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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-12 10:29:39 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-12 10:29:39 +0100 |
commit | 7604518db479e7cc9618e19b224c5d5c94013142 (patch) | |
tree | d50c63ebadbbd2183d3cb3ec542079ffd1afe9eb /src/modules | |
parent | 069cba6338f31815c2727f9a8af992c75d41e714 (diff) | |
download | px4-firmware-7604518db479e7cc9618e19b224c5d5c94013142.tar.gz px4-firmware-7604518db479e7cc9618e19b224c5d5c94013142.tar.bz2 px4-firmware-7604518db479e7cc9618e19b224c5d5c94013142.zip |
Fixed HW flow control enable / disable scheme, console output cleanup on start
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 45 |
1 files changed, 23 insertions, 22 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 7e1af8824..4420e04fd 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -160,23 +160,30 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length if (ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) { - if (buf_free == 0 && last_write_times[(unsigned)channel] != 0 && + if (buf_free == 0) { + + if (last_write_times[(unsigned)channel] != 0 && hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500*1000UL) { - struct termios uart_config; - (void)tcgetattr(uart, &uart_config); - uart_config.c_cflag &= ~CRTSCTS; - (void)tcsetattr(uart, TCSANOW, &uart_config); - warnx("DISABLING HARDWARE FLOW CONTROL"); + struct termios uart_config; + (void)tcgetattr(uart, &uart_config); + uart_config.c_cflag &= ~CRTSCTS; + (void)tcsetattr(uart, TCSANOW, &uart_config); + warnx("DISABLING HARDWARE FLOW CONTROL"); + } + + } else { + + /* apparently there is space left, although we might be + * partially overflooding the buffer already */ + last_write_times[(unsigned)channel] = hrt_absolute_time(); } } ssize_t ret = write(uart, ch, desired); if (ret != desired) { - warn("write err"); - } else { - last_write_times[(unsigned)channel] = hrt_absolute_time(); + // XXX do something here, but change to using FIONWRITE and OS buf size for detection } } @@ -536,7 +543,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios * /* Back up the original uart configuration to restore it after exit */ if ((termios_state = tcgetattr(_uart_fd, uart_config_original)) < 0) { - warnx("ERROR get termios config %s: %d\n", uart_name, termios_state); + warnx("ERR GET CONF %s: %d\n", uart_name, termios_state); close(_uart_fd); return -1; } @@ -552,7 +559,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios * /* Set baud rate */ if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); + warnx("ERR SET BAUD %s: %d\n", uart_name, termios_state); close(_uart_fd); return -1; } @@ -560,7 +567,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios * } if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) { - warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); + warnx("ERR SET CONF %s\n", uart_name); close(_uart_fd); return -1; } @@ -574,7 +581,9 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios * (void)tcsetattr(_uart_fd, TCSANOW, &uart_config); /* setup output flow control */ - (void)enable_flow_control(true); + if (enable_flow_control(true)) { + warnx("ERR FLOW CTRL EN"); + } return _uart_fd; } @@ -1604,10 +1613,6 @@ Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate) int Mavlink::task_main(int argc, char *argv[]) { - /* inform about start */ - warnx("start"); - fflush(stdout); - int ch; _baudrate = 57600; _datarate = 0; @@ -1736,8 +1741,7 @@ Mavlink::task_main(int argc, char *argv[]) break; } - warnx("data rate: %d bytes/s", _datarate); - warnx("port: %s, baudrate: %d", _device_name, _baudrate); + warnx("data rate: %d bps, port: %s, baud: %d", _datarate, _device_name, (int)_baudrate); /* flush stdout in case MAVLink is about to take it over */ fflush(stdout); @@ -1782,9 +1786,6 @@ Mavlink::task_main(int argc, char *argv[]) struct vehicle_status_s *status = (struct vehicle_status_s *) status_sub->get_data(); - warnx("started"); - mavlink_log_info(_mavlink_fd, "[mavlink] started"); - /* add default streams depending on mode and intervals depending on datarate */ float rate_mult = _datarate / 1000.0f; |