Merge branch 'master' of github.com:PX4/Firmware

3 files changed, 192 insertions, 1 deletions

diff --git a/Tools/com b/Tools/com
new file mode 100755
index 000000000..1d80d4aa5
--- /dev/null
+++ b/Tools/com
diff --git a/Tools/com.c b/Tools/com.c
new file mode 100644
index 000000000..fa52dcb61
--- /dev/null
+++ b/Tools/com.c
@@ -0,0 +1,191 @@
+/*
+ * Building: cc -o com com.c
+ * Usage   : ./com /dev/device [speed]
+ * Example : ./com /dev/ttyS0 [115200]
+ * Keys    : Ctrl-A - exit, Ctrl-X - display control lines status
+ * Darcs   : darcs get http://tinyserial.sf.net/
+ * Homepage: http://tinyserial.sourceforge.net
+ * Version : 2009-03-05
+ *
+ * Ivan Tikhonov, http://www.brokestream.com, kefeer@brokestream.com
+ * Patches by Jim Kou, Henry Nestler, Jon Miner, Alan Horstmann
+ *
+ */
+
+
+/* Copyright (C) 2007 Ivan Tikhonov
+
+  This software is provided 'as-is', without any express or implied
+  warranty.  In no event will the authors be held liable for any damages
+  arising from the use of this software.
+
+  Permission is granted to anyone to use this software for any purpose,
+  including commercial applications, and to alter it and redistribute it
+  freely, subject to the following restrictions:
+
+  1. The origin of this software must not be misrepresented; you must not
+     claim that you wrote the original software. If you use this software
+     in a product, an acknowledgment in the product documentation would be
+     appreciated but is not required.
+  2. Altered source versions must be plainly marked as such, and must not be
+     misrepresented as being the original software.
+  3. This notice may not be removed or altered from any source distribution.
+
+  Ivan Tikhonov, kefeer@brokestream.com
+
+*/
+
+#include <termios.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <sys/signal.h>
+#include <sys/types.h>
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#include <errno.h>
+
+int transfer_byte(int from, int to, int is_control);
+
+typedef struct {char *name; int flag; } speed_spec;
+
+
+void print_status(int fd) {
+	int status;
+	unsigned int arg;
+	status = ioctl(fd, TIOCMGET, &arg);
+	fprintf(stderr, "[STATUS]: ");
+	if(arg & TIOCM_RTS) fprintf(stderr, "RTS ");
+	if(arg & TIOCM_CTS) fprintf(stderr, "CTS ");
+	if(arg & TIOCM_DSR) fprintf(stderr, "DSR ");
+	if(arg & TIOCM_CAR) fprintf(stderr, "DCD ");
+	if(arg & TIOCM_DTR) fprintf(stderr, "DTR ");
+	if(arg & TIOCM_RNG) fprintf(stderr, "RI ");
+	fprintf(stderr, "\r\n");
+}
+
+int main(int argc, char *argv[])
+{
+	int comfd;
+	struct termios oldtio, newtio;       //place for old and new port settings for serial port
+	struct termios oldkey, newkey;       //place tor old and new port settings for keyboard teletype
+	char *devicename = argv[1];
+	int need_exit = 0;
+	speed_spec speeds[] =
+	{
+		{"1200", B1200},
+		{"2400", B2400},
+		{"4800", B4800},
+		{"9600", B9600},
+		{"19200", B19200},
+		{"38400", B38400},
+		{"57600", B57600},
+		{"115200", B115200},
+		{NULL, 0}
+	};
+	int speed = B9600;
+
+	if(argc < 2) {
+		fprintf(stderr, "example: %s /dev/ttyS0 [115200]\n", argv[0]);
+		exit(1);
+	}
+
+	comfd = open(devicename, O_RDWR | O_NOCTTY | O_NONBLOCK);
+	if (comfd < 0)
+	{
+		perror(devicename);
+		exit(-1);
+	}
+
+	if(argc > 2) {	
+		speed_spec *s;
+		for(s = speeds; s->name; s++) {
+			if(strcmp(s->name, argv[2]) == 0) {
+				speed = s->flag;
+				fprintf(stderr, "setting speed %s\n", s->name);
+				break;
+			}
+		}
+	}
+
+	fprintf(stderr, "C-a exit, C-x modem lines status\n");
+
+	tcgetattr(STDIN_FILENO,&oldkey);
+	newkey.c_cflag = B9600 | CRTSCTS | CS8 | CLOCAL | CREAD;
+	newkey.c_iflag = IGNPAR;
+	newkey.c_oflag = 0;
+	newkey.c_lflag = 0;
+	newkey.c_cc[VMIN]=1;
+	newkey.c_cc[VTIME]=0;
+	tcflush(STDIN_FILENO, TCIFLUSH);
+	tcsetattr(STDIN_FILENO,TCSANOW,&newkey);
+
+
+	tcgetattr(comfd,&oldtio); // save current port settings 
+	newtio.c_cflag = speed | CS8 | CLOCAL | CREAD;
+	newtio.c_iflag = IGNPAR;
+	newtio.c_oflag = 0;
+	newtio.c_lflag = 0;
+	newtio.c_cc[VMIN]=1;
+	newtio.c_cc[VTIME]=0;
+	tcflush(comfd, TCIFLUSH);
+	tcsetattr(comfd,TCSANOW,&newtio);
+
+	print_status(comfd);
+
+	while(!need_exit) {
+		fd_set fds;
+		int ret;
+		
+		FD_ZERO(&fds);
+		FD_SET(STDIN_FILENO, &fds);
+		FD_SET(comfd, &fds);
+
+
+		ret = select(comfd+1, &fds, NULL, NULL, NULL);
+		if(ret == -1) {
+			perror("select");
+		} else if (ret > 0) {
+			if(FD_ISSET(STDIN_FILENO, &fds)) {
+				need_exit = transfer_byte(STDIN_FILENO, comfd, 1);
+			}
+			if(FD_ISSET(comfd, &fds)) {
+				need_exit = transfer_byte(comfd, STDIN_FILENO, 0);
+			}
+		}
+	}
+
+	tcsetattr(comfd,TCSANOW,&oldtio);
+	tcsetattr(STDIN_FILENO,TCSANOW,&oldkey);
+	close(comfd);
+
+	return 0;
+}
+
+
+int transfer_byte(int from, int to, int is_control) {
+	char c;
+	int ret;
+	do {
+		ret = read(from, &c, 1);
+	} while (ret < 0 && errno == EINTR);
+	if(ret == 1) {
+		if(is_control) {
+			if(c == '\x01') { // C-a
+				return -1;
+			} else if(c == '\x18') { // C-x
+				print_status(to);
+				return 0;
+			}
+		}
+		while(write(to, &c, 1) == -1) {
+			if(errno!=EAGAIN && errno!=EINTR) { perror("write failed"); break; }
+		}
+	} else {
+		fprintf(stderr, "\nnothing to read. probably port disconnected.\n");
+		return -2;
+	}
+	return 0;
+}
+
diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py
index cab3c2fd0..52d089360 100755
--- a/Tools/px_uploader.py
+++ b/Tools/px_uploader.py
@@ -436,7 +436,7 @@ while True:
                         print("attempting reboot on %s..." % port)
                         up.send_reboot()
                         # wait for the reboot, without we might run into Serial I/O Error 5 
-                        time.sleep(1.5)
+                        time.sleep(0.5)
                         continue
 
                 try: