Removed leftover mavlink_receiver.c file

1 files changed, 0 insertions, 600 deletions

diff --git a/src/modules/mavlink/mavlink_receiver.c b/src/modules/mavlink/mavlink_receiver.c
deleted file mode 100644
index 940d030b2..000000000
--- a/src/modules/mavlink/mavlink_receiver.c
+++ /dev/null
@@ -1,600 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *
- * 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 mavlink_receiver.c
- * MAVLink protocol message receive and dispatch
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-/* XXX trim includes */
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <pthread.h>
-#include <stdio.h>
-#include <math.h>
-#include <stdbool.h>
-#include <fcntl.h>
-#include <mqueue.h>
-#include <string.h>
-#include "mavlink_bridge_header.h"
-#include <v1.0/common/mavlink.h>
-#include <drivers/drv_hrt.h>
-#include <time.h>
-#include <float.h>
-#include <unistd.h>
-#include <nuttx/sched.h>
-#include <sys/prctl.h>
-#include <termios.h>
-#include <errno.h>
-#include <stdlib.h>
-#include <poll.h>
-
-#include <systemlib/param/param.h>
-#include <systemlib/systemlib.h>
-#include <mavlink/mavlink_log.h>
-
-#include "waypoints.h"
-#include "orb_topics.h"
-#include "missionlib.h"
-#include "mavlink_hil.h"
-#include "mavlink_parameters.h"
-#include "util.h"
-
-/* XXX should be in a header somewhere */
-pthread_t receive_start(int uart);
-
-static void handle_message(mavlink_message_t *msg);
-static void *receive_thread(void *arg);
-
-static mavlink_status_t status;
-static struct vehicle_vicon_position_s vicon_position;
-static struct vehicle_command_s vcmd;
-static struct offboard_control_setpoint_s offboard_control_sp;
-
-struct vehicle_global_position_s hil_global_pos;
-struct vehicle_attitude_s hil_attitude;
-struct vehicle_gps_position_s hil_gps;
-struct sensor_combined_s hil_sensors;
-orb_advert_t pub_hil_global_pos = -1;
-orb_advert_t pub_hil_attitude = -1;
-orb_advert_t pub_hil_gps = -1;
-orb_advert_t pub_hil_sensors = -1;
-
-static orb_advert_t cmd_pub = -1;
-static orb_advert_t flow_pub = -1;
-
-static orb_advert_t offboard_control_sp_pub = -1;
-static orb_advert_t vicon_position_pub = -1;
-
-extern bool gcs_link;
-
-static void
-handle_message(mavlink_message_t *msg)
-{
-	if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
-
-		mavlink_command_long_t cmd_mavlink;
-		mavlink_msg_command_long_decode(msg, &cmd_mavlink);
-
-		if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
-				|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
-			//check for MAVLINK terminate command
-			if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
-				/* This is the link shutdown command, terminate mavlink */
-				printf("[mavlink] Terminating .. \n");
-				fflush(stdout);
-				usleep(50000);
-
-				/* terminate other threads and this thread */
-				thread_should_exit = true;
-
-			} else {
-
-				/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
-				vcmd.param1 = cmd_mavlink.param1;
-				vcmd.param2 = cmd_mavlink.param2;
-				vcmd.param3 = cmd_mavlink.param3;
-				vcmd.param4 = cmd_mavlink.param4;
-				vcmd.param5 = cmd_mavlink.param5;
-				vcmd.param6 = cmd_mavlink.param6;
-				vcmd.param7 = cmd_mavlink.param7;
-				vcmd.command = cmd_mavlink.command;
-				vcmd.target_system = cmd_mavlink.target_system;
-				vcmd.target_component = cmd_mavlink.target_component;
-				vcmd.source_system = msg->sysid;
-				vcmd.source_component = msg->compid;
-				vcmd.confirmation =  cmd_mavlink.confirmation;
-
-				/* check if topic is advertised */
-				if (cmd_pub <= 0) {
-					cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
-				}
-
-				/* publish */
-				orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
-			}
-		}
-	}
-
-	if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) {
-		mavlink_optical_flow_t flow;
-		mavlink_msg_optical_flow_decode(msg, &flow);
