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Commit 527fe4b3 authored by Mark Whitehorn's avatar Mark Whitehorn Committed by Lorenz Meier
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remove sPort_telemetry directory

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src/drivers/frsky_telemetry/CMakeLists.txt
+ 1
− 0
View file @ 527fe4b3
......@@ -38,6 +38,7 @@ px4_add_module(
-Os
SRCS
frsky_data.c
sPort_data.c
frsky_telemetry.c
DEPENDS
platforms__common
......
src/drivers/frsky_telemetry/frsky_telemetry.c
+ 3
− 3
View file @ 527fe4b3
......@@ -59,13 +59,13 @@
#include <drivers/drv_hrt.h>
#include "sPort_data.h"
#include "../frsky_telemetry/frsky_data.h"
#include "frsky_data.h"
/* thread state */
static volatile bool thread_should_exit = false;
static volatile bool thread_running = false;
static int sPort_task;
static int frsky_task;
/* functions */
static int sPort_open_uart(const char *uart_name, struct termios *uart_config, struct termios *uart_config_original);
......@@ -377,7 +377,7 @@ int frsky_telemetry_main(int argc, char *argv[])
}
thread_should_exit = false;
sPort_task = px4_task_spawn_cmd("sPort_telemetry",
frsky_task = px4_task_spawn_cmd("frsky_telemetry",
SCHED_DEFAULT,
200,
2000,
......
src/drivers/sPort_telemetry/CMakeLists.txt deleted 100644 → 0
+ 0
− 45
View file @ c81c34b1
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE drivers__sPort_telemetry
MAIN sPort_telemetry
STACK 1200
COMPILE_FLAGS
-Os
SRCS
sPort_data.c
sPort_telemetry.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/drivers/sPort_telemetry/sPort_data.c deleted 100644 → 0
+ 0
− 216
View file @ c81c34b1
/****************************************************************************
*
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
* Author: Stefan Rado <px4@sradonia.net>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file sPort_data.c
* @author Stefan Rado <px4@sradonia.net>
*
* FrSky SmartPort telemetry implementation.
*
*/
#include "sPort_data.h"
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <arch/math.h>
#include <geo/geo.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_status.h>
#include <drivers/drv_hrt.h>
#define frac(f) (f - (int)f)
static int battery_sub = -1;
static int sensor_sub = -1;
static int global_position_sub = -1;
static int vehicle_status_sub = -1;
/**
* Initializes the uORB subscriptions.
*/
void sPort_init()
{
battery_sub = orb_subscribe(ORB_ID(battery_status));
global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
}
/**
* Sends a 0x10 start byte.
*/
//static void sPort_send_start(int uart)
//{
// static const uint8_t c = 0x10;
// write(uart, &c, 1);
//}
static void update_crc(uint16_t *crc, unsigned char b)
{
*crc += b;
*crc += *crc >> 8;
*crc &= 0xFF;
}
/**
* Sends one byte, performing byte-stuffing if necessary.
*/
static void sPort_send_byte(int uart, uint8_t value)
{
const uint8_t x7E[] = { 0x7D, 0x5E };
const uint8_t x7D[] = { 0x7D, 0x5D };
switch (value) {
case 0x7E:
write(uart, x7E, sizeof(x7E));
break;
case 0x7D:
write(uart, x7D, sizeof(x7D));
break;
default:
write(uart, &value, sizeof(value));
break;
}
}
/**
* Sends one data id/value pair.
*/
void sPort_send_data(int uart, uint16_t id, uint32_t data)
{
union {
uint32_t word;
uint8_t byte[4];
} buf;
/* send start byte */
static const uint8_t c = 0x10;
write(uart, &c, 1);
/* init crc */
uint16_t crc = c;
buf.word = id;
for (int i = 0; i < 2; i++) {
update_crc(&crc, buf.byte[i]);
sPort_send_byte(uart, buf.byte[i]); /* LSB first */
}
buf.word = data;
for (int i = 0; i < 4; i++) {
update_crc(&crc, buf.byte[i]);
sPort_send_byte(uart, buf.byte[i]); /* LSB first */
}
sPort_send_byte(uart, 0xFF - crc);
}
// scaling correct with OpenTX 2.1.7
void sPort_send_BATV(int uart)
{
/* get a local copy of the vehicle status data */
struct vehicle_status_s vehicle_status;
memset(&vehicle_status, 0, sizeof(vehicle_status));
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
/* send battery voltage as VFAS */
uint32_t voltage = (int)(100 * vehicle_status.battery_voltage);
sPort_send_data(uart, SMARTPORT_ID_VFAS, voltage);
}
// verified scaling
void sPort_send_CUR(int uart)
{
/* get a local copy of the vehicle status data */
struct vehicle_status_s vehicle_status;
memset(&vehicle_status, 0, sizeof(vehicle_status));
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
/* send data */
uint32_t current = (int)(10 * vehicle_status.battery_current);
sPort_send_data(uart, SMARTPORT_ID_CURR, current);
}
// verified scaling for "custom" altitude option
// OpenTX uses the initial reading as field elevation and displays
// the difference (altitude - field)
void sPort_send_ALT(int uart)
{
/* get a local copy of the current sensor values */
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
/* send data */
uint32_t alt = (int)(100 * raw.baro_alt_meter[0]);
sPort_send_data(uart, SMARTPORT_ID_ALT, alt);
}
// verified scaling for "calculated" option
void sPort_send_SPD(int uart)
{
/* get a local copy of the global position data */
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
/* send data for A2 */
float speed = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e);
uint32_t ispeed = (int)(10 * speed);
sPort_send_data(uart, SMARTPORT_ID_GPS_SPD, ispeed);
}
// verified scaling
void sPort_send_FUEL(int uart)
{
/* get a local copy of the vehicle status data */
struct vehicle_status_s vehicle_status;
memset(&vehicle_status, 0, sizeof(vehicle_status));
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
/* send data */
uint32_t fuel = (int)(100 * vehicle_status.battery_remaining);
sPort_send_data(uart, SMARTPORT_ID_FUEL, fuel);
}
src/drivers/sPort_telemetry/sPort_data.h deleted 100644 → 0
+ 0
− 87
View file @ c81c34b1
/****************************************************************************
*
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
* Author: Stefan Rado <px4@sradonia.net>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file sPort_data.h
* @author Stefan Rado <px4@sradonia.net>
*
* FrSky SmartPort telemetry implementation.
*
*/
#ifndef _SPORT_DATA_H
#define _SPORT_DATA_H
#include <sys/types.h>
/* FrSky SmartPort polling IDs captured from X4R */
#define SMARTPORT_POLL_1 0x1B
#define SMARTPORT_POLL_2 0x34
#define SMARTPORT_POLL_3 0x95
#define SMARTPORT_POLL_4 0x16
#define SMARTPORT_POLL_5 0xB7
/* FrSky SmartPort sensor IDs */
#define SMARTPORT_ID_RSSI 0xf101
#define SMARTPORT_ID_RXA1 0xf102 // supplied by RX
#define SMARTPORT_ID_RXA2 0xf103 // supplied by RX
#define SMARTPORT_ID_BATV 0xf104
#define SMARTPORT_ID_SWR 0xf105
#define SMARTPORT_ID_T1 0x0400
#define SMARTPORT_ID_T2 0x0410
#define SMARTPORT_ID_RPM 0x0500
#define SMARTPORT_ID_FUEL 0x0600
#define SMARTPORT_ID_ALT 0x0100
#define SMARTPORT_ID_VARIO 0x0110
#define SMARTPORT_ID_ACCX 0x0700
#define SMARTPORT_ID_ACCY 0x0710
#define SMARTPORT_ID_ACCZ 0x0720
#define SMARTPORT_ID_CURR 0x0200
#define SMARTPORT_ID_VFAS 0x0210
#define SMARTPORT_ID_CELLS 0x0300
#define SMARTPORT_ID_GPS_LON_LAT 0x0800
#define SMARTPORT_ID_GPS_ALT 0x0820
#define SMARTPORT_ID_GPS_SPD 0x0830
#define SMARTPORT_ID_GPS_CRS 0x0840
#define SMARTPORT_ID_GPS_TIME 0x0850
// Public functions
void sPort_init(void);
void sPort_send_data(int uart, uint16_t id, uint32_t data);
void sPort_send_BATV(int uart);
void sPort_send_CUR(int uart);
void sPort_send_ALT(int uart);
void sPort_send_SPD(int uart);
void sPort_send_FUEL(int uart);
#endif /* _SPORT_TELEMETRY_H */
src/drivers/sPort_telemetry/sPort_telemetry.c deleted 100644 → 0
+ 0
− 407
View file @ c81c34b1
/****************************************************************************
*
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
* Author: Stefan Rado <px4@sradonia.net>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file sPort_telemetry.c
* @author Mark Whitehorn <kd0aij@github.com>
* @author Stefan Rado <px4@sradonia.net>
*
* FrSky SmartPort telemetry implementation.
