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initial test of FrSky SmartPort telemetry
This commit is contained in:
Mark Whitehorn
committed by
Lorenz Meier
Lorenz Meier
parent
9a8e94bb68
commit
47dcf71554
51
src/drivers/frsky_telemetry/sPort_data.h
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51
src/drivers/frsky_telemetry/sPort_data.h
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/****************************************************************************
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*
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* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
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* Author: Stefan Rado <px4@sradonia.net>
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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 sPort_data.h
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* @author Stefan Rado <px4@sradonia.net>
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*
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* FrSky SmartPort telemetry implementation.
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*
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*/
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#ifndef _FRSKY_DATA_H
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#define _FRSKY_DATA_H
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// Public functions
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void frsky_init(void);
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void frsky_send_frame1(int uart);
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void frsky_send_frame2(int uart);
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void frsky_send_frame3(int uart);
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#endif /* _FRSKY_TELEMETRY_H */
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267
src/drivers/frsky_telemetry/sPort_telemetry.c
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267
src/drivers/frsky_telemetry/sPort_telemetry.c
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/****************************************************************************
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*
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* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
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* Author: Stefan Rado <px4@sradonia.net>
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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 frsky_telemetry.c
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* @author Stefan Rado <px4@sradonia.net>
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*
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* FrSky SmartPort telemetry implementation.
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*
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* This daemon emulates FrSky SmartPort sensors by responding to polling
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* packets received from an attached FrSky X series receiver.
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*
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*/
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#include <stdlib.h>
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#include <stdio.h>
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#include <stdbool.h>
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#include <string.h>
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#include <sys/types.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <systemlib/err.h>
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#include <systemlib/systemlib.h>
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#include <termios.h>
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#include "frsky_data.h"
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/* thread state */
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static volatile bool thread_should_exit = false;
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static volatile bool thread_running = false;
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static int frsky_task;
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/* functions */
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static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original);
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static void usage(void);
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static int frsky_telemetry_thread_main(int argc, char *argv[]);
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__EXPORT int frsky_telemetry_main(int argc, char *argv[]);
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/**
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* Opens the UART device and sets all required serial parameters.
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*/
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static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original)
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{
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/* Open UART */
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const int uart = open(uart_name, O_WRONLY | O_NOCTTY);
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if (uart < 0) {
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err(1, "Error opening port: %s", uart_name);
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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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if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
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warnx("ERR: tcgetattr%s: %d\n", uart_name, termios_state);
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close(uart);
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return -1;
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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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/* Disable output post-processing */
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uart_config.c_oflag &= ~OPOST;
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/* Set baud rate */
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static const speed_t speed = B9600;
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if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
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warnx("ERR: %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
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close(uart);
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return -1;
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}
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if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
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warnx("ERR: %s (tcsetattr)\n", uart_name);
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close(uart);
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return -1;
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}
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return uart;
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}
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/**
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* Print command usage information
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*/
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static void usage()
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{
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fprintf(stderr,
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"usage: frsky_telemetry start [-d <devicename>]\n"
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" frsky_telemetry stop\n"
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" frsky_telemetry status\n");
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exit(1);
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}
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/**
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* The daemon thread.
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*/
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static int frsky_telemetry_thread_main(int argc, char *argv[])
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{
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/* Default values for arguments */
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char *device_name = "/dev/ttyS1"; /* USART2 */
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/* Work around some stupidity in task_create's argv handling */
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argc -= 2;
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argv += 2;
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int ch;
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while ((ch = getopt(argc, argv, "d:")) != EOF) {
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switch (ch) {
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case 'd':
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device_name = optarg;
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break;
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default:
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usage();
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break;
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}
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}
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/* Open UART */
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struct termios uart_config_original;
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const int uart = frsky_open_uart(device_name, &uart_config_original);
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if (uart < 0) {
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err(1, "could not open %s", device_name);
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}
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/* Subscribe to topics */
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frsky_init();
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thread_running = true;
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/* Main thread loop */
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unsigned int iteration = 0;
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while (!thread_should_exit) {
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/* Sleep 200 ms */
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usleep(200000);
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/* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */
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frsky_send_frame1(uart);
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/* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */
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if (iteration % 5 == 0) {
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frsky_send_frame2(uart);
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}
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/* Send frame 3 (every 5000ms): date, time */
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if (iteration % 25 == 0) {
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frsky_send_frame3(uart);
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iteration = 0;
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}
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iteration++;
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}
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/* Reset the UART flags to original state */
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tcsetattr(uart, TCSANOW, &uart_config_original);
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close(uart);
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thread_running = false;
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return 0;
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}
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/**
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* The main command function.
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* Processes command line arguments and starts the daemon.
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*/
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int frsky_telemetry_main(int argc, char *argv[])
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{
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if (argc < 2) {
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warnx("missing command");
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usage();
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}
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if (!strcmp(argv[1], "start")) {
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/* this is not an error */
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if (thread_running) {
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errx(0, "frsky_telemetry already running");
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}
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thread_should_exit = false;
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frsky_task = px4_task_spawn_cmd("frsky_telemetry",
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SCHED_DEFAULT,
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SCHED_PRIORITY_DEFAULT,
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2000,
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frsky_telemetry_thread_main,
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(char *const *)argv);
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while (!thread_running) {
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usleep(200);
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}
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exit(0);
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}
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if (!strcmp(argv[1], "stop")) {
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/* this is not an error */
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if (!thread_running) {
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errx(0, "frsky_telemetry already stopped");
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}
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thread_should_exit = true;
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while (thread_running) {
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usleep(200000);
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warnx(".");
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}
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warnx("terminated.");
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exit(0);
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}
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if (!strcmp(argv[1], "status")) {
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if (thread_running) {
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errx(0, "running");
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} else {
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errx(1, "not running");
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}
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}
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warnx("unrecognized command");
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usage();
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/* not getting here */
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return 0;
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}
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