-
-		struct optical_flow_s f;
-
-		f.timestamp = flow.time_usec;
-		f.flow_raw_x = flow.flow_x;
-		f.flow_raw_y = flow.flow_y;
-		f.flow_comp_x_m = flow.flow_comp_m_x;
-		f.flow_comp_y_m = flow.flow_comp_m_y;
-		f.ground_distance_m = flow.ground_distance;
-		f.quality = flow.quality;
-		f.sensor_id = flow.sensor_id;
-
-		/* check if topic is advertised */
-		if (flow_pub <= 0) {
-			flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
-
-		} else {
-			/* publish */
-			orb_publish(ORB_ID(optical_flow), flow_pub, &f);
-		}
-	}
-
-	if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {
-		/* Set mode on request */
-		mavlink_set_mode_t new_mode;
-		mavlink_msg_set_mode_decode(msg, &new_mode);
-
-		/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
-		vcmd.param1 = new_mode.base_mode;
-		vcmd.param2 = new_mode.custom_mode;
-		vcmd.param3 = 0;
-		vcmd.param4 = 0;
-		vcmd.param5 = 0;
-		vcmd.param6 = 0;
-		vcmd.param7 = 0;
-		vcmd.command = MAV_CMD_DO_SET_MODE;
-		vcmd.target_system = new_mode.target_system;
-		vcmd.target_component = MAV_COMP_ID_ALL;
-		vcmd.source_system = msg->sysid;
-		vcmd.source_component = msg->compid;
-		vcmd.confirmation = 1;
-
-		/* check if topic is advertised */
-		if (cmd_pub <= 0) {
-			cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
-
-		} else {
-			/* create command */
-			orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
-		}
-	}
-
-	/* Handle Vicon position estimates */
-	if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) {
-		mavlink_vicon_position_estimate_t pos;
-		mavlink_msg_vicon_position_estimate_decode(msg, &pos);
-
-		vicon_position.timestamp = hrt_absolute_time();
-
-		vicon_position.x = pos.x;
-		vicon_position.y = pos.y;
-		vicon_position.z = pos.z;
-
-		vicon_position.roll = pos.roll;
-		vicon_position.pitch = pos.pitch;
-		vicon_position.yaw = pos.yaw;
-
-		if (vicon_position_pub <= 0) {
-			vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
-
-		} else {
-			orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position);
-		}
-	}
-
-	/* Handle quadrotor motor setpoints */
-
-	if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
-		mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
-		mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
-
-		if (mavlink_system.sysid < 4) {
-
-			/* switch to a receiving link mode */
-			gcs_link = false;
-
-			/*
-			 * rate control mode - defined by MAVLink
-			 */
-
-			uint8_t ml_mode = 0;
-			bool ml_armed = false;
-
-			switch (quad_motors_setpoint.mode) {
-			case 0:
-				ml_armed = false;
-				break;
-
-			case 1:
-				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
-				ml_armed = true;
-
-				break;
-
-			case 2:
-				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
-				ml_armed = true;
-
-				break;
-
-			case 3:
-				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
-				break;
-
-			case 4:
-				ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
-				break;
-			}
-
-			offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1]   / (float)INT16_MAX;
-			offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1]  / (float)INT16_MAX;
-			offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1]    / (float)INT16_MAX;
-			offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
-
-			if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) {
-				ml_armed = false;
-			}
-
-			offboard_control_sp.armed = ml_armed;
-			offboard_control_sp.mode = ml_mode;
-
-			offboard_control_sp.timestamp = hrt_absolute_time();
-
-			/* check if topic has to be advertised */
-			if (offboard_control_sp_pub <= 0) {
-				offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
-
-			} else {
-				/* Publish */
-				orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
-			}
-		}
-	}
-
-	/*
-	 * Only decode hil messages in HIL mode.