*
* This daemon emulates FrSky SmartPort sensors by responding to polling
* packets received from an attached FrSky X series receiver.
*
*/
#include <stdlib.h>
#include <stdio.h>
#include <stdbool.h>
#include <string.h>
#include <sys/types.h>
#include <poll.h>
#include <fcntl.h>
#include <unistd.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <termios.h>
#include <drivers/drv_hrt.h>
#include "sPort_data.h"
#include "../frsky_telemetry/frsky_data.h"
/* thread state */
static volatile bool thread_should_exit = false;
static volatile bool thread_running = false;
static int sPort_task;
/* functions */
static int sPort_open_uart(const char *uart_name, struct termios *uart_config, struct termios *uart_config_original);
static void usage(void);
static int sPort_telemetry_thread_main(int argc, char *argv[]);
__EXPORT int sPort_telemetry_main(int argc, char *argv[]);
/**
* Opens the UART device and sets all required serial parameters.
*/
static int sPort_open_uart(const char *uart_name, struct termios *uart_config, struct termios *uart_config_original)
{
/* Open UART */
const int uart = open(uart_name, O_RDWR | O_NOCTTY | O_NONBLOCK);
if (uart < 0) {
err(1, "Error opening port: %s", uart_name);
}
/* Back up the original UART configuration to restore it after exit */
int termios_state;
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
warnx("ERR: tcgetattr%s: %d\n", uart_name, termios_state);
close(uart);
return -1;
}
/* Fill the struct for the new configuration */
tcgetattr(uart, uart_config);
/* Disable output post-processing */
uart_config->c_oflag &= ~OPOST;
/* Set baud rate */
static const speed_t speed = B57600;
if (cfsetispeed(uart_config, speed) < 0 || cfsetospeed(uart_config, speed) < 0) {
warnx("ERR: %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
close(uart);
return -1;
}
if ((termios_state = tcsetattr(uart, TCSANOW, uart_config)) < 0) {
warnx("ERR: %s (tcsetattr)\n", uart_name);
close(uart);
return -1;
}
return uart;
}
/**
* Print command usage information
*/
static void usage()
{
fprintf(stderr,
"usage: sPort_telemetry start [-d <devicename>]\n"
" sPort_telemetry stop\n"
" sPort_telemetry status\n");
exit(1);
}
/**
* The daemon thread.
*/
static int sPort_telemetry_thread_main(int argc, char *argv[])
{
/* Default values for arguments */
char *device_name = "/dev/ttyS6"; /* USART8 */
/* Work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
int ch;
while ((ch = getopt(argc, argv, "d:")) != EOF) {
switch (ch) {
case 'd':
device_name = optarg;
break;
default:
usage();
break;
}
}
/* Open UART */
warnx("opening uart");
struct termios uart_config_original;
struct termios uart_config;
const int uart = sPort_open_uart(device_name, &uart_config, &uart_config_original);
if (uart < 0) {
warnx("could not open %s", device_name);
err(1, "could not open %s", device_name);
}
/* poll descriptor */
struct pollfd fds[1];
fds[0].fd = uart;
fds[0].events = POLLIN;
thread_running = true;
/* Main thread loop */
char sbuf[20];
/* look for polling frames indicating SmartPort telemetry
* if not found, send D type telemetry frames instead
*/
int status = poll(fds, sizeof(fds) / sizeof(fds[0]), 3000);
if (status < 1) {
/* timed out: reconfigure UART and send D type telemetry */
warnx("sending FrSky D type telemetry");
if (cfsetispeed(&uart_config, B9600) < 0 || cfsetospeed(&uart_config, B9600) < 0) {
warnx("ERR: %s:(cfsetispeed, cfsetospeed)\n", device_name);
close(uart);
return -1;
}
if (tcsetattr(uart, TCSANOW, &uart_config) < 0) {
warnx("ERR: %s (tcsetattr)\n", device_name);
close(uart);
return -1;
}
int iteration = 0;
/* Subscribe to topics */
frsky_init();
while (!thread_should_exit) {
/* Sleep 200 ms */
usleep(200000);
/* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */
frsky_send_frame1(uart);
/* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */
if (iteration % 5 == 0) {
frsky_send_frame2(uart);
}
/* Send frame 3 (every 5000ms): date, time */
if (iteration % 25 == 0) {
frsky_send_frame3(uart);
iteration = 0;
}
iteration++;
}
} else {
/* Subscribe to topics */
sPort_init();
/* send S.port telemetry */
while (!thread_should_exit) {
/* wait for poll frame starting with value 0x7E
* note that only the bus master is supposed to put a 0x7E on the bus.
* slaves use byte stuffing to send 0x7E and 0x7D.
* we expect a poll frame every 12msec
*/
int status = poll(fds, sizeof(fds) / sizeof(fds[0]), 50);
if (status < 1) { continue; }
// read 1 byte
int newBytes = read(uart, &sbuf[0], 1);
if (newBytes < 1 || sbuf[0] != 0x7E) { continue; }
/* wait for ID byte */
status = poll(fds, sizeof(fds) / sizeof(fds[0]), 50);
if (status < 1) { continue; }
hrt_abstime now = hrt_absolute_time();
newBytes = read(uart, &sbuf[1], 1);
// allow a minimum of 500usec before reply
usleep(500);
static hrt_abstime lastBATV = 0;
static hrt_abstime lastCUR = 0;
static hrt_abstime lastALT = 0;
static hrt_abstime lastSPD = 0;
static hrt_abstime lastFUEL = 0;
switch (sbuf[1]) {
case SMARTPORT_POLL_1:
/* report BATV at 1Hz */
if (now - lastBATV > 1000 * 1000) {
lastBATV = now;
/* send battery voltage */
sPort_send_BATV(uart);
}
break;
case SMARTPORT_POLL_2:
/* report battery current at 5Hz */
if (now - lastCUR > 200 * 1000) {
lastCUR = now;
/* send battery current */
sPort_send_CUR(uart);
}
break;
case SMARTPORT_POLL_3:
/* report altitude at 5Hz */
if (now - lastALT > 200 * 1000) {
lastALT = now;
/* send altitude */
sPort_send_ALT(uart);
}
break;
case SMARTPORT_POLL_4:
/* report speed at 5Hz */
if (now - lastSPD > 200 * 1000) {
lastSPD = now;
/* send speed */
sPort_send_SPD(uart);
}
break;
case SMARTPORT_POLL_5:
/* report fuel at 1Hz */
if (now - lastFUEL > 1000 * 1000) {
lastFUEL = now;
/* send fuel */
sPort_send_FUEL(uart);
}
break;
}
/* TODO: flush the input buffer if in full duplex mode */
read(uart, &sbuf[0], sizeof(sbuf));
}
}
/* Reset the UART flags to original state */
tcsetattr(uart, TCSANOW, &uart_config_original);
close(uart);
thread_running = false;
return 0;
}
/**
* The main command function.
* Processes command line arguments and starts the daemon.
*/
int sPort_telemetry_main(int argc, char *argv[])
{
if (argc < 2) {
warnx("missing command");
usage();
}
if (!strcmp(argv[1], "start")) {
/* this is not an error */
if (thread_running) {
errx(0, "sPort_telemetry already running");
}
thread_should_exit = false;
sPort_task = px4_task_spawn_cmd("sPort_telemetry",
SCHED_DEFAULT,
200,
2000,
sPort_telemetry_thread_main,
(char *const *)argv);
while (!thread_running) {
usleep(200);
}
exit(0);
}
if (!strcmp(argv[1], "stop")) {
/* this is not an error */
if (!thread_running) {
errx(0, "sPort_telemetry already stopped");
}
thread_should_exit = true;
while (thread_running) {
usleep(200000);
warnx(".");
}
warnx("terminated.");
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
errx(0, "running");
} else {
errx(1, "not running");
}
}
warnx("unrecognized command");
usage();
/* not getting here */
return 0;
}
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