1_fd,&uart1_tx_buffer[uart1_tx_extract_idx],1);
//printf("z %x\n",uart1_tx_buffer[uart1_tx_extract_idx]);
uart1_tx_extract_idx++;
uart1_tx_extract_idx %= UART1_TX_BUFFER_SIZE;
}
else {
uart1_tx_running = FALSE; // clear running flag
// USART_ITConfig(USART1, USART_IT_TXE, DISABLE);
}
if(read(uart1_fd,&c,1) > 0){
//printf("s %x %c\n",c,c);
uint16_t temp = (uart1_rx_insert_idx + 1) % UART1_RX_BUFFER_SIZE;;
uart1_rx_buffer[uart1_rx_insert_idx] = c;
// check for more room in queue
@@ -210,6 +258,7 @@ void uart_init( void )
#ifdef USE_UART1
uart1_init();
#endif
//TODO: add uart2 and greater
#ifdef USE_UART2
uart2_init();
#endif
sw/airborne/beth/uart_hw.h
+10 -8
View File
@@ -21,22 +21,23 @@
* Boston, MA 02111-1307, USA.
*/
/*
*\brief STM32 usart functions
*
*/
#ifndef UART_HW_H
#define UART_HW_H
#include "std.h"
/*
#define B9600 9600
//coment to avoid redefinition
/*#define B9600 9600
#define B38400 38400
#define B57600 57600
#define B57600 57600
#define B115200 115200
*/
//junk for gps_configure_uart in gps_ubx.c to compile
#define UART_8N1 1
#define UART_FIFO_8 1
#define UART_BAUD(baud) (baud)
#define Uart1_init uart1_init()
#define Uart2_init uart2_init()
#define Uart3_init uart3_init()
@@ -99,5 +100,6 @@ extern uint8_t uart1_tx_buffer[UART1_TX_BUFFER_SIZE];
void uart_init( void );
void uart0_init_param( uint16_t baud, uint8_t mode, uint8_t fmode);
#endif /* UART_HW_H */