-	 *
-	 * The HIL mode is enabled by the HIL bit flag
-	 * in the system mode. Either send a set mode
-	 * COMMAND_LONG message or a SET_MODE message
-	 */
-
-	if (mavlink_hil_enabled) {
-
-		uint64_t timestamp = hrt_absolute_time();
-
-		if (msg->msgid == MAVLINK_MSG_ID_HIGHRES_IMU) {
-
-			mavlink_highres_imu_t imu;
-			mavlink_msg_highres_imu_decode(msg, &imu);
-
-			/* packet counter */
-			static uint16_t hil_counter = 0;
-			static uint16_t hil_frames = 0;
-			static uint64_t old_timestamp = 0;
-
-			/* sensors general */
-			hil_sensors.timestamp = hrt_absolute_time();
-
-			/* hil gyro */
-			static const float mrad2rad = 1.0e-3f;
-			hil_sensors.gyro_counter = hil_counter;
-			hil_sensors.gyro_raw[0] = imu.xgyro / mrad2rad;
-			hil_sensors.gyro_raw[1] = imu.ygyro / mrad2rad;
-			hil_sensors.gyro_raw[2] = imu.zgyro / mrad2rad;
-			hil_sensors.gyro_rad_s[0] = imu.xgyro;
-			hil_sensors.gyro_rad_s[1] = imu.ygyro;
-			hil_sensors.gyro_rad_s[2] = imu.zgyro;
-
-			/* accelerometer */
-			hil_sensors.accelerometer_counter = hil_counter;
-			static const float mg2ms2 = 9.8f / 1000.0f;
-			hil_sensors.accelerometer_raw[0] = imu.xacc / mg2ms2;
-			hil_sensors.accelerometer_raw[1] = imu.yacc / mg2ms2;
-			hil_sensors.accelerometer_raw[2] = imu.zacc / mg2ms2;
-			hil_sensors.accelerometer_m_s2[0] = imu.xacc;
-			hil_sensors.accelerometer_m_s2[1] = imu.yacc;
-			hil_sensors.accelerometer_m_s2[2] = imu.zacc;
-			hil_sensors.accelerometer_mode = 0; // TODO what is this?
-			hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
-
-			/* adc */
-			hil_sensors.adc_voltage_v[0] = 0;
-			hil_sensors.adc_voltage_v[1] = 0;
-			hil_sensors.adc_voltage_v[2] = 0;
-
-			/* magnetometer */
-			float mga2ga = 1.0e-3f;
-			hil_sensors.magnetometer_counter = hil_counter;
-			hil_sensors.magnetometer_raw[0] = imu.xmag / mga2ga;
-			hil_sensors.magnetometer_raw[1] = imu.ymag / mga2ga;
-			hil_sensors.magnetometer_raw[2] = imu.zmag / mga2ga;
-			hil_sensors.magnetometer_ga[0] = imu.xmag;
-			hil_sensors.magnetometer_ga[1] = imu.ymag;
-			hil_sensors.magnetometer_ga[2] = imu.zmag;
-			hil_sensors.magnetometer_range_ga = 32.7f; // int16
-			hil_sensors.magnetometer_mode = 0; // TODO what is this
-			hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
-
-			/* baro */
-			hil_sensors.baro_pres_mbar = imu.abs_pressure;
-			hil_sensors.baro_alt_meter = imu.pressure_alt;
-			hil_sensors.baro_temp_celcius = imu.temperature;
-
-			hil_sensors.gyro_counter = hil_counter;
-			hil_sensors.magnetometer_counter = hil_counter;
-			hil_sensors.accelerometer_counter = hil_counter;
-
-			/* publish */
-			orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
-
-			// increment counters
-			hil_counter++;
-			hil_frames++;
-
-			// output
-			if ((timestamp - old_timestamp) > 10000000) {
-				printf("receiving hil imu at %d hz\n", hil_frames/10);
-				old_timestamp = timestamp;
-				hil_frames = 0;
-			}
-		}
-
-		if (msg->msgid == MAVLINK_MSG_ID_GPS_RAW_INT) {
-
-			mavlink_gps_raw_int_t gps;
-			mavlink_msg_gps_raw_int_decode(msg, &gps);
-
-			/* packet counter */
-			static uint16_t hil_counter = 0;
-			static uint16_t hil_frames = 0;
-			static uint64_t old_timestamp = 0;
-
-			/* gps */
-			hil_gps.timestamp_position = gps.time_usec;
-			hil_gps.time_gps_usec = gps.time_usec;
-			hil_gps.lat = gps.lat;
-			hil_gps.lon = gps.lon;
-			hil_gps.alt = gps.alt;
-			hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
-			hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
-			hil_gps.s_variance_m_s = 5.0f;
-			hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
-			hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
-
-			/* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */
-			float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f;
-			/* go back to -PI..PI */
-			if (heading_rad > M_PI_F)
-				heading_rad -= 2.0f * M_PI_F;
-			hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(heading_rad);
-			hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(heading_rad);
-			hil_gps.vel_d_m_s = 0.0f;
-			hil_gps.vel_ned_valid = true;
-			/* COG (course over ground) is speced as -PI..+PI */
-			hil_gps.cog_rad = heading_rad;
-			hil_gps.fix_type = gps.fix_type;
-			hil_gps.satellites_visible = gps.satellites_visible;
-
-			/* publish */
-			orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps);
-
-			// increment counters
-			hil_counter += 1 ;
-			hil_frames += 1 ;
-
-			// output
-			// if ((timestamp - old_timestamp) > 10000000) {
-			// 	printf("receiving hil gps at %d hz\n", hil_frames/10);
-			// 	old_timestamp = timestamp;
-			// 	hil_frames = 0;
-			// }
-		}
-
-		if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
-
-			mavlink_hil_state_t hil_state;
-			mavlink_msg_hil_state_decode(msg, &hil_state);
-
-			/* Calculate Rotation Matrix */
-			//TODO: better clarification which app does this, atm we have a ekf for quadrotors which does this, but there is no such thing if fly in fixed wing mode
-
-			if (mavlink_system.type == MAV_TYPE_FIXED_WING) {
-				//TODO: assuming low pitch and roll values for now
-				hil_attitude.R[0][0] = cosf(hil_state.yaw);
-				hil_attitude.R[0][1] = sinf(hil_state.yaw);
-				hil_attitude.R[0][2] = 0.0f;
-
-				hil_attitude.R[1][0] = -sinf(hil_state.yaw);
-				hil_attitude.R[1][1] = cosf(hil_state.yaw);
-				hil_attitude.R[1][2] = 0.0f;
-
-				hil_attitude.R[2][0] = 0.0f;
-				hil_attitude.R[2][1] = 0.0f;
-				hil_attitude.R[2][2] = 1.0f;
-
-				hil_attitude.R_valid = true;
-			}
-
-			hil_global_pos.lat = hil_state.lat;
-			hil_global_pos.lon = hil_state.lon;
-			hil_global_pos.alt = hil_state.alt / 1000.0f;
-			hil_global_pos.vx = hil_state.vx / 100.0f;
-			hil_global_pos.vy = hil_state.vy / 100.0f;
-			hil_global_pos.vz = hil_state.vz / 100.0f;
-
-
-			/* set timestamp and notify processes (broadcast) */
-			hil_global_pos.timestamp = hrt_absolute_time();
-			orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
-
-			hil_attitude.roll = hil_state.roll;
-			hil_attitude.pitch = hil_state.pitch;
-			hil_attitude.yaw = hil_state.yaw;
-			hil_attitude.rollspeed = hil_state.rollspeed;
-			hil_attitude.pitchspeed = hil_state.pitchspeed;
-			hil_attitude.yawspeed = hil_state.yawspeed;
-
-			/* set timestamp and notify processes (broadcast) */
-			hil_attitude.timestamp = hrt_absolute_time();
-			orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
-		}
-
-		if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
-			mavlink_manual_control_t man;
-			mavlink_msg_manual_control_decode(msg, &man);
-
-			struct rc_channels_s rc_hil;
-			memset(&rc_hil, 0, sizeof(rc_hil));
-			static orb_advert_t rc_pub = 0;
-
-			rc_hil.timestamp = hrt_absolute_time();
-			rc_hil.chan_count = 4;
-
-			rc_hil.chan[0].scaled = man.x / 1000.0f;
-			rc_hil.chan[1].scaled = man.y / 1000.0f;
-			rc_hil.chan[2].scaled = man.r / 1000.0f;
-			rc_hil.chan[3].scaled = man.z / 1000.0f;
-
-			struct manual_control_setpoint_s mc;
-			static orb_advert_t mc_pub = 0;
-
-			int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-
-			/* get a copy first, to prevent altering values that are not sent by the mavlink command */
-			orb_copy(ORB_ID(manual_control_setpoint), manual_sub, &mc);
-
-			mc.timestamp = rc_hil.timestamp;
-			mc.roll = man.x / 1000.0f;
-			mc.pitch = man.y / 1000.0f;
-			mc.yaw = man.r / 1000.0f;
-			mc.throttle = man.z / 1000.0f;
-
-			/* fake RC channels with manual control input from simulator */
-
-
-			if (rc_pub == 0) {
-				rc_pub = orb_advertise(ORB_ID(rc_channels), &rc_hil);
-
-			} else {
-				orb_publish(ORB_ID(rc_channels), rc_pub, &rc_hil);
-			}
-
-			if (mc_pub == 0) {
-				mc_pub = orb_advertise(ORB_ID(manual_control_setpoint), &mc);
-
-			} else {
-				orb_publish(ORB_ID(manual_control_setpoint), mc_pub, &mc);
-			}
-		}
-	}
-}
-
-
-/**
- * Receive data from UART.
- */
-static void *
-receive_thread(void *arg)
-{
-	int uart_fd = *((int *)arg);
-
-	const int timeout = 1000;
-	uint8_t buf[32];
-
-	mavlink_message_t msg;
-
-	prctl(PR_SET_NAME, "mavlink uart rcv", getpid());
-
-	while (!thread_should_exit) {
-
-		struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
-
-		if (poll(fds, 1, timeout) > 0) {
-			/* non-blocking read. read may return negative values */
-			ssize_t nread = read(uart_fd, buf, sizeof(buf));
-
-			/* if read failed, this loop won't execute */
-			for (ssize_t i = 0; i < nread; i++) {
-				if (mavlink_parse_char(chan, buf[i], &msg, &status)) {
-					/* handle generic messages and commands */
-					handle_message(&msg);
-
-					/* Handle packet with waypoint component */
-					mavlink_wpm_message_handler(&msg, &global_pos, &local_pos);
-
-					/* Handle packet with parameter component */
-					mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
-				}
-			}
-		}
-	}
-
-	return NULL;
-}
-
-pthread_t
-receive_start(int uart)
-{
-	pthread_attr_t receiveloop_attr;
-	pthread_attr_init(&receiveloop_attr);
-
-	// set to non-blocking read
-	int flags = fcntl(uart, F_GETFL, 0);
-	fcntl(uart, F_SETFL, flags | O_NONBLOCK);
-
-	struct sched_param param;
-	param.sched_priority = SCHED_PRIORITY_MAX - 40;
-	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
-
-	pthread_attr_setstacksize(&receiveloop_attr, 2048);
-
-	pthread_t thread;
-	pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
-	return thread;
